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Camera class: localTransform parameter should not have optical rotation anymore (it is added afterwards in the constructor). OdomSensor: the extrinsics should not contain optical rotation anymore. These 2 changes make it more convenient to set transfomation parameters in the UI. MainWindow::createCamera() now has odomSensor argument for convenience (for inherited classes to set both camera and odom sensor in the same function).

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This commit is contained in:
matlabbe
2021-05-26 13:40:46 -04:00
parent 21dbeed4b7
commit ada3e75005
34 changed files with 96 additions and 80 deletions
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5
corelib/include/rtabmap/core/Camera.h
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@@ -73,9 +73,10 @@ protected:
/**
* Constructor
*
* @param imageRate : image/second , 0 for fast as the camera can
* @param imageRate the frame rate (Hz), 0 for fast as the camera can
* @param localTransform the transform from base frame to camera frame (without optical rotation)
*/
Camera(float imageRate = 0, const Transform & localTransform = CameraModel::opticalRotation());
Camera(float imageRate = 0, const Transform & localTransform = Transform::getIdentity());
/**
* returned rgb and depth images should be already rectified if calibration was loaded

1
corelib/include/rtabmap/core/CameraThread.h
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@@ -72,7 +72,6 @@ public:
bool odomAsGt = false,
const ParametersMap & parameters = ParametersMap());
CameraThread(Camera * camera,
float poseScaleFactor,
bool odomAsGt,
const ParametersMap & parameters = ParametersMap());
virtual ~CameraThread();

2
corelib/include/rtabmap/core/camera/CameraDepthAI.h
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@@ -54,7 +54,7 @@ public:
const std::string & deviceSerial = "",
int resolution = 1, // 0=720p, 1=800p, 2=400p
float imageRate=0.0f,
const Transform & localTransform = CameraModel::opticalRotation());
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraDepthAI();
void setOutputDepth(bool enabled, int confidence = 200);

2
corelib/include/rtabmap/core/camera/CameraFreenect.h
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@@ -53,7 +53,7 @@ public:
CameraFreenect(int deviceId= 0,
Type type = kTypeColorDepth,
float imageRate=0.0f,
const Transform & localTransform = CameraModel::opticalRotation());
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraFreenect();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");

2
corelib/include/rtabmap/core/camera/CameraFreenect2.h
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@@ -65,7 +65,7 @@ public:
CameraFreenect2(int deviceId= 0,
Type type = kTypeDepth2ColorSD,
float imageRate=0.0f,
const Transform & localTransform = CameraModel::opticalRotation(),
const Transform & localTransform = Transform::getIdentity(),
float minDepth = 0.3f,
float maxDepth = 12.0f,
bool bilateralFiltering = true,

2
corelib/include/rtabmap/core/camera/CameraImages.h
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@@ -46,7 +46,7 @@ public:
CameraImages(
const std::string & path,
float imageRate = 0,
const Transform & localTransform = CameraModel::opticalRotation());
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraImages();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");

4
corelib/include/rtabmap/core/camera/CameraK4A.h
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@@ -51,10 +51,10 @@ public:
public:
CameraK4A(int deviceId = 0,
float imageRate = 0.0f,
const Transform & localTransform = CameraModel::opticalRotation());
const Transform & localTransform = Transform::getIdentity());
CameraK4A(const std::string & fileName,
float imageRate = 0.0f,
const Transform & localTransform = CameraModel::opticalRotation());
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraK4A();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");

2
corelib/include/rtabmap/core/camera/CameraK4W2.h
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@@ -66,7 +66,7 @@ public:
CameraK4W2(int deviceId = 0, // not used
Type type = kTypeDepth2ColorSD,
float imageRate = 0.0f,
const Transform & localTransform = CameraModel::opticalRotation());
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraK4W2();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");

2
corelib/include/rtabmap/core/camera/CameraMyntEye.h
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@@ -52,7 +52,7 @@ public:
static bool available();
public:
CameraMyntEye(const std::string & device = "", bool apiRectification = false, bool apiDepth = false, float imageRate = 0, const Transform & localTransform = CameraModel::opticalRotation());
CameraMyntEye(const std::string & device = "", bool apiRectification = false, bool apiDepth = false, float imageRate = 0, const Transform & localTransform = Transform::getIdentity());
virtual ~CameraMyntEye();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");

2
corelib/include/rtabmap/core/camera/CameraOpenNI2.h
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@@ -54,7 +54,7 @@ public:
CameraOpenNI2(const std::string & deviceId = "",
Type type = kTypeColorDepth,
float imageRate = 0,
const Transform & localTransform = CameraModel::opticalRotation());
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraOpenNI2();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");

2
corelib/include/rtabmap/core/camera/CameraOpenNICV.h
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@@ -45,7 +45,7 @@ public:
public:
CameraOpenNICV(bool asus = false,
float imageRate = 0,
const Transform & localTransform = CameraModel::opticalRotation());
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraOpenNICV();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");

2
corelib/include/rtabmap/core/camera/CameraOpenni.h
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@@ -66,7 +66,7 @@ public:
// default local transform z in, x right, y down));
CameraOpenni(const std::string & deviceId="",
float imageRate = 0,
const Transform & localTransform = CameraModel::opticalRotation());
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraOpenni();
#ifdef RTABMAP_OPENNI
#if PCL_VERSION_COMPARE(>=, 1, 10, 0)

2
corelib/include/rtabmap/core/camera/CameraRGBDImages.h
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@@ -44,7 +44,7 @@ public:
const std::string & pathDepthImages,
float depthScaleFactor = 1.0f,
float imageRate=0.0f,
const Transform & localTransform = CameraModel::opticalRotation());
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraRGBDImages();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");

2
corelib/include/rtabmap/core/camera/CameraRealSense.h
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@@ -64,7 +64,7 @@ public:
int presetDepth = 0, // 0=best quality, 1=largest image, 2=highest framerate
bool computeOdometry = false,
float imageRate = 0,
const Transform & localTransform = CameraModel::opticalRotation());
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraRealSense();
void setDepthScaledToRGBSize(bool enabled);

7
corelib/include/rtabmap/core/camera/CameraRealSense2.h
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@@ -63,7 +63,7 @@ public:
CameraRealSense2(
const std::string & deviceId = "",
float imageRate = 0,
const Transform & localTransform = CameraModel::opticalRotation());
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraRealSense2();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
@@ -80,6 +80,11 @@ public:
void setDepthResolution(int width, int height, int fps = 30);
void setGlobalTimeSync(bool enabled);
void publishInterIMU(bool enabled);
/**
* Dual mode (D400+T265 or L500+T265)
* @param enabled enable dual mode
* @param extrinsics the extrinsics between T265 pose frame (middle of the camera) to D400/L500 main camera (without optical rotation).
*/
void setDualMode(bool enabled, const Transform & extrinsics);
void setJsonConfig(const std::string & json);
// T265 related parameters

2
corelib/include/rtabmap/core/camera/CameraStereoDC1394.h
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@@ -45,7 +45,7 @@ public:
static bool available();
public:
CameraStereoDC1394( float imageRate=0.0f, const Transform & localTransform = CameraModel::opticalRotation());
CameraStereoDC1394( float imageRate=0.0f, const Transform & localTransform = Transform::getIdentity());
virtual ~CameraStereoDC1394();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");

2
corelib/include/rtabmap/core/camera/CameraStereoFlyCapture2.h
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@@ -47,7 +47,7 @@ public:
static bool available();
public:
CameraStereoFlyCapture2( float imageRate=0.0f, const Transform & localTransform = CameraModel::opticalRotation());
CameraStereoFlyCapture2( float imageRate=0.0f, const Transform & localTransform = Transform::getIdentity());
virtual ~CameraStereoFlyCapture2();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");

4
corelib/include/rtabmap/core/camera/CameraStereoImages.h
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@@ -49,12 +49,12 @@ public:
const std::string & pathRightImages,
bool rectifyImages = false,
float imageRate=0.0f,
const Transform & localTransform = CameraModel::opticalRotation());
const Transform & localTransform = Transform::getIdentity());
CameraStereoImages(
const std::string & pathLeftRightImages,
bool rectifyImages = false,
float imageRate=0.0f,
const Transform & localTransform = CameraModel::opticalRotation());
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraStereoImages();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");

2
corelib/include/rtabmap/core/camera/CameraStereoTara.h
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@@ -53,7 +53,7 @@ public:
int device,
bool rectifyImages = false,
float imageRate = 0.0f,
const Transform & localTransform = CameraModel::opticalRotation());
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraStereoTara();

8
corelib/include/rtabmap/core/camera/CameraStereoVideo.h
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@@ -46,24 +46,24 @@ public:
const std::string & pathSideBySide,
bool rectifyImages = false,
float imageRate=0.0f,
const Transform & localTransform = CameraModel::opticalRotation());
const Transform & localTransform = Transform::getIdentity());
CameraStereoVideo(
const std::string & pathLeft,
const std::string & pathRight,
bool rectifyImages = false,
float imageRate=0.0f,
const Transform & localTransform = CameraModel::opticalRotation());
const Transform & localTransform = Transform::getIdentity());
CameraStereoVideo(
int device,
bool rectifyImages = false,
float imageRate = 0.0f,
const Transform & localTransform = CameraModel::opticalRotation());
const Transform & localTransform = Transform::getIdentity());
CameraStereoVideo(
int deviceLeft,
int deviceRight,
bool rectifyImages = false,
float imageRate = 0.0f,
const Transform & localTransform = CameraModel::opticalRotation());
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraStereoVideo();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");

4
corelib/include/rtabmap/core/camera/CameraStereoZed.h
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@@ -57,7 +57,7 @@ public:
int confidenceThr = 100,
bool computeOdometry = false,
float imageRate=0.0f,
const Transform & localTransform = CameraModel::opticalRotation(),
const Transform & localTransform = Transform::getIdentity(),
bool selfCalibration = true,
bool odomForce3DoF = false,
int texturenessConfidenceThr = 90); // introduced with ZED SDK 3
@@ -68,7 +68,7 @@ public:
int confidenceThr = 100,
bool computeOdometry = false,
float imageRate=0.0f,
const Transform & localTransform = CameraModel::opticalRotation(),
const Transform & localTransform = Transform::getIdentity(),
bool selfCalibration = true,
bool odomForce3DoF = false,
int texturenessConfidenceThr = 90); // introduced with ZED SDK 3

2
corelib/include/rtabmap/core/camera/CameraStereoZedOC.h
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@@ -57,7 +57,7 @@ public:
int deviceId,
int resolution = 3, // 0=HD2K, 1=HD1080, 2=HD720, 3=VGA
float imageRate=0.0f,
const Transform & localTransform = CameraModel::opticalRotation());
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraStereoZedOC();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");

4
corelib/include/rtabmap/core/camera/CameraVideo.h
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@@ -45,11 +45,11 @@ public:
CameraVideo(int usbDevice = 0,
bool rectifyImages = false,
float imageRate = 0,
const Transform & localTransform = CameraModel::opticalRotation());
const Transform & localTransform = Transform::getIdentity());
CameraVideo(const std::string & filePath,
bool rectifyImages = false,
float imageRate = 0,
const Transform & localTransform = CameraModel::opticalRotation());
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraVideo();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");