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rtabmap-matcher: Added option to recfify raw images for convenience (#1663)

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This commit is contained in:
matlabbe
2026-03-28 18:47:18 -07:00
committed by GitHub
parent f94a963463
commit 94bd3601fc
1 changed files with 60 additions and 1 deletions
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61
tools/Matcher/main.cpp
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@@ -87,6 +87,11 @@ void showUsage()
" --to_depth \"to_depth.png\" Depth or right image file of the second image.\n"
" For 3D->3D estimation, from_depth and to_depth\n"
" should be both set.\n"
" --raw Provided images are raw and should be rectified.\n"
" Doesn't need to be explicitly set if calibration\n"
" is not provided. For RGB-D data, only the RGB image\n"
" is rectified, the depth is assumed already matching\n"
" the rectified one.\n"
"\n\n"
"%s\n",
Parameters::showUsage());
@@ -107,6 +112,7 @@ int main(int argc, char * argv[])
std::string toDepthPath;
std::string calibrationPath;
std::string calibrationToPath;
bool imagesRectified = true;
for(int i=1; i<argc-2; ++i)
{
if(strcmp(argv[i], "--from_depth") == 0)
@@ -157,6 +163,10 @@ int main(int argc, char * argv[])
showUsage();
}
}
else if(strcmp(argv[i], "--raw") == 0)
{
imagesRectified = false;
}
else if(strcmp(argv[i], "--help") == 0)
{
showUsage();
@@ -171,6 +181,10 @@ int main(int argc, char * argv[])
}
printf(" --from_depth = \"%s\"\n", fromDepthPath.c_str());
printf(" --to_depth = \"%s\"\n", toDepthPath.c_str());
if(!imagesRectified)
{
printf(" --raw (images will be rectified)\n");
}
#ifdef RTABMAP_PYTHON
rtabmap::PythonInterface pythonInterface;
@@ -311,12 +325,57 @@ int main(int argc, char * argv[])
if(model.isValidForProjection())
{
printf("Mono calibration model detected.\n");
if(!imagesRectified)
{
if(!model.isValidForRectification())
{
printf("ERROR: calibration model \"%s\" is not valid for rectification and --raw option was set. Aborting.\n", calibrationPath.c_str());
exit(-1);
}
if(!model.isRectificationMapInitialized()) {
model.initRectificationMap();
}
if(!modelTo.isValidForRectification())
{
printf("ERROR: calibration model \"%s\" is not valid for rectification and --raw option was set. Aborting.\n", calibrationToPath.c_str());
exit(-1);
}
if(!modelTo.isRectificationMapInitialized()) {
modelTo.initRectificationMap();
}
imageFrom = model.rectifyImage(imageFrom);
imageTo = modelTo.rectifyImage(imageTo);
}
dataFrom = SensorData(imageFrom, fromDepth, model, 1);
dataTo = SensorData(imageTo, toDepth, modelTo, 2);
}
else //stereo
{
printf("Stereo calibration model detected.\n");
if(!imagesRectified)
{
if(!stereoModel.isValidForRectification())
{
printf("ERROR: stereo calibration model \"%s\" is not valid for rectification and --raw option was set. Aborting.\n", calibrationPath.c_str());
exit(-1);
}
if(!stereoModel.isRectificationMapInitialized()) {
stereoModel.initRectificationMap();
}
if(!stereoModelTo.isValidForRectification())
{
printf("ERROR: stereo calibration model \"%s\" is not valid for rectification and --raw option was set. Aborting.\n", calibrationToPath.c_str());
exit(-1);
}
if(!stereoModelTo.isRectificationMapInitialized()) {
stereoModelTo.initRectificationMap();
}
imageFrom = stereoModel.left().rectifyImage(imageFrom);
fromDepth = stereoModel.right().rectifyImage(fromDepth);
imageTo = stereoModelTo.left().rectifyImage(imageTo);
toDepth = stereoModelTo.right().rectifyImage(toDepth);
}
dataFrom = SensorData(imageFrom, fromDepth, stereoModel, 1);
dataTo = SensorData(imageTo, toDepth, stereoModelTo, 2);
}
@@ -329,7 +388,7 @@ int main(int argc, char * argv[])
{
parameters.insert(ParametersPair(Parameters::kVisEstimationType(), "2")); // Set 2D->2D estimation for mono images
parameters.insert(ParametersPair(Parameters::kVisEpipolarGeometryVar(), "1")); //Unknown scale
printf("Calibration not set, setting %s=1 and %s=2 by default (2D->2D estimation)\n", Parameters::kVisEpipolarGeometryVar().c_str(), Parameters::kVisEstimationType().c_str());
printf("Depth/Stereo not set, setting %s=1 and %s=2 by default (2D->2D estimation)\n", Parameters::kVisEpipolarGeometryVar().c_str(), Parameters::kVisEstimationType().c_str());
}
RegistrationVis reg(parameters);
RegistrationInfo info;