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Added CameraRGBDImages class (read RGB-D images from a folder)

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This commit is contained in:
matlabbe
2015-07-30 14:17:29 -04:00
parent 38807bf12e
commit 2877a14360
24 changed files with 1315 additions and 237 deletions
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60
corelib/src/CameraRGB.cpp
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@@ -51,6 +51,7 @@ CameraImages::CameraImages(const std::string & path,
int startAt,
bool refreshDir,
bool rectifyImages,
bool isDepth,
float imageRate,
const Transform & localTransform) :
Camera(imageRate, localTransform),
@@ -58,6 +59,7 @@ CameraImages::CameraImages(const std::string & path,
_startAt(startAt),
_refreshDir(refreshDir),
_rectifyImages(rectifyImages),
_isDepth(isDepth),
_count(0),
_dir(0)
{
@@ -106,7 +108,7 @@ bool CameraImages::init(const std::string & calibrationFolder, const std::string
// look for calibration files
if(!calibrationFolder.empty() && !cameraName.empty())
{
if(!_model.load(calibrationFolder + "/" + cameraName + ".yaml"))
if(!_model.load(calibrationFolder, cameraName))
{
UWARN("Missing calibration files for camera \"%s\" in \"%s\" folder, you should calibrate the camera!",
cameraName.c_str(), calibrationFolder.c_str());
@@ -150,6 +152,15 @@ unsigned int CameraImages::imagesCount() const
return 0;
}
std::vector<std::string> CameraImages::filenames() const
{
if(_dir)
{
return uListToVector(_dir->getFileNames());
}
return std::vector<std::string>();
}
SensorData CameraImages::captureImage()
{
cv::Mat img;
@@ -197,24 +208,37 @@ SensorData CameraImages::captureImage()
UDEBUG("width=%d, height=%d, channels=%d, elementSize=%d, total=%d",
img.cols, img.rows, img.channels(), img.elemSize(), img.total());
#if CV_MAJOR_VERSION < 3
// FIXME : it seems that some png are incorrectly loaded with opencv c++ interface, where c interface works...
if(img.depth() != CV_8U)
if(_isDepth)
{
// The depth should be 8U
UWARN("Cannot read the image correctly, falling back to old OpenCV C interface...");
IplImage * i = cvLoadImage(fullPath.c_str());
img = cv::Mat(i, true);
cvReleaseImage(&i);
if(img.type() != CV_16UC1 && img.type() != CV_32FC1)
{
UERROR("Depth is on and the loaded image has not a format supported (file = \"%s\"). "
"Formats supported are 16 bits 1 channel and 32 bits 1 channel.",
fileName.c_str());
img = cv::Mat();
}
}
else
{
#if CV_MAJOR_VERSION < 3
// FIXME : it seems that some png are incorrectly loaded with opencv c++ interface, where c interface works...
if(img.depth() != CV_8U)
{
// The depth should be 8U
UWARN("Cannot read the image correctly, falling back to old OpenCV C interface...");
IplImage * i = cvLoadImage(fullPath.c_str());
img = cv::Mat(i, true);
cvReleaseImage(&i);
}
#endif
if(img.channels()>3)
{
UWARN("Conversion from 4 channels to 3 channels (file=%s)", fullPath.c_str());
cv::Mat out;
cv::cvtColor(img, out, CV_BGRA2BGR);
img = out;
if(img.channels()>3)
{
UWARN("Conversion from 4 channels to 3 channels (file=%s)", fullPath.c_str());
cv::Mat out;
cv::cvtColor(img, out, CV_BGRA2BGR);
img = out;
}
}
}
}
@@ -230,6 +254,10 @@ SensorData CameraImages::captureImage()
UWARN("Directory is not set, camera must be initialized.");
}
if(_isDepth)
{
return SensorData(cv::Mat(), img, _model, this->getNextSeqID(), UTimer::now());
}
return SensorData(img, _model, this->getNextSeqID(), UTimer::now());
}
@@ -307,7 +335,7 @@ bool CameraVideo::init(const std::string & calibrationFolder, const std::string
// look for calibration files
if(!calibrationFolder.empty() && (!_guid.empty() || !cameraName.empty()))
{
if(!_model.load(calibrationFolder + "/" + (cameraName.empty()?_guid:cameraName) + ".yaml"))
if(!_model.load(calibrationFolder, (cameraName.empty()?_guid:cameraName)))
{
UWARN("Missing calibration files for camera \"%s\" in \"%s\" folder, you should calibrate the camera!",
cameraName.empty()?_guid.c_str():cameraName.c_str(), calibrationFolder.c_str());