i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 01:20:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

Added RGB/IR calibration

Browse Source
This commit is contained in:
matlabbe
2015-04-08 12:23:10 -04:00
parent e965275fe6
commit 8ab867b802
10 changed files with 341 additions and 64 deletions
Download Patch File Download Diff File Expand all files Collapse all files

28
corelib/include/rtabmap/core/CameraModel.h
View File

@@ -92,28 +92,24 @@ public:
StereoCameraModel() {}
StereoCameraModel(const std::string & name, const cv::Size & imageSize,
const cv::Mat & K1, const cv::Mat & D1, const cv::Mat & R1, const cv::Mat & P1,
const cv::Mat & K2, const cv::Mat & D2, const cv::Mat & R2, const cv::Mat & P2) :
const cv::Mat & K2, const cv::Mat & D2, const cv::Mat & R2, const cv::Mat & P2,
const cv::Mat & R, const cv::Mat & T, const cv::Mat & E, const cv::Mat & F) :
left_(name+"_left", imageSize, K1, D1, R1, P1),
right_(name+"_right", imageSize, K2, D2, R2, P2),
name_(name)
name_(name),
R_(R),
T_(T),
E_(E),
F_(F)
{
}
virtual ~StereoCameraModel() {}
bool isValid() const {return left_.isValid() && right_.isValid();}
bool isValid() const {return left_.isValid() && right_.isValid() && !R_.empty() && !T_.empty() && !E_.empty() && !F_.empty();}
const std::string & name() const {return name_;}
bool load(const std::string & directory, const std::string & cameraName)
{
name_ = cameraName;
return left_.load(directory+"/"+cameraName+"_left.yaml") &&
right_.load(directory+"/"+cameraName+"_right.yaml");
}
bool save(const std::string & directory, const std::string & cameraName)
{
return left_.save(directory+"/"+cameraName+"_left.yaml") &&
right_.save(directory+"/"+cameraName+"_right.yaml");
}
bool load(const std::string & directory, const std::string & cameraName);
bool save(const std::string & directory, const std::string & cameraName);
double baseline() const {return -right_.Tx()/right_.fx();}
const CameraModel & left() const {return left_;}
@@ -123,6 +119,10 @@ private:
CameraModel left_;
CameraModel right_;
std::string name_;
cv::Mat R_;
cv::Mat T_;
cv::Mat E_;
cv::Mat F_;
};
} /* namespace rtabmap */

8
corelib/include/rtabmap/core/CameraRGBD.h
View File

@@ -270,9 +270,16 @@ class RTABMAP_EXP CameraFreenect2 :
public:
static bool available();
enum Type{
kTypeRGBDepthSD,
kTypeRGBDepthHD,
kTypeRGBIR
};
public:
// default local transform z in, x right, y down));
CameraFreenect2(int deviceId= 0,
Type type = kTypeRGBDepthSD,
float imageRate=0.0f,
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraFreenect2();
@@ -286,6 +293,7 @@ protected:
private:
int deviceId_;
Type type_;
libfreenect2::Freenect2 * freenect2_;
libfreenect2::Freenect2Device *dev_;
libfreenect2::SyncMultiFrameListener * listener_;