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K4A mapping working now (#554)

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* Added Kinect for Azure menu option

* Reintegrated Kinect for Azure initialization code, fixed previous GUI commit

* Added ifdefs to fix build

* Added preliminary K4A device support

* Edits to K4A camera implementation

* K4A minor initialization fix

* Typo

* Another initialization fix

* Update CameraRGBD tool to display K4A camera output

* K4A added model parameter so we can create maps
This commit is contained in:
Thomas Kircher
2020-05-25 07:46:16 -08:00
committed by GitHub
parent 6acfc62196
commit 35385e299d
1 changed files with 24 additions and 37 deletions
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61
corelib/src/camera/CameraK4A.cpp
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@@ -244,6 +244,29 @@ bool CameraK4A::init(const std::string & calibrationFolder, const std::string &
return false;
}
if (ir_)
{
model_ = CameraModel(
calibration_.depth_camera_calibration.intrinsics.parameters.param.fx,
calibration_.depth_camera_calibration.intrinsics.parameters.param.fy,
calibration_.depth_camera_calibration.intrinsics.parameters.param.cx,
calibration_.depth_camera_calibration.intrinsics.parameters.param.cy,
this->getLocalTransform(),
0,
cv::Size(calibration_.depth_camera_calibration.resolution_width, calibration_.depth_camera_calibration.resolution_height));
}
else
{
model_ = CameraModel(
calibration_.color_camera_calibration.intrinsics.parameters.param.fx,
calibration_.color_camera_calibration.intrinsics.parameters.param.fy,
calibration_.color_camera_calibration.intrinsics.parameters.param.cx,
calibration_.color_camera_calibration.intrinsics.parameters.param.cy,
this->getLocalTransform(),
0,
cv::Size(calibration_.color_camera_calibration.resolution_width, calibration_.color_camera_calibration.resolution_height));
}
transformation_ = k4a_transformation_create(&calibration_);
if (K4A_FAILED(k4a_device_start_imu(device_)))
@@ -507,7 +530,6 @@ SensorData CameraK4A::captureImage(CameraInfo * info)
cv::Mat bgrCV;
cv::Mat depthCV;
IMU imu;
double stamp = 0;
if (ir_)
{
@@ -619,46 +641,11 @@ SensorData CameraK4A::captureImage(CameraInfo * info)
// Relay the data to rtabmap
if (!bgrCV.empty() && !depthCV.empty())
{
data = SensorData(bgrCV, depthCV, model_, this->getNextSeqID(), stamp);
data = SensorData(bgrCV, depthCV, model_, this->getNextSeqID(), UTimer::now());
data.setIMU(imu);
// Frame rate
if (this->getImageRate() < 0.0f)
{
if (previousStamp_ > 0)
{
float ratio = -this->getImageRate();
int sleepTime = 1000.0*(stamp - previousStamp_) / ratio - 1000.0*timer_.getElapsedTime();
if (sleepTime > 10000)
{
UWARN("Detected long delay (%d sec, stamps = %f vs %f). Waiting a maximum of 10 seconds.",
sleepTime / 1000, previousStamp_, stamp);
sleepTime = 10000;
}
if (sleepTime > 2)
{
uSleep(sleepTime - 2);
}
// Add precision at the cost of a small overhead
while (timer_.getElapsedTime() < (stamp - previousStamp_) / ratio - 0.000001)
{
//
}
double slept = timer_.getElapsedTime();
timer_.start();
UDEBUG("slept=%fs vs target=%fs (ratio=%f)", slept, (stamp - previousStamp_) / ratio, ratio);
}
previousStamp_ = stamp;
}
}
}
}
#else
UERROR("CameraK4A: RTAB-Map is not built with Kinect for Azure SDK support!");
#endif