Added Source/Mirroring parameter for convenience

corelib/include/rtabmap/core/Camera.h

@@ -56,10 +56,12 @@ public:
 	//getters
 	void getImageSize(unsigned int & width, unsigned int & height);
 	float getImageRate() const {return _imageRate;}
+	bool isMirroringEnabled() const {return _mirroring;}
 
 	//setters
 	void setImageRate(float imageRate) {_imageRate = imageRate;}
 	void setImageSize(unsigned int width, unsigned int height);
+	void setMirroringEnabled(bool enabled) {_mirroring = enabled;}
 
 	void setCalibration(const std::string & fileName);
 	void setCalibration(const cv::Mat & cameraMatrix, const cv::Mat & distorsionCoefficients);
@@ -81,6 +83,7 @@ private:
 	float _imageRate;
 	unsigned int _imageWidth;
 	unsigned int _imageHeight;
+	bool _mirroring;
 	UTimer * _frameRateTimer;
 	cv::Mat _k; // camera_matrix
 	cv::Mat _d; // distorsion_coefficients

corelib/include/rtabmap/core/CameraRGBD.h

@@ -77,6 +77,7 @@ public:
 	//getters
 	float getImageRate() const {return _imageRate;}
 	const Transform & getLocalTransform() const {return _localTransform;}
+	bool isMirroringEnabled() const {return _mirroring;}
 	float getFx() const {return _fx;}
 	float getFy() const {return _fy;}
 	float getCx() const {return _cx;}
@@ -85,6 +86,7 @@ public:
 	//setters
 	void setImageRate(float imageRate) {_imageRate = imageRate;}
 	void setLocalTransform(const Transform & localTransform) {_localTransform= localTransform;}
+	void setMirroringEnabled(bool mirroring) {_mirroring = mirroring;}
 	void setFx(float fx) {_fx = fx;}
 	void setFy(float fy) {_fy = fy;}
 	void setCx(float cx) {_cx = cx;}
@@ -108,6 +110,7 @@ protected:
 private:
 	float _imageRate;
 	Transform _localTransform;
+	bool _mirroring;
 	UTimer * _frameRateTimer;
 	float _fx;
 	float _fy;

corelib/src/Camera.cpp

@@ -50,6 +50,7 @@ Camera::Camera(float imageRate,
 	_imageRate(imageRate),
 	_imageWidth(imageWidth),
 	_imageHeight(imageHeight),
+	_mirroring(false),
 	_frameRateTimer(new UTimer())
 {
 }
@@ -177,6 +178,10 @@ cv::Mat Camera::takeImage()
 		cv::Mat temp = img.clone();
 		cv::undistort(temp, img, _k, _d);
 	}
+	if(!img.empty() && _mirroring)
+	{
+		cv::flip(img,img,1);
+	}
 	UDEBUG("Time capturing image = %fs", timer.ticks());
 	return img;
 }

corelib/src/CameraRGBD.cpp

@@ -118,6 +118,15 @@ void CameraRGBD::takeImage(cv::Mat & rgb, cv::Mat & depth, float & fx, float & f
 	{
 		cy = _cy; // override if set
 	}
+	if(!rgb.empty() && !depth.empty() && _mirroring)
+	{
+		cv::flip(rgb,rgb,1);
+		cv::flip(depth,depth,1);
+		if(cx != 0.0f)
+		{
+			cx = float(rgb.cols) - cx;
+		}
+	}
 	UDEBUG("Time capturing image = %fs", timer.ticks());
 }