i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 09:30:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

Camera refactoring (#315)

Browse Source 
* Camera Refactoring part 1 (Mac OS X)

* fixed camera*** -> Camera***

* Fixed build for cameras Zed/RealSense/RealSense2

* increased version to 0.17.7

* fixed build for cameras K4W2 and FlyCapture2
This commit is contained in:
matlabbe
2018-10-01 19:33:56 -04:00
committed by GitHub
parent eb38b9cfab
commit 0059a4bc1b
116 changed files with 7716 additions and 6799 deletions
Download Patch File Download Diff File Expand all files Collapse all files

212
corelib/include/rtabmap/core/CameraRGB.h
View File

@@ -27,213 +27,5 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#pragma once
#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
#include <opencv2/highgui/highgui.hpp>
#include "rtabmap/core/Camera.h"
#include "rtabmap/utilite/UTimer.h"
#include <set>
#include <stack>
#include <list>
#include <vector>
class UDirectory;
namespace rtabmap
{
/////////////////////////
// CameraImages
/////////////////////////
class RTABMAP_EXP CameraImages :
public Camera
{
public:
CameraImages();
CameraImages(
const std::string & path,
float imageRate = 0,
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraImages();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
virtual bool isCalibrated() const;
virtual std::string getSerial() const;
virtual bool odomProvided() const { return odometry_.size() > 0; }
std::string getPath() const {return _path;}
unsigned int imagesCount() const;
std::vector<std::string> filenames() const;
bool isImagesRectified() const {return _rectifyImages;}
int getBayerMode() const {return _bayerMode;}
const CameraModel & cameraModel() const {return _model;}
void setPath(const std::string & dir) {_path=dir;}
virtual void setStartIndex(int index) {_startAt = index;} // negative means last
void setDirRefreshed(bool enabled) {_refreshDir = enabled;}
void setImagesRectified(bool enabled) {_rectifyImages = enabled;}
void setBayerMode(int mode) {_bayerMode = mode;} // -1=disabled (default) 0=BayerBG, 1=BayerGB, 2=BayerRG, 3=BayerGR
void setTimestamps(bool fileNamesAreStamps, const std::string & filePath = "", bool syncImageRateWithStamps=true)
{
_filenamesAreTimestamps = fileNamesAreStamps;
_timestampsPath=filePath;
_syncImageRateWithStamps = syncImageRateWithStamps;
}
void setScanPath(
const std::string & dir,
int maxScanPts = 0,
int downsampleStep = 1,
float voxelSize = 0.0f,
int normalsK = 0, // compute normals if > 0
float normalsRadius = 0, // compute normals if > 0
const Transform & localTransform=Transform::getIdentity(),
bool forceGroundNormalsUp = false)
{
_scanPath = dir;
_scanLocalTransform = localTransform;
_scanMaxPts = maxScanPts;
_scanDownsampleStep = downsampleStep;
_scanNormalsK = normalsK;
_scanNormalsRadius = normalsRadius;
_scanVoxelSize = voxelSize;
_scanForceGroundNormalsUp = forceGroundNormalsUp;
}
void setDepthFromScan(bool enabled, int fillHoles = 1, bool fillHolesFromBorder = false)
{
_depthFromScan = enabled;
_depthFromScanFillHoles = fillHoles;
_depthFromScanFillHolesFromBorder = fillHolesFromBorder;
}
// Format: 0=Raw, 1=RGBD-SLAM, 2=KITTI, 3=TORO, 4=g2o, 5=NewCollege(t,x,y), 6=Malaga Urban GPS, 7=St Lucia INS, 8=Karlsruhe
void setOdometryPath(const std::string & filePath, int format = 0)
{
_odometryPath = filePath;
_odometryFormat = format;
}
// Format: 0=Raw, 1=RGBD-SLAM, 2=KITTI, 3=TORO, 4=g2o, 5=NewCollege(t,x,y), 6=Malaga Urban GPS, 7=St Lucia INS, 8=Karlsruhe
void setGroundTruthPath(const std::string & filePath, int format = 0)
{
_groundTruthPath = filePath;
_groundTruthFormat = format;
}
void setMaxPoseTimeDiff(double diff) {_maxPoseTimeDiff = diff;}
double getMaxPoseTimeDiff() const {return _maxPoseTimeDiff;}
void setDepth(bool isDepth, float depthScaleFactor = 1.0f)
{
_isDepth = isDepth;
_depthScaleFactor=depthScaleFactor;
}
protected:
virtual SensorData captureImage(CameraInfo * info = 0);
bool readPoses(
std::list<Transform> & outputPoses,
std::list<double> & stamps,
const std::string & filePath,
int format,
double maxTimeDiff) const;
private:
std::string _path;
int _startAt;
// If the list of files in the directory is refreshed
// on each call of takeImage()
bool _refreshDir;
bool _rectifyImages;
int _bayerMode;
bool _isDepth;
float _depthScaleFactor;
int _count;
UDirectory * _dir;
std::string _lastFileName;
int _countScan;
UDirectory * _scanDir;
std::string _lastScanFileName;
std::string _scanPath;
Transform _scanLocalTransform;
int _scanMaxPts;
int _scanDownsampleStep;
float _scanVoxelSize;
int _scanNormalsK;
float _scanNormalsRadius;
bool _scanForceGroundNormalsUp;
bool _depthFromScan;
int _depthFromScanFillHoles; // <0:horizontal 0:disabled >0:vertical
bool _depthFromScanFillHolesFromBorder;
bool _filenamesAreTimestamps;
std::string _timestampsPath;
bool _syncImageRateWithStamps;
std::string _odometryPath;
int _odometryFormat;
std::string _groundTruthPath;
int _groundTruthFormat;
double _maxPoseTimeDiff;
std::list<double> _stamps;
std::list<Transform> odometry_;
std::list<Transform> groundTruth_;
CameraModel _model;
UTimer _captureTimer;
double _captureDelay;
};
/////////////////////////
// CameraVideo
/////////////////////////
class RTABMAP_EXP CameraVideo :
public Camera
{
public:
enum Source{kVideoFile, kUsbDevice};
public:
CameraVideo(int usbDevice = 0,
bool rectifyImages = false,
float imageRate = 0,
const Transform & localTransform = Transform::getIdentity());
CameraVideo(const std::string & filePath,
bool rectifyImages = false,
float imageRate = 0,
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraVideo();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
virtual bool isCalibrated() const;
virtual std::string getSerial() const;
int getUsbDevice() const {return _usbDevice;}
const std::string & getFilePath() const {return _filePath;}
protected:
virtual SensorData captureImage(CameraInfo * info = 0);
private:
// File type
std::string _filePath;
bool _rectifyImages;
cv::VideoCapture _capture;
Source _src;
// Usb camera
int _usbDevice;
std::string _guid;
CameraModel _model;
};
} // namespace rtabmap
#include <rtabmap/core/camera/CameraImages.h>
#include <rtabmap/core/camera/CameraVideo.h>

488
corelib/include/rtabmap/core/CameraRGBD.h
View File

@@ -27,483 +27,13 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#pragma once
#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
#include <rtabmap/core/camera/CameraFreenect.h>
#include <rtabmap/core/camera/CameraFreenect2.h>
#include <rtabmap/core/camera/CameraK4W2.h>
#include <rtabmap/core/camera/CameraOpenni.h>
#include <rtabmap/core/camera/CameraOpenNI2.h>
#include <rtabmap/core/camera/CameraOpenNICV.h>
#include <rtabmap/core/camera/CameraRealSense.h>
#include <rtabmap/core/camera/CameraRealSense2.h>
#include <rtabmap/core/camera/CameraRGBDImages.h>
#include "rtabmap/utilite/UMutex.h"
#include "rtabmap/utilite/USemaphore.h"
#include "rtabmap/core/CameraModel.h"
#include "rtabmap/core/Camera.h"
#include "rtabmap/core/CameraRGB.h"
#include "rtabmap/core/Version.h"
#include <pcl/pcl_config.h>
#ifdef HAVE_OPENNI
#if __linux__ && __i386__ && __cplusplus >= 201103L
#warning "Openni driver is not available on i386 when building with c++11 support"
#else
#define RTABMAP_OPENNI
#include <pcl/io/openni_camera/openni_depth_image.h>
#include <pcl/io/openni_camera/openni_image.h>
#endif
#endif
#include <boost/signals2/connection.hpp>
namespace openni
{
class Device;
class VideoStream;
}
namespace pcl
{
class Grabber;
}
namespace libfreenect2
{
class Freenect2;
class Freenect2Device;
class SyncMultiFrameListener;
class Registration;
class PacketPipeline;
}
namespace rs
{
class context;
class device;
namespace slam {
class slam;
}
}
namespace rs2
{
class context;
class device;
class syncer;
}
struct rs2_intrinsics;
struct rs2_extrinsics;
typedef struct _freenect_context freenect_context;
typedef struct _freenect_device freenect_device;
typedef struct IKinectSensor IKinectSensor;
typedef struct ICoordinateMapper ICoordinateMapper;
typedef struct _DepthSpacePoint DepthSpacePoint;
typedef struct _ColorSpacePoint ColorSpacePoint;
typedef struct tagRGBQUAD RGBQUAD;
typedef struct IMultiSourceFrameReader IMultiSourceFrameReader;
namespace rtabmap
{
/////////////////////////
// CameraOpenNIPCL
/////////////////////////
class RTABMAP_EXP CameraOpenni :
public Camera
{
public:
static bool available();
public:
// default local transform z in, x right, y down));
CameraOpenni(const std::string & deviceId="",
float imageRate = 0,
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraOpenni();
#ifdef RTABMAP_OPENNI
void image_cb (
const boost::shared_ptr<openni_wrapper::Image>& rgb,
const boost::shared_ptr<openni_wrapper::DepthImage>& depth,
float constant);
#endif
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
virtual bool isCalibrated() const;
virtual std::string getSerial() const;
protected:
virtual SensorData captureImage(CameraInfo * info = 0);
private:
pcl::Grabber* interface_;
std::string deviceId_;
boost::signals2::connection connection_;
cv::Mat depth_;
cv::Mat rgb_;
float depthConstant_;
UMutex dataMutex_;
USemaphore dataReady_;
};
/////////////////////////
// CameraOpenNICV
/////////////////////////
class RTABMAP_EXP CameraOpenNICV :
public Camera
{
public:
static bool available();
public:
CameraOpenNICV(bool asus = false,
float imageRate = 0,
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraOpenNICV();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
virtual bool isCalibrated() const;
virtual std::string getSerial() const {return "";} // unknown with OpenCV
protected:
virtual SensorData captureImage(CameraInfo * info = 0);
private:
bool _asus;
cv::VideoCapture _capture;
float _depthFocal;
};
/////////////////////////
// CameraOpenNI2
/////////////////////////
class RTABMAP_EXP CameraOpenNI2 :
public Camera
{
public:
static bool available();
static bool exposureGainAvailable();
enum Type {kTypeColorDepth, kTypeIRDepth, kTypeIR};
public:
CameraOpenNI2(const std::string & deviceId = "",
Type type = kTypeColorDepth,
float imageRate = 0,
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraOpenNI2();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
virtual bool isCalibrated() const;
virtual std::string getSerial() const;
bool setAutoWhiteBalance(bool enabled);
bool setAutoExposure(bool enabled);
bool setExposure(int value);
bool setGain(int value);
bool setMirroring(bool enabled);
void setOpenNI2StampsAndIDsUsed(bool used);
void setIRDepthShift(int horizontal, int vertical);
protected:
virtual SensorData captureImage(CameraInfo * info = 0);
private:
#ifdef RTABMAP_OPENNI2
Type _type;
openni::Device * _device;
openni::VideoStream * _color;
openni::VideoStream * _depth;
float _depthFx;
float _depthFy;
std::string _deviceId;
bool _openNI2StampsAndIDsUsed;
StereoCameraModel _stereoModel;
int _depthHShift;
int _depthVShift;
#endif
};
/////////////////////////
// CameraFreenect
/////////////////////////
class FreenectDevice;
class RTABMAP_EXP CameraFreenect :
public Camera
{
public:
static bool available();
enum Type {kTypeColorDepth, kTypeIRDepth};
public:
// default local transform z in, x right, y down));
CameraFreenect(int deviceId= 0,
Type type = kTypeColorDepth,
float imageRate=0.0f,
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraFreenect();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
virtual bool isCalibrated() const;
virtual std::string getSerial() const;
protected:
virtual SensorData captureImage(CameraInfo * info = 0);
private:
#ifdef RTABMAP_FREENECT
int deviceId_;
Type type_;
freenect_context * ctx_;
FreenectDevice * freenectDevice_;
StereoCameraModel stereoModel_;
#endif
};
/////////////////////////
// CameraFreenect2
/////////////////////////
class RTABMAP_EXP CameraFreenect2 :
public Camera
{
public:
static bool available();
enum Type{
kTypeColor2DepthSD,
kTypeDepth2ColorSD,
kTypeDepth2ColorHD,
kTypeDepth2ColorHD2,
kTypeIRDepth,
kTypeColorIR
};
public:
// default local transform z in, x right, y down));
CameraFreenect2(int deviceId= 0,
Type type = kTypeDepth2ColorSD,
float imageRate=0.0f,
const Transform & localTransform = Transform::getIdentity(),
float minDepth = 0.3f,
float maxDepth = 12.0f,
bool bilateralFiltering = true,
bool edgeAwareFiltering = true,
bool noiseFiltering = true,
const std::string & pipelineName = "");
virtual ~CameraFreenect2();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
virtual bool isCalibrated() const;
virtual std::string getSerial() const;
protected:
virtual SensorData captureImage(CameraInfo * info = 0);
private:
#ifdef RTABMAP_FREENECT2
int deviceId_;
Type type_;
StereoCameraModel stereoModel_;
libfreenect2::Freenect2 * freenect2_;
libfreenect2::Freenect2Device *dev_;
libfreenect2::SyncMultiFrameListener * listener_;
libfreenect2::Registration * reg_;
float minKinect2Depth_;
float maxKinect2Depth_;
bool bilateralFiltering_;
bool edgeAwareFiltering_;
bool noiseFiltering_;
std::string pipelineName_;
#endif
};
/////////////////////////
// CameraK4W2
/////////////////////////
class RTABMAP_EXP CameraK4W2 :
public Camera
{
public:
static bool available();
enum Type {
kTypeColor2DepthSD,
kTypeDepth2ColorSD,
kTypeDepth2ColorHD
};
public:
static const int cDepthWidth = 512;
static const int cDepthHeight = 424;
static const int cColorWidth = 1920;
static const int cColorHeight = 1080;
public:
// default local transform z in, x right, y down));
CameraK4W2(int deviceId = 0, // not used
Type type = kTypeDepth2ColorSD,
float imageRate = 0.0f,
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraK4W2();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
virtual bool isCalibrated() const;
virtual std::string getSerial() const;
protected:
virtual SensorData captureImage(CameraInfo * info = 0);
private:
void close();
private:
#ifdef RTABMAP_K4W2
Type type_;
IKinectSensor* pKinectSensor_;
ICoordinateMapper* pCoordinateMapper_;
DepthSpacePoint* pDepthCoordinates_;
ColorSpacePoint* pColorCoordinates_;
IMultiSourceFrameReader* pMultiSourceFrameReader_;
RGBQUAD * pColorRGBX_;
INT_PTR hMSEvent;
CameraModel colorCameraModel_;
#endif
};
/////////////////////////
// CameraRealSense
/////////////////////////
class slam_event_handler;
class RTABMAP_EXP CameraRealSense :
public Camera
{
public:
static bool available();
enum RGBSource {kColor, kInfrared, kFishEye};
public:
// default local transform z in, x right, y down));
CameraRealSense(
int deviceId = 0,
int presetRGB = 0, // 0=best quality, 1=largest image, 2=highest framerate
int presetDepth = 0, // 0=best quality, 1=largest image, 2=highest framerate
bool computeOdometry = false,
float imageRate = 0,
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraRealSense();
void setDepthScaledToRGBSize(bool enabled);
void setRGBSource(RGBSource source);
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
virtual bool isCalibrated() const;
virtual std::string getSerial() const;
virtual bool odomProvided() const;
protected:
virtual SensorData captureImage(CameraInfo * info = 0);
private:
#ifdef RTABMAP_REALSENSE
rs::context * ctx_;
rs::device * dev_;
int deviceId_;
int presetRGB_;
int presetDepth_;
bool computeOdometry_;
bool depthScaledToRGBSize_;
RGBSource rgbSource_;
CameraModel cameraModel_;
std::vector<int> rsRectificationTable_;
int motionSeq_[2];
rs::slam::slam * slam_;
UMutex slamLock_;
std::map<double, std::pair<cv::Mat, cv::Mat> > bufferedFrames_;
std::pair<cv::Mat, cv::Mat> lastSyncFrames_;
UMutex dataMutex_;
USemaphore dataReady_;
#endif
};
/////////////////////////
// CameraRealSense2
/////////////////////////
class slam_event_handler;
class RTABMAP_EXP CameraRealSense2 :
public Camera
{
public:
static bool available();
public:
// default local transform z in, x right, y down));
CameraRealSense2(
const std::string & deviceId = "",
float imageRate = 0,
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraRealSense2();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
virtual bool isCalibrated() const;
virtual std::string getSerial() const;
// parameters are set during initialization
void setEmitterEnabled(bool enabled);
void setIRDepthFormat(bool enabled);
protected:
virtual SensorData captureImage(CameraInfo * info = 0);
private:
#ifdef RTABMAP_REALSENSE2
rs2::context * ctx_;
rs2::device * dev_;
std::string deviceId_;
rs2::syncer * syncer_;
float depth_scale_meters_;
rs2_intrinsics * depthIntrinsics_;
rs2_intrinsics * rgbIntrinsics_;
rs2_extrinsics * depthToRGBExtrinsics_;
cv::Mat depthBuffer_;
cv::Mat rgbBuffer_;
CameraModel model_;
bool emitterEnabled_;
bool irDepth_;
#endif
};
/////////////////////////
// CameraRGBDImages
/////////////////////////
class CameraImages;
class RTABMAP_EXP CameraRGBDImages :
public CameraImages
{
public:
static bool available();
public:
CameraRGBDImages(
const std::string & pathRGBImages,
const std::string & pathDepthImages,
float depthScaleFactor = 1.0f,
float imageRate=0.0f,
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraRGBDImages();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
virtual bool isCalibrated() const;
virtual std::string getSerial() const;
virtual void setStartIndex(int index) {CameraImages::setStartIndex(index);cameraDepth_.setStartIndex(index);} // negative means last
protected:
virtual SensorData captureImage(CameraInfo * info = 0);
private:
CameraImages cameraDepth_;
};
} // namespace rtabmap

233
corelib/include/rtabmap/core/CameraStereo.h
View File

@@ -27,231 +27,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#pragma once
#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
#include "rtabmap/core/CameraModel.h"
#include "rtabmap/core/Camera.h"
#include "rtabmap/core/CameraRGB.h"
#include "rtabmap/core/Version.h"
#include <list>
namespace FlyCapture2
{
class Camera;
}
namespace sl
{
class Camera;
}
namespace rtabmap
{
/////////////////////////
// CameraStereoDC1394
/////////////////////////
class DC1394Device;
class RTABMAP_EXP CameraStereoDC1394 :
public Camera
{
public:
static bool available();
public:
CameraStereoDC1394( float imageRate=0.0f, const Transform & localTransform = Transform::getIdentity());
virtual ~CameraStereoDC1394();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
virtual bool isCalibrated() const;
virtual std::string getSerial() const;
protected:
virtual SensorData captureImage(CameraInfo * info = 0);
private:
#ifdef RTABMAP_DC1394
DC1394Device *device_;
StereoCameraModel stereoModel_;
#endif
};
/////////////////////////
// CameraStereoFlyCapture2
/////////////////////////
class RTABMAP_EXP CameraStereoFlyCapture2 :
public Camera
{
public:
static bool available();
public:
CameraStereoFlyCapture2( float imageRate=0.0f, const Transform & localTransform = Transform::getIdentity());
virtual ~CameraStereoFlyCapture2();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
virtual bool isCalibrated() const;
virtual std::string getSerial() const;
protected:
virtual SensorData captureImage(CameraInfo * info = 0);
private:
#ifdef RTABMAP_FLYCAPTURE2
FlyCapture2::Camera * camera_;
void * triclopsCtx_; // TriclopsContext
#endif
};
/////////////////////////
// CameraStereoZED
/////////////////////////
class RTABMAP_EXP CameraStereoZed :
public Camera
{
public:
static bool available();
public:
CameraStereoZed(
int deviceId,
int resolution = 2, // 0=HD2K, 1=HD1080, 2=HD720, 3=VGA
int quality = 1, // 0=NONE, 1=PERFORMANCE, 2=QUALITY
int sensingMode = 0,// 0=STANDARD, 1=FILL
int confidenceThr = 100,
bool computeOdometry = false,
float imageRate=0.0f,
const Transform & localTransform = Transform::getIdentity(),
bool selfCalibration = true);
CameraStereoZed(
const std::string & svoFilePath,
int quality = 1, // 0=NONE, 1=PERFORMANCE, 2=QUALITY
int sensingMode = 0,// 0=STANDARD, 1=FILL
int confidenceThr = 100,
bool computeOdometry = false,
float imageRate=0.0f,
const Transform & localTransform = Transform::getIdentity(),
bool selfCalibration = true);
virtual ~CameraStereoZed();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
virtual bool isCalibrated() const;
virtual std::string getSerial() const;
virtual bool odomProvided() const;
protected:
virtual SensorData captureImage(CameraInfo * info = 0);
private:
#ifdef RTABMAP_ZED
sl::Camera * zed_;
StereoCameraModel stereoModel_;
CameraVideo::Source src_;
int usbDevice_;
std::string svoFilePath_;
int resolution_;
int quality_;
bool selfCalibration_;
int sensingMode_;
int confidenceThr_;
bool computeOdometry_;
bool lost_;
#endif
};
/////////////////////////
// CameraStereoImages
/////////////////////////
class CameraImages;
class RTABMAP_EXP CameraStereoImages :
public CameraImages
{
public:
static bool available();
public:
CameraStereoImages(
const std::string & pathLeftImages,
const std::string & pathRightImages,
bool rectifyImages = false,
float imageRate=0.0f,
const Transform & localTransform = Transform::getIdentity());
CameraStereoImages(
const std::string & pathLeftRightImages,
bool rectifyImages = false,
float imageRate=0.0f,
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraStereoImages();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
virtual bool isCalibrated() const;
virtual std::string getSerial() const;
virtual void setStartIndex(int index) {CameraImages::setStartIndex(index);camera2_->setStartIndex(index);} // negative means last
protected:
virtual SensorData captureImage(CameraInfo * info = 0);
private:
CameraImages * camera2_;
StereoCameraModel stereoModel_;
};
/////////////////////////
// CameraStereoVideo
/////////////////////////
class CameraImages;
class RTABMAP_EXP CameraStereoVideo :
public Camera
{
public:
static bool available();
public:
CameraStereoVideo(
const std::string & pathSideBySide,
bool rectifyImages = false,
float imageRate=0.0f,
const Transform & localTransform = Transform::getIdentity());
CameraStereoVideo(
const std::string & pathLeft,
const std::string & pathRight,
bool rectifyImages = false,
float imageRate=0.0f,
const Transform & localTransform = Transform::getIdentity());
CameraStereoVideo(
int device,
bool rectifyImages = false,
float imageRate = 0.0f,
const Transform & localTransform = Transform::getIdentity());
CameraStereoVideo(
int deviceLeft,
int deviceRight,
bool rectifyImages = false,
float imageRate = 0.0f,
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraStereoVideo();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
virtual bool isCalibrated() const;
virtual std::string getSerial() const;
protected:
virtual SensorData captureImage(CameraInfo * info = 0);
private:
cv::VideoCapture capture_;
cv::VideoCapture capture2_;
std::string path_;
std::string path2_;
bool rectifyImages_;
StereoCameraModel stereoModel_;
std::string cameraName_;
CameraVideo::Source src_;
int usbDevice_;
int usbDevice2_;
};
} // namespace rtabmap
#include <rtabmap/core/camera/CameraStereoDC1394.h>
#include <rtabmap/core/camera/CameraStereoFlyCapture2.h>
#include <rtabmap/core/camera/CameraStereoImages.h>
#include <rtabmap/core/camera/CameraStereoVideo.h>
#include <rtabmap/core/camera/CameraStereoZed.h>

2
corelib/include/rtabmap/core/Odometry.h
View File

@@ -56,7 +56,7 @@ public:
};
public:
static Odometry * create(const ParametersMap & parameters);
static Odometry * create(const ParametersMap & parameters = ParametersMap());
static Odometry * create(Type & type, const ParametersMap & parameters = ParametersMap());
public:

77
corelib/include/rtabmap/core/camera/CameraFreenect.h Normal file
View File

@@ -0,0 +1,77 @@
/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#pragma once
#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
#include "rtabmap/core/StereoCameraModel.h"
#include "rtabmap/core/Camera.h"
#include "rtabmap/core/Version.h"
typedef struct _freenect_context freenect_context;
typedef struct _freenect_device freenect_device;
namespace rtabmap
{
class FreenectDevice;
class RTABMAP_EXP CameraFreenect :
public Camera
{
public:
static bool available();
enum Type {kTypeColorDepth, kTypeIRDepth};
public:
// default local transform z in, x right, y down));
CameraFreenect(int deviceId= 0,
Type type = kTypeColorDepth,
float imageRate=0.0f,
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraFreenect();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
virtual bool isCalibrated() const;
virtual std::string getSerial() const;
protected:
virtual SensorData captureImage(CameraInfo * info = 0);
private:
#ifdef RTABMAP_FREENECT
int deviceId_;
Type type_;
freenect_context * ctx_;
FreenectDevice * freenectDevice_;
StereoCameraModel stereoModel_;
#endif
};
} // namespace rtabmap

103
corelib/include/rtabmap/core/camera/CameraFreenect2.h Normal file
View File

@@ -0,0 +1,103 @@
/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#pragma once
#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
#include "rtabmap/core/StereoCameraModel.h"
#include "rtabmap/core/Camera.h"
#include "rtabmap/core/Version.h"
namespace libfreenect2
{
class Freenect2;
class Freenect2Device;
class SyncMultiFrameListener;
class Registration;
class PacketPipeline;
}
namespace rtabmap
{
class RTABMAP_EXP CameraFreenect2 :
public Camera
{
public:
static bool available();
enum Type{
kTypeColor2DepthSD,
kTypeDepth2ColorSD,
kTypeDepth2ColorHD,
kTypeDepth2ColorHD2,
kTypeIRDepth,
kTypeColorIR
};
public:
// default local transform z in, x right, y down));
CameraFreenect2(int deviceId= 0,
Type type = kTypeDepth2ColorSD,
float imageRate=0.0f,
const Transform & localTransform = Transform::getIdentity(),
float minDepth = 0.3f,
float maxDepth = 12.0f,
bool bilateralFiltering = true,
bool edgeAwareFiltering = true,
bool noiseFiltering = true,
const std::string & pipelineName = "");
virtual ~CameraFreenect2();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
virtual bool isCalibrated() const;
virtual std::string getSerial() const;
protected:
virtual SensorData captureImage(CameraInfo * info = 0);
private:
#ifdef RTABMAP_FREENECT2
int deviceId_;
Type type_;
StereoCameraModel stereoModel_;
libfreenect2::Freenect2 * freenect2_;
libfreenect2::Freenect2Device *dev_;
libfreenect2::SyncMultiFrameListener * listener_;
libfreenect2::Registration * reg_;
float minKinect2Depth_;
float maxKinect2Depth_;
bool bilateralFiltering_;
bool edgeAwareFiltering_;
bool noiseFiltering_;
std::string pipelineName_;
#endif
};
} // namespace rtabmap

185
corelib/include/rtabmap/core/camera/CameraImages.h Normal file
View File

@@ -0,0 +1,185 @@
/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#pragma once
#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
#include "rtabmap/core/Camera.h"
#include "rtabmap/utilite/UTimer.h"
#include <list>
class UDirectory;
namespace rtabmap
{
class RTABMAP_EXP CameraImages :
public Camera
{
public:
CameraImages();
CameraImages(
const std::string & path,
float imageRate = 0,
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraImages();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
virtual bool isCalibrated() const;
virtual std::string getSerial() const;
virtual bool odomProvided() const { return odometry_.size() > 0; }
std::string getPath() const {return _path;}
unsigned int imagesCount() const;
std::vector<std::string> filenames() const;
bool isImagesRectified() const {return _rectifyImages;}
int getBayerMode() const {return _bayerMode;}
const CameraModel & cameraModel() const {return _model;}
void setPath(const std::string & dir) {_path=dir;}
virtual void setStartIndex(int index) {_startAt = index;} // negative means last
void setDirRefreshed(bool enabled) {_refreshDir = enabled;}
void setImagesRectified(bool enabled) {_rectifyImages = enabled;}
void setBayerMode(int mode) {_bayerMode = mode;} // -1=disabled (default) 0=BayerBG, 1=BayerGB, 2=BayerRG, 3=BayerGR
void setTimestamps(bool fileNamesAreStamps, const std::string & filePath = "", bool syncImageRateWithStamps=true)
{
_filenamesAreTimestamps = fileNamesAreStamps;
_timestampsPath=filePath;
_syncImageRateWithStamps = syncImageRateWithStamps;
}
void setScanPath(
const std::string & dir,
int maxScanPts = 0,
int downsampleStep = 1,
float voxelSize = 0.0f,
int normalsK = 0, // compute normals if > 0
float normalsRadius = 0, // compute normals if > 0
const Transform & localTransform=Transform::getIdentity(),
bool forceGroundNormalsUp = false)
{
_scanPath = dir;
_scanLocalTransform = localTransform;
_scanMaxPts = maxScanPts;
_scanDownsampleStep = downsampleStep;
_scanNormalsK = normalsK;
_scanNormalsRadius = normalsRadius;
_scanVoxelSize = voxelSize;
_scanForceGroundNormalsUp = forceGroundNormalsUp;
}
void setDepthFromScan(bool enabled, int fillHoles = 1, bool fillHolesFromBorder = false)
{
_depthFromScan = enabled;
_depthFromScanFillHoles = fillHoles;
_depthFromScanFillHolesFromBorder = fillHolesFromBorder;
}
// Format: 0=Raw, 1=RGBD-SLAM, 2=KITTI, 3=TORO, 4=g2o, 5=NewCollege(t,x,y), 6=Malaga Urban GPS, 7=St Lucia INS, 8=Karlsruhe
void setOdometryPath(const std::string & filePath, int format = 0)
{
_odometryPath = filePath;
_odometryFormat = format;
}
// Format: 0=Raw, 1=RGBD-SLAM, 2=KITTI, 3=TORO, 4=g2o, 5=NewCollege(t,x,y), 6=Malaga Urban GPS, 7=St Lucia INS, 8=Karlsruhe
void setGroundTruthPath(const std::string & filePath, int format = 0)
{
_groundTruthPath = filePath;
_groundTruthFormat = format;
}
void setMaxPoseTimeDiff(double diff) {_maxPoseTimeDiff = diff;}
double getMaxPoseTimeDiff() const {return _maxPoseTimeDiff;}
void setDepth(bool isDepth, float depthScaleFactor = 1.0f)
{
_isDepth = isDepth;
_depthScaleFactor=depthScaleFactor;
}
protected:
virtual SensorData captureImage(CameraInfo * info = 0);
bool readPoses(
std::list<Transform> & outputPoses,
std::list<double> & stamps,
const std::string & filePath,
int format,
double maxTimeDiff) const;
private:
std::string _path;
int _startAt;
// If the list of files in the directory is refreshed
// on each call of takeImage()
bool _refreshDir;
bool _rectifyImages;
int _bayerMode;
bool _isDepth;
float _depthScaleFactor;
int _count;
UDirectory * _dir;
std::string _lastFileName;
int _countScan;
UDirectory * _scanDir;
std::string _lastScanFileName;
std::string _scanPath;
Transform _scanLocalTransform;
int _scanMaxPts;
int _scanDownsampleStep;
float _scanVoxelSize;
int _scanNormalsK;
float _scanNormalsRadius;
bool _scanForceGroundNormalsUp;
bool _depthFromScan;
int _depthFromScanFillHoles; // <0:horizontal 0:disabled >0:vertical
bool _depthFromScanFillHolesFromBorder;
bool _filenamesAreTimestamps;
std::string _timestampsPath;
bool _syncImageRateWithStamps;
std::string _odometryPath;
int _odometryFormat;
std::string _groundTruthPath;
int _groundTruthFormat;
double _maxPoseTimeDiff;
std::list<double> _stamps;
std::list<Transform> odometry_;
std::list<Transform> groundTruth_;
CameraModel _model;
UTimer _captureTimer;
double _captureDelay;
};
} // namespace rtabmap

97
corelib/include/rtabmap/core/camera/CameraK4W2.h Normal file
View File

@@ -0,0 +1,97 @@
/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#pragma once
#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
#include "rtabmap/core/CameraModel.h"
#include "rtabmap/core/Camera.h"
#include "rtabmap/core/Version.h"
typedef struct IKinectSensor IKinectSensor;
typedef struct ICoordinateMapper ICoordinateMapper;
typedef struct _DepthSpacePoint DepthSpacePoint;
typedef struct _ColorSpacePoint ColorSpacePoint;
typedef struct tagRGBQUAD RGBQUAD;
typedef struct IMultiSourceFrameReader IMultiSourceFrameReader;
namespace rtabmap
{
class RTABMAP_EXP CameraK4W2 :
public Camera
{
public:
static bool available();
enum Type {
kTypeColor2DepthSD,
kTypeDepth2ColorSD,
kTypeDepth2ColorHD
};
public:
static const int cDepthWidth = 512;
static const int cDepthHeight = 424;
static const int cColorWidth = 1920;
static const int cColorHeight = 1080;
public:
// default local transform z in, x right, y down));
CameraK4W2(int deviceId = 0, // not used
Type type = kTypeDepth2ColorSD,
float imageRate = 0.0f,
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraK4W2();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
virtual bool isCalibrated() const;
virtual std::string getSerial() const;
protected:
virtual SensorData captureImage(CameraInfo * info = 0);
private:
void close();
private:
#ifdef RTABMAP_K4W2
Type type_;
IKinectSensor* pKinectSensor_;
ICoordinateMapper* pCoordinateMapper_;
DepthSpacePoint* pDepthCoordinates_;
ColorSpacePoint* pColorCoordinates_;
IMultiSourceFrameReader* pMultiSourceFrameReader_;
RGBQUAD * pColorRGBX_;
INT_PTR hMSEvent;
CameraModel colorCameraModel_;
#endif
};
} // namespace rtabmap

93
corelib/include/rtabmap/core/camera/CameraOpenNI2.h Normal file
View File

@@ -0,0 +1,93 @@
/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#pragma once
#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
#include "rtabmap/core/StereoCameraModel.h"
#include "rtabmap/core/Camera.h"
#include "rtabmap/core/Version.h"
namespace openni
{
class Device;
class VideoStream;
}
namespace rtabmap
{
class RTABMAP_EXP CameraOpenNI2 :
public Camera
{
public:
static bool available();
static bool exposureGainAvailable();
enum Type {kTypeColorDepth, kTypeIRDepth, kTypeIR};
public:
CameraOpenNI2(const std::string & deviceId = "",
Type type = kTypeColorDepth,
float imageRate = 0,
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraOpenNI2();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
virtual bool isCalibrated() const;
virtual std::string getSerial() const;
bool setAutoWhiteBalance(bool enabled);
bool setAutoExposure(bool enabled);
bool setExposure(int value);
bool setGain(int value);
bool setMirroring(bool enabled);
void setOpenNI2StampsAndIDsUsed(bool used);
void setIRDepthShift(int horizontal, int vertical);
protected:
virtual SensorData captureImage(CameraInfo * info = 0);
private:
#ifdef RTABMAP_OPENNI2
Type _type;
openni::Device * _device;
openni::VideoStream * _color;
openni::VideoStream * _depth;
float _depthFx;
float _depthFy;
std::string _deviceId;
bool _openNI2StampsAndIDsUsed;
StereoCameraModel _stereoModel;
int _depthHShift;
int _depthVShift;
#endif
};
} // namespace rtabmap

64
corelib/include/rtabmap/core/camera/CameraOpenNICV.h Normal file
View File

@@ -0,0 +1,64 @@
/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#pragma once
#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
#include "rtabmap/core/Camera.h"
#include "rtabmap/core/Version.h"
namespace rtabmap
{
class RTABMAP_EXP CameraOpenNICV :
public Camera
{
public:
static bool available();
public:
CameraOpenNICV(bool asus = false,
float imageRate = 0,
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraOpenNICV();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
virtual bool isCalibrated() const;
virtual std::string getSerial() const {return "";} // unknown with OpenCV
protected:
virtual SensorData captureImage(CameraInfo * info = 0);
private:
bool _asus;
cv::VideoCapture _capture;
float _depthFocal;
};
} // namespace rtabmap

96
corelib/include/rtabmap/core/camera/CameraOpenni.h Normal file
View File

@@ -0,0 +1,96 @@
/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#pragma once
#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
#include "rtabmap/utilite/UMutex.h"
#include "rtabmap/utilite/USemaphore.h"
#include "rtabmap/core/Camera.h"
#include "rtabmap/core/Version.h"
#include <pcl/pcl_config.h>
#ifdef HAVE_OPENNI
#if __linux__ && __i386__ && __cplusplus >= 201103L
#warning "Openni driver is not available on i386 when building with c++11 support"
#else
#define RTABMAP_OPENNI
#include <pcl/io/openni_camera/openni_depth_image.h>
#include <pcl/io/openni_camera/openni_image.h>
#endif
#endif
#include <boost/signals2/connection.hpp>
namespace pcl
{
class Grabber;
}
namespace rtabmap
{
class RTABMAP_EXP CameraOpenni :
public Camera
{
public:
static bool available();
public:
// default local transform z in, x right, y down));
CameraOpenni(const std::string & deviceId="",
float imageRate = 0,
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraOpenni();
#ifdef RTABMAP_OPENNI
void image_cb (
const boost::shared_ptr<openni_wrapper::Image>& rgb,
const boost::shared_ptr<openni_wrapper::DepthImage>& depth,
float constant);
#endif
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
virtual bool isCalibrated() const;
virtual std::string getSerial() const;
protected:
virtual SensorData captureImage(CameraInfo * info = 0);
private:
pcl::Grabber* interface_;
std::string deviceId_;
boost::signals2::connection connection_;
cv::Mat depth_;
cv::Mat rgb_;
float depthConstant_;
UMutex dataMutex_;
USemaphore dataReady_;
};
} // namespace rtabmap

63
corelib/include/rtabmap/core/camera/CameraRGBDImages.h Normal file
View File

@@ -0,0 +1,63 @@
/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#pragma once
#include <rtabmap/core/camera/CameraImages.h>
namespace rtabmap
{
class RTABMAP_EXP CameraRGBDImages :
public CameraImages
{
public:
static bool available();
public:
CameraRGBDImages(
const std::string & pathRGBImages,
const std::string & pathDepthImages,
float depthScaleFactor = 1.0f,
float imageRate=0.0f,
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraRGBDImages();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
virtual bool isCalibrated() const;
virtual std::string getSerial() const;
virtual void setStartIndex(int index) {CameraImages::setStartIndex(index);cameraDepth_.setStartIndex(index);} // negative means last
protected:
virtual SensorData captureImage(CameraInfo * info = 0);
private:
CameraImages cameraDepth_;
};
} // namespace rtabmap

104
corelib/include/rtabmap/core/camera/CameraRealSense.h Normal file
View File

@@ -0,0 +1,104 @@
/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#pragma once
#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
#include "rtabmap/utilite/UMutex.h"
#include "rtabmap/utilite/USemaphore.h"
#include "rtabmap/core/CameraModel.h"
#include "rtabmap/core/Camera.h"
#include "rtabmap/core/Version.h"
namespace rs
{
class context;
class device;
namespace slam {
class slam;
}
}
namespace rtabmap
{
class slam_event_handler;
class RTABMAP_EXP CameraRealSense :
public Camera
{
public:
static bool available();
enum RGBSource {kColor, kInfrared, kFishEye};
public:
// default local transform z in, x right, y down));
CameraRealSense(
int deviceId = 0,
int presetRGB = 0, // 0=best quality, 1=largest image, 2=highest framerate
int presetDepth = 0, // 0=best quality, 1=largest image, 2=highest framerate
bool computeOdometry = false,
float imageRate = 0,
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraRealSense();
void setDepthScaledToRGBSize(bool enabled);
void setRGBSource(RGBSource source);
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
virtual bool isCalibrated() const;
virtual std::string getSerial() const;
virtual bool odomProvided() const;
protected:
virtual SensorData captureImage(CameraInfo * info = 0);
private:
#ifdef RTABMAP_REALSENSE
rs::context * ctx_;
rs::device * dev_;
int deviceId_;
int presetRGB_;
int presetDepth_;
bool computeOdometry_;
bool depthScaledToRGBSize_;
RGBSource rgbSource_;
CameraModel cameraModel_;
std::vector<int> rsRectificationTable_;
int motionSeq_[2];
rs::slam::slam * slam_;
UMutex slamLock_;
std::map<double, std::pair<cv::Mat, cv::Mat> > bufferedFrames_;
std::pair<cv::Mat, cv::Mat> lastSyncFrames_;
UMutex dataMutex_;
USemaphore dataReady_;
#endif
};
} // namespace rtabmap

96
corelib/include/rtabmap/core/camera/CameraRealSense2.h Normal file
View File

@@ -0,0 +1,96 @@
/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#pragma once
#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
#include "rtabmap/core/CameraModel.h"
#include "rtabmap/core/Camera.h"
#include "rtabmap/core/Version.h"
#include <pcl/pcl_config.h>
namespace rs2
{
class context;
class device;
class syncer;
}
struct rs2_intrinsics;
struct rs2_extrinsics;
namespace rtabmap
{
class RTABMAP_EXP CameraRealSense2 :
public Camera
{
public:
static bool available();
public:
// default local transform z in, x right, y down));
CameraRealSense2(
const std::string & deviceId = "",
float imageRate = 0,
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraRealSense2();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
virtual bool isCalibrated() const;
virtual std::string getSerial() const;
// parameters are set during initialization
void setEmitterEnabled(bool enabled);
void setIRDepthFormat(bool enabled);
protected:
virtual SensorData captureImage(CameraInfo * info = 0);
private:
#ifdef RTABMAP_REALSENSE2
rs2::context * ctx_;
rs2::device * dev_;
std::string deviceId_;
rs2::syncer * syncer_;
float depth_scale_meters_;
rs2_intrinsics * depthIntrinsics_;
rs2_intrinsics * rgbIntrinsics_;
rs2_extrinsics * depthToRGBExtrinsics_;
cv::Mat depthBuffer_;
cv::Mat rgbBuffer_;
CameraModel model_;
bool emitterEnabled_;
bool irDepth_;
#endif
};
} // namespace rtabmap

66
corelib/include/rtabmap/core/camera/CameraStereoDC1394.h Normal file
View File

@@ -0,0 +1,66 @@
/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#pragma once
#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
#include "rtabmap/core/StereoCameraModel.h"
#include "rtabmap/core/Camera.h"
#include "rtabmap/core/Version.h"
namespace rtabmap
{
class DC1394Device;
class RTABMAP_EXP CameraStereoDC1394 :
public Camera
{
public:
static bool available();
public:
CameraStereoDC1394( float imageRate=0.0f, const Transform & localTransform = Transform::getIdentity());
virtual ~CameraStereoDC1394();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
virtual bool isCalibrated() const;
virtual std::string getSerial() const;
protected:
virtual SensorData captureImage(CameraInfo * info = 0);
private:
#ifdef RTABMAP_DC1394
DC1394Device *device_;
StereoCameraModel stereoModel_;
#endif
};
} // namespace rtabmap

68
corelib/include/rtabmap/core/camera/CameraStereoFlyCapture2.h Normal file
View File

@@ -0,0 +1,68 @@
/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#pragma once
#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
#include "rtabmap/core/Camera.h"
#include "rtabmap/core/Version.h"
namespace FlyCapture2
{
class Camera;
}
namespace rtabmap
{
class RTABMAP_EXP CameraStereoFlyCapture2 :
public Camera
{
public:
static bool available();
public:
CameraStereoFlyCapture2( float imageRate=0.0f, const Transform & localTransform = Transform::getIdentity());
virtual ~CameraStereoFlyCapture2();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
virtual bool isCalibrated() const;
virtual std::string getSerial() const;
protected:
virtual SensorData captureImage(CameraInfo * info = 0);
private:
#ifdef RTABMAP_FLYCAPTURE2
FlyCapture2::Camera * camera_;
void * triclopsCtx_; // TriclopsContext
#endif
};
} // namespace rtabmap

75
corelib/include/rtabmap/core/camera/CameraStereoImages.h Normal file
View File

@@ -0,0 +1,75 @@
/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#pragma once
#include <rtabmap/core/camera/CameraImages.h>
#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
#include "rtabmap/core/StereoCameraModel.h"
#include "rtabmap/core/Version.h"
namespace rtabmap
{
class CameraImages;
class RTABMAP_EXP CameraStereoImages :
public CameraImages
{
public:
static bool available();
public:
CameraStereoImages(
const std::string & pathLeftImages,
const std::string & pathRightImages,
bool rectifyImages = false,
float imageRate=0.0f,
const Transform & localTransform = Transform::getIdentity());
CameraStereoImages(
const std::string & pathLeftRightImages,
bool rectifyImages = false,
float imageRate=0.0f,
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraStereoImages();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
virtual bool isCalibrated() const;
virtual std::string getSerial() const;
virtual void setStartIndex(int index) {CameraImages::setStartIndex(index);camera2_->setStartIndex(index);} // negative means last
protected:
virtual SensorData captureImage(CameraInfo * info = 0);
private:
CameraImages * camera2_;
StereoCameraModel stereoModel_;
};
} // namespace rtabmap

89
corelib/include/rtabmap/core/camera/CameraStereoVideo.h Normal file
View File

@@ -0,0 +1,89 @@
/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#pragma once
#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
#include "rtabmap/core/StereoCameraModel.h"
#include "rtabmap/core/camera/CameraVideo.h"
namespace rtabmap
{
class RTABMAP_EXP CameraStereoVideo :
public Camera
{
public:
static bool available();
public:
CameraStereoVideo(
const std::string & pathSideBySide,
bool rectifyImages = false,
float imageRate=0.0f,
const Transform & localTransform = Transform::getIdentity());
CameraStereoVideo(
const std::string & pathLeft,
const std::string & pathRight,
bool rectifyImages = false,
float imageRate=0.0f,
const Transform & localTransform = Transform::getIdentity());
CameraStereoVideo(
int device,
bool rectifyImages = false,
float imageRate = 0.0f,
const Transform & localTransform = Transform::getIdentity());
CameraStereoVideo(
int deviceLeft,
int deviceRight,
bool rectifyImages = false,
float imageRate = 0.0f,
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraStereoVideo();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
virtual bool isCalibrated() const;
virtual std::string getSerial() const;
protected:
virtual SensorData captureImage(CameraInfo * info = 0);
private:
cv::VideoCapture capture_;
cv::VideoCapture capture2_;
std::string path_;
std::string path2_;
bool rectifyImages_;
StereoCameraModel stereoModel_;
std::string cameraName_;
CameraVideo::Source src_;
int usbDevice_;
int usbDevice2_;
};
} // namespace rtabmap

98
corelib/include/rtabmap/core/camera/CameraStereoZed.h Normal file
View File

@@ -0,0 +1,98 @@
/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#pragma once
#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
#include "rtabmap/core/StereoCameraModel.h"
#include "rtabmap/core/camera/CameraVideo.h"
#include "rtabmap/core/Version.h"
namespace sl
{
class Camera;
}
namespace rtabmap
{
class RTABMAP_EXP CameraStereoZed :
public Camera
{
public:
static bool available();
public:
CameraStereoZed(
int deviceId,
int resolution = 2, // 0=HD2K, 1=HD1080, 2=HD720, 3=VGA
int quality = 1, // 0=NONE, 1=PERFORMANCE, 2=QUALITY
int sensingMode = 0,// 0=STANDARD, 1=FILL
int confidenceThr = 100,
bool computeOdometry = false,
float imageRate=0.0f,
const Transform & localTransform = Transform::getIdentity(),
bool selfCalibration = true);
CameraStereoZed(
const std::string & svoFilePath,
int quality = 1, // 0=NONE, 1=PERFORMANCE, 2=QUALITY
int sensingMode = 0,// 0=STANDARD, 1=FILL
int confidenceThr = 100,
bool computeOdometry = false,
float imageRate=0.0f,
const Transform & localTransform = Transform::getIdentity(),
bool selfCalibration = true);
virtual ~CameraStereoZed();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
virtual bool isCalibrated() const;
virtual std::string getSerial() const;
virtual bool odomProvided() const;
protected:
virtual SensorData captureImage(CameraInfo * info = 0);
private:
#ifdef RTABMAP_ZED
sl::Camera * zed_;
StereoCameraModel stereoModel_;
CameraVideo::Source src_;
int usbDevice_;
std::string svoFilePath_;
int resolution_;
int quality_;
bool selfCalibration_;
int sensingMode_;
int confidenceThr_;
bool computeOdometry_;
bool lost_;
#endif
};
} // namespace rtabmap

80
corelib/include/rtabmap/core/camera/CameraVideo.h Normal file
View File

@@ -0,0 +1,80 @@
/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#pragma once
#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
#include <opencv2/highgui/highgui.hpp>
#include "rtabmap/core/Camera.h"
namespace rtabmap
{
class RTABMAP_EXP CameraVideo :
public Camera
{
public:
enum Source{kVideoFile, kUsbDevice};
public:
CameraVideo(int usbDevice = 0,
bool rectifyImages = false,
float imageRate = 0,
const Transform & localTransform = Transform::getIdentity());
CameraVideo(const std::string & filePath,
bool rectifyImages = false,
float imageRate = 0,
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraVideo();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
virtual bool isCalibrated() const;
virtual std::string getSerial() const;
int getUsbDevice() const {return _usbDevice;}
const std::string & getFilePath() const {return _filePath;}
protected:
virtual SensorData captureImage(CameraInfo * info = 0);
private:
// File type
std::string _filePath;
bool _rectifyImages;
cv::VideoCapture _capture;
Source _src;
// Usb camera
int _usbDevice;
std::string _guid;
CameraModel _model;
};
} // namespace rtabmap

0
corelib/include/rtabmap/core/OdometryDVO.h → corelib/include/rtabmap/core/odometry/OdometryDVO.h
View File

0
corelib/include/rtabmap/core/OdometryF2F.h → corelib/include/rtabmap/core/odometry/OdometryF2F.h
View File

0
corelib/include/rtabmap/core/OdometryF2M.h → corelib/include/rtabmap/core/odometry/OdometryF2M.h
View File

0
corelib/include/rtabmap/core/OdometryFovis.h → corelib/include/rtabmap/core/odometry/OdometryFovis.h
View File

0
corelib/include/rtabmap/core/OdometryLOAM.h → corelib/include/rtabmap/core/odometry/OdometryLOAM.h
View File

0
corelib/include/rtabmap/core/OdometryMSCKF.h → corelib/include/rtabmap/core/odometry/OdometryMSCKF.h
View File

0
corelib/include/rtabmap/core/OdometryMono.h → corelib/include/rtabmap/core/odometry/OdometryMono.h
View File

0
corelib/include/rtabmap/core/OdometryORBSLAM2.h → corelib/include/rtabmap/core/odometry/OdometryORBSLAM2.h
View File

0
corelib/include/rtabmap/core/OdometryOkvis.h → corelib/include/rtabmap/core/odometry/OdometryOkvis.h
View File

0
corelib/include/rtabmap/core/OdometryViso2.h → corelib/include/rtabmap/core/odometry/OdometryViso2.h
View File

0
corelib/include/rtabmap/core/OptimizerCVSBA.h → corelib/include/rtabmap/core/optimizer/OptimizerCVSBA.h
View File

0
corelib/include/rtabmap/core/OptimizerG2O.h → corelib/include/rtabmap/core/optimizer/OptimizerG2O.h
View File

0
corelib/include/rtabmap/core/OptimizerGTSAM.h → corelib/include/rtabmap/core/optimizer/OptimizerGTSAM.h
View File

0
corelib/include/rtabmap/core/OptimizerTORO.h → corelib/include/rtabmap/core/optimizer/OptimizerTORO.h
View File