mirror of
https://github.com/introlab/rtabmap.git
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Camera refactoring (#315)
* 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
@@ -27,483 +27,13 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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#pragma once
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#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
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#include <rtabmap/core/camera/CameraFreenect.h>
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#include <rtabmap/core/camera/CameraFreenect2.h>
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#include <rtabmap/core/camera/CameraK4W2.h>
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#include <rtabmap/core/camera/CameraOpenni.h>
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#include <rtabmap/core/camera/CameraOpenNI2.h>
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#include <rtabmap/core/camera/CameraOpenNICV.h>
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#include <rtabmap/core/camera/CameraRealSense.h>
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#include <rtabmap/core/camera/CameraRealSense2.h>
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#include <rtabmap/core/camera/CameraRGBDImages.h>
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#include "rtabmap/utilite/UMutex.h"
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#include "rtabmap/utilite/USemaphore.h"
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#include "rtabmap/core/CameraModel.h"
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#include "rtabmap/core/Camera.h"
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#include "rtabmap/core/CameraRGB.h"
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#include "rtabmap/core/Version.h"
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#include <pcl/pcl_config.h>
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#ifdef HAVE_OPENNI
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#if __linux__ && __i386__ && __cplusplus >= 201103L
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#warning "Openni driver is not available on i386 when building with c++11 support"
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#else
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#define RTABMAP_OPENNI
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#include <pcl/io/openni_camera/openni_depth_image.h>
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#include <pcl/io/openni_camera/openni_image.h>
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#endif
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#endif
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#include <boost/signals2/connection.hpp>
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namespace openni
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{
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class Device;
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class VideoStream;
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}
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namespace pcl
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{
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class Grabber;
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}
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namespace libfreenect2
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{
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class Freenect2;
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class Freenect2Device;
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class SyncMultiFrameListener;
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class Registration;
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class PacketPipeline;
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}
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namespace rs
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{
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class context;
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class device;
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namespace slam {
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class slam;
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}
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}
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namespace rs2
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{
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class context;
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class device;
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class syncer;
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}
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struct rs2_intrinsics;
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struct rs2_extrinsics;
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typedef struct _freenect_context freenect_context;
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typedef struct _freenect_device freenect_device;
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typedef struct IKinectSensor IKinectSensor;
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typedef struct ICoordinateMapper ICoordinateMapper;
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typedef struct _DepthSpacePoint DepthSpacePoint;
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typedef struct _ColorSpacePoint ColorSpacePoint;
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typedef struct tagRGBQUAD RGBQUAD;
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typedef struct IMultiSourceFrameReader IMultiSourceFrameReader;
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namespace rtabmap
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{
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/////////////////////////
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// CameraOpenNIPCL
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/////////////////////////
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class RTABMAP_EXP CameraOpenni :
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public Camera
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{
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public:
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static bool available();
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public:
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// default local transform z in, x right, y down));
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CameraOpenni(const std::string & deviceId="",
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float imageRate = 0,
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const Transform & localTransform = Transform::getIdentity());
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virtual ~CameraOpenni();
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#ifdef RTABMAP_OPENNI
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void image_cb (
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const boost::shared_ptr<openni_wrapper::Image>& rgb,
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const boost::shared_ptr<openni_wrapper::DepthImage>& depth,
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float constant);
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#endif
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virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
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virtual bool isCalibrated() const;
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virtual std::string getSerial() const;
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protected:
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virtual SensorData captureImage(CameraInfo * info = 0);
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private:
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pcl::Grabber* interface_;
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std::string deviceId_;
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boost::signals2::connection connection_;
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cv::Mat depth_;
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cv::Mat rgb_;
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float depthConstant_;
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UMutex dataMutex_;
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USemaphore dataReady_;
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};
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/////////////////////////
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// CameraOpenNICV
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/////////////////////////
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class RTABMAP_EXP CameraOpenNICV :
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public Camera
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{
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public:
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static bool available();
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public:
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CameraOpenNICV(bool asus = false,
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float imageRate = 0,
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const Transform & localTransform = Transform::getIdentity());
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virtual ~CameraOpenNICV();
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virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
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virtual bool isCalibrated() const;
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virtual std::string getSerial() const {return "";} // unknown with OpenCV
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protected:
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virtual SensorData captureImage(CameraInfo * info = 0);
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private:
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bool _asus;
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cv::VideoCapture _capture;
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float _depthFocal;
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};
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/////////////////////////
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// CameraOpenNI2
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/////////////////////////
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class RTABMAP_EXP CameraOpenNI2 :
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public Camera
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{
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public:
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static bool available();
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static bool exposureGainAvailable();
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enum Type {kTypeColorDepth, kTypeIRDepth, kTypeIR};
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public:
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CameraOpenNI2(const std::string & deviceId = "",
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Type type = kTypeColorDepth,
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float imageRate = 0,
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const Transform & localTransform = Transform::getIdentity());
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virtual ~CameraOpenNI2();
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virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
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virtual bool isCalibrated() const;
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virtual std::string getSerial() const;
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bool setAutoWhiteBalance(bool enabled);
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bool setAutoExposure(bool enabled);
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bool setExposure(int value);
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bool setGain(int value);
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bool setMirroring(bool enabled);
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void setOpenNI2StampsAndIDsUsed(bool used);
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void setIRDepthShift(int horizontal, int vertical);
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protected:
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virtual SensorData captureImage(CameraInfo * info = 0);
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private:
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#ifdef RTABMAP_OPENNI2
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Type _type;
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openni::Device * _device;
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openni::VideoStream * _color;
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openni::VideoStream * _depth;
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float _depthFx;
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float _depthFy;
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std::string _deviceId;
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bool _openNI2StampsAndIDsUsed;
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StereoCameraModel _stereoModel;
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int _depthHShift;
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int _depthVShift;
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#endif
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};
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/////////////////////////
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// CameraFreenect
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/////////////////////////
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class FreenectDevice;
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class RTABMAP_EXP CameraFreenect :
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public Camera
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{
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public:
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static bool available();
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enum Type {kTypeColorDepth, kTypeIRDepth};
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public:
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// default local transform z in, x right, y down));
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CameraFreenect(int deviceId= 0,
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Type type = kTypeColorDepth,
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float imageRate=0.0f,
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const Transform & localTransform = Transform::getIdentity());
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virtual ~CameraFreenect();
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virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
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virtual bool isCalibrated() const;
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virtual std::string getSerial() const;
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protected:
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virtual SensorData captureImage(CameraInfo * info = 0);
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private:
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#ifdef RTABMAP_FREENECT
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int deviceId_;
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Type type_;
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freenect_context * ctx_;
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FreenectDevice * freenectDevice_;
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StereoCameraModel stereoModel_;
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#endif
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};
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/////////////////////////
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// CameraFreenect2
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/////////////////////////
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class RTABMAP_EXP CameraFreenect2 :
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public Camera
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{
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public:
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static bool available();
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enum Type{
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kTypeColor2DepthSD,
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kTypeDepth2ColorSD,
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kTypeDepth2ColorHD,
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kTypeDepth2ColorHD2,
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kTypeIRDepth,
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kTypeColorIR
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};
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public:
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// default local transform z in, x right, y down));
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CameraFreenect2(int deviceId= 0,
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Type type = kTypeDepth2ColorSD,
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float imageRate=0.0f,
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const Transform & localTransform = Transform::getIdentity(),
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float minDepth = 0.3f,
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float maxDepth = 12.0f,
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bool bilateralFiltering = true,
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bool edgeAwareFiltering = true,
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bool noiseFiltering = true,
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const std::string & pipelineName = "");
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virtual ~CameraFreenect2();
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virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
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virtual bool isCalibrated() const;
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virtual std::string getSerial() const;
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protected:
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virtual SensorData captureImage(CameraInfo * info = 0);
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private:
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#ifdef RTABMAP_FREENECT2
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int deviceId_;
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Type type_;
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StereoCameraModel stereoModel_;
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libfreenect2::Freenect2 * freenect2_;
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libfreenect2::Freenect2Device *dev_;
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libfreenect2::SyncMultiFrameListener * listener_;
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libfreenect2::Registration * reg_;
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float minKinect2Depth_;
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float maxKinect2Depth_;
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bool bilateralFiltering_;
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bool edgeAwareFiltering_;
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bool noiseFiltering_;
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std::string pipelineName_;
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#endif
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};
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/////////////////////////
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// CameraK4W2
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/////////////////////////
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class RTABMAP_EXP CameraK4W2 :
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public Camera
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{
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public:
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static bool available();
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enum Type {
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kTypeColor2DepthSD,
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kTypeDepth2ColorSD,
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kTypeDepth2ColorHD
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};
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public:
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static const int cDepthWidth = 512;
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static const int cDepthHeight = 424;
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static const int cColorWidth = 1920;
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static const int cColorHeight = 1080;
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public:
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// default local transform z in, x right, y down));
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CameraK4W2(int deviceId = 0, // not used
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Type type = kTypeDepth2ColorSD,
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float imageRate = 0.0f,
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const Transform & localTransform = Transform::getIdentity());
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virtual ~CameraK4W2();
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virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
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virtual bool isCalibrated() const;
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virtual std::string getSerial() const;
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protected:
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virtual SensorData captureImage(CameraInfo * info = 0);
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private:
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void close();
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private:
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#ifdef RTABMAP_K4W2
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Type type_;
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IKinectSensor* pKinectSensor_;
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ICoordinateMapper* pCoordinateMapper_;
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DepthSpacePoint* pDepthCoordinates_;
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ColorSpacePoint* pColorCoordinates_;
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IMultiSourceFrameReader* pMultiSourceFrameReader_;
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RGBQUAD * pColorRGBX_;
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INT_PTR hMSEvent;
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CameraModel colorCameraModel_;
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#endif
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};
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/////////////////////////
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// CameraRealSense
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/////////////////////////
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class slam_event_handler;
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class RTABMAP_EXP CameraRealSense :
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public Camera
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{
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public:
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static bool available();
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enum RGBSource {kColor, kInfrared, kFishEye};
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public:
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// default local transform z in, x right, y down));
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CameraRealSense(
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int deviceId = 0,
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int presetRGB = 0, // 0=best quality, 1=largest image, 2=highest framerate
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int presetDepth = 0, // 0=best quality, 1=largest image, 2=highest framerate
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bool computeOdometry = false,
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float imageRate = 0,
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const Transform & localTransform = Transform::getIdentity());
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virtual ~CameraRealSense();
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void setDepthScaledToRGBSize(bool enabled);
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void setRGBSource(RGBSource source);
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virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
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virtual bool isCalibrated() const;
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virtual std::string getSerial() const;
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virtual bool odomProvided() const;
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protected:
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virtual SensorData captureImage(CameraInfo * info = 0);
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private:
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#ifdef RTABMAP_REALSENSE
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rs::context * ctx_;
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rs::device * dev_;
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int deviceId_;
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int presetRGB_;
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int presetDepth_;
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bool computeOdometry_;
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bool depthScaledToRGBSize_;
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RGBSource rgbSource_;
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CameraModel cameraModel_;
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std::vector<int> rsRectificationTable_;
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int motionSeq_[2];
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rs::slam::slam * slam_;
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UMutex slamLock_;
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std::map<double, std::pair<cv::Mat, cv::Mat> > bufferedFrames_;
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std::pair<cv::Mat, cv::Mat> lastSyncFrames_;
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UMutex dataMutex_;
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USemaphore dataReady_;
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#endif
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};
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/////////////////////////
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// CameraRealSense2
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/////////////////////////
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class slam_event_handler;
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class RTABMAP_EXP CameraRealSense2 :
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public Camera
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{
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public:
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static bool available();
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public:
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// default local transform z in, x right, y down));
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CameraRealSense2(
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const std::string & deviceId = "",
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float imageRate = 0,
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const Transform & localTransform = Transform::getIdentity());
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virtual ~CameraRealSense2();
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virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
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virtual bool isCalibrated() const;
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virtual std::string getSerial() const;
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// parameters are set during initialization
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void setEmitterEnabled(bool enabled);
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void setIRDepthFormat(bool enabled);
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protected:
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virtual SensorData captureImage(CameraInfo * info = 0);
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private:
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#ifdef RTABMAP_REALSENSE2
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rs2::context * ctx_;
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rs2::device * dev_;
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std::string deviceId_;
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rs2::syncer * syncer_;
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float depth_scale_meters_;
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rs2_intrinsics * depthIntrinsics_;
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rs2_intrinsics * rgbIntrinsics_;
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rs2_extrinsics * depthToRGBExtrinsics_;
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cv::Mat depthBuffer_;
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cv::Mat rgbBuffer_;
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CameraModel model_;
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bool emitterEnabled_;
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bool irDepth_;
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#endif
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};
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/////////////////////////
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// CameraRGBDImages
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/////////////////////////
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class CameraImages;
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class RTABMAP_EXP CameraRGBDImages :
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public CameraImages
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{
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public:
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static bool available();
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public:
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CameraRGBDImages(
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const std::string & pathRGBImages,
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const std::string & pathDepthImages,
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float depthScaleFactor = 1.0f,
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float imageRate=0.0f,
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const Transform & localTransform = Transform::getIdentity());
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virtual ~CameraRGBDImages();
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virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
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virtual bool isCalibrated() const;
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virtual std::string getSerial() const;
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virtual void setStartIndex(int index) {CameraImages::setStartIndex(index);cameraDepth_.setStartIndex(index);} // negative means last
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protected:
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virtual SensorData captureImage(CameraInfo * info = 0);
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private:
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CameraImages cameraDepth_;
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};
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} // namespace rtabmap
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