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GUI: Added new Freenect2 and StereoDC1394 source options.

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This commit is contained in:
Mathieu Labbe
2015-04-06 00:28:04 -04:00
parent fee32c4e25
commit 04b35b2adf
22 changed files with 765 additions and 758 deletions
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91
corelib/include/rtabmap/core/CameraRGBD.h
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@@ -80,26 +80,19 @@ class RTABMAP_EXP CameraRGBD
public:
virtual ~CameraRGBD();
void takeImage(cv::Mat & rgb, cv::Mat & depth, float & fx, float & fy, float & cx, float & cy);
virtual bool init() = 0;
virtual bool init(const std::string & calibrationFolder = ".") = 0;
virtual bool isCalibrated() const = 0;
virtual std::string getSerial() const = 0;
//getters
float getImageRate() const {return _imageRate;}
const Transform & getLocalTransform() const {return _localTransform;}
bool isMirroringEnabled() const {return _mirroring;}
float getFx() const {return _fx;}
float getFy() const {return _fy;}
float getCx() const {return _cx;}
float getCy() const {return _cy;}
//setters
void setImageRate(float imageRate) {_imageRate = imageRate;}
void setLocalTransform(const Transform & localTransform) {_localTransform= localTransform;}
void setMirroringEnabled(bool mirroring) {_mirroring = mirroring;}
void setFx(float fx) {_fx = fx;}
void setFy(float fy) {_fy = fy;}
void setCx(float cx) {_cx = cx;}
void setCy(float cy) {_cy = cy;}
protected:
/**
@@ -108,11 +101,7 @@ protected:
* @param imageRate : image/second , 0 for fast as the camera can
*/
CameraRGBD(float imageRate = 0,
const Transform & localTransform = Transform::getIdentity(),
float fx = 0.0f,
float fy = 0.0f,
float cx = 0.0f,
float cy = 0.0f);
const Transform & localTransform = Transform::getIdentity());
/**
* returned rgb and depth images should be already rectified
@@ -124,10 +113,6 @@ private:
Transform _localTransform;
bool _mirroring;
UTimer * _frameRateTimer;
float _fx;
float _fy;
float _cx;
float _cy;
};
/////////////////////////
@@ -143,11 +128,7 @@ public:
// default local transform z in, x right, y down));
CameraOpenni(const std::string & deviceId="",
float imageRate = 0,
const Transform & localTransform = Transform::getIdentity(),
float fx = 0.0f,
float fy = 0.0f,
float cx = 0.0f,
float cy = 0.0f);
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraOpenni();
void image_cb (
@@ -155,7 +136,8 @@ public:
const boost::shared_ptr<openni_wrapper::DepthImage>& depth,
float constant);
virtual bool init();
virtual bool init(const std::string & calibrationFolder = ".");
virtual bool isCalibrated() const;
virtual std::string getSerial() const;
protected:
@@ -185,14 +167,11 @@ public:
public:
CameraOpenNICV(bool asus = false,
float imageRate = 0,
const Transform & localTransform = Transform::getIdentity(),
float fx = 0.0f,
float fy = 0.0f,
float cx = 0.0f,
float cy = 0.0f);
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraOpenNICV();
virtual bool init();
virtual bool init(const std::string & calibrationFolder = ".");
virtual bool isCalibrated() const;
virtual std::string getSerial() const {return "";} // unknown with OpenCV
protected:
@@ -218,14 +197,11 @@ public:
public:
CameraOpenNI2(const std::string & deviceId = "",
float imageRate = 0,
const Transform & localTransform = Transform::getIdentity(),
float fx = 0.0f,
float fy = 0.0f,
float cx = 0.0f,
float cy = 0.0f);
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraOpenNI2();
virtual bool init();
virtual bool init(const std::string & calibrationFolder = ".");
virtual bool isCalibrated() const;
virtual std::string getSerial() const;
bool setAutoWhiteBalance(bool enabled);
@@ -262,14 +238,11 @@ public:
// default local transform z in, x right, y down));
CameraFreenect(int deviceId= 0,
float imageRate=0.0f,
const Transform & localTransform = Transform::getIdentity(),
float fx = 0.0f,
float fy = 0.0f,
float cx = 0.0f,
float cy = 0.0f);
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraFreenect();
bool init();
bool init(const std::string & calibrationFolder = ".");
virtual bool isCalibrated() const;
virtual std::string getSerial() const;
protected:
@@ -295,14 +268,11 @@ public:
// default local transform z in, x right, y down));
CameraFreenect2(int deviceId= 0,
float imageRate=0.0f,
const Transform & localTransform = Transform::getIdentity(),
float fx = 0.0f,
float fy = 0.0f,
float cx = 0.0f,
float cy = 0.0f);
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraFreenect2();
bool init();
bool init(const std::string & calibrationFolder = ".");
virtual bool isCalibrated() const;
virtual std::string getSerial() const;
protected:
@@ -320,39 +290,24 @@ private:
/////////////////////////
class DC1394Device;
class RTABMAP_EXP CameraDC1394 :
class RTABMAP_EXP CameraStereoDC1394 :
public CameraRGBD
{
public:
static bool available();
public:
// The first constructor will not check for calibration files, so
// the images returned won't be rectified
CameraDC1394( float imageRate=0.0f,
const Transform & localTransform = Transform::getIdentity(),
float fx = 0.0f,
float fy = 0.0f,
float cx = 0.0f,
float cy = 0.0f);
CameraDC1394(const std::string & calibrationFolder,
float imageRate=0.0f,
const Transform & localTransform = Transform::getIdentity(),
float fx = 0.0f,
float fy = 0.0f,
float cx = 0.0f,
float cy = 0.0f);
virtual ~CameraDC1394();
CameraStereoDC1394( float imageRate=0.0f, const Transform & localTransform = Transform::getIdentity());
virtual ~CameraStereoDC1394();
bool init();
bool init(const std::string & calibrationFolder = ".");
virtual bool isCalibrated() const;
virtual std::string getSerial() const;
protected:
virtual void captureImage(cv::Mat & left, cv::Mat & right, float & fx, float & baseline, float & cx, float & cy);
private:
bool lookForCalibration_;
std::string calibrationFolder_;
DC1394Device *device_;
StereoCameraModel stereoModel_;
};