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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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corelib/include/rtabmap/core/CameraModel.h
+15 -8
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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;