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Refactoring: set default local transform for camera drivers to opticalRotation. Added CameraModel::opticalRtotation() static function for convenience. Added CameraModel::load() from file directly for convenience. Added Camera::initFromFile() for convenience. Transform: Added opengl_T_rtabmap() and opengl_T_rtabmap() functions for convenience (convert back and forth between rtabmap world and opengl world coordinate frames)

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This commit is contained in:
matlabbe
2020-06-08 11:40:47 -04:00
parent ff5695878c
commit 4769fc235f
27 changed files with 88 additions and 67 deletions
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3
corelib/include/rtabmap/core/Camera.h
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@@ -53,6 +53,7 @@ public:
virtual ~Camera();
SensorData takeImage(CameraInfo * info = 0);
bool initFromFile(const std::string & calibrationPath);
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "") = 0;
virtual bool isCalibrated() const = 0;
virtual std::string getSerial() const = 0;
@@ -73,7 +74,7 @@ protected:
*
* @param imageRate : image/second , 0 for fast as the camera can
*/
Camera(float imageRate = 0, const Transform & localTransform = Transform::getIdentity());
Camera(float imageRate = 0, const Transform & localTransform = CameraModel::opticalRotation());
/**
* returned rgb and depth images should be already rectified if calibration was loaded

23
corelib/include/rtabmap/core/CameraModel.h
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@@ -37,6 +37,13 @@ namespace rtabmap {
class RTABMAP_EXP CameraModel
{
public:
/**
* Optical rotation used to transform image coordinate frame (x->right, y->down, z->forward)
* to robot coordinate frame (x->forward, y->left, z->up).
*/
static Transform opticalRotation() {return Transform(0,0,1,0, -1,0,0,0, 0,-1,0,0);}
public:
CameraModel();
// K is the camera intrinsic 3x3 CV_64FC1
@@ -50,7 +57,7 @@ public:
const cv::Mat & D,
const cv::Mat & R,
const cv::Mat & P,
const Transform & localTransform = Transform(0,0,1,0, -1,0,0,0, 0,-1,0,0));
const Transform & localTransform = opticalRotation());
// minimal
CameraModel(
@@ -58,7 +65,7 @@ public:
double fy,
double cx,
double cy,
const Transform & localTransform = Transform(0,0,1,0, -1,0,0,0, 0,-1,0,0),
const Transform & localTransform = opticalRotation(),
double Tx = 0.0f,
const cv::Size & imageSize = cv::Size(0,0));
// minimal to be saved
@@ -68,7 +75,7 @@ public:
double fy,
double cx,
double cy,
const Transform & localTransform = Transform(0,0,1,0, -1,0,0,0, 0,-1,0,0),
const Transform & localTransform = opticalRotation(),
double Tx = 0.0f,
const cv::Size & imageSize = cv::Size(0,0));
@@ -113,9 +120,12 @@ public:
int imageWidth() const {return imageSize_.width;}
int imageHeight() const {return imageSize_.height;}
double fovX() const {return imageSize_.width>0 && fx()>0?2.0*atan(imageSize_.width/(fx()*2.0)):0.0;}
double fovY() const {return imageSize_.height>0 && fy()>0?2.0*atan(imageSize_.height/(fy()*2.0)):0.0;}
double fovX() const; // in radians
double fovY() const; // in radians
double horizontalFOV() const; // in degrees
double verticalFOV() const; // in degrees
bool load(const std::string & filePath);
bool load(const std::string & directory, const std::string & cameraName);
bool save(const std::string & directory) const;
std::vector<unsigned char> serialize() const;
@@ -125,9 +135,6 @@ public:
CameraModel scaled(double scale) const;
CameraModel roi(const cv::Rect & roi) const;
double horizontalFOV() const; // in degrees
double verticalFOV() const; // in degrees
// For depth images, your should use cv::INTER_NEAREST
cv::Mat rectifyImage(const cv::Mat & raw, int interpolation = cv::INTER_LINEAR) const;
cv::Mat rectifyDepth(const cv::Mat & raw) const;

9
corelib/include/rtabmap/core/Transform.h
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@@ -140,6 +140,15 @@ public:
static Transform fromEigen3f(const Eigen::Isometry3f & matrix);
static Transform fromEigen3d(const Eigen::Isometry3d & matrix);
static Transform opengl_T_rtabmap() {return Transform(
0.0f, -1.0f, 0.0f, 0.0f,
0.0f, 0.0f, 1.0f, 0.0f,
-1.0f, 0.0f, 0.0f, 0.0f);}
static Transform rtabmap_T_opengl() {return Transform(
0.0f, 0.0f,-1.0f, 0.0f,
-1.0f, 0.0f, 0.0f, 0.0f,
0.0f, 1.0f, 0.0f, 0.0f);}
/**
* Format (3 values): x y z
* Format (6 values): x y z roll pitch yaw

2
corelib/include/rtabmap/core/camera/CameraFreenect.h
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@@ -53,7 +53,7 @@ public:
CameraFreenect(int deviceId= 0,
Type type = kTypeColorDepth,
float imageRate=0.0f,
const Transform & localTransform = Transform::getIdentity());
const Transform & localTransform = CameraModel::opticalRotation());
virtual ~CameraFreenect();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");

2
corelib/include/rtabmap/core/camera/CameraFreenect2.h
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@@ -65,7 +65,7 @@ public:
CameraFreenect2(int deviceId= 0,
Type type = kTypeDepth2ColorSD,
float imageRate=0.0f,
const Transform & localTransform = Transform::getIdentity(),
const Transform & localTransform = CameraModel::opticalRotation(),
float minDepth = 0.3f,
float maxDepth = 12.0f,
bool bilateralFiltering = true,

2
corelib/include/rtabmap/core/camera/CameraImages.h
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@@ -46,7 +46,7 @@ public:
CameraImages(
const std::string & path,
float imageRate = 0,
const Transform & localTransform = Transform::getIdentity());
const Transform & localTransform = CameraModel::opticalRotation());
virtual ~CameraImages();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");

4
corelib/include/rtabmap/core/camera/CameraK4A.h
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@@ -50,10 +50,10 @@ public:
public:
CameraK4A(int deviceId = 0,
float imageRate = 0.0f,
const Transform & localTransform = Transform::getIdentity());
const Transform & localTransform = CameraModel::opticalRotation());
CameraK4A(const std::string & fileName,
float imageRate = 0.0f,
const Transform & localTransform = Transform::getIdentity());
const Transform & localTransform = CameraModel::opticalRotation());
virtual ~CameraK4A();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");

2
corelib/include/rtabmap/core/camera/CameraK4W2.h
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@@ -66,7 +66,7 @@ public:
CameraK4W2(int deviceId = 0, // not used
Type type = kTypeDepth2ColorSD,
float imageRate = 0.0f,
const Transform & localTransform = Transform::getIdentity());
const Transform & localTransform = CameraModel::opticalRotation());
virtual ~CameraK4W2();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");

2
corelib/include/rtabmap/core/camera/CameraMyntEye.h
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@@ -52,7 +52,7 @@ public:
static bool available();
public:
CameraMyntEye(const std::string & device = "", bool apiRectification = false, bool apiDepth = false, float imageRate = 0, const Transform & localTransform = Transform::getIdentity());
CameraMyntEye(const std::string & device = "", bool apiRectification = false, bool apiDepth = false, float imageRate = 0, const Transform & localTransform = CameraModel::opticalRotation());
virtual ~CameraMyntEye();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");

2
corelib/include/rtabmap/core/camera/CameraOpenNI2.h
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@@ -54,7 +54,7 @@ public:
CameraOpenNI2(const std::string & deviceId = "",
Type type = kTypeColorDepth,
float imageRate = 0,
const Transform & localTransform = Transform::getIdentity());
const Transform & localTransform = CameraModel::opticalRotation());
virtual ~CameraOpenNI2();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");

2
corelib/include/rtabmap/core/camera/CameraOpenNICV.h
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@@ -45,7 +45,7 @@ public:
public:
CameraOpenNICV(bool asus = false,
float imageRate = 0,
const Transform & localTransform = Transform::getIdentity());
const Transform & localTransform = CameraModel::opticalRotation());
virtual ~CameraOpenNICV();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");

2
corelib/include/rtabmap/core/camera/CameraOpenni.h
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@@ -66,7 +66,7 @@ public:
// default local transform z in, x right, y down));
CameraOpenni(const std::string & deviceId="",
float imageRate = 0,
const Transform & localTransform = Transform::getIdentity());
const Transform & localTransform = CameraModel::opticalRotation());
virtual ~CameraOpenni();
#ifdef RTABMAP_OPENNI
#if PCL_VERSION_COMPARE(>=, 1, 10, 0)

2
corelib/include/rtabmap/core/camera/CameraRGBDImages.h
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@@ -44,7 +44,7 @@ public:
const std::string & pathDepthImages,
float depthScaleFactor = 1.0f,
float imageRate=0.0f,
const Transform & localTransform = Transform::getIdentity());
const Transform & localTransform = CameraModel::opticalRotation());
virtual ~CameraRGBDImages();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");

2
corelib/include/rtabmap/core/camera/CameraRealSense.h
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@@ -64,7 +64,7 @@ public:
int presetDepth = 0, // 0=best quality, 1=largest image, 2=highest framerate
bool computeOdometry = false,
float imageRate = 0,
const Transform & localTransform = Transform::getIdentity());
const Transform & localTransform = CameraModel::opticalRotation());
virtual ~CameraRealSense();
void setDepthScaledToRGBSize(bool enabled);

2
corelib/include/rtabmap/core/camera/CameraRealSense2.h
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@@ -62,7 +62,7 @@ public:
CameraRealSense2(
const std::string & deviceId = "",
float imageRate = 0,
const Transform & localTransform = Transform::getIdentity());
const Transform & localTransform = CameraModel::opticalRotation());
virtual ~CameraRealSense2();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");

2
corelib/include/rtabmap/core/camera/CameraStereoDC1394.h
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@@ -45,7 +45,7 @@ public:
static bool available();
public:
CameraStereoDC1394( float imageRate=0.0f, const Transform & localTransform = Transform::getIdentity());
CameraStereoDC1394( float imageRate=0.0f, const Transform & localTransform = CameraModel::opticalRotation());
virtual ~CameraStereoDC1394();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");

2
corelib/include/rtabmap/core/camera/CameraStereoFlyCapture2.h
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@@ -47,7 +47,7 @@ public:
static bool available();
public:
CameraStereoFlyCapture2( float imageRate=0.0f, const Transform & localTransform = Transform::getIdentity());
CameraStereoFlyCapture2( float imageRate=0.0f, const Transform & localTransform = CameraModel::opticalRotation());
virtual ~CameraStereoFlyCapture2();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");

4
corelib/include/rtabmap/core/camera/CameraStereoImages.h
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@@ -49,12 +49,12 @@ public:
const std::string & pathRightImages,
bool rectifyImages = false,
float imageRate=0.0f,
const Transform & localTransform = Transform::getIdentity());
const Transform & localTransform = CameraModel::opticalRotation());
CameraStereoImages(
const std::string & pathLeftRightImages,
bool rectifyImages = false,
float imageRate=0.0f,
const Transform & localTransform = Transform::getIdentity());
const Transform & localTransform = CameraModel::opticalRotation());
virtual ~CameraStereoImages();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");

2
corelib/include/rtabmap/core/camera/CameraStereoTara.h
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@@ -53,7 +53,7 @@ public:
int device,
bool rectifyImages = false,
float imageRate = 0.0f,
const Transform & localTransform = Transform::getIdentity());
const Transform & localTransform = CameraModel::opticalRotation());
virtual ~CameraStereoTara();

8
corelib/include/rtabmap/core/camera/CameraStereoVideo.h
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@@ -46,24 +46,24 @@ public:
const std::string & pathSideBySide,
bool rectifyImages = false,
float imageRate=0.0f,
const Transform & localTransform = Transform::getIdentity());
const Transform & localTransform = CameraModel::opticalRotation());
CameraStereoVideo(
const std::string & pathLeft,
const std::string & pathRight,
bool rectifyImages = false,
float imageRate=0.0f,
const Transform & localTransform = Transform::getIdentity());
const Transform & localTransform = CameraModel::opticalRotation());
CameraStereoVideo(
int device,
bool rectifyImages = false,
float imageRate = 0.0f,
const Transform & localTransform = Transform::getIdentity());
const Transform & localTransform = CameraModel::opticalRotation());
CameraStereoVideo(
int deviceLeft,
int deviceRight,
bool rectifyImages = false,
float imageRate = 0.0f,
const Transform & localTransform = Transform::getIdentity());
const Transform & localTransform = CameraModel::opticalRotation());
virtual ~CameraStereoVideo();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");

4
corelib/include/rtabmap/core/camera/CameraStereoZed.h
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@@ -57,7 +57,7 @@ public:
int confidenceThr = 100,
bool computeOdometry = false,
float imageRate=0.0f,
const Transform & localTransform = Transform::getIdentity(),
const Transform & localTransform = CameraModel::opticalRotation(),
bool selfCalibration = true,
bool odomForce3DoF = false,
int texturenessConfidenceThr = 90); // introduced with ZED SDK 3
@@ -68,7 +68,7 @@ public:
int confidenceThr = 100,
bool computeOdometry = false,
float imageRate=0.0f,
const Transform & localTransform = Transform::getIdentity(),
const Transform & localTransform = CameraModel::opticalRotation(),
bool selfCalibration = true,
bool odomForce3DoF = false,
int texturenessConfidenceThr = 90); // introduced with ZED SDK 3

4
corelib/include/rtabmap/core/camera/CameraVideo.h
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@@ -45,11 +45,11 @@ public:
CameraVideo(int usbDevice = 0,
bool rectifyImages = false,
float imageRate = 0,
const Transform & localTransform = Transform::getIdentity());
const Transform & localTransform = CameraModel::opticalRotation());
CameraVideo(const std::string & filePath,
bool rectifyImages = false,
float imageRate = 0,
const Transform & localTransform = Transform::getIdentity());
const Transform & localTransform = CameraModel::opticalRotation());
virtual ~CameraVideo();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");