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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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examples/NoEventsExample/main.cpp
+1 -3
View File
@@ -93,13 +93,11 @@ int main(int argc, char * argv[])
std::string pathLeftImages = argv[argIndex++];
std::string pathRightImages = argv[argIndex++];
Transform opticalRotation(0,0,1,0, -1,0,0,0, 0,-1,0,0);
CameraStereoImages camera(
pathLeftImages,
pathRightImages,
false, // assume that images are already rectified
(float)cameraRate,
opticalRotation);
(float)cameraRate);
if(camera.init(calibrationDir, calibrationName))
{
examples/RGBDMapping/main.cpp
+9 -10
View File
@@ -77,7 +77,6 @@ int main(int argc, char * argv[])
// Create the OpenNI camera, it will send a CameraEvent at the rate specified.
// Set transform to camera so z is up, y is left and x going forward
Camera * camera = 0;
Transform opticalRotation(0,0,1,0, -1,0,0,0, 0,-1,0,0);
if(driver == 1)
{
if(!CameraOpenNI2::available())
@@ -85,7 +84,7 @@ int main(int argc, char * argv[])
UERROR("Not built with OpenNI2 support...");
exit(-1);
}
camera = new CameraOpenNI2("", CameraOpenNI2::kTypeColorDepth, 0, opticalRotation);
camera = new CameraOpenNI2();
}
else if(driver == 2)
{
@@ -94,7 +93,7 @@ int main(int argc, char * argv[])
UERROR("Not built with Freenect support...");
exit(-1);
}
camera = new CameraFreenect(0, CameraFreenect::kTypeColorDepth, 0, opticalRotation);
camera = new CameraFreenect();
}
else if(driver == 3)
{
@@ -103,7 +102,7 @@ int main(int argc, char * argv[])
UERROR("Not built with OpenNI from OpenCV support...");
exit(-1);
}
camera = new CameraOpenNICV(false, 0, opticalRotation);
camera = new CameraOpenNICV();
}
else if(driver == 4)
{
@@ -112,7 +111,7 @@ int main(int argc, char * argv[])
UERROR("Not built with OpenNI from OpenCV support...");
exit(-1);
}
camera = new CameraOpenNICV(true, 0, opticalRotation);
camera = new CameraOpenNICV(true);
}
else if (driver == 5)
{
@@ -121,7 +120,7 @@ int main(int argc, char * argv[])
UERROR("Not built with Freenect2 support...");
exit(-1);
}
camera = new CameraFreenect2(0, CameraFreenect2::kTypeColor2DepthSD, 0, opticalRotation);
camera = new CameraFreenect2(0, CameraFreenect2::kTypeColor2DepthSD);
}
else if (driver == 6)
{
@@ -130,7 +129,7 @@ int main(int argc, char * argv[])
UERROR("Not built with ZED SDK support...");
exit(-1);
}
camera = new CameraStereoZed(0, 2, 1, 1, 100, false, 0, opticalRotation);
camera = new CameraStereoZed(0, 2, 1, 1, 100, false);
}
else if (driver == 7)
{
@@ -139,7 +138,7 @@ int main(int argc, char * argv[])
UERROR("Not built with RealSense support...");
exit(-1);
}
camera = new CameraRealSense(0, 0, 0, false, 0, opticalRotation);
camera = new CameraRealSense();
}
else if (driver == 8)
{
@@ -148,11 +147,11 @@ int main(int argc, char * argv[])
UERROR("Not built with RealSense2 support...");
exit(-1);
}
camera = new CameraRealSense2("", 0, opticalRotation);
camera = new CameraRealSense2();
}
else
{
camera = new rtabmap::CameraOpenni("", 0, opticalRotation);
camera = new rtabmap::CameraOpenni();
}
if(!camera->init())