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Camera: added some getters and protected image size modification

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@574 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2012-06-26 19:23:43 +00:00
parent fe8e261fc6
commit c2008a448c
2 changed files with 80 additions and 33 deletions
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23
corelib/include/rtabmap/core/Camera.h
View File

@@ -103,15 +103,23 @@ public:
cv::Mat takeImage();
cv::Mat takeImage(cv::Mat & descriptors, std::vector<cv::KeyPoint> & keypoints);
virtual bool init() = 0;
//getters
bool isPaused() const {return !this->isRunning();}
bool isCapturing() const {return this->isRunning();}
unsigned int getImageWidth() const {return _imageWidth;}
unsigned int getImageHeight() const {return _imageHeight;}
void getImageSize(unsigned int & width, unsigned int & height);
float getImageRate() const {return _imageRate;}
bool isFeaturesExtracted() const {return _featuresExtracted;}
void setFeaturesExtracted(bool featuresExtracted, KeypointDetector::DetectorType detector = KeypointDetector::kDetectorUndef, KeypointDescriptor::DescriptorType descriptor = KeypointDescriptor::kDescriptorUndef);
//setters
void setFeaturesExtracted(bool featuresExtracted,
KeypointDetector::DetectorType detector = KeypointDetector::kDetectorUndef,
KeypointDescriptor::DescriptorType descriptor = KeypointDescriptor::kDescriptorUndef);
void setImageRate(float imageRate) {_imageRate = imageRate;}
void setAutoRestart(bool autoRestart) {_autoRestart = autoRestart;}
void setImageSize(unsigned int width, unsigned int height);
virtual void parseParameters(const ParametersMap & parameters);
int id() const {return _id;}
@@ -140,6 +148,7 @@ private:
unsigned int _imageHeight;
unsigned int _framesDropped;
UTimer _frameRateTimer;
UMutex _imageSizeMutex;
UMutex _stateMutex;
std::stack<State> _state;
@@ -171,6 +180,7 @@ public:
virtual ~CameraImages();
virtual bool init();
std::string getPath() const {return _path;}
protected:
virtual cv::Mat captureImage();
@@ -209,7 +219,7 @@ public:
unsigned int imageHeight = 0,
unsigned int framesDropped = 0,
int id = 0);
CameraVideo(const std::string & fileName,
CameraVideo(const std::string & filePath,
float imageRate = 0,
bool autoRestart = false,
unsigned int imageWidth = 0,
@@ -219,14 +229,15 @@ public:
virtual ~CameraVideo();
virtual bool init();
int getUsbDevice() {return _usbDevice;}
int getUsbDevice() const {return _usbDevice;}
const std::string & getFilePath() const {return _filePath;}
protected:
virtual cv::Mat captureImage();
private:
// File type
std::string _fileName;
std::string _filePath;
cv::VideoCapture _capture;
Source _src;

90
corelib/src/Camera.cpp
View File

@@ -78,6 +78,26 @@ void Camera::setFeaturesExtracted(bool featuresExtracted, KeypointDetector::Dete
}
}
void Camera::setImageSize(unsigned int width, unsigned int height)
{
_imageSizeMutex.lock();
{
_imageWidth = width;
_imageHeight = height;
}
_imageSizeMutex.unlock();
}
void Camera::getImageSize(unsigned int & width, unsigned int & height)
{
_imageSizeMutex.lock();
{
width = _imageWidth;
height = _imageHeight;
}
_imageSizeMutex.unlock();
}
void Camera::parseParameters(const ParametersMap & parameters)
{
UDEBUG("");
@@ -262,17 +282,18 @@ cv::Mat Camera::takeImage(cv::Mat & descriptors, std::vector<cv::KeyPoint> & key
UTimer timer;
img = this->captureImage();
UDEBUG("Time capturing image = %fs", timer.ticks());
if(img.depth() != CV_8U)
{
UWARN("Images should have already 8U depth !?");
cv::Mat tmp = img;
img = cv::Mat();
tmp.convertTo(img, CV_8U);
UDEBUG("Time converting image to 8U = %fs", timer.ticks());
}
if(!img.empty())
{
if(img.depth() != CV_8U)
{
UWARN("Images should have already 8U depth !?");
cv::Mat tmp = img;
img = cv::Mat();
tmp.convertTo(img, CV_8U);
UDEBUG("Time converting image to 8U = %fs", timer.ticks());
}
if(_featuresExtracted && _keypointDetector && _keypointDescriptor)
{
keypoints = _keypointDetector->generateKeypoints(img);
@@ -424,6 +445,8 @@ cv::Mat CameraImages::captureImage()
#else
img = cv::imread(fullPath.c_str(), -1);
#endif
UDEBUG("width=%d, height=%d, channels=%d, elementSize=%d, total=%d", img.cols, img.rows, img.channels(), img.elemSize(), img.total());
// FIXME : it seems that some png are incorrectly loaded with opencv c++ interface, where c interface works...
if(img.depth() != CV_8U)
{
@@ -442,17 +465,21 @@ cv::Mat CameraImages::captureImage()
UWARN("Directory is not set, camera must be initialized.");
}
unsigned int w;
unsigned int h;
this->getImageSize(w, h);
if(!img.empty() &&
getImageWidth() &&
getImageHeight() &&
getImageWidth() != (unsigned int)img.cols &&
getImageHeight() != (unsigned int)img.rows)
w &&
h &&
w != (unsigned int)img.cols &&
h != (unsigned int)img.rows)
{
cv::Mat resampled;
cv::resize(img, resampled, cv::Size(getImageWidth(), getImageHeight()));
cv::resize(img, resampled, cv::Size(w, h));
img = resampled;
}
UDEBUG("");
return img;
}
@@ -475,7 +502,7 @@ CameraVideo::CameraVideo(int usbDevice,
}
CameraVideo::CameraVideo(const std::string & fileName,
CameraVideo::CameraVideo(const std::string & filePath,
float imageRate,
bool autoRestart,
unsigned int imageWidth,
@@ -483,7 +510,7 @@ CameraVideo::CameraVideo(const std::string & fileName,
unsigned int framesDropped,
int id) :
Camera(imageRate, autoRestart, imageWidth, imageHeight, framesDropped, id),
_fileName(fileName),
_filePath(filePath),
_src(kVideoFile)
{
}
@@ -503,18 +530,23 @@ bool CameraVideo::init()
if(_src == kUsbDevice)
{
ULOGGER_DEBUG("CameraVideo::init() Usb device initialization on device %d with imgSize=[%d,%d]", _usbDevice, getImageWidth(), getImageHeight());
unsigned int w;
unsigned int h;
this->getImageSize(w, h);
ULOGGER_DEBUG("CameraVideo::init() Usb device initialization on device %d with imgSize=[%d,%d]", _usbDevice, w, h);
_capture.open(_usbDevice);
if(getImageWidth() && getImageHeight())
if(w && h)
{
_capture.set(CV_CAP_PROP_FRAME_WIDTH, double(getImageWidth()));
_capture.set(CV_CAP_PROP_FRAME_HEIGHT, double(getImageHeight()));
_capture.set(CV_CAP_PROP_FRAME_WIDTH, double(w));
_capture.set(CV_CAP_PROP_FRAME_HEIGHT, double(h));
}
}
else if(_src == kVideoFile)
{
ULOGGER_DEBUG("Camera: filename=\"%s\"", _fileName.c_str());
_capture.open(_fileName.c_str());
ULOGGER_DEBUG("Camera: filename=\"%s\"", _filePath.c_str());
_capture.open(_filePath.c_str());
}
else
{
@@ -541,14 +573,18 @@ cv::Mat CameraVideo::captureImage()
ULOGGER_WARN("The camera must be initialized before requesting an image.");
}
unsigned int w;
unsigned int h;
this->getImageSize(w, h);
if(!img.empty() &&
getImageWidth() &&
getImageHeight() &&
getImageWidth() != (unsigned int)img.cols &&
getImageHeight() != (unsigned int)img.rows)
w &&
h &&
w != (unsigned int)img.cols &&
h != (unsigned int)img.rows)
{
cv::Mat resampled;
cv::resize(img, resampled, cv::Size(getImageWidth(), getImageHeight()));
cv::resize(img, resampled, cv::Size(w, h));
return resampled;
}
else