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CameraK4A: fixed IMU local transform, fixed some compilation warnings.

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matlabbe
2020-06-22 19:42:55 -04:00
parent 1ca2c25a10
commit 6e1f07e097
4 changed files with 213 additions and 172 deletions
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381
corelib/src/camera/CameraK4A.cpp
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@@ -4,12 +4,12 @@ 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
* 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
* 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
* 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.
@@ -22,7 +22,7 @@ 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/CameraK4A.h>
#include <rtabmap/utilite/UTimer.h>
@@ -49,36 +49,47 @@ bool CameraK4A::available()
}
CameraK4A::CameraK4A(
int deviceId,
float imageRate,
const Transform & localTransform) :
Camera(imageRate, localTransform)
int deviceId,
float imageRate,
const Transform & localTransform) :
Camera(imageRate, localTransform)
#ifdef RTABMAP_K4A
,deviceId_(deviceId),
playbackHandle_(NULL),
transformationHandle_(NULL),
ir_(false),
previousStamp_(0.0)
,
device_(NULL),
config_(K4A_DEVICE_CONFIG_INIT_DISABLE_ALL),
transformation_(NULL),
capture_(NULL),
playbackHandle_(NULL),
transformationHandle_(NULL),
deviceId_(deviceId),
rgb_resolution_(0),
framerate_(2),
depth_resolution_(2),
ir_(false),
previousStamp_(0.0)
#endif
{
}
CameraK4A::CameraK4A(
const std::string & fileName,
float imageRate,
const Transform & localTransform) :
Camera(imageRate, localTransform)
const std::string & fileName,
float imageRate,
const Transform & localTransform) :
Camera(imageRate, localTransform)
#ifdef RTABMAP_K4A
,device_(NULL),
playbackHandle_(NULL),
transformationHandle_(NULL),
deviceId_(-1),
fileName_(fileName),
rgb_resolution_(1),
framerate_(2),
depth_resolution_(2),
ir_(false),
previousStamp_(0.0)
,
device_(NULL),
transformation_(NULL),
capture_(NULL),
playbackHandle_(NULL),
transformationHandle_(NULL),
deviceId_(-1),
fileName_(fileName),
rgb_resolution_(0),
framerate_(2),
depth_resolution_(2),
ir_(false),
previousStamp_(0.0)
#endif
{
}
@@ -120,6 +131,7 @@ void CameraK4A::close()
k4a_device_stop_cameras(device_);
k4a_device_close(device_);
device_ = NULL;
config_ = K4A_DEVICE_CONFIG_INIT_DISABLE_ALL;
}
}
#endif
@@ -169,24 +181,24 @@ bool CameraK4A::init(const std::string & calibrationFolder, const std::string &
if (ir_)
{
model_ = CameraModel(
calibration.depth_camera_calibration.intrinsics.parameters.param.fx,
calibration.depth_camera_calibration.intrinsics.parameters.param.fy,
calibration.depth_camera_calibration.intrinsics.parameters.param.cx,
calibration.depth_camera_calibration.intrinsics.parameters.param.cy,
this->getLocalTransform(),
0,
cv::Size(calibration.depth_camera_calibration.resolution_width, calibration.depth_camera_calibration.resolution_height));
calibration.depth_camera_calibration.intrinsics.parameters.param.fx,
calibration.depth_camera_calibration.intrinsics.parameters.param.fy,
calibration.depth_camera_calibration.intrinsics.parameters.param.cx,
calibration.depth_camera_calibration.intrinsics.parameters.param.cy,
this->getLocalTransform(),
0,
cv::Size(calibration.depth_camera_calibration.resolution_width, calibration.depth_camera_calibration.resolution_height));
}
else
{
model_ = CameraModel(
calibration.color_camera_calibration.intrinsics.parameters.param.fx,
calibration.color_camera_calibration.intrinsics.parameters.param.fy,
calibration.color_camera_calibration.intrinsics.parameters.param.cx,
calibration.color_camera_calibration.intrinsics.parameters.param.cy,
this->getLocalTransform(),
0,
cv::Size(calibration.color_camera_calibration.resolution_width, calibration.color_camera_calibration.resolution_height));
calibration.color_camera_calibration.intrinsics.parameters.param.fx,
calibration.color_camera_calibration.intrinsics.parameters.param.fy,
calibration.color_camera_calibration.intrinsics.parameters.param.cx,
calibration.color_camera_calibration.intrinsics.parameters.param.cy,
this->getLocalTransform(),
0,
cv::Size(calibration.color_camera_calibration.resolution_width, calibration.color_camera_calibration.resolution_height));
transformationHandle_ = k4a_transformation_create(&calibration);
}
@@ -202,36 +214,37 @@ bool CameraK4A::init(const std::string & calibrationFolder, const std::string &
}
else if (deviceId_ >= 0)
{
device_ = NULL;
config_ = K4A_DEVICE_CONFIG_INIT_DISABLE_ALL;
if(device_!=NULL)
{
this->close();
}
switch(rgb_resolution_)
{
case 0: config_.color_resolution = K4A_COLOR_RESOLUTION_720P; break;
case 1: config_.color_resolution = K4A_COLOR_RESOLUTION_1080P; break;
case 2: config_.color_resolution = K4A_COLOR_RESOLUTION_1440P; break;
case 3: config_.color_resolution = K4A_COLOR_RESOLUTION_1536P; break;
case 4: config_.color_resolution = K4A_COLOR_RESOLUTION_2160P; break;
case 5:
default: config_.color_resolution = K4A_COLOR_RESOLUTION_3072P; break;
case 0: config_.color_resolution = K4A_COLOR_RESOLUTION_720P; break;
case 1: config_.color_resolution = K4A_COLOR_RESOLUTION_1080P; break;
case 2: config_.color_resolution = K4A_COLOR_RESOLUTION_1440P; break;
case 3: config_.color_resolution = K4A_COLOR_RESOLUTION_1536P; break;
case 4: config_.color_resolution = K4A_COLOR_RESOLUTION_2160P; break;
case 5:
default: config_.color_resolution = K4A_COLOR_RESOLUTION_3072P; break;
}
switch(framerate_)
{
case 0: config_.camera_fps = K4A_FRAMES_PER_SECOND_5; break;
case 1: config_.camera_fps = K4A_FRAMES_PER_SECOND_15; break;
case 2:
default: config_.camera_fps = K4A_FRAMES_PER_SECOND_30; break;
case 0: config_.camera_fps = K4A_FRAMES_PER_SECOND_5; break;
case 1: config_.camera_fps = K4A_FRAMES_PER_SECOND_15; break;
case 2:
default: config_.camera_fps = K4A_FRAMES_PER_SECOND_30; break;
}
switch(depth_resolution_)
{
case 0: config_.depth_mode = K4A_DEPTH_MODE_NFOV_2X2BINNED; break;
case 1: config_.depth_mode = K4A_DEPTH_MODE_NFOV_UNBINNED; break;
case 2: config_.depth_mode = K4A_DEPTH_MODE_WFOV_2X2BINNED; break;
case 3:
default: config_.depth_mode = K4A_DEPTH_MODE_WFOV_UNBINNED; break;
case 0: config_.depth_mode = K4A_DEPTH_MODE_NFOV_2X2BINNED; break;
case 1: config_.depth_mode = K4A_DEPTH_MODE_NFOV_UNBINNED; break;
case 2: config_.depth_mode = K4A_DEPTH_MODE_WFOV_2X2BINNED; break;
case 3:
default: config_.depth_mode = K4A_DEPTH_MODE_WFOV_UNBINNED; break;
}
// This is fixed for now
@@ -244,11 +257,15 @@ bool CameraK4A::init(const std::string & calibrationFolder, const std::string &
UERROR("No k4a devices attached!");
return false;
}
else if(deviceId_ > device_count)
{
UERROR("Cannot select device %d, only %d devices detected.", deviceId_, device_count);
}
UINFO("CameraK4A found k4a device attached");
UINFO("CameraK4A found %d k4a device(s) attached", device_count);
// Open the first plugged in Kinect device
if (K4A_FAILED(k4a_device_open(K4A_DEVICE_DEFAULT, &device_)))
if (K4A_FAILED(k4a_device_open(deviceId_, &device_)))
{
UERROR("Failed to open k4a device!");
return false;
@@ -270,7 +287,7 @@ bool CameraK4A::init(const std::string & calibrationFolder, const std::string &
if (K4A_FAILED(k4a_device_start_cameras(device_, &config_)))
{
UERROR("Failed to start cameras!");
k4a_device_close(device_);
close();
return false;
}
@@ -279,35 +296,55 @@ bool CameraK4A::init(const std::string & calibrationFolder, const std::string &
if (K4A_FAILED(k4a_device_get_calibration(device_, config_.depth_mode, config_.color_resolution, &calibration_)))
{
UERROR("k4a_device_get_calibration() failed!");
k4a_device_close(device_);
close();
return false;
}
if (ir_)
{
model_ = CameraModel(
calibration_.depth_camera_calibration.intrinsics.parameters.param.fx,
calibration_.depth_camera_calibration.intrinsics.parameters.param.fy,
calibration_.depth_camera_calibration.intrinsics.parameters.param.cx,
calibration_.depth_camera_calibration.intrinsics.parameters.param.cy,
this->getLocalTransform(),
0,
cv::Size(calibration_.depth_camera_calibration.resolution_width, calibration_.depth_camera_calibration.resolution_height));
}
else
{
model_ = CameraModel(
calibration_.color_camera_calibration.intrinsics.parameters.param.fx,
calibration_.color_camera_calibration.intrinsics.parameters.param.fy,
calibration_.color_camera_calibration.intrinsics.parameters.param.cx,
calibration_.color_camera_calibration.intrinsics.parameters.param.cy,
this->getLocalTransform(),
0,
cv::Size(calibration_.color_camera_calibration.resolution_width, calibration_.color_camera_calibration.resolution_height));
}
if (ir_)
{
model_ = CameraModel(
calibration_.depth_camera_calibration.intrinsics.parameters.param.fx,
calibration_.depth_camera_calibration.intrinsics.parameters.param.fy,
calibration_.depth_camera_calibration.intrinsics.parameters.param.cx,
calibration_.depth_camera_calibration.intrinsics.parameters.param.cy,
this->getLocalTransform(),
0,
cv::Size(calibration_.depth_camera_calibration.resolution_width, calibration_.depth_camera_calibration.resolution_height));
}
else
{
model_ = CameraModel(
calibration_.color_camera_calibration.intrinsics.parameters.param.fx,
calibration_.color_camera_calibration.intrinsics.parameters.param.fy,
calibration_.color_camera_calibration.intrinsics.parameters.param.cx,
calibration_.color_camera_calibration.intrinsics.parameters.param.cy,
this->getLocalTransform(),
0,
cv::Size(calibration_.color_camera_calibration.resolution_width, calibration_.color_camera_calibration.resolution_height));
}
transformation_ = k4a_transformation_create(&calibration_);
// Get imu transform
k4a_calibration_extrinsics_t* imu_extrinsics;
if(ir_)
{
imu_extrinsics = &calibration_.extrinsics[K4A_CALIBRATION_TYPE_ACCEL][K4A_CALIBRATION_TYPE_DEPTH];
}
else
{
imu_extrinsics = &calibration_.extrinsics[K4A_CALIBRATION_TYPE_ACCEL][K4A_CALIBRATION_TYPE_COLOR];
}
imuLocalTransform_ = Transform(
imu_extrinsics->rotation[0], imu_extrinsics->rotation[1], imu_extrinsics->rotation[2], imu_extrinsics->translation[0] / 1000.0f,
imu_extrinsics->rotation[3], imu_extrinsics->rotation[4], imu_extrinsics->rotation[5], imu_extrinsics->translation[1] / 1000.0f,
imu_extrinsics->rotation[6], imu_extrinsics->rotation[7], imu_extrinsics->rotation[8], imu_extrinsics->translation[2] / 1000.0f);
UINFO("camera to imu=%s", imuLocalTransform_.prettyPrint().c_str());
UINFO("base to camera=%s", this->getLocalTransform().prettyPrint().c_str());
imuLocalTransform_ = this->getLocalTransform()*imuLocalTransform_;
UINFO("base to imu=%s", imuLocalTransform_.prettyPrint().c_str());
if (K4A_FAILED(k4a_device_start_imu(device_)))
{
UERROR("Failed to start K4A IMU");
@@ -324,6 +361,7 @@ bool CameraK4A::init(const std::string & calibrationFolder, const std::string &
return true;
}
close();
return false;
}
return true;
@@ -341,10 +379,11 @@ bool CameraK4A::isCalibrated() const
std::string CameraK4A::getSerial() const
{
#ifdef RTABMAP_K4A
if(device_ != NULL)
return(serial_number_);
else
return fileName_.empty()?"":fileName_;
if(!fileName_.empty())
{
return fileName_;
}
return(serial_number_);
#else
return "";
#endif
@@ -521,7 +560,7 @@ SensorData CameraK4A::captureImage(CameraInfo * info)
if (sleepTime > 10000)
{
UWARN("Detected long delay (%d sec, stamps = %f vs %f). Waiting a maximum of 10 seconds.",
sleepTime / 1000, previousStamp_, stamp);
sleepTime / 1000, previousStamp_, stamp);
sleepTime = 10000;
}
if (sleepTime > 2)
@@ -559,115 +598,115 @@ SensorData CameraK4A::captureImage(CameraInfo * info)
}
else
{
k4a_image_t ir_image_;
k4a_image_t depth_image_;
k4a_image_t rgb_image_;
k4a_image_t ir_image_ = NULL;
k4a_image_t rgb_image_ = NULL;
k4a_imu_sample_t imu_sample_;
if (K4A_WAIT_RESULT_SUCCEEDED == k4a_device_get_capture(device_, &capture_, K4A_WAIT_INFINITE))
double t = UTimer::now();
k4a_wait_result_t result = K4A_WAIT_RESULT_FAILED;
while((UTimer::now()-t < 5.0) &&
(K4A_WAIT_RESULT_SUCCEEDED != (result=k4a_device_get_capture(device_, &capture_, K4A_WAIT_INFINITE)) ||
((ir_ && (ir_image_=k4a_capture_get_ir_image(capture_)) == NULL) || (!ir_ && (rgb_image_=k4a_capture_get_color_image(capture_)) == NULL))))
{
k4a_capture_release(capture_);
// the first frame may be null, just retry for 5 seconds
}
if (result == K4A_WAIT_RESULT_SUCCEEDED && (rgb_image_!=NULL || ir_image_!=NULL))
{
cv::Mat bgrCV;
cv::Mat depthCV;
IMU imu;
if (ir_)
if (ir_image_ != NULL)
{
// Retrieve IR image from capture
ir_image_ = k4a_capture_get_ir_image(capture_);
// Convert IR image
cv::Mat bgrCV16(k4a_image_get_height_pixels(ir_image_),
k4a_image_get_width_pixels(ir_image_),
CV_16UC1,
(void*)k4a_image_get_buffer(ir_image_));
if(ir_image_ != NULL)
{
// Convert IR image
cv::Mat bgrCV16(k4a_image_get_height_pixels(ir_image_),
k4a_image_get_width_pixels(ir_image_),
CV_16UC1,
(void*)k4a_image_get_buffer(ir_image_));
bgrCV16.convertTo(bgrCV, CV_8U);
bgrCV16.convertTo(bgrCV, CV_8U);
// Release the image
k4a_image_release(ir_image_);
}
// Release the image
k4a_image_release(ir_image_);
}
else
{
// Retrieve RGB image from capture
rgb_image_ = k4a_capture_get_color_image(capture_);
if(rgb_image_ != NULL)
// Convert RGB image
if (k4a_image_get_format(rgb_image_) == K4A_IMAGE_FORMAT_COLOR_MJPG)
{
// Convert RGB image
if (k4a_image_get_format(rgb_image_) == K4A_IMAGE_FORMAT_COLOR_MJPG)
{
bgrCV = uncompressImage(cv::Mat(1, (int)k4a_image_get_size(rgb_image_),
CV_8UC1,
(void*)k4a_image_get_buffer(rgb_image_)));
}
else
{
cv::Mat bgra(k4a_image_get_height_pixels(rgb_image_),
k4a_image_get_width_pixels(rgb_image_),
CV_8UC4,
(void*)k4a_image_get_buffer(rgb_image_));
cv::cvtColor(bgra, bgrCV, CV_BGRA2BGR);
}
// Release the image
k4a_image_release(rgb_image_);
}
}
// Retrieve depth image from capture
depth_image_ = k4a_capture_get_depth_image(capture_);
if (depth_image_ != NULL)
{
if (ir_)
{
depthCV = cv::Mat(k4a_image_get_height_pixels(depth_image_),
k4a_image_get_width_pixels(depth_image_),
CV_16UC1,
(void*)k4a_image_get_buffer(depth_image_)).clone();
bgrCV = uncompressImage(cv::Mat(1, (int)k4a_image_get_size(rgb_image_),
CV_8UC1,
(void*)k4a_image_get_buffer(rgb_image_)));
}
else
{
k4a_image_t transformedDepth = NULL;
cv::Mat bgra(k4a_image_get_height_pixels(rgb_image_),
k4a_image_get_width_pixels(rgb_image_),
CV_8UC4,
(void*)k4a_image_get_buffer(rgb_image_));
if (k4a_image_create(k4a_image_get_format(depth_image_),
bgrCV.cols, bgrCV.rows, bgrCV.cols * 2, &transformedDepth) == K4A_RESULT_SUCCEEDED)
cv::cvtColor(bgra, bgrCV, CV_BGRA2BGR);
}
// Release the image
k4a_image_release(rgb_image_);
}
if(!bgrCV.empty())
{
// Retrieve depth image from capture
k4a_image_t depth_image_ = k4a_capture_get_depth_image(capture_);
if (depth_image_ != NULL)
{
if (ir_)
{
if(k4a_transformation_depth_image_to_color_camera(transformation_, depth_image_, transformedDepth) == K4A_RESULT_SUCCEEDED)
{
depthCV = cv::Mat(k4a_image_get_height_pixels(transformedDepth),
k4a_image_get_width_pixels(transformedDepth),
CV_16UC1,
(void*)k4a_image_get_buffer(transformedDepth)).clone();
}
else
{
UERROR("K4A failed to register depth image");
}
k4a_image_release(transformedDepth);
depthCV = cv::Mat(k4a_image_get_height_pixels(depth_image_),
k4a_image_get_width_pixels(depth_image_),
CV_16UC1,
(void*)k4a_image_get_buffer(depth_image_)).clone();
}
else
{
UERROR("K4A failed to allocate registered depth image");
k4a_image_t transformedDepth = NULL;
if (k4a_image_create(k4a_image_get_format(depth_image_),
bgrCV.cols, bgrCV.rows, bgrCV.cols * 2, &transformedDepth) == K4A_RESULT_SUCCEEDED)
{
if(k4a_transformation_depth_image_to_color_camera(transformation_, depth_image_, transformedDepth) == K4A_RESULT_SUCCEEDED)
{
depthCV = cv::Mat(k4a_image_get_height_pixels(transformedDepth),
k4a_image_get_width_pixels(transformedDepth),
CV_16UC1,
(void*)k4a_image_get_buffer(transformedDepth)).clone();
}
else
{
UERROR("K4A failed to register depth image");
}
k4a_image_release(transformedDepth);
}
else
{
UERROR("K4A failed to allocate registered depth image");
}
}
k4a_image_release(depth_image_);
}
k4a_image_release(depth_image_);
}
}
k4a_capture_release(capture_);
// Get IMU sample, clear buffer
if(K4A_WAIT_RESULT_SUCCEEDED == k4a_device_get_imu_sample(device_, &imu_sample_, 60))
{
imu = IMU(cv::Vec3d(-1 * imu_sample_.gyro_sample.xyz.x, imu_sample_.gyro_sample.xyz.y, -1 * imu_sample_.gyro_sample.xyz.z),
cv::Mat::eye(3, 3, CV_64FC1),
cv::Vec3d(-1 * imu_sample_.acc_sample.xyz.x, imu_sample_.acc_sample.xyz.y, -1 * imu_sample_.acc_sample.xyz.z),
cv::Mat::eye(3, 3, CV_64FC1),
Transform::getIdentity());
imu = IMU(cv::Vec3d(imu_sample_.gyro_sample.xyz.x, imu_sample_.gyro_sample.xyz.y, imu_sample_.gyro_sample.xyz.z),
cv::Mat::eye(3, 3, CV_64FC1),
cv::Vec3d(imu_sample_.acc_sample.xyz.x, imu_sample_.acc_sample.xyz.y, imu_sample_.acc_sample.xyz.z),
cv::Mat::eye(3, 3, CV_64FC1),
imuLocalTransform_);
}
else
{