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Refactored Camera classes and Preferences->Source menu

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This commit is contained in:
matlabbe
2015-06-26 18:21:32 -04:00
parent 6f1df94b18
commit 6df403ed42
39 changed files with 3543 additions and 3388 deletions
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corelib/include/rtabmap/core/CameraRGBD.h
+16 -164
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@@ -29,24 +29,16 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
#include <opencv2/highgui/highgui.hpp>
#include "rtabmap/core/SensorData.h"
#include "rtabmap/utilite/UMutex.h"
#include "rtabmap/utilite/USemaphore.h"
#include "rtabmap/core/CameraModel.h"
#include <set>
#include <stack>
#include <list>
#include <vector>
#include "rtabmap/core/Camera.h"
#include <pcl/io/openni_camera/openni_depth_image.h>
#include <pcl/io/openni_camera/openni_image.h>
#include <boost/signals2/connection.hpp>
class UDirectory;
class UTimer;
namespace openni
{
class Device;
@@ -67,70 +59,17 @@ class Registration;
class PacketPipeline;
}
namespace FlyCapture2
{
class Camera;
}
typedef struct _freenect_context freenect_context;
typedef struct _freenect_device freenect_device;
namespace rtabmap
{
/**
* Class CameraRGBD
*
*/
class RTABMAP_EXP CameraRGBD
{
public:
virtual ~CameraRGBD();
void takeImage(cv::Mat & rgb, cv::Mat & depth, float & fx, float & fy, float & cx, float & cy, double & stamp);
virtual bool init(const std::string & calibrationFolder = ".") = 0;
virtual bool isCalibrated() const = 0;
virtual std::string getSerial() const = 0;
//getters
float getImageRate() const {return _imageRate;}
const Transform & getLocalTransform() const {return _localTransform;}
bool isMirroringEnabled() const {return _mirroring;}
bool isColorOnly() const {return _colorOnly;}
//setters
void setImageRate(float imageRate) {_imageRate = imageRate;}
void setLocalTransform(const Transform & localTransform) {_localTransform= localTransform;}
void setMirroringEnabled(bool mirroring) {_mirroring = mirroring;}
void setColorOnly(bool colorOnly) {_colorOnly = colorOnly;}
protected:
/**
* Constructor
*
* @param imageRate : image/second , 0 for fast as the camera can
*/
CameraRGBD(float imageRate = 0,
const Transform & localTransform = Transform::getIdentity());
/**
* returned rgb and depth images should be already rectified
*/
virtual void captureImage(cv::Mat & rgb, cv::Mat & depth, float & fx, float & fy, float & cx, float & cy, double & stamp) = 0;
private:
float _imageRate;
Transform _localTransform;
bool _mirroring;
bool _colorOnly;
UTimer * _frameRateTimer;
};
/////////////////////////
// CameraOpenNIPCL
/////////////////////////
class RTABMAP_EXP CameraOpenni :
public CameraRGBD
public Camera
{
public:
static bool available() {return true;}
@@ -147,12 +86,12 @@ public:
const boost::shared_ptr<openni_wrapper::DepthImage>& depth,
float constant);
virtual bool init(const std::string & calibrationFolder = ".");
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
virtual bool isCalibrated() const;
virtual std::string getSerial() const;
protected:
virtual void captureImage(cv::Mat & rgb, cv::Mat & depth, float & fx, float & fy, float & cx, float & cy, double & stamp);
virtual SensorData captureImage();
private:
pcl::Grabber* interface_;
@@ -169,7 +108,7 @@ private:
// CameraOpenNICV
/////////////////////////
class RTABMAP_EXP CameraOpenNICV :
public CameraRGBD
public Camera
{
public:
@@ -181,12 +120,12 @@ public:
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraOpenNICV();
virtual bool init(const std::string & calibrationFolder = ".");
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
virtual bool isCalibrated() const;
virtual std::string getSerial() const {return "";} // unknown with OpenCV
protected:
virtual void captureImage(cv::Mat & rgb, cv::Mat & depth, float & fx, float & fy, float & cx, float & cy, double & stamp);
virtual SensorData captureImage();
private:
bool _asus;
@@ -198,7 +137,7 @@ private:
// CameraOpenNI2
/////////////////////////
class RTABMAP_EXP CameraOpenNI2 :
public CameraRGBD
public Camera
{
public:
@@ -211,7 +150,7 @@ public:
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraOpenNI2();
virtual bool init(const std::string & calibrationFolder = ".");
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
virtual bool isCalibrated() const;
virtual std::string getSerial() const;
@@ -222,7 +161,7 @@ public:
bool setMirroring(bool enabled);
protected:
virtual void captureImage(cv::Mat & rgb, cv::Mat & depth, float & fx, float & fy, float & cx, float & cy, double & stamp);
virtual SensorData captureImage();
private:
openni::Device * _device;
@@ -240,7 +179,7 @@ private:
class FreenectDevice;
class RTABMAP_EXP CameraFreenect :
public CameraRGBD
public Camera
{
public:
static bool available();
@@ -252,12 +191,12 @@ public:
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraFreenect();
virtual bool init(const std::string & calibrationFolder = ".");
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
virtual bool isCalibrated() const;
virtual std::string getSerial() const;
protected:
virtual void captureImage(cv::Mat & rgb, cv::Mat & depth, float & fx, float & fy, float & cx, float & cy, double & stamp);
virtual SensorData captureImage();
private:
int deviceId_;
@@ -270,7 +209,7 @@ private:
/////////////////////////
class RTABMAP_EXP CameraFreenect2 :
public CameraRGBD
public Camera
{
public:
static bool available();
@@ -290,12 +229,12 @@ public:
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraFreenect2();
virtual bool init(const std::string & calibrationFolder = ".");
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
virtual bool isCalibrated() const;
virtual std::string getSerial() const;
protected:
virtual void captureImage(cv::Mat & rgb, cv::Mat & depth, float & fx, float & fy, float & cx, float & cy, double & stamp);
virtual SensorData captureImage();
private:
int deviceId_;
@@ -308,91 +247,4 @@ private:
libfreenect2::Registration * reg_;
};
/////////////////////////
// CameraStereoDC1394
/////////////////////////
class DC1394Device;
class RTABMAP_EXP CameraStereoDC1394 :
public CameraRGBD
{
public:
static bool available();
public:
CameraStereoDC1394( float imageRate=0.0f, const Transform & localTransform = Transform::getIdentity());
virtual ~CameraStereoDC1394();
virtual bool init(const std::string & calibrationFolder = ".");
virtual bool isCalibrated() const;
virtual std::string getSerial() const;
protected:
virtual void captureImage(cv::Mat & left, cv::Mat & right, float & fx, float & baseline, float & cx, float & cy, double & stamp);
private:
DC1394Device *device_;
StereoCameraModel stereoModel_;
};
/////////////////////////
// CameraStereoFlyCapture2
/////////////////////////
class RTABMAP_EXP CameraStereoFlyCapture2 :
public CameraRGBD
{
public:
static bool available();
public:
CameraStereoFlyCapture2( float imageRate=0.0f, const Transform & localTransform = Transform::getIdentity());
virtual ~CameraStereoFlyCapture2();
virtual bool init(const std::string & calibrationFolder = ".");
virtual bool isCalibrated() const;
virtual std::string getSerial() const;
protected:
virtual void captureImage(cv::Mat & left, cv::Mat & right, float & fx, float & baseline, float & cx, float & cy, double & stamp);
private:
FlyCapture2::Camera * camera_;
void * triclopsCtx_; // TriclopsContext
};
/////////////////////////
// CameraStereoImages
/////////////////////////
class CameraImages;
class RTABMAP_EXP CameraStereoImages :
public CameraRGBD
{
public:
static bool available();
public:
CameraStereoImages(
const std::string & path,
const std::string & cameraName = "stereo_images", // calibration file name
const std::string & timestampsPath = "", // "times.txt"
float imageRate=0.0f,
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraStereoImages();
virtual bool init(const std::string & calibrationFolder = ".");
virtual bool isCalibrated() const;
virtual std::string getSerial() const;
protected:
virtual void captureImage(cv::Mat & left, cv::Mat & right, float & fx, float & baseline, float & cx, float & cy, double & stamp);
private:
CameraImages * camera_;
CameraImages * camera2_;
std::string cameraName_;
std::string timestampsPath_;
std::list<double> stamps_;
StereoCameraModel stereoModel_;
};
} // namespace rtabmap