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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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tools/CameraRGBD/main.cpp
+4 -7
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@@ -303,7 +303,7 @@ int main(int argc, char * argv[])
UERROR("Not built with Kinect for Azure SDK support...");
exit(-1);
}
camera = new rtabmap::CameraK4A(1, 0, rtabmap::Transform::getIdentity());
camera = new rtabmap::CameraK4A(1);
}
else if (driver == 13)
{
@@ -347,9 +347,6 @@ int main(int argc, char * argv[])
{
viewer = new pcl::visualization::CloudViewer("cloud");
}
rtabmap::Transform t(1, 0, 0, 0,
0, -1, 0, 0,
0, 0, -1, 0);
cv::VideoWriter videoWriter;
UDirectory dir;
@@ -418,7 +415,7 @@ int main(int argc, char * argv[])
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = rtabmap::util3d::cloudFromDepthRGB(
rgb, depth,
data.cameraModels()[0]);
cloud = rtabmap::util3d::transformPointCloud(cloud, t);
cloud = rtabmap::util3d::transformPointCloud(cloud, rtabmap::Transform::opengl_T_rtabmap()*data.cameraModels()[0].localTransform());
if(viewer)
viewer->showCloud(cloud, "cloud");
}
@@ -429,7 +426,7 @@ int main(int argc, char * argv[])
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud = rtabmap::util3d::cloudFromDepth(
depth,
data.cameraModels()[0]);
cloud = rtabmap::util3d::transformPointCloud(cloud, t);
cloud = rtabmap::util3d::transformPointCloud(cloud, rtabmap::Transform::opengl_T_rtabmap()*data.cameraModels()[0].localTransform());
viewer->showCloud(cloud, "cloud");
}
@@ -457,7 +454,7 @@ int main(int argc, char * argv[])
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = rtabmap::util3d::cloudFromStereoImages(
rgb, right,
data.stereoCameraModel());
cloud = rtabmap::util3d::transformPointCloud(cloud, t);
cloud = rtabmap::util3d::transformPointCloud(cloud, rtabmap::Transform::opengl_T_rtabmap()*data.stereoCameraModel().localTransform());
if(viewer)
viewer->showCloud(cloud, "cloud");
}