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Tara Camera added to Master branch (#331)

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* Tara Camera integration

* Update preferencesDialog.ui

* Update preferencesDialog.ui
This commit is contained in:
e-con Systems India Pvt Ltd
2018-11-01 02:57:07 +12:00
committed by matlabbe
parent bb4164a05d
commit 53513b6632
12 changed files with 415 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/include/rtabmap/core/CameraStereo.h
+1
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@@ -32,3 +32,4 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/core/camera/CameraStereoImages.h>
#include <rtabmap/core/camera/CameraStereoVideo.h>
#include <rtabmap/core/camera/CameraStereoZed.h>
#include <rtabmap/core/camera/CameraStereoTara.h>
corelib/include/rtabmap/core/camera/CameraStereoTara.h
+70
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@@ -0,0 +1,70 @@
/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#pragma once
#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
#include "rtabmap/core/StereoCameraModel.h"
#include "rtabmap/core/camera/CameraVideo.h"
#include "rtabmap/core/Version.h"
namespace rtabmap
{
class RTABMAP_EXP CameraStereoTara :
public Camera
{
public:
static bool available();
public:
CameraStereoTara(
int device,
bool rectifyImages = false,
float imageRate = 0.0f,
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraStereoTara();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
virtual bool isCalibrated() const;
virtual std::string getSerial() const;
protected:
virtual SensorData captureImage(CameraInfo * info = 0);
private:
cv::VideoCapture capture_;
bool rectifyImages_;
StereoCameraModel stereoModel_;
std::string cameraName_;
int usbDevice_;
};
} // namespace rtabmap
corelib/src/CMakeLists.txt
+1
View File
@@ -32,6 +32,7 @@ SET(SRC_FILES
camera/CameraStereoImages.cpp
camera/CameraStereoVideo.cpp
camera/CameraStereoZed.cpp
camera/CameraStereoTara.cpp
camera/CameraVideo.cpp
EpipolarGeometry.cpp
corelib/src/camera/CameraStereoTara.cpp
+174
View File
@@ -0,0 +1,174 @@
/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include <rtabmap/core/camera/CameraStereoTara.h>
#include <rtabmap/utilite/UTimer.h>
#include <rtabmap/utilite/UThreadC.h>
#include <rtabmap/utilite/UConversion.h>
namespace rtabmap
{
bool CameraStereoTara::available()
{
return true;
}
CameraStereoTara::CameraStereoTara(
int device,
bool rectifyImages,
float imageRate,
const Transform & localTransform) :
Camera(imageRate, localTransform),
rectifyImages_(rectifyImages),
usbDevice_(device)
{
if ( CV_MAJOR_VERSION < 3 || ( CV_MAJOR_VERSION > 3 && CV_MINOR_VERSION < 1 ))
{
UERROR(" OpenCV %d.%d detected, Minimum OpenCV 3.2 Required ", CV_MAJOR_VERSION,CV_MINOR_VERSION);
exit(0);
}
}
CameraStereoTara::~CameraStereoTara()
{
capture_.release();
}
bool CameraStereoTara::init(const std::string & calibrationFolder, const std::string & cameraName)
{
cameraName_ = cameraName;
if(capture_.isOpened())
{
capture_.release();
}
capture_.open(usbDevice_);
capture_.set(CV_CAP_PROP_FOURCC, CV_FOURCC('Y', '1', '6', ' '));
capture_.set(CV_CAP_PROP_FPS, 60);
capture_.set(CV_CAP_PROP_FRAME_WIDTH, 752);
capture_.set(CV_CAP_PROP_FRAME_HEIGHT, 480);
capture_.set(CV_CAP_PROP_CONVERT_RGB,false);
ULOGGER_DEBUG("CameraStereoTara: Usb device initialization on device %d", usbDevice_);
if (cameraName_.empty())
{
unsigned int guid = (unsigned int)capture_.get(CV_CAP_PROP_GUID);
if (guid != 0 && guid != 0xffffffff)
{
cameraName_ = uFormat("%08x", guid);
}
}
// look for calibration files
if(!calibrationFolder.empty() && !cameraName_.empty())
{
if(!stereoModel_.load(calibrationFolder, cameraName_, false))
{
UWARN("Missing calibration files for camera \"%s\" in \"%s\" folder, you should calibrate the camera!",
cameraName_.c_str(), calibrationFolder.c_str());
}
else
{
UINFO("Stereo parameters: fx=%f cx=%f cy=%f baseline=%f",
stereoModel_.left().fx(),
stereoModel_.left().cx(),
stereoModel_.left().cy(),
stereoModel_.baseline());
}
}
stereoModel_.setLocalTransform(this->getLocalTransform());
if(rectifyImages_ && !stereoModel_.isValidForRectification())
{
UERROR("Parameter \"rectifyImages\" is set, but no stereo model is loaded or valid.");
return false;
}
return true;
}
bool CameraStereoTara::isCalibrated() const
{
return stereoModel_.isValidForProjection();
}
std::string CameraStereoTara::getSerial() const
{
return cameraName_;
}
SensorData CameraStereoTara::captureImage(CameraInfo * info)
{
SensorData data;
if(capture_.isOpened() )
{
cv::Mat img, leftImage, interLeavedFrame, rightImage;
std::vector<cv::Mat> StereoFrames;
interLeavedFrame.create(480, 752, CV_8UC2);
if(!capture_.read(img))
{
return data;
}
interLeavedFrame.data = img.data;
split(interLeavedFrame, StereoFrames);
leftImage=StereoFrames[0].clone();
rightImage=StereoFrames[1].clone();
// Rectification
if(rectifyImages_ && stereoModel_.left().isValidForRectification() && stereoModel_.right().isValidForRectification())
{
leftImage = stereoModel_.left().rectifyImage(leftImage);
rightImage = stereoModel_.right().rectifyImage(rightImage);
}
if(stereoModel_.left().imageHeight() == 0 || stereoModel_.left().imageWidth() == 0)
{
stereoModel_.setImageSize(leftImage.size());
}
data = SensorData(leftImage, rightImage, stereoModel_, this->getNextSeqID(), UTimer::now());
}
else
{
ULOGGER_WARN("The camera must be initialized before requesting an image.");
}
return data;
}
} // namespace rtabmap
guilib/include/rtabmap/gui/MainWindow.h
+1
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@@ -176,6 +176,7 @@ protected Q_SLOTS:
void selectStereoDC1394();
void selectStereoFlyCapture2();
void selectStereoZed();
void selectStereoTara();
void selectStereoUsb();
void dumpTheMemory();
void dumpThePrediction();
guilib/include/rtabmap/gui/PreferencesDialog.h
+1
View File
@@ -101,6 +101,7 @@ public:
kSrcStereoVideo = 103,
kSrcStereoZed = 104,
kSrcStereoUsb = 105,
kSrcStereoTara = 106,
kSrcRGB = 200,
kSrcUsbDevice = 200,
guilib/src/GuiLib.qrc
+1
View File
@@ -35,5 +35,6 @@
<file>images/zr300.png</file>
<file>images/d435.png</file>
<file>images/d415.png</file>
<file>images/tara.png</file>
</qresource>
</RCC>
guilib/src/MainWindow.cpp
+8
View File
@@ -434,6 +434,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent, bool sh
connect(_ui->actionStereoDC1394, SIGNAL(triggered()), this, SLOT(selectStereoDC1394()));
connect(_ui->actionStereoFlyCapture2, SIGNAL(triggered()), this, SLOT(selectStereoFlyCapture2()));
connect(_ui->actionStereoZed, SIGNAL(triggered()), this, SLOT(selectStereoZed()));
connect(_ui->actionStereoTara, SIGNAL(triggered()), this, SLOT(selectStereoTara()));
connect(_ui->actionStereoUsb, SIGNAL(triggered()), this, SLOT(selectStereoUsb()));
_ui->actionFreenect->setEnabled(CameraFreenect::available());
_ui->actionOpenNI_CV->setEnabled(CameraOpenNICV::available());
@@ -450,6 +451,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent, bool sh
_ui->actionStereoDC1394->setEnabled(CameraStereoDC1394::available());
_ui->actionStereoFlyCapture2->setEnabled(CameraStereoFlyCapture2::available());
_ui->actionStereoZed->setEnabled(CameraStereoZed::available());
_ui->actionStereoTara->setEnabled(CameraStereoTara::available());
this->updateSelectSourceMenu();
connect(_ui->actionPreferences, SIGNAL(triggered()), this, SLOT(openPreferences()));
@@ -4353,6 +4355,7 @@ void MainWindow::updateSelectSourceMenu()
_ui->actionStereoDC1394->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcDC1394);
_ui->actionStereoFlyCapture2->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcFlyCapture2);
_ui->actionStereoZed->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcStereoZed);
_ui->actionStereoTara->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcStereoTara);
_ui->actionStereoUsb->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcStereoUsb);
}
@@ -6065,6 +6068,11 @@ void MainWindow::selectStereoZed()
_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcStereoZed);
}
void MainWindow::selectStereoTara()
{
_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcStereoTara);
}
void MainWindow::selectStereoUsb()
{
_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcStereoUsb);
guilib/src/PreferencesDialog.cpp
+18
View File
@@ -308,6 +308,10 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
{
_ui->comboBox_cameraStereo->setItemData(kSrcStereoZed - kSrcStereo, 0, Qt::UserRole - 1);
}
if (!CameraStereoTara::available())
{
_ui->comboBox_cameraStereo->setItemData(kSrcStereoTara - kSrcStereo, 0, Qt::UserRole - 1);
}
_ui->openni2_exposure->setEnabled(CameraOpenNI2::exposureGainAvailable());
_ui->openni2_gain->setEnabled(CameraOpenNI2::exposureGainAvailable());
@@ -4242,6 +4246,7 @@ void PreferencesDialog::updateStereoDisparityVisibility()
_ui->checkBox_stereo_rectify->setEnabled(
_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoImages - kSrcStereo ||
_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoUsb - kSrcStereo ||
_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoTara - kSrcStereo ||
_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoVideo - kSrcStereo ||
_ui->comboBox_cameraStereo->currentIndex() == kSrcDC1394 - kSrcStereo);
_ui->checkBox_stereo_rectify->setVisible(_ui->checkBox_stereo_rectify->isEnabled());
@@ -4379,6 +4384,7 @@ void PreferencesDialog::updateSourceGrpVisibility()
(_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoVideo-kSrcStereo ||
_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoImages-kSrcStereo ||
_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoZed - kSrcStereo ||
_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoTara - kSrcStereo ||
_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoUsb - kSrcStereo));
_ui->groupBox_cameraStereoImages->setVisible(_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoImages-kSrcStereo);
_ui->groupBox_cameraStereoVideo->setVisible(_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoVideo - kSrcStereo);
@@ -5206,6 +5212,18 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
this->getSourceLocalTransform());
}
}
else if (driver == kSrcStereoTara)
{
camera = new CameraStereoTara(
this->getSourceDevice().isEmpty()?0:atoi(this->getSourceDevice().toStdString().c_str()),
_ui->checkBox_stereo_rectify->isChecked() && !useRawImages,
this->getGeneralInputRate(),
this->getSourceLocalTransform());
}
else if (driver == kSrcStereoZed)
{
UDEBUG("ZED");
guilib/src/images/tara.png
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guilib/src/ui/mainWindow.ui
+129 -11
View File
@@ -246,8 +246,19 @@
<addaction name="actionStereoZed"/>
<addaction name="actionStereoUsb"/>
</widget>
<widget class="QMenu" name="menuTara_Camera">
<property name="title">
<string>Tara Camera</string>
</property>
<property name="icon">
<iconset resource="../GuiLib.qrc">
<normaloff>:/images/tara.png</normaloff>:/images/tara.png</iconset>
</property>
<addaction name="actionStereoTara"/>
</widget>
<addaction name="menuBumblebee2_2"/>
<addaction name="menuZed_camera"/>
<addaction name="menuTara_Camera"/>
</widget>
<addaction name="menuRGB_D_camera"/>
<addaction name="menuStereo_camera"/>
@@ -342,7 +353,16 @@
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -380,7 +400,16 @@
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -623,7 +652,16 @@
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -644,7 +682,16 @@
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -665,7 +712,16 @@
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -686,7 +742,16 @@
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
</layout>
@@ -704,7 +769,16 @@
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
</layout>
@@ -725,7 +799,16 @@
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -746,7 +829,16 @@
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -770,7 +862,16 @@
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -840,7 +941,16 @@
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -1405,6 +1515,14 @@
<string>RealSense2</string>
</property>
</action>
<action name="actionStereoTara">
<property name="checkable">
<bool>true</bool>
</property>
<property name="text">
<string>Tara Stereo USB Camera</string>
</property>
</action>
</widget>
<customwidgets>
<customwidget>
guilib/src/ui/preferencesDialog.ui
+11 -2
View File
@@ -94,10 +94,13 @@
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>680</width>
<height>2986</height>
<y>-57</y>
<width>681</width>
<height>2983</height>
</rect>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
<property name="spacing">
@@ -126,6 +129,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>5</number>
<number>11</number>
</property>
<widget class="QWidget" name="page_22">
@@ -2941,7 +2945,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<item>
<widget class="QStackedWidget" name="stackedWidget_src">
<property name="currentIndex">
<number>0</number>
<number>1</number>
</property>
<widget class="QWidget" name="page_41">
<layout class="QVBoxLayout" name="verticalLayout_64">
@@ -4146,6 +4150,11 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<string>Usb camera</string>
</property>
</item>
<item>
<property name="text">
<string>Tara Camera</string>
</property>
</item>
</widget>
</item>
<item row="0" column="2">