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

Calibration: added support for stereo IR cameras

Browse Source
This commit is contained in:
matlabbe
2016-04-25 09:52:03 -04:00
parent 4cc1c66f09
commit 8e1fc0df56
3 changed files with 18 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
corelib/src/SensorData.cpp
View File

@@ -348,7 +348,8 @@ SensorData::SensorData(
else if(!left.empty()) else if(!left.empty())
{ {
UASSERT(left.type() == CV_8UC1 || // Mono UASSERT(left.type() == CV_8UC1 || // Mono
left.type() == CV_8UC3); // RGB left.type() == CV_8UC3 || // RGB
left.type() == CV_16UC1); // IR
_imageRaw = left; _imageRaw = left;
} }
if(right.rows == 1) if(right.rows == 1)
@@ -358,7 +359,8 @@ SensorData::SensorData(
} }
else if(!right.empty()) else if(!right.empty())
{ {
UASSERT(right.type() == CV_8UC1); // Mono UASSERT(right.type() == CV_8UC1 || // Mono
right.type() == CV_16UC1); // IR
_depthOrRightRaw = right; _depthOrRightRaw = right;
} }

1
guilib/include/rtabmap/gui/CalibrationDialog.h
View File

@@ -55,6 +55,7 @@ public:
const rtabmap::CameraModel & getLeftCameraModel() const {return models_[0];} const rtabmap::CameraModel & getLeftCameraModel() const {return models_[0];}
const rtabmap::CameraModel & getRightCameraModel() const {return models_[1];} const rtabmap::CameraModel & getRightCameraModel() const {return models_[1];}
const rtabmap::StereoCameraModel & getStereoCameraModel() const {return stereoModel_;} const rtabmap::StereoCameraModel & getStereoCameraModel() const {return stereoModel_;}
bool isProcessing() const {return processingData_;}
void saveSettings(QSettings & settings, const QString & group = "") const; void saveSettings(QSettings & settings, const QString & group = "") const;
void loadSettings(QSettings & settings, const QString & group = ""); void loadSettings(QSettings & settings, const QString & group = "");

13
guilib/src/CalibrationDialog.cpp
View File

@@ -260,6 +260,7 @@ void CalibrationDialog::handleEvent(UEvent * event)
void CalibrationDialog::processImages(const cv::Mat & imageLeft, const cv::Mat & imageRight, const QString & cameraName) void CalibrationDialog::processImages(const cv::Mat & imageLeft, const cv::Mat & imageRight, const QString & cameraName)
{ {
UDEBUG("Processing images");
processingData_ = true; processingData_ = true;
if(cameraName_.isEmpty()) if(cameraName_.isEmpty())
{ {
@@ -306,6 +307,18 @@ void CalibrationDialog::processImages(const cv::Mat & imageLeft, const cv::Mat &
{ {
if(images[id].type() == CV_16UC1) if(images[id].type() == CV_16UC1)
{ {
double min, max;
cv::minMaxLoc(images[id], &min, &max);
UDEBUG("Camera IR %d: min=%f max=%f", id, min, max);
if(minIrs_[id] == 0)
{
minIrs_[id] = min;
}
if(maxIrs_[id] == 0x7fff)
{
maxIrs_[id] = max;
}
depthDetected = true; depthDetected = true;
//assume IR image: convert to gray scaled //assume IR image: convert to gray scaled
const float factor = 255.0f / float((maxIrs_[id] - minIrs_[id])); const float factor = 255.0f / float((maxIrs_[id] - minIrs_[id]));