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CameraOpenni2: added ir/depth shift parameter

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This commit is contained in:
matlabbe
2017-10-25 15:11:26 +02:00
parent de5f3657ab
commit d4982a8f24
4 changed files with 170 additions and 170 deletions
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3
corelib/include/rtabmap/core/CameraRGBD.h
View File

@@ -178,6 +178,7 @@ public:
bool setGain(int value); bool setGain(int value);
bool setMirroring(bool enabled); bool setMirroring(bool enabled);
void setOpenNI2StampsAndIDsUsed(bool used); void setOpenNI2StampsAndIDsUsed(bool used);
void setIRDepthShift(int horizontal, int vertical);
protected: protected:
virtual SensorData captureImage(CameraInfo * info = 0); virtual SensorData captureImage(CameraInfo * info = 0);
@@ -193,6 +194,8 @@ private:
std::string _deviceId; std::string _deviceId;
bool _openNI2StampsAndIDsUsed; bool _openNI2StampsAndIDsUsed;
StereoCameraModel _stereoModel; StereoCameraModel _stereoModel;
int _depthHShift;
int _depthVShift;
#endif #endif
}; };

18
corelib/src/CameraRGBD.cpp
View File

@@ -396,7 +396,9 @@ CameraOpenNI2::CameraOpenNI2(
_depthFx(0.0f), _depthFx(0.0f),
_depthFy(0.0f), _depthFy(0.0f),
_deviceId(deviceId), _deviceId(deviceId),
_openNI2StampsAndIDsUsed(false) _openNI2StampsAndIDsUsed(false),
_depthHShift(0),
_depthVShift(0)
#endif #endif
{ {
} }
@@ -496,6 +498,14 @@ void CameraOpenNI2::setOpenNI2StampsAndIDsUsed(bool used)
#endif #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) bool CameraOpenNI2::init(const std::string & calibrationFolder, const std::string & cameraName)
{ {
#ifdef RTABMAP_OPENNI2 #ifdef RTABMAP_OPENNI2
@@ -848,6 +858,12 @@ SensorData CameraOpenNI2::captureImage(CameraInfo * info)
if(_stereoModel.left().isValidForRectification() && !_stereoModel.stereoTransform().isNull()) 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 = _stereoModel.left().rectifyImage(depth, 0);
depth = util2d::registerDepth(depth, _stereoModel.left().K(), rgb.size(), _stereoModel.right().K(), _stereoModel.stereoTransform()); depth = util2d::registerDepth(depth, _stereoModel.left().K(), rgb.size(), _stereoModel.right().K(), _stereoModel.stereoTransform());
} }

10
guilib/src/PreferencesDialog.cpp
View File

@@ -514,6 +514,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->openni2_gain, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->openni2_gain, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->openni2_mirroring, SIGNAL(stateChanged(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_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->comboBox_freenect2Format, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->doubleSpinBox_freenect2MinDepth, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->doubleSpinBox_freenect2MinDepth, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->doubleSpinBox_freenect2MaxDepth, 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_gain->setValue(100);
_ui->openni2_mirroring->setChecked(false); _ui->openni2_mirroring->setChecked(false);
_ui->openni2_stampsIdsUsed->setChecked(false); _ui->openni2_stampsIdsUsed->setChecked(false);
_ui->openni2_hshift->setValue(0);
_ui->openni2_vshift->setValue(0);
_ui->comboBox_freenect2Format->setCurrentIndex(0); _ui->comboBox_freenect2Format->setCurrentIndex(0);
_ui->doubleSpinBox_freenect2MinDepth->setValue(0.3); _ui->doubleSpinBox_freenect2MinDepth->setValue(0.3);
_ui->doubleSpinBox_freenect2MaxDepth->setValue(12.0); _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_mirroring->setChecked(settings.value("mirroring", _ui->openni2_mirroring->isChecked()).toBool());
_ui->openni2_stampsIdsUsed->setChecked(settings.value("stampsIdsUsed", _ui->openni2_stampsIdsUsed->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->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.endGroup(); // Openni2
settings.beginGroup("Freenect2"); settings.beginGroup("Freenect2");
@@ -2277,6 +2283,8 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.setValue("mirroring", _ui->openni2_mirroring->isChecked()); settings.setValue("mirroring", _ui->openni2_mirroring->isChecked());
settings.setValue("stampsIdsUsed", _ui->openni2_stampsIdsUsed->isChecked()); settings.setValue("stampsIdsUsed", _ui->openni2_stampsIdsUsed->isChecked());
settings.setValue("oniPath", _ui->lineEdit_openni2OniPath->text()); 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.endGroup(); // Openni2
settings.beginGroup("Freenect2"); settings.beginGroup("Freenect2");
@@ -5009,6 +5017,8 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
((CameraOpenNI2*)camera)->setExposure(_ui->openni2_exposure->value()); ((CameraOpenNI2*)camera)->setExposure(_ui->openni2_exposure->value());
((CameraOpenNI2*)camera)->setGain(_ui->openni2_gain->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());
} }
} }
} }

309
guilib/src/ui/preferencesDialog.ui
View File

@@ -63,7 +63,7 @@
<property name="geometry"> <property name="geometry">
<rect> <rect>
<x>0</x> <x>0</x>
<y>-317</y> <y>-157</y>
<width>677</width> <width>677</width>
<height>2682</height> <height>2682</height>
</rect> </rect>
@@ -72,16 +72,7 @@
<property name="spacing"> <property name="spacing">
<number>0</number> <number>0</number>
</property> </property>
<property name="leftMargin"> <property name="margin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number> <number>0</number>
</property> </property>
<item> <item>
@@ -2860,7 +2851,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<item> <item>
<widget class="QStackedWidget" name="stackedWidget_rgbd"> <widget class="QStackedWidget" name="stackedWidget_rgbd">
<property name="currentIndex"> <property name="currentIndex">
<number>5</number> <number>4</number>
</property> </property>
<widget class="QWidget" name="page_32"> <widget class="QWidget" name="page_32">
<layout class="QVBoxLayout" name="verticalLayout_63"> <layout class="QVBoxLayout" name="verticalLayout_63">
@@ -2986,6 +2977,23 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<string>OpenNI 2</string> <string>OpenNI 2</string>
</property> </property>
<layout class="QGridLayout" name="gridLayout_54" columnstretch="0,1,0"> <layout class="QGridLayout" name="gridLayout_54" columnstretch="0,1,0">
<item row="7" column="1">
<widget class="QLabel" name="label_435">
<property name="text">
<string>IR-Depth horizontal shift. Only used when custom calibration is done.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QSpinBox" name="openni2_hshift">
<property name="maximum">
<number>65535</number>
</property>
</widget>
</item>
<item row="1" column="0"> <item row="1" column="0">
<widget class="QCheckBox" name="openni2_autoWhiteBalance"> <widget class="QCheckBox" name="openni2_autoWhiteBalance">
<property name="text"> <property name="text">
@@ -2996,6 +3004,67 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property> </property>
</widget> </widget>
</item> </item>
<item row="3" column="0">
<widget class="QSpinBox" name="openni2_exposure">
<property name="maximum">
<number>65535</number>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_264">
<property name="text">
<string>Use timestamps and frame IDs from OpenNI2.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QCheckBox" name="openni2_stampsIdsUsed">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_231">
<property name="text">
<string>Path to a *.ONI file.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_220">
<property name="text">
<string>Gain.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLineEdit" name="lineEdit_openni2OniPath">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QToolButton" name="toolButton_openni2OniPath">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
<item row="1" column="1"> <item row="1" column="1">
<widget class="QLabel" name="label_217"> <widget class="QLabel" name="label_217">
<property name="text"> <property name="text">
@@ -3006,6 +3075,49 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property> </property>
</widget> </widget>
</item> </item>
<item row="6" column="1">
<widget class="QLabel" name="label_223">
<property name="text">
<string>Mirroring.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QCheckBox" name="openni2_mirroring">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QSpinBox" name="openni2_gain">
<property name="maximum">
<number>1000</number>
</property>
<property name="value">
<number>100</number>
</property>
</widget>
</item>
<item row="9" column="0">
<spacer name="verticalSpacer_33">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
<item row="2" column="0"> <item row="2" column="0">
<widget class="QCheckBox" name="openni2_autoExposure"> <widget class="QCheckBox" name="openni2_autoExposure">
<property name="text"> <property name="text">
@@ -3026,13 +3138,6 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property> </property>
</widget> </widget>
</item> </item>
<item row="3" column="0">
<widget class="QSpinBox" name="openni2_exposure">
<property name="maximum">
<number>65535</number>
</property>
</widget>
</item>
<item row="3" column="1"> <item row="3" column="1">
<widget class="QLabel" name="label_219"> <widget class="QLabel" name="label_219">
<property name="text"> <property name="text">
@@ -3043,100 +3148,20 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property> </property>
</widget> </widget>
</item> </item>
<item row="7" column="0"> <item row="8" column="1">
<spacer name="verticalSpacer_33"> <widget class="QLabel" name="label_436">
<property name="orientation"> <property name="text">
<enum>Qt::Vertical</enum> <string>IR-Depth vertical shift. Only used when custom calibration is done.</string>
</property> </property>
<property name="sizeHint" stdset="0"> <property name="wordWrap">
<size> <bool>true</bool>
<width>20</width>
<height>0</height>
</size>
</property> </property>
</spacer> </widget>
</item> </item>
<item row="4" column="0"> <item row="8" column="0">
<widget class="QSpinBox" name="openni2_gain"> <widget class="QSpinBox" name="openni2_vshift">
<property name="maximum"> <property name="maximum">
<number>1000</number> <number>65535</number>
</property>
<property name="value">
<number>100</number>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_220">
<property name="text">
<string>Gain.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QCheckBox" name="openni2_mirroring">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_223">
<property name="text">
<string>Mirroring.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLineEdit" name="lineEdit_openni2OniPath">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_231">
<property name="text">
<string>Path to a *.ONI file.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QToolButton" name="toolButton_openni2OniPath">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_264">
<property name="text">
<string>Use timestamps and frame IDs from OpenNI2.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QCheckBox" name="openni2_stampsIdsUsed">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property> </property>
</widget> </widget>
</item> </item>
@@ -4590,16 +4615,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<string>Directory of images (optional settings)</string> <string>Directory of images (optional settings)</string>
</property> </property>
<layout class="QVBoxLayout" name="verticalLayout_93"> <layout class="QVBoxLayout" name="verticalLayout_93">
<property name="leftMargin"> <property name="margin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number> <number>0</number>
</property> </property>
<item> <item>
@@ -12748,16 +12764,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property> </property>
<widget class="QWidget" name="page_54"> <widget class="QWidget" name="page_54">
<layout class="QVBoxLayout" name="verticalLayout_85"> <layout class="QVBoxLayout" name="verticalLayout_85">
<property name="leftMargin"> <property name="margin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number> <number>0</number>
</property> </property>
<item> <item>
@@ -12897,16 +12904,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
</widget> </widget>
<widget class="QWidget" name="page_55"> <widget class="QWidget" name="page_55">
<layout class="QVBoxLayout" name="verticalLayout_86"> <layout class="QVBoxLayout" name="verticalLayout_86">
<property name="leftMargin"> <property name="margin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number> <number>0</number>
</property> </property>
<item> <item>
@@ -13064,16 +13062,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
<property name="spacing"> <property name="spacing">
<number>0</number> <number>0</number>
</property> </property>
<property name="leftMargin"> <property name="margin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number> <number>0</number>
</property> </property>
<item> <item>
@@ -13153,16 +13142,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
<property name="spacing"> <property name="spacing">
<number>0</number> <number>0</number>
</property> </property>
<property name="leftMargin"> <property name="margin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number> <number>0</number>
</property> </property>
<item> <item>
@@ -13274,16 +13254,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
<property name="spacing"> <property name="spacing">
<number>0</number> <number>0</number>
</property> </property>
<property name="leftMargin"> <property name="margin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number> <number>0</number>
</property> </property>
<item> <item>