diff --git a/corelib/include/rtabmap/core/CameraRGBD.h b/corelib/include/rtabmap/core/CameraRGBD.h index e3ac14fa..e86b7aa2 100644 --- a/corelib/include/rtabmap/core/CameraRGBD.h +++ b/corelib/include/rtabmap/core/CameraRGBD.h @@ -178,6 +178,7 @@ public: bool setGain(int value); bool setMirroring(bool enabled); void setOpenNI2StampsAndIDsUsed(bool used); + void setIRDepthShift(int horizontal, int vertical); protected: virtual SensorData captureImage(CameraInfo * info = 0); @@ -193,6 +194,8 @@ private: std::string _deviceId; bool _openNI2StampsAndIDsUsed; StereoCameraModel _stereoModel; + int _depthHShift; + int _depthVShift; #endif }; diff --git a/corelib/src/CameraRGBD.cpp b/corelib/src/CameraRGBD.cpp index 7cb3c3ff..78b31a15 100644 --- a/corelib/src/CameraRGBD.cpp +++ b/corelib/src/CameraRGBD.cpp @@ -396,7 +396,9 @@ CameraOpenNI2::CameraOpenNI2( _depthFx(0.0f), _depthFy(0.0f), _deviceId(deviceId), - _openNI2StampsAndIDsUsed(false) + _openNI2StampsAndIDsUsed(false), + _depthHShift(0), + _depthVShift(0) #endif { } @@ -496,6 +498,14 @@ void CameraOpenNI2::setOpenNI2StampsAndIDsUsed(bool used) #endif } +void CameraOpenNI2::setIRDepthShift(int horizontal, int vertical) +{ + UASSERT(horizontal >= 0); + UASSERT(vertical >= 0); + _depthHShift = horizontal; + _depthVShift = vertical; +} + bool CameraOpenNI2::init(const std::string & calibrationFolder, const std::string & cameraName) { #ifdef RTABMAP_OPENNI2 @@ -848,6 +858,12 @@ SensorData CameraOpenNI2::captureImage(CameraInfo * info) if(_stereoModel.left().isValidForRectification() && !_stereoModel.stereoTransform().isNull()) { + if (_depthHShift > 0 || _depthVShift > 0) + { + cv::Mat out = cv::Mat::zeros(depth.size(), depth.type()); + depth(cv::Rect(_depthHShift, _depthVShift, depth.cols - _depthHShift, depth.rows - _depthVShift)).copyTo(out(cv::Rect(0, 0, depth.cols - _depthHShift, depth.rows - _depthVShift))); + depth = out; + } depth = _stereoModel.left().rectifyImage(depth, 0); depth = util2d::registerDepth(depth, _stereoModel.left().K(), rgb.size(), _stereoModel.right().K(), _stereoModel.stereoTransform()); } diff --git a/guilib/src/PreferencesDialog.cpp b/guilib/src/PreferencesDialog.cpp index d421469b..341cf11a 100644 --- a/guilib/src/PreferencesDialog.cpp +++ b/guilib/src/PreferencesDialog.cpp @@ -514,6 +514,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) : connect(_ui->openni2_gain, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->openni2_mirroring, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->openni2_stampsIdsUsed, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel())); + connect(_ui->openni2_hshift, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel())); + connect(_ui->openni2_vshift, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->comboBox_freenect2Format, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->doubleSpinBox_freenect2MinDepth, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->doubleSpinBox_freenect2MaxDepth, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel())); @@ -1511,6 +1513,8 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox) _ui->openni2_gain->setValue(100); _ui->openni2_mirroring->setChecked(false); _ui->openni2_stampsIdsUsed->setChecked(false); + _ui->openni2_hshift->setValue(0); + _ui->openni2_vshift->setValue(0); _ui->comboBox_freenect2Format->setCurrentIndex(0); _ui->doubleSpinBox_freenect2MinDepth->setValue(0.3); _ui->doubleSpinBox_freenect2MaxDepth->setValue(12.0); @@ -1881,6 +1885,8 @@ void PreferencesDialog::readCameraSettings(const QString & filePath) _ui->openni2_mirroring->setChecked(settings.value("mirroring", _ui->openni2_mirroring->isChecked()).toBool()); _ui->openni2_stampsIdsUsed->setChecked(settings.value("stampsIdsUsed", _ui->openni2_stampsIdsUsed->isChecked()).toBool()); _ui->lineEdit_openni2OniPath->setText(settings.value("oniPath", _ui->lineEdit_openni2OniPath->text()).toString()); + _ui->openni2_hshift->setValue(settings.value("hshift", _ui->openni2_hshift->value()).toInt()); + _ui->openni2_vshift->setValue(settings.value("vshift", _ui->openni2_vshift->value()).toInt()); settings.endGroup(); // Openni2 settings.beginGroup("Freenect2"); @@ -2277,6 +2283,8 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const settings.setValue("mirroring", _ui->openni2_mirroring->isChecked()); settings.setValue("stampsIdsUsed", _ui->openni2_stampsIdsUsed->isChecked()); settings.setValue("oniPath", _ui->lineEdit_openni2OniPath->text()); + settings.setValue("hshift", _ui->openni2_hshift->value()); + settings.setValue("vshift", _ui->openni2_vshift->value()); settings.endGroup(); // Openni2 settings.beginGroup("Freenect2"); @@ -5009,6 +5017,8 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor) ((CameraOpenNI2*)camera)->setExposure(_ui->openni2_exposure->value()); ((CameraOpenNI2*)camera)->setGain(_ui->openni2_gain->value()); } + ((CameraOpenNI2*)camera)->setIRDepthShift(_ui->openni2_hshift->value(), _ui->openni2_vshift->value()); + ((CameraOpenNI2*)camera)->setMirroring(_ui->openni2_mirroring->isChecked()); } } } diff --git a/guilib/src/ui/preferencesDialog.ui b/guilib/src/ui/preferencesDialog.ui index 4240ae7e..b46b0cf3 100644 --- a/guilib/src/ui/preferencesDialog.ui +++ b/guilib/src/ui/preferencesDialog.ui @@ -63,7 +63,7 @@ 0 - -317 + -157 677 2682 @@ -72,16 +72,7 @@ 0 - - 0 - - - 0 - - - 0 - - + 0 @@ -2860,7 +2851,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki - 5 + 4 @@ -2986,6 +2977,23 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki OpenNI 2 + + + + IR-Depth horizontal shift. Only used when custom calibration is done. + + + true + + + + + + + 65535 + + + @@ -2996,6 +3004,67 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki + + + + 65535 + + + + + + + Use timestamps and frame IDs from OpenNI2. + + + true + + + + + + + + + + false + + + + + + + Path to a *.ONI file. + + + true + + + + + + + Gain. + + + true + + + + + + + + + + + + + + ... + + + @@ -3006,6 +3075,49 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki + + + + Mirroring. + + + true + + + + + + + + + + false + + + + + + + 1000 + + + 100 + + + + + + + Qt::Vertical + + + + 20 + 0 + + + + @@ -3026,13 +3138,6 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki - - - - 65535 - - - @@ -3043,100 +3148,20 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki - - - - Qt::Vertical + + + + IR-Depth vertical shift. Only used when custom calibration is done. - - - 20 - 0 - + + true - + - - + + - 1000 - - - 100 - - - - - - - Gain. - - - true - - - - - - - - - - false - - - - - - - Mirroring. - - - true - - - - - - - - - - - - - - Path to a *.ONI file. - - - true - - - - - - - ... - - - - - - - Use timestamps and frame IDs from OpenNI2. - - - true - - - - - - - - - - false + 65535 @@ -4590,16 +4615,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki Directory of images (optional settings) - - 0 - - - 0 - - - 0 - - + 0 @@ -12748,16 +12764,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag - - 0 - - - 0 - - - 0 - - + 0 @@ -12897,16 +12904,7 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare - - 0 - - - 0 - - - 0 - - + 0 @@ -13064,16 +13062,7 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare 0 - - 0 - - - 0 - - - 0 - - + 0 @@ -13153,16 +13142,7 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare 0 - - 0 - - - 0 - - - 0 - - + 0 @@ -13274,16 +13254,7 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare 0 - - 0 - - - 0 - - - 0 - - + 0