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Added resolution parameters for Usb camera and realsense2 sources

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This commit is contained in:
matlabbe
2019-05-15 19:21:32 -04:00
parent f8a8e55e7e
commit 71f7515775
6 changed files with 219 additions and 18 deletions
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36
corelib/src/camera/CameraRealSense2.cpp
View File

@@ -67,7 +67,10 @@ CameraRealSense2::CameraRealSense2(
emitterEnabled_(true),
irDepth_(false),
rectifyImages_(true),
odometryProvided_(false)
odometryProvided_(false),
cameraWidth_(640),
cameraHeight_(480),
cameraFps_(30)
#endif
{
UDEBUG("");
@@ -564,21 +567,21 @@ bool CameraRealSense2::init(const std::string & calibrationFolder, const std::st
{
//D400 series:
if (video_profile.format() == (i==1?RS2_FORMAT_Z16:irDepth_?RS2_FORMAT_Y8:RS2_FORMAT_RGB8) &&
video_profile.width() == 640 &&
video_profile.height() == 480 &&
video_profile.fps() == 30)
video_profile.width() == cameraWidth_ &&
video_profile.height() == cameraHeight_ &&
video_profile.fps() == cameraFps_)
{
profilesPerSensor[irDepth_?1:i].push_back(profile);
auto intrinsic = video_profile.get_intrinsics();
if(i==1)
{
depthBuffer_ = cv::Mat(cv::Size(640, 480), CV_16UC1, cv::Scalar(0));
depthBuffer_ = cv::Mat(cv::Size(cameraWidth_, cameraHeight_), CV_16UC1, cv::Scalar(0));
depthStreamProfile = profile;
*depthIntrinsics_ = intrinsic;
}
else
{
rgbBuffer_ = cv::Mat(cv::Size(640, 480), irDepth_?CV_8UC1:CV_8UC3, irDepth_?cv::Scalar(0):cv::Scalar(0, 0, 0));
rgbBuffer_ = cv::Mat(cv::Size(cameraWidth_, cameraHeight_), irDepth_?CV_8UC1:CV_8UC3, irDepth_?cv::Scalar(0):cv::Scalar(0, 0, 0));
model_ = CameraModel(camera_name, intrinsic.fx, intrinsic.fy, intrinsic.ppx, intrinsic.ppy, this->getLocalTransform(), 0, cv::Size(intrinsic.width, intrinsic.height));
rgbStreamProfile = profile;
*rgbIntrinsics_ = intrinsic;
@@ -638,7 +641,17 @@ bool CameraRealSense2::init(const std::string & calibrationFolder, const std::st
if (!added)
{
UERROR("Given stream configuration is not supported by the device! "
"Stream Index: %d, Width: %d, Height: %d, FPS: %d", i, 640, 480, 30);
"Stream Index: %d, Width: %d, Height: %d, FPS: %d", i, cameraWidth_, cameraHeight_, cameraFps_);
UERROR("Available configurations:");
for (auto& profile : profiles)
{
auto video_profile = profile.as<rs2::video_stream_profile>();
UERROR("%s %d %d %d", rs2_format_to_string(
video_profile.format()),
video_profile.width(),
video_profile.height(),
video_profile.fps());
}
return false;
}
}
@@ -819,6 +832,15 @@ void CameraRealSense2::setIRDepthFormat(bool enabled)
#endif
}
void CameraRealSense2::setResolution(int width, int height, int fps)
{
#ifdef RTABMAP_REALSENSE2
cameraWidth_ = width;
cameraHeight_ = height;
cameraFps_ = fps;
#endif
}
void CameraRealSense2::setImagesRectified(bool enabled)
{
#ifdef RTABMAP_REALSENSE2

21
corelib/src/camera/CameraVideo.cpp
View File

@@ -43,7 +43,9 @@ CameraVideo::CameraVideo(
Camera(imageRate, localTransform),
_rectifyImages(rectifyImages),
_src(kUsbDevice),
_usbDevice(usbDevice)
_usbDevice(usbDevice),
_width(0),
_height(0)
{
}
@@ -57,7 +59,9 @@ CameraVideo::CameraVideo(
_filePath(filePath),
_rectifyImages(rectifyImages),
_src(kVideoFile),
_usbDevice(0)
_usbDevice(0),
_width(0),
_height(0)
{
}
@@ -123,6 +127,19 @@ bool CameraVideo::init(const std::string & calibrationFolder, const std::string
}
}
_model.setLocalTransform(this->getLocalTransform());
if(_src == kUsbDevice)
{
if(_model.isValidForProjection())
{
_capture.set(cv::CAP_PROP_FRAME_WIDTH, _model.imageWidth());
_capture.set(cv::CAP_PROP_FRAME_HEIGHT, _model.imageHeight());
}
else if(_width > 0 && _height > 0)
{
_capture.set(cv::CAP_PROP_FRAME_WIDTH, _width);
_capture.set(cv::CAP_PROP_FRAME_HEIGHT, _height);
}
}
if(_rectifyImages && !_model.isValidForRectification())
{
UERROR("Parameter \"rectifyImages\" is set, but no camera model is loaded or valid.");