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Fixed #453

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matlabbe
2019-10-23 12:43:36 -04:00
parent 6435c74bfe
commit 79ad8dc4be
1 changed files with 4 additions and 74 deletions
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78
corelib/src/camera/CameraRealSense2.cpp
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@@ -133,76 +133,6 @@ CameraRealSense2::~CameraRealSense2()
} }
#ifdef RTABMAP_REALSENSE2 #ifdef RTABMAP_REALSENSE2
void alignFrame(const rs2_intrinsics& from_intrin,
const rs2_intrinsics& other_intrin,
rs2::frame from_image,
uint32_t output_image_bytes_per_pixel,
const rs2_extrinsics& from_to_other,
cv::Mat & registeredDepth,
float depth_scale_meters)
{
static const auto meter_to_mm = 0.001f;
uint8_t* p_out_frame = registeredDepth.data;
auto from_vid_frame = from_image.as<rs2::video_frame>();
auto from_bytes_per_pixel = from_vid_frame.get_bytes_per_pixel();
static const auto blank_color = 0x00;
UASSERT(registeredDepth.total()*registeredDepth.channels()*registeredDepth.depth() == other_intrin.height * other_intrin.width * output_image_bytes_per_pixel);
memset(p_out_frame, blank_color, other_intrin.height * other_intrin.width * output_image_bytes_per_pixel);
auto p_from_frame = reinterpret_cast<const uint8_t*>(from_image.get_data());
auto from_stream_type = from_image.get_profile().stream_type();
float depth_units = ((from_stream_type == RS2_STREAM_DEPTH)? depth_scale_meters:1.f);
UASSERT(from_stream_type == RS2_STREAM_DEPTH);
UASSERT_MSG(depth_units > 0.0f, uFormat("depth_scale_meters=%f", depth_scale_meters).c_str());
#pragma omp parallel for schedule(dynamic)
for (int from_y = 0; from_y < from_intrin.height; ++from_y)
{
int from_pixel_index = from_y * from_intrin.width;
for (int from_x = 0; from_x < from_intrin.width; ++from_x, ++from_pixel_index)
{
// Skip over depth pixels with the value of zero
float depth = (from_stream_type == RS2_STREAM_DEPTH)?(depth_units * ((const uint16_t*)p_from_frame)[from_pixel_index]): 1.f;
if (depth)
{
// Map the top-left corner of the depth pixel onto the other image
float from_pixel[2] = { from_x - 0.5f, from_y - 0.5f }, from_point[3], other_point[3], other_pixel[2];
rs2_deproject_pixel_to_point(from_point, &from_intrin, from_pixel, depth);
rs2_transform_point_to_point(other_point, &from_to_other, from_point);
rs2_project_point_to_pixel(other_pixel, &other_intrin, other_point);
const int other_x0 = static_cast<int>(other_pixel[0] + 0.5f);
const int other_y0 = static_cast<int>(other_pixel[1] + 0.5f);
// Map the bottom-right corner of the depth pixel onto the other image
from_pixel[0] = from_x + 0.5f; from_pixel[1] = from_y + 0.5f;
rs2_deproject_pixel_to_point(from_point, &from_intrin, from_pixel, depth);
rs2_transform_point_to_point(other_point, &from_to_other, from_point);
rs2_project_point_to_pixel(other_pixel, &other_intrin, other_point);
const int other_x1 = static_cast<int>(other_pixel[0] + 0.5f);
const int other_y1 = static_cast<int>(other_pixel[1] + 0.5f);
if (other_x0 < 0 || other_y0 < 0 || other_x1 >= other_intrin.width || other_y1 >= other_intrin.height)
continue;
for (int y = other_y0; y <= other_y1; ++y)
{
for (int x = other_x0; x <= other_x1; ++x)
{
int out_pixel_index = y * other_intrin.width + x;
//Tranfer n-bit pixel to n-bit pixel
for (int i = 0; i < from_bytes_per_pixel; i++)
{
const auto out_offset = out_pixel_index * output_image_bytes_per_pixel + i;
const auto from_offset = from_pixel_index * output_image_bytes_per_pixel + i;
p_out_frame[out_offset] = p_from_frame[from_offset] * (depth_units / meter_to_mm);
}
}
}
}
}
}
}
void CameraRealSense2::imu_callback(rs2::frame frame) void CameraRealSense2::imu_callback(rs2::frame frame)
{ {
auto stream = frame.get_profile().stream_type(); auto stream = frame.get_profile().stream_type();
@@ -1164,10 +1094,10 @@ SensorData CameraRealSense2::captureImage(CameraInfo * info)
} }
else else
{ {
depth = cv::Mat(depthBuffer_.size(), depthBuffer_.type()); rs2::align align(rgb_frame.get_profile().stream_type());
alignFrame(*depthIntrinsics_, *rgbIntrinsics_, rs2::frameset processed = frameset.apply_filter(align);
depth_frame, from_image_frame.get_bytes_per_pixel(), rs2::depth_frame aligned_depth_frame = processed.get_depth_frame();
*depthToRGBExtrinsics_, depth, depth_scale_meters_); depth = cv::Mat(depthBuffer_.size(), depthBuffer_.type(), (void*)aligned_depth_frame.get_data()).clone();
} }
cv::Mat rgb = cv::Mat(rgbBuffer_.size(), rgbBuffer_.type(), (void*)rgb_frame.get_data()); cv::Mat rgb = cv::Mat(rgbBuffer_.size(), rgbBuffer_.type(), (void*)rgb_frame.get_data());