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0.11.7: Added ZED sdk support

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This commit is contained in:
matlabbe
2016-05-31 19:09:49 -04:00
parent b2bb421063
commit 6f1f490370
31 changed files with 711 additions and 131 deletions
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40
corelib/include/rtabmap/core/CameraStereo.h
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@@ -39,6 +39,14 @@ namespace FlyCapture2
class Camera;
}
namespace sl
{
namespace zed
{
class Camera;
}
}
namespace rtabmap
{
@@ -94,6 +102,32 @@ private:
void * triclopsCtx_; // TriclopsContext
};
/////////////////////////
// CameraStereoZED
/////////////////////////
class RTABMAP_EXP CameraStereoZed :
public Camera
{
public:
static bool available();
public:
CameraStereoZed(bool rgbdMode, float imageRate=0.0f, const Transform & localTransform = Transform::getIdentity());
virtual ~CameraStereoZed();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
virtual bool isCalibrated() const;
virtual std::string getSerial() const;
protected:
virtual SensorData captureImage();
private:
sl::zed::Camera * zed_;
StereoCameraModel stereoModel_;
bool rgbdMode_;
};
/////////////////////////
// CameraStereoImages
/////////////////////////
@@ -147,6 +181,10 @@ public:
bool rectifyImages = false,
float imageRate=0.0f,
const Transform & localTransform = Transform::getIdentity());
CameraStereoVideo(
int device,
float imageRate = 0.0f,
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraStereoVideo();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
@@ -162,6 +200,8 @@ private:
bool rectifyImages_;
StereoCameraModel stereoModel_;
std::string cameraName_;
CameraVideo::Source src_;
int usbDevice_;
};
} // namespace rtabmap

16
corelib/include/rtabmap/core/Parameters.h
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@@ -221,9 +221,9 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Kp, BadSignRatio, float, 0.5, "Bad signature ratio (less than Ratio x AverageWordsPerImage = bad).");
RTABMAP_PARAM(Kp, NndrRatio, float, 0.8, "NNDR ratio (A matching pair is detected, if its distance is closer than X times the distance of the second nearest neighbor.)");
#ifdef RTABMAP_NONFREE
RTABMAP_PARAM(Kp, DetectorStrategy, int, 0, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK.");
RTABMAP_PARAM(Kp, DetectorStrategy, int, 0, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB.");
#else
RTABMAP_PARAM(Kp, DetectorStrategy, int, 2, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK.");
RTABMAP_PARAM(Kp, DetectorStrategy, int, 2, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB.");
#endif
RTABMAP_PARAM(Kp, TfIdfLikelihoodUsed, bool, true, "Use of the td-idf strategy to compute the likelihood.");
RTABMAP_PARAM(Kp, Parallelized, bool, true, "If the dictionary update and signature creation were parallelized.");
@@ -396,7 +396,17 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Vis, EpipolarGeometryVar, float, 0.02, "[Vis/EstimationType = 2] Epipolar geometry maximum variance to accept the transformation.");
RTABMAP_PARAM(Vis, MinInliers, int, 20, "Minimum feature correspondences to compute/accept the transformation.");
RTABMAP_PARAM(Vis, Iterations, int, 100, "Maximum iterations to compute the transform.");
RTABMAP_PARAM(Vis, FeatureType, int, 6, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK.");
#ifndef RTABMAP_NONFREE
#ifdef RTABMAP_OPENCV3
// OpenCV 3 without xFeatures2D module doesn't have BRIEF
RTABMAP_PARAM(Vis, FeatureType, int, 8, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB.");
#else
RTABMAP_PARAM(Vis, FeatureType, int, 6, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB.");
#endif
#else
RTABMAP_PARAM(Vis, FeatureType, int, 6, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB.");
#endif
RTABMAP_PARAM(Vis, MaxFeatures, int, 1000, "0 no limits.");
RTABMAP_PARAM(Vis, MaxDepth, float, 0.0, "Max depth of the features (0 means no limit).");
RTABMAP_PARAM(Vis, MinDepth, float, 0.0, "Min depth of the features (0 means no limit).");

3
corelib/include/rtabmap/core/util2d.h
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@@ -32,6 +32,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <opencv2/core/core.hpp>
#include <rtabmap/core/Transform.h>
#include <rtabmap/core/Parameters.h>
namespace rtabmap
{
@@ -68,7 +69,7 @@ void RTABMAP_EXP calcOpticalFlowPyrLKStereo( cv::InputArray _prevImg, cv::InputA
cv::Mat RTABMAP_EXP disparityFromStereoImages(
const cv::Mat & leftImage,
const cv::Mat & rightImage,
int type = CV_32FC1); // CV_32FC1 or CV_16SC1
const ParametersMap & parameters = ParametersMap());
cv::Mat RTABMAP_EXP depthFromDisparity(const cv::Mat & disparity,
float fx, float baseline,

10
corelib/include/rtabmap/core/util3d.h
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@@ -36,6 +36,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <pcl/TextureMesh.h>
#include <rtabmap/core/Transform.h>
#include <rtabmap/core/SensorData.h>
#include <rtabmap/core/Parameters.h>
#include <opencv2/core/core.hpp>
#include <map>
#include <list>
@@ -116,14 +117,16 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudFromStereoImages(
int decimation = 1,
float maxDepth = 0.0f,
float minDepth = 0.0f,
std::vector<int> * validIndices = 0);
std::vector<int> * validIndices = 0,
const ParametersMap & parameters = ParametersMap());
pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP cloudFromSensorData(
const SensorData & sensorData,
int decimation = 1,
float maxDepth = 0.0f,
float minDepth = 0.0f,
std::vector<int> * validIndices = 0);
std::vector<int> * validIndices = 0,
const ParametersMap & parameters = ParametersMap());
/**
* Create an RGB cloud from the images contained in SensorData. If there is only one camera,
@@ -143,7 +146,8 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudRGBFromSensorData(
int decimation = 1,
float maxDepth = 0.0f,
float minDepth = 0.0f,
std::vector<int> * validIndices = 0);
std::vector<int> * validIndices = 0,
const ParametersMap & parameters = ParametersMap());
pcl::PointCloud<pcl::PointXYZ> RTABMAP_EXP laserScanFromDepthImage(
const cv::Mat & depthImage,