mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-12 06:20:19 +08:00
Version 0.8.9: added FlyCapture2 driver for bumblebee2 (tested only on Windows)
This commit is contained in:
Mathieu Labbé
+8
-1
@@ -20,7 +20,7 @@ SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
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#######################
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SET(RTABMAP_MAJOR_VERSION 0)
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SET(RTABMAP_MINOR_VERSION 8)
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SET(RTABMAP_PATCH_VERSION 8)
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SET(RTABMAP_PATCH_VERSION 9)
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SET(RTABMAP_VERSION
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${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION})
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@@ -138,6 +138,7 @@ FIND_PACKAGE(freenect2 QUIET)
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FIND_PACKAGE(OpenNI2)
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FIND_PACKAGE(DC1394)
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FIND_PACKAGE(G2O)
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FIND_PACKAGE(FlyCapture2)
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# If Qt is here, the GUI will be built
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IF("${RTABMAP_QT_VERSION}" STREQUAL "4")
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@@ -357,6 +358,12 @@ ELSE()
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MESSAGE(STATUS " With dc1394 = NO (dc1394 not found)")
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ENDIF()
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IF(FlyCapture2_FOUND)
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MESSAGE(STATUS " With FlyCapture2/Triclops = YES")
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ELSE()
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MESSAGE(STATUS " With FlyCapture2/Triclops = NO (Point Grey SDK not found)")
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ENDIF()
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IF(G2O_FOUND)
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MESSAGE(STATUS " With g2o = YES")
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ELSE()
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@@ -0,0 +1,36 @@
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# - Find FlyCapture2
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# This module finds an installed FlyCapture2+Triclops stereo camera package. (Point Grey SDK)
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#
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# It sets the following variables:
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# FlyCapture2_FOUND - Set to false, or undefined, if FlyCapture2 isn't found.
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# FlyCapture2_INCLUDE_DIRS - The FlyCapture2 include directory.
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# FlyCapture2_LIBRARIES - The FlyCapture2 library to link against.
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#FlyCapture2 SDK
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find_path(FlyCapture2_INCLUDE_DIR NAMES FlyCapture2.h PATHS $ENV{FlyCapture2_ROOT_DIR}/include)
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find_library(FlyCapture2_LIBRARY NAMES FlyCapture2_v100 FlyCapture2 flycapture2 PATHS $ENV{FlyCapture2_ROOT_DIR}/lib64 $ENV{FlyCapture2_ROOT_DIR}/lib)
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# Triclops SDK
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find_path(Triclops_INCLUDE_DIR NAMES triclops.h PATHS $ENV{Triclops_ROOT_DIR}/include)
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find_library(Triclops_LIBRARY NAMES triclops triclops_v100 PATHS $ENV{Triclops_ROOT_DIR}/lib64 $ENV{Triclops_ROOT_DIR}/lib)
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find_library(FlyCaptureBridge_LIBRARY NAMES flycapture2bridge flycapture2bridge_v100 PATHS $ENV{Triclops_ROOT_DIR}/lib64 $ENV{Triclops_ROOT_DIR}/lib)
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find_library(pnmutils_LIBRARY NAMES pnmutils pnmutils_v100 PATHS $ENV{Triclops_ROOT_DIR}/lib64 $ENV{Triclops_ROOT_DIR}/lib)
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IF (FlyCapture2_INCLUDE_DIR AND Triclops_INCLUDE_DIR AND FlyCapture2_LIBRARY AND Triclops_LIBRARY AND FlyCaptureBridge_LIBRARY AND pnmutils_LIBRARY)
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SET(FlyCapture2_FOUND TRUE)
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SET(FlyCapture2_INCLUDE_DIRS ${FlyCapture2_INCLUDE_DIR} ${Triclops_INCLUDE_DIR})
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SET(FlyCapture2_LIBRARIES ${FlyCapture2_LIBRARY} ${Triclops_LIBRARY} ${FlyCaptureBridge_LIBRARY} ${pnmutils_LIBRARY})
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ENDIF (FlyCapture2_INCLUDE_DIR AND Triclops_INCLUDE_DIR AND FlyCapture2_LIBRARY AND Triclops_LIBRARY AND FlyCaptureBridge_LIBRARY AND pnmutils_LIBRARY)
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IF (FlyCapture2_FOUND)
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# show which FlyCapture2 was found only if not quiet
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IF (NOT FlyCapture2_FIND_QUIETLY)
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MESSAGE(STATUS "Found FlyCapture2: ${FlyCapture2_LIBRARIES}")
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ENDIF (NOT FlyCapture2_FIND_QUIETLY)
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ELSE (FlyCapture2_FOUND)
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# fatal error if FlyCapture2 is required but not found
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IF (FlyCapture2_FIND_REQUIRED)
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MESSAGE(FATAL_ERROR "Could not find FlyCapture2 (FlyCapture2 Stereo Vision SDK)")
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ENDIF (FlyCapture2_FIND_REQUIRED)
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ENDIF (FlyCapture2_FOUND)
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@@ -30,9 +30,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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#include <opencv2/opencv.hpp>
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#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
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namespace rtabmap {
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class CameraModel
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class RTABMAP_EXP CameraModel
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{
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public:
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CameraModel();
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@@ -65,6 +65,11 @@ class Freenect2Device;
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class SyncMultiFrameListener;
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}
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namespace FlyCapture2
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{
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class Camera;
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}
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typedef struct _freenect_context freenect_context;
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typedef struct _freenect_device freenect_device;
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@@ -80,6 +85,7 @@ class RTABMAP_EXP CameraRGBD
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public:
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virtual ~CameraRGBD();
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void takeImage(cv::Mat & rgb, cv::Mat & depth, float & fx, float & fy, float & cx, float & cy);
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virtual bool init(const std::string & calibrationFolder = ".") = 0;
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virtual bool isCalibrated() const = 0;
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virtual std::string getSerial() const = 0;
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@@ -241,7 +247,7 @@ public:
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const Transform & localTransform = Transform::getIdentity());
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virtual ~CameraFreenect();
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bool init(const std::string & calibrationFolder = ".");
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virtual bool init(const std::string & calibrationFolder = ".");
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virtual bool isCalibrated() const;
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virtual std::string getSerial() const;
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@@ -271,7 +277,7 @@ public:
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const Transform & localTransform = Transform::getIdentity());
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virtual ~CameraFreenect2();
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bool init(const std::string & calibrationFolder = ".");
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virtual bool init(const std::string & calibrationFolder = ".");
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virtual bool isCalibrated() const;
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virtual std::string getSerial() const;
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@@ -286,7 +292,7 @@ private:
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};
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/////////////////////////
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// CameraDC1394
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// CameraStereoDC1394
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/////////////////////////
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class DC1394Device;
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@@ -300,7 +306,7 @@ public:
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CameraStereoDC1394( float imageRate=0.0f, const Transform & localTransform = Transform::getIdentity());
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virtual ~CameraStereoDC1394();
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bool init(const std::string & calibrationFolder = ".");
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virtual bool init(const std::string & calibrationFolder = ".");
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virtual bool isCalibrated() const;
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virtual std::string getSerial() const;
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@@ -312,4 +318,29 @@ private:
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StereoCameraModel stereoModel_;
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};
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/////////////////////////
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// CameraStereoFlyCapture2
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/////////////////////////
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class RTABMAP_EXP CameraStereoFlyCapture2 :
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public CameraRGBD
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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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CameraStereoFlyCapture2( float imageRate=0.0f, const Transform & localTransform = Transform::getIdentity());
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virtual ~CameraStereoFlyCapture2();
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virtual bool init(const std::string & calibrationFolder = ".");
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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 void captureImage(cv::Mat & left, cv::Mat & right, float & fx, float & baseline, float & cx, float & cy);
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private:
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FlyCapture2::Camera * camera_;
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void * triclopsCtx_; // TriclopsContext
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};
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} // namespace rtabmap
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@@ -108,6 +108,18 @@ IF(DC1394_FOUND)
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)
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ENDIF(DC1394_FOUND)
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IF(FlyCapture2_FOUND)
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ADD_DEFINITIONS("-DWITH_FLYCAPTURE2")
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SET(INCLUDE_DIRS
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${INCLUDE_DIRS}
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${FlyCapture2_INCLUDE_DIRS}
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)
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SET(LIBRARIES
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${LIBRARIES}
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${FlyCapture2_LIBRARIES}
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)
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ENDIF(FlyCapture2_FOUND)
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IF(G2O_FOUND)
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ADD_DEFINITIONS("-DWITH_G2O")
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SET(INCLUDE_DIRS
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+291
-1
@@ -63,6 +63,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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#include <OpenNI.h>
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#endif
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#ifdef WITH_FLYCAPTURE2
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#include <triclops.h>
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#include <fc2triclops.h>
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#endif
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namespace rtabmap
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{
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@@ -639,10 +644,12 @@ bool CameraOpenNI2::isCalibrated() const
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std::string CameraOpenNI2::getSerial() const
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{
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#ifdef WITH_OPENNI2
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if(_device)
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{
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return _device->getDeviceInfo().getName();
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}
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#endif
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return "";
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}
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@@ -962,7 +969,10 @@ bool CameraFreenect::init(const std::string & calibrationFolder)
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bool CameraFreenect::isCalibrated() const
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{
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#ifdef WITH_FREENECT
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return freenectDevice_ != 0 && freenectDevice_->getDepthFocal() > 0.0f;
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#endif
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return false;
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}
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std::string CameraFreenect::getSerial() const
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@@ -1162,7 +1172,7 @@ void CameraFreenect2::captureImage(cv::Mat & rgb, cv::Mat & depth, float & fx, f
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}
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//
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// CameraDC1394
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// CameraStereoDC1394
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// Inspired from ROS camera1394stereo package
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//
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@@ -1487,6 +1497,14 @@ bool CameraStereoDC1394::init(const std::string & calibrationFolder)
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UWARN("Missing calibration files for camera \"%s\" in \"%s\" folder, you should calibrate the camera!",
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device_->guid().c_str(), calibrationFolder.c_str());
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}
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else
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{
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UINFO("Stereo parameters: fx=%f cx=%f cy=%f baseline=%f",
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stereoModel_.left().fx(),
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stereoModel_.left().cx(),
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stereoModel_.left().cy(),
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stereoModel_.baseline());
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}
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}
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}
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return ok;
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@@ -1539,4 +1557,276 @@ void CameraStereoDC1394::captureImage(cv::Mat & left, cv::Mat & right, float & f
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#endif
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}
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//
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// CameraTriclops
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//
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CameraStereoFlyCapture2::CameraStereoFlyCapture2(float imageRate, const Transform & localTransform) :
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CameraRGBD(imageRate, localTransform),
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camera_(0),
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triclopsCtx_(0)
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{
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#ifdef WITH_FLYCAPTURE2
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camera_ = new FlyCapture2::Camera();
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#endif
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}
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CameraStereoFlyCapture2::~CameraStereoFlyCapture2()
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{
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#ifdef WITH_FLYCAPTURE2
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// Close the camera
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camera_->StopCapture();
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camera_->Disconnect();
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// Destroy the Triclops context
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triclopsDestroyContext( triclopsCtx_ ) ;
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delete camera_;
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#endif
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}
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bool CameraStereoFlyCapture2::available()
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{
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#ifdef WITH_FLYCAPTURE2
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return true;
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#else
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return false;
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#endif
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}
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bool CameraStereoFlyCapture2::init(const std::string & calibrationFolder)
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{
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#ifdef WITH_FLYCAPTURE2
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if(camera_)
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{
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// Close the camera
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camera_->StopCapture();
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camera_->Disconnect();
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}
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if(triclopsCtx_)
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{
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triclopsDestroyContext(triclopsCtx_);
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triclopsCtx_ = 0;
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}
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// connect camera
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FlyCapture2::Error fc2Error = camera_->Connect();
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if(fc2Error != FlyCapture2::PGRERROR_OK)
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{
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UERROR("Failed to connect the camera.");
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return false;
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}
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// configure camera
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Fc2Triclops::StereoCameraMode mode = Fc2Triclops::TWO_CAMERA_NARROW;
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if(Fc2Triclops::setStereoMode(*camera_, mode ))
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{
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UERROR("Failed to set stereo mode.");
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return false;
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}
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// generate the Triclops context
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FlyCapture2::CameraInfo camInfo;
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if(camera_->GetCameraInfo(&camInfo) != FlyCapture2::PGRERROR_OK)
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{
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UERROR("Failed to get camera info.");
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return false;
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}
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float dummy;
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unsigned packetSz;
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FlyCapture2::Format7ImageSettings imageSettings;
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int maxWidth = 640;
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int maxHeight = 480;
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if(camera_->GetFormat7Configuration(&imageSettings, &packetSz, &dummy) == FlyCapture2::PGRERROR_OK)
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{
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maxHeight = imageSettings.height;
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maxWidth = imageSettings.width;
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}
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// Get calibration from th camera
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if(Fc2Triclops::getContextFromCamera(camInfo.serialNumber, &triclopsCtx_))
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{
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UERROR("Failed to get calibration from the camera.");
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return false;
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}
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float fx, cx, cy, baseline;
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triclopsGetFocalLength(triclopsCtx_, &fx);
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triclopsGetImageCenter(triclopsCtx_, &cy, &cx);
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triclopsGetBaseline(triclopsCtx_, &baseline);
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UINFO("Stereo parameters: fx=%f cx=%f cy=%f baseline=%f", fx, cx, cy, baseline);
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triclopsSetCameraConfiguration(triclopsCtx_, TriCfg_2CAM_HORIZONTAL_NARROW );
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UASSERT(triclopsSetResolutionAndPrepare(triclopsCtx_, maxHeight, maxWidth, maxHeight, maxWidth) == Fc2Triclops::ERRORTYPE_OK);
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if(camera_->StartCapture() != FlyCapture2::PGRERROR_OK)
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{
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UERROR("Failed to start capture.");
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return false;
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}
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return true;
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#else
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UERROR("CameraStereoFlyCapture2: RTAB-Map is not built with Triclops support!");
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#endif
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return false;
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}
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bool CameraStereoFlyCapture2::isCalibrated() const
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{
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#ifdef WITH_FLYCAPTURE2
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if(triclopsCtx_)
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{
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float fx, cx, cy, baseline;
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triclopsGetFocalLength(triclopsCtx_, &fx);
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triclopsGetImageCenter(triclopsCtx_, &cy, &cx);
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triclopsGetBaseline(triclopsCtx_, &baseline);
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return fx > 0.0f && cx > 0.0f && cy > 0.0f && baseline > 0.0f;
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}
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#endif
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return false;
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}
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std::string CameraStereoFlyCapture2::getSerial() const
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{
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#ifdef WITH_FLYCAPTURE2
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if(camera_ && camera_->IsConnected())
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{
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FlyCapture2::CameraInfo camInfo;
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if(camera_->GetCameraInfo(&camInfo) == FlyCapture2::PGRERROR_OK)
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{
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return uNumber2Str(camInfo.serialNumber);
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}
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}
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#endif
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return "";
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}
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// struct containing image needed for processing
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#ifdef WITH_FLYCAPTURE2
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struct ImageContainer
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{
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FlyCapture2::Image tmp[2];
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FlyCapture2::Image unprocessed[2];
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} ;
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#endif
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void CameraStereoFlyCapture2::captureImage(cv::Mat & left, cv::Mat & right, float & fx, float & baseline, float & cx, float & cy)
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{
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#ifdef WITH_FLYCAPTURE2
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left = cv::Mat();
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right = cv::Mat();
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fx = 0.0f;
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baseline = 0.0f;
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cx = 0.0f;
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cy = 0.0f;
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if(camera_ && triclopsCtx_ && camera_->IsConnected())
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{
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// grab image from camera.
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// this image contains both right and left images
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FlyCapture2::Image grabbedImage;
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if(camera_->RetrieveBuffer(&grabbedImage) == FlyCapture2::PGRERROR_OK)
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{
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// right and left image extracted from grabbed image
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ImageContainer imageCont;
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// generate triclops input from grabbed image
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FlyCapture2::Image imageRawRight;
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FlyCapture2::Image imageRawLeft;
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FlyCapture2::Image * unprocessedImage = imageCont.unprocessed;
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// Convert the pixel interleaved raw data to de-interleaved and color processed data
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if(Fc2Triclops::unpackUnprocessedRawOrMono16Image(
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grabbedImage,
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true /*assume little endian*/,
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imageRawLeft /* right */,
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imageRawRight /* left */) == Fc2Triclops::ERRORTYPE_OK)
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{
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// convert to color
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FlyCapture2::Image srcImgRightRef(imageRawRight);
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FlyCapture2::Image srcImgLeftRef(imageRawLeft);
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bool ok = true;;
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if ( srcImgRightRef.SetColorProcessing(FlyCapture2::HQ_LINEAR) != FlyCapture2::PGRERROR_OK ||
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srcImgLeftRef.SetColorProcessing(FlyCapture2::HQ_LINEAR) != FlyCapture2::PGRERROR_OK)
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{
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ok = false;
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}
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if(ok)
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{
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FlyCapture2::Image imageColorRight;
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FlyCapture2::Image imageColorLeft;
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if ( srcImgRightRef.Convert(FlyCapture2::PIXEL_FORMAT_MONO8, &imageColorRight) != FlyCapture2::PGRERROR_OK ||
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srcImgLeftRef.Convert(FlyCapture2::PIXEL_FORMAT_BGRU, &imageColorLeft) != FlyCapture2::PGRERROR_OK)
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||||
{
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||||
ok = false;
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||||
}
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||||
|
||||
if(ok)
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||||
{
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||||
//RECTIFY RIGHT
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||||
TriclopsInput triclopsColorInputs;
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||||
triclopsBuildRGBTriclopsInput(
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||||
grabbedImage.GetCols(),
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||||
grabbedImage.GetRows(),
|
||||
imageColorRight.GetStride(),
|
||||
(unsigned long)grabbedImage.GetTimeStamp().seconds,
|
||||
(unsigned long)grabbedImage.GetTimeStamp().microSeconds,
|
||||
imageColorRight.GetData(),
|
||||
imageColorRight.GetData(),
|
||||
imageColorRight.GetData(),
|
||||
&triclopsColorInputs);
|
||||
|
||||
triclopsRectify(triclopsCtx_, const_cast<TriclopsInput *>(&triclopsColorInputs) );
|
||||
// Retrieve the rectified image from the triclops context
|
||||
TriclopsImage rectifiedImage;
|
||||
triclopsGetImage( triclopsCtx_,
|
||||
TriImg_RECTIFIED,
|
||||
TriCam_REFERENCE,
|
||||
&rectifiedImage );
|
||||
|
||||
right = cv::Mat(rectifiedImage.nrows, rectifiedImage.ncols, CV_8UC1, rectifiedImage.data).clone();
|
||||
|
||||
//RECTIFY LEFT COLOR
|
||||
triclopsBuildPackedTriclopsInput(
|
||||
grabbedImage.GetCols(),
|
||||
grabbedImage.GetRows(),
|
||||
imageColorLeft.GetStride(),
|
||||
(unsigned long)grabbedImage.GetTimeStamp().seconds,
|
||||
(unsigned long)grabbedImage.GetTimeStamp().microSeconds,
|
||||
imageColorLeft.GetData(),
|
||||
&triclopsColorInputs );
|
||||
|
||||
cv::Mat pixelsLeftBuffer( grabbedImage.GetRows(), grabbedImage.GetCols(), CV_8UC4);
|
||||
TriclopsPackedColorImage colorImage;
|
||||
triclopsSetPackedColorImageBuffer(
|
||||
triclopsCtx_,
|
||||
TriCam_LEFT,
|
||||
(TriclopsPackedColorPixel*)pixelsLeftBuffer.data );
|
||||
|
||||
triclopsRectifyPackedColorImage(
|
||||
triclopsCtx_,
|
||||
TriCam_LEFT,
|
||||
&triclopsColorInputs,
|
||||
&colorImage );
|
||||
|
||||
cv::cvtColor(pixelsLeftBuffer, left, CV_RGBA2RGB);
|
||||
|
||||
// Set calibration stuff
|
||||
triclopsGetFocalLength(triclopsCtx_, &fx);
|
||||
triclopsGetImageCenter(triclopsCtx_, &cy, &cx);
|
||||
triclopsGetBaseline(triclopsCtx_, &baseline);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#else
|
||||
UERROR("CameraStereoFlyCapture2: RTAB-Map is not built with Triclops support!");
|
||||
#endif
|
||||
}
|
||||
|
||||
} // namespace rtabmap
|
||||
|
||||
@@ -150,6 +150,7 @@ private slots:
|
||||
void selectOpenni2();
|
||||
void selectFreenect2();
|
||||
void selectStereoDC1394();
|
||||
void selectStereoFlyCapture2();
|
||||
void dumpTheMemory();
|
||||
void dumpThePrediction();
|
||||
void downloadAllClouds();
|
||||
|
||||
@@ -89,7 +89,8 @@ public:
|
||||
kSrcOpenNI_CV_ASUS,
|
||||
kSrcOpenNI2,
|
||||
kSrcFreenect2,
|
||||
kSrcStereoDC1394
|
||||
kSrcStereoDC1394,
|
||||
kSrcStereoFlyCapture2
|
||||
};
|
||||
|
||||
public:
|
||||
@@ -242,7 +243,7 @@ private slots:
|
||||
void setupTreeView();
|
||||
void updateBasicParameter();
|
||||
void openDatabaseViewer();
|
||||
void showOpenNI2GroupBox(bool);
|
||||
void updateOpenNI2GroupBoxVisibility();
|
||||
void testOdometry();
|
||||
void testRGBDCamera();
|
||||
|
||||
|
||||
@@ -55,6 +55,10 @@ AboutDialog::AboutDialog(QWidget * parent) :
|
||||
_ui->label_pcl_version->setText(PCL_VERSION_PRETTY);
|
||||
_ui->label_freenect->setText(CameraFreenect::available()?"Yes":"No");
|
||||
_ui->label_openni2->setText(CameraOpenNI2::available()?"Yes":"No");
|
||||
_ui->label_openni2->setText(CameraFreenect2::available()?"Yes":"No");
|
||||
_ui->label_openni2->setText(CameraStereoDC1394::available()?"Yes":"No");
|
||||
_ui->label_openni2->setText(CameraStereoFlyCapture2::available()?"Yes":"No");
|
||||
|
||||
_ui->label_g2o->setText(graph::G2OOptimizer::available()?"Yes":"No");
|
||||
}
|
||||
|
||||
|
||||
@@ -433,7 +433,7 @@ void CalibrationDialog::processImages(const cv::Mat & imageLeft, const cv::Mat &
|
||||
{
|
||||
for(int id=0; id<(stereo_?2:1); ++id)
|
||||
{
|
||||
int step = imageSize_[id].height/12;
|
||||
int step = imageSize_[id].height/16;
|
||||
for(int i=step; i<imageSize_[id].height; i+=step)
|
||||
{
|
||||
cv::line(images[id], cv::Point(0, i), cv::Point(imageSize_[id].width, i), CV_RGB(0,255,0));
|
||||
|
||||
@@ -353,6 +353,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
|
||||
connect(_ui->actionOpenNI2_sense, SIGNAL(triggered()), this, SLOT(selectOpenni2()));
|
||||
connect(_ui->actionFreenect2, SIGNAL(triggered()), this, SLOT(selectFreenect2()));
|
||||
connect(_ui->actionStereoDC1394, SIGNAL(triggered()), this, SLOT(selectStereoDC1394()));
|
||||
connect(_ui->actionStereoFlyCapture2, SIGNAL(triggered()), this, SLOT(selectStereoFlyCapture2()));
|
||||
_ui->actionFreenect->setEnabled(CameraFreenect::available());
|
||||
_ui->actionOpenNI_CV->setEnabled(CameraOpenNICV::available());
|
||||
_ui->actionOpenNI_CV_ASUS->setEnabled(CameraOpenNICV::available());
|
||||
@@ -361,6 +362,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
|
||||
_ui->actionOpenNI2_sense->setEnabled(CameraOpenNI2::available());
|
||||
_ui->actionFreenect2->setEnabled(CameraFreenect2::available());
|
||||
_ui->actionStereoDC1394->setEnabled(CameraStereoDC1394::available());
|
||||
_ui->actionStereoFlyCapture2->setEnabled(CameraStereoFlyCapture2::available());
|
||||
this->updateSelectSourceMenu();
|
||||
|
||||
connect(_ui->actionSave_state, SIGNAL(triggered()), this, SLOT(saveFigures()));
|
||||
@@ -2235,6 +2237,7 @@ void MainWindow::updateSelectSourceMenu()
|
||||
_ui->actionOpenNI2_sense->setChecked(_preferencesDialog->isSourceRGBDUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI2);
|
||||
_ui->actionFreenect2->setChecked(_preferencesDialog->isSourceRGBDUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcFreenect2);
|
||||
_ui->actionStereoDC1394->setChecked(_preferencesDialog->isSourceRGBDUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcStereoDC1394);
|
||||
_ui->actionStereoFlyCapture2->setChecked(_preferencesDialog->isSourceRGBDUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcStereoFlyCapture2);
|
||||
}
|
||||
|
||||
void MainWindow::changeImgRateSetting()
|
||||
@@ -3575,6 +3578,11 @@ void MainWindow::selectStereoDC1394()
|
||||
_preferencesDialog->selectSourceRGBD(PreferencesDialog::kSrcStereoDC1394);
|
||||
}
|
||||
|
||||
void MainWindow::selectStereoFlyCapture2()
|
||||
{
|
||||
_preferencesDialog->selectSourceRGBD(PreferencesDialog::kSrcStereoFlyCapture2);
|
||||
}
|
||||
|
||||
|
||||
void MainWindow::dumpTheMemory()
|
||||
{
|
||||
|
||||
@@ -120,14 +120,6 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
|
||||
_ui->label_map_shown->setText(_ui->label_map_shown->text() + " (Disabled, PCL >=1.7.2 required)");
|
||||
#endif
|
||||
|
||||
#ifdef _WIN32
|
||||
_ui->radioButton_openni2->setChecked(true);
|
||||
_ui->radioButton_opennipcl->setChecked(false);
|
||||
_ui->groupBox_openni2->setVisible(true);
|
||||
#else
|
||||
_ui->groupBox_openni2->setVisible(false);
|
||||
#endif
|
||||
|
||||
if(RTABMAP_NONFREE == 0)
|
||||
{
|
||||
_ui->comboBox_detector_strategy->setItemData(0, 0, Qt::UserRole - 1);
|
||||
@@ -166,6 +158,10 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
|
||||
{
|
||||
_ui->comboBox_cameraRGBD->setItemData(6, 0, Qt::UserRole - 1);
|
||||
}
|
||||
if(!CameraStereoFlyCapture2::available())
|
||||
{
|
||||
_ui->comboBox_cameraRGBD->setItemData(7, 0, Qt::UserRole - 1);
|
||||
}
|
||||
_ui->openni2_exposure->setEnabled(CameraOpenNI2::exposureGainAvailable());
|
||||
_ui->openni2_gain->setEnabled(CameraOpenNI2::exposureGainAvailable());
|
||||
|
||||
@@ -300,6 +296,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
|
||||
//openni group
|
||||
connect(_ui->groupBox_sourceOpenni, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteSourcePanel()));
|
||||
connect(_ui->comboBox_cameraRGBD, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
|
||||
connect(_ui->comboBox_cameraRGBD, SIGNAL(currentIndexChanged(int)), this, SLOT(updateOpenNI2GroupBoxVisibility()));
|
||||
connect(_ui->openni2_autoWhiteBalance, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
|
||||
connect(_ui->openni2_autoExposure, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
|
||||
connect(_ui->openni2_exposure, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
|
||||
@@ -932,6 +929,10 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
|
||||
{
|
||||
_ui->comboBox_cameraRGBD->setCurrentIndex(1); // freenect
|
||||
}
|
||||
else if(CameraOpenNI2::available())
|
||||
{
|
||||
_ui->comboBox_cameraRGBD->setCurrentIndex(4); // openni2
|
||||
}
|
||||
else
|
||||
{
|
||||
_ui->comboBox_cameraRGBD->setCurrentIndex(0); // openni-pcl
|
||||
@@ -1657,7 +1658,7 @@ void PreferencesDialog::showEvent ( QShowEvent * event )
|
||||
_ui->label_dictionaryPath->setEnabled(false);
|
||||
|
||||
_ui->groupBox_source0->setEnabled(false);
|
||||
_ui->groupBox_odometry2->setEnabled(false);
|
||||
_ui->groupBox_odometry1->setEnabled(false);
|
||||
|
||||
this->setWindowTitle(tr("Preferences [Monitoring mode]"));
|
||||
}
|
||||
@@ -1672,7 +1673,7 @@ void PreferencesDialog::showEvent ( QShowEvent * event )
|
||||
_ui->label_dictionaryPath->setEnabled(true);
|
||||
|
||||
_ui->groupBox_source0->setEnabled(true);
|
||||
_ui->groupBox_odometry2->setEnabled(true);
|
||||
_ui->groupBox_odometry1->setEnabled(true);
|
||||
|
||||
this->setWindowTitle(tr("Preferences"));
|
||||
}
|
||||
@@ -2789,9 +2790,9 @@ void PreferencesDialog::changeDictionaryPath()
|
||||
}
|
||||
}
|
||||
|
||||
void PreferencesDialog::showOpenNI2GroupBox(bool shown)
|
||||
void PreferencesDialog::updateOpenNI2GroupBoxVisibility()
|
||||
{
|
||||
_ui->groupBox_openni2->setVisible(shown);
|
||||
_ui->groupBox_openni2->setVisible(_ui->comboBox_cameraRGBD->currentIndex() == kSrcOpenNI2-kSrcOpenNI_PCL);
|
||||
}
|
||||
|
||||
/*** GETTERS ***/
|
||||
@@ -3132,6 +3133,12 @@ CameraRGBD * PreferencesDialog::createCameraRGBD() const
|
||||
this->getGeneralInputRate(),
|
||||
this->getSourceOpenniLocalTransform());
|
||||
}
|
||||
else if(this->getSourceRGBD() == kSrcStereoFlyCapture2)
|
||||
{
|
||||
return new CameraStereoFlyCapture2(
|
||||
this->getGeneralInputRate(),
|
||||
this->getSourceOpenniLocalTransform());
|
||||
}
|
||||
else
|
||||
{
|
||||
UFATAL("RGBD Source type undefined!");
|
||||
|
||||
@@ -82,6 +82,13 @@ p, li { white-space: pre-wrap; }
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QGridLayout" name="gridLayout" columnstretch="0,1">
|
||||
<item row="13" column="0">
|
||||
<widget class="QLabel" name="label_16">
|
||||
<property name="text">
|
||||
<string>With stereo dc1394 :</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="0">
|
||||
<widget class="QLabel" name="label_6">
|
||||
<property name="text">
|
||||
@@ -205,7 +212,7 @@ p, li { white-space: pre-wrap; }
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="12" column="0">
|
||||
<item row="15" column="0">
|
||||
<widget class="QLabel" name="label_14">
|
||||
<property name="text">
|
||||
<string>With g2o :</string>
|
||||
@@ -232,7 +239,7 @@ p, li { white-space: pre-wrap; }
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="12" column="1">
|
||||
<item row="15" column="1">
|
||||
<widget class="QLabel" name="label_g2o">
|
||||
<property name="text">
|
||||
<string/>
|
||||
@@ -242,6 +249,50 @@ p, li { white-space: pre-wrap; }
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="12" column="0">
|
||||
<widget class="QLabel" name="label_15">
|
||||
<property name="text">
|
||||
<string>With Freenect2 :</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="14" column="0">
|
||||
<widget class="QLabel" name="label_17">
|
||||
<property name="text">
|
||||
<string>With stereo FlyCapture2 :</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="12" column="1">
|
||||
<widget class="QLabel" name="label_freenect2">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="13" column="1">
|
||||
<widget class="QLabel" name="label_dc1394">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="14" column="1">
|
||||
<widget class="QLabel" name="label_flycapture2">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
|
||||
@@ -27,7 +27,7 @@
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<width>1012</width>
|
||||
<height>25</height>
|
||||
<height>21</height>
|
||||
</rect>
|
||||
</property>
|
||||
<widget class="QMenu" name="menuFile">
|
||||
@@ -156,6 +156,7 @@
|
||||
<normaloff>:/images/bumblebee2.png</normaloff>:/images/bumblebee2.png</iconset>
|
||||
</property>
|
||||
<addaction name="actionStereoDC1394"/>
|
||||
<addaction name="actionStereoFlyCapture2"/>
|
||||
</widget>
|
||||
<addaction name="menuKinect_for_Xbox_360"/>
|
||||
<addaction name="menuXtion_PRO_LIVE"/>
|
||||
@@ -1209,6 +1210,11 @@
|
||||
<string>OpenNI2</string>
|
||||
</property>
|
||||
</action>
|
||||
<action name="actionStereoFlyCapture2">
|
||||
<property name="text">
|
||||
<string>StereoFlyCapture2</string>
|
||||
</property>
|
||||
</action>
|
||||
</widget>
|
||||
<customwidgets>
|
||||
<customwidget>
|
||||
|
||||
@@ -63,9 +63,9 @@
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>0</x>
|
||||
<y>-354</y>
|
||||
<width>737</width>
|
||||
<height>982</height>
|
||||
<y>0</y>
|
||||
<width>736</width>
|
||||
<height>781</height>
|
||||
</rect>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_16">
|
||||
@@ -86,7 +86,7 @@
|
||||
<enum>QFrame::Raised</enum>
|
||||
</property>
|
||||
<property name="currentIndex">
|
||||
<number>3</number>
|
||||
<number>0</number>
|
||||
</property>
|
||||
<widget class="QWidget" name="page_22">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_29">
|
||||
@@ -1728,6 +1728,11 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
|
||||
<string>StereoDC1394</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>StereoFlyCapture2</string>
|
||||
</property>
|
||||
</item>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
@@ -6264,7 +6269,7 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
|
||||
<widget class="QWidget" name="page_12">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_32">
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_odometry2">
|
||||
<widget class="QGroupBox" name="groupBox_odometry1">
|
||||
<property name="title">
|
||||
<string>Odometry</string>
|
||||
</property>
|
||||
@@ -6280,11 +6285,11 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QGridLayout" name="gridLayout_27" columnstretch="0,0">
|
||||
<layout class="QGridLayout" name="gridLayout_27" columnstretch="0,1">
|
||||
<item row="2" column="1">
|
||||
<widget class="QLabel" name="label_47">
|
||||
<property name="text">
|
||||
<string>Automatically reset odometry after X consecutive images on which odometry cannot be computed (value=0 disables auto-reset).</string>
|
||||
<string>Automatically reset odometry after X consecutive images on which odometry cannot be computed (value=0 disables auto-reset). When reset, the odometry starts from the last pose computed.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
@@ -6418,6 +6423,13 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="0">
|
||||
<widget class="QPushButton" name="pushButton_testOdometry">
|
||||
<property name="text">
|
||||
<string>Test selected odometry</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
@@ -6787,30 +6799,6 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_5">
|
||||
<item>
|
||||
<widget class="QPushButton" name="pushButton_testOdometry">
|
||||
<property name="text">
|
||||
<string>Test selected odometry</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="horizontalSpacer_2">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>40</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
@@ -6832,7 +6820,7 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
|
||||
<widget class="QWidget" name="page_26">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_54">
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_odometryBOW3">
|
||||
<widget class="QGroupBox" name="groupBox_odometryBOW2">
|
||||
<property name="title">
|
||||
<string>BOW</string>
|
||||
</property>
|
||||
@@ -6957,7 +6945,7 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
|
||||
<widget class="QWidget" name="page_28">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_55">
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_odometryFlow3">
|
||||
<widget class="QGroupBox" name="groupBox_odometryFlow2">
|
||||
<property name="title">
|
||||
<string>Optical Flow</string>
|
||||
</property>
|
||||
|
||||
@@ -46,6 +46,7 @@ void showUsage()
|
||||
" 4=OpenNI-CV-ASUS (Xtion PRO Live)\n"
|
||||
" 5=Freenect2 (Kinect v2)\n"
|
||||
" 6=DC1394 (Bumblebee2)\n"
|
||||
" 7=FlyCapture2 (Bumblebee2)\n"
|
||||
" --device # Device id\n"
|
||||
" --debug Debug log\n"
|
||||
" --stereo Stereo\n\n");
|
||||
@@ -56,6 +57,8 @@ int main(int argc, char * argv[])
|
||||
{
|
||||
ULogger::setType(ULogger::kTypeConsole);
|
||||
ULogger::setLevel(ULogger::kInfo);
|
||||
ULogger::setPrintTime(false);
|
||||
ULogger::setPrintWhere(false);
|
||||
|
||||
int driver = -1;
|
||||
int device = 0;
|
||||
@@ -99,6 +102,8 @@ int main(int argc, char * argv[])
|
||||
if(strcmp(argv[i], "--debug") == 0)
|
||||
{
|
||||
ULogger::setLevel(ULogger::kDebug);
|
||||
ULogger::setPrintTime(true);
|
||||
ULogger::setPrintWhere(true);
|
||||
continue;
|
||||
}
|
||||
if(strcmp(argv[i], "--stereo") == 0)
|
||||
@@ -113,9 +118,9 @@ int main(int argc, char * argv[])
|
||||
printf("Unrecognized option : %s\n", argv[i]);
|
||||
showUsage();
|
||||
}
|
||||
if(driver < -1 || driver > 6)
|
||||
if(driver < -1 || driver > 7)
|
||||
{
|
||||
UERROR("driver should be between -1 and 6.");
|
||||
UERROR("driver should be between -1 and 7.");
|
||||
showUsage();
|
||||
}
|
||||
|
||||
@@ -187,6 +192,15 @@ int main(int argc, char * argv[])
|
||||
}
|
||||
camera = new rtabmap::CameraStereoDC1394();
|
||||
}
|
||||
else if(driver == 7)
|
||||
{
|
||||
if(!rtabmap::CameraStereoFlyCapture2::available())
|
||||
{
|
||||
UERROR("Not built with FlyCapture2/Triclops support...");
|
||||
exit(-1);
|
||||
}
|
||||
camera = new rtabmap::CameraStereoFlyCapture2();
|
||||
}
|
||||
else
|
||||
{
|
||||
UFATAL("");
|
||||
@@ -206,7 +220,7 @@ int main(int argc, char * argv[])
|
||||
}
|
||||
else if(camera)
|
||||
{
|
||||
if(!camera->init())
|
||||
if(!camera->init(""))
|
||||
{
|
||||
printf("Camera init failed!\n");
|
||||
delete camera;
|
||||
|
||||
@@ -43,7 +43,8 @@ void showUsage()
|
||||
" 3=OpenNI-CV (Kinect)\n"
|
||||
" 4=OpenNI-CV-ASUS (Xtion PRO Live)\n"
|
||||
" 5=Freenect2 (Kinect v2)\n"
|
||||
" 6=DC1394 (Bumblebee2)\n\n");
|
||||
" 6=DC1394 (Bumblebee2)\n"
|
||||
" 7=FlyCapture2 (Bumblebee2)\n");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
@@ -51,6 +52,8 @@ int main(int argc, char * argv[])
|
||||
{
|
||||
ULogger::setType(ULogger::kTypeConsole);
|
||||
ULogger::setLevel(ULogger::kInfo);
|
||||
ULogger::setPrintTime(false);
|
||||
ULogger::setPrintWhere(false);
|
||||
|
||||
int driver = 0;
|
||||
if(argc < 2)
|
||||
@@ -64,7 +67,7 @@ int main(int argc, char * argv[])
|
||||
showUsage();
|
||||
}
|
||||
driver = atoi(argv[argc-1]);
|
||||
if(driver < 0 || driver > 6)
|
||||
if(driver < 0 || driver > 7)
|
||||
{
|
||||
UERROR("driver should be between 0 and 6.");
|
||||
showUsage();
|
||||
@@ -131,6 +134,15 @@ int main(int argc, char * argv[])
|
||||
}
|
||||
camera = new rtabmap::CameraStereoDC1394();
|
||||
}
|
||||
else if(driver == 7)
|
||||
{
|
||||
if(!rtabmap::CameraStereoFlyCapture2::available())
|
||||
{
|
||||
UERROR("Not built with FlyCapture2/Triclops support...");
|
||||
exit(-1);
|
||||
}
|
||||
camera = new rtabmap::CameraStereoFlyCapture2();
|
||||
}
|
||||
else
|
||||
{
|
||||
UFATAL("");
|
||||
|
||||
@@ -44,7 +44,7 @@ void showUsage()
|
||||
printf("\nUsage:\n"
|
||||
"odometryViewer [options]\n"
|
||||
"Options:\n"
|
||||
" -driver # Driver number to use: 0=OpenNI-PCL, 1=OpenNI2, 2=Freenect, 3=OpenNI-CV, 4=OpenNI-CV-ASUS, 5=Freenect2, 6=dc1394\n"
|
||||
" -driver # Driver number to use: 0=OpenNI-PCL, 1=OpenNI2, 2=Freenect, 3=OpenNI-CV, 4=OpenNI-CV-ASUS, 5=Freenect2, 6=dc1394, 7=FlyCapture2\n"
|
||||
" -o # Odometry type (default 6): 0=SURF, 1=SIFT, 2=ORB, 3=FAST/FREAK, 4=FAST/BRIEF, 5=GFTT/FREAK, 6=GFTT/BRIEF, 7=BRISK\n"
|
||||
" -nn # Nearest neighbor strategy (default 3): kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4\n"
|
||||
" -nndr # Nearest neighbor distance ratio (default 0.7)\n"
|
||||
@@ -128,7 +128,7 @@ int main (int argc, char * argv[])
|
||||
if(i < argc)
|
||||
{
|
||||
driver = std::atoi(argv[i]);
|
||||
if(driver < 0 || driver > 6)
|
||||
if(driver < 0 || driver > 7)
|
||||
{
|
||||
showUsage();
|
||||
}
|
||||
@@ -766,6 +766,15 @@ int main (int argc, char * argv[])
|
||||
}
|
||||
camera = new rtabmap::CameraStereoDC1394(rate, t);
|
||||
}
|
||||
else if(driver == 7)
|
||||
{
|
||||
if(!rtabmap::CameraStereoFlyCapture2::available())
|
||||
{
|
||||
UERROR("Not built with FlyCapture2/Triclops support...");
|
||||
exit(-1);
|
||||
}
|
||||
camera = new rtabmap::CameraStereoFlyCapture2(rate, t);
|
||||
}
|
||||
else
|
||||
{
|
||||
UFATAL("Camera driver (%d) not found!", driver);
|
||||
|
||||
Reference in New Issue
Block a user