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

DBReader: added camera selection

Browse Source
This commit is contained in:
matlabbe
2016-06-20 10:50:01 -04:00
parent 62db5370aa
commit cdddb1209e
6 changed files with 91 additions and 15 deletions
Download Patch File Download Diff File Expand all files Collapse all files

7
corelib/include/rtabmap/core/DBReader.h
View File

@@ -51,12 +51,14 @@ public:
float frameRate = 0.0f,
bool odometryIgnored = false,
bool ignoreGoalDelay = false,
bool goalsIgnored = false);
bool goalsIgnored = false,
int cameraIndex = -1);
DBReader(const std::list<std::string> & databasePaths,
float frameRate = 0.0f,
bool odometryIgnored = false,
bool ignoreGoalDelay = false,
bool goalsIgnored = false);
bool goalsIgnored = false,
int cameraIndex = -1);
virtual ~DBReader();
bool init(int startIndex=0);
@@ -73,6 +75,7 @@ private:
bool _odometryIgnored;
bool _ignoreGoalDelay;
bool _goalsIgnored;
int _cameraIndex;
DBDriver * _dbDriver;
UTimer _timer;

39
corelib/src/DBReader.cpp
View File

@@ -46,12 +46,14 @@ DBReader::DBReader(const std::string & databasePath,
float frameRate,
bool odometryIgnored,
bool ignoreGoalDelay,
bool goalsIgnored) :
bool goalsIgnored,
int cameraIndex) :
_paths(uSplit(databasePath, ';')),
_frameRate(frameRate),
_odometryIgnored(odometryIgnored),
_ignoreGoalDelay(ignoreGoalDelay),
_goalsIgnored(goalsIgnored),
_cameraIndex(cameraIndex),
_dbDriver(0),
_currentId(_ids.end()),
_previousStamp(0),
@@ -63,12 +65,14 @@ DBReader::DBReader(const std::list<std::string> & databasePaths,
float frameRate,
bool odometryIgnored,
bool ignoreGoalDelay,
bool goalsIgnored) :
bool goalsIgnored,
int cameraIndex) :
_paths(databasePaths),
_frameRate(frameRate),
_odometryIgnored(odometryIgnored),
_ignoreGoalDelay(ignoreGoalDelay),
_goalsIgnored(goalsIgnored),
_cameraIndex(cameraIndex),
_dbDriver(0),
_currentId(_ids.end()),
_previousStamp(0),
@@ -368,6 +372,37 @@ OdometryEvent DBReader::getNextData()
if(!this->isKilled())
{
data.uncompressData();
if(data.cameraModels().size() > 1 &&
_cameraIndex >= 0)
{
if(_cameraIndex < (int)data.cameraModels().size())
{
// select one camera
int subImageWidth = data.imageRaw().cols/data.cameraModels().size();
UASSERT(!data.imageRaw().empty() &&
data.imageRaw().cols % data.cameraModels().size() == 0 &&
_cameraIndex*subImageWidth < data.imageRaw().cols);
data.setImageRaw(
cv::Mat(data.imageRaw(),
cv::Rect(_cameraIndex*subImageWidth, 0, subImageWidth, data.imageRaw().rows)).clone());
if(!data.depthOrRightRaw().empty())
{
UASSERT(data.depthOrRightRaw().cols % data.cameraModels().size() == 0 &&
subImageWidth == data.depthOrRightRaw().cols/(int)data.cameraModels().size() &&
_cameraIndex*subImageWidth < data.depthOrRightRaw().cols);
data.setDepthOrRightRaw(
cv::Mat(data.depthOrRightRaw(),
cv::Rect(_cameraIndex*subImageWidth, 0, subImageWidth, data.depthOrRightRaw().rows)).clone());
}
CameraModel model = data.cameraModels().at(_cameraIndex);
data.setCameraModel(model);
}
else
{
UWARN("DBReader: Camera index %d doesn't exist! Camera models = %d.", _cameraIndex, (int)data.cameraModels().size());
}
}
data.setId(seq);
data.setStamp(stamp);
data.setGroundTruth(groundTruth);