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rtabmap-matcher: added --calibration_to option (to use a different calibration file for the second image).

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matlabbe
2020-12-05 13:21:58 -05:00
parent 3131474102
commit da8e76ffed
1 changed files with 71 additions and 4 deletions
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75
tools/Matcher/main.cpp
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@@ -63,6 +63,7 @@ void showUsage()
" rtabmap-matcher --Vis/FeatureType 11 --SuperPoint/ModelPath \"superpoint.pt\" --Vis/CorNNType 6 --PyMatcher/Path \"~/SuperGluePretrainedNetwork/rtabmap_superglue.py\" from.png to.png\n"
" rtabmap-matcher --Vis/FeatureType 1 --Vis/CorNNType 6 --PyMatcher/Path \"~/OANet/demo/rtabmap_oanet.py\" --PyMatcher/Model \"~/OANet/model/gl3d/sift-4000/model_best.pth\" from.png to.png\n"
" rtabmap-matcher --calibration calib.yaml --from_depth from_depth.png --to_depth to_depth.png from.png to.png\n"
" rtabmap-matcher --calibration calibFrom.yaml --calibration_to calibTo.yaml --from_depth from_depth.png --to_depth to_depth.png from.png to.png\n"
" rtabmap-matcher --calibration calib.yaml --Vis/FeatureType 2 --Vis/MaxFeatures 10000 --Vis/CorNNType 7 from.png to.png\n"
"\n"
"Note: Use \"Vis/\" parameters for feature stuff.\n"
@@ -71,7 +72,11 @@ void showUsage()
" fake one is created from image's\n"
" size (which may not be optimal).\n"
" Required if from_depth option is set.\n"
" Assuming same calibration for both images.\n"
" Assuming same calibration for both images\n"
" if --calibration_to is not set.\n"
" --calibration_to \"calibration.yaml\" Calibration file for \"to\" image. If not set,\n"
" the same calibration of --calibration option is\n"
" used for \"to\" image.\n"
" --from_depth \"from_depth.png\" Depth or right image file of the first image.\n"
" If not set, 2D->2D estimation is done by \n"
" default. For 3D->2D estimation, from_depth\n"
@@ -98,6 +103,7 @@ int main(int argc, char * argv[])
std::string fromDepthPath;
std::string toDepthPath;
std::string calibrationPath;
std::string calibrationToPath;
for(int i=1; i<argc-2; ++i)
{
if(strcmp(argv[i], "--from_depth") == 0)
@@ -136,6 +142,18 @@ int main(int argc, char * argv[])
showUsage();
}
}
else if(strcmp(argv[i], "--calibration_to") == 0)
{
++i;
if(i<argc-2)
{
calibrationToPath = argv[i];
}
else
{
showUsage();
}
}
else if(strcmp(argv[i], "--help") == 0)
{
showUsage();
@@ -144,6 +162,10 @@ int main(int argc, char * argv[])
printf("Options\n");
printf(" --calibration = \"%s\"\n", calibrationPath.c_str());
if(!calibrationToPath.empty())
{
printf(" --calibration_to = \"%s\"\n", calibrationToPath.c_str());
}
printf(" --from_depth = \"%s\"\n", fromDepthPath.c_str());
printf(" --to_depth = \"%s\"\n", toDepthPath.c_str());
@@ -197,6 +219,8 @@ int main(int argc, char * argv[])
CameraModel model;
StereoCameraModel stereoModel;
CameraModel modelTo;
StereoCameraModel stereoModelTo;
if(!fromDepth.empty())
{
if(fromDepth.type() != CV_8UC1)
@@ -206,6 +230,10 @@ int main(int argc, char * argv[])
printf("Failed to load calibration file \"%s\"!\n", calibrationPath.c_str());
exit(-1);
}
if(calibrationToPath.empty())
{
modelTo = model;
}
}
else // fromDepth.type() == CV_8UC1
{
@@ -214,6 +242,29 @@ int main(int argc, char * argv[])
printf("Failed to load calibration file \"%s\"!\n", calibrationPath.c_str());
exit(-1);
}
if(calibrationToPath.empty())
{
stereoModelTo = stereoModel;
}
}
if(!calibrationToPath.empty())
{
if(toDepth.empty() || toDepth.type() != CV_8UC1)
{
if(!modelTo.load(UDirectory::getDir(calibrationToPath), uSplit(UFile::getName(calibrationToPath), '.').front()))
{
printf("Failed to load calibration file \"%s\"!\n", calibrationToPath.c_str());
exit(-1);
}
}
else // toDepth.type() == CV_8UC1
{
if(!stereoModelTo.load(UDirectory::getDir(calibrationToPath), uSplit(UFile::getName(calibrationToPath), '.').front()))
{
printf("Failed to load calibration file \"%s\"!\n", calibrationToPath.c_str());
exit(-1);
}
}
}
}
else if(!calibrationPath.empty())
@@ -223,13 +274,29 @@ int main(int argc, char * argv[])
printf("Failed to load calibration file \"%s\"!\n", calibrationPath.c_str());
exit(-1);
}
if(!calibrationToPath.empty())
{
if(!modelTo.load(UDirectory::getDir(calibrationToPath), uSplit(UFile::getName(calibrationToPath), '.').front()))
{
printf("Failed to load calibration file \"%s\"!\n", calibrationToPath.c_str());
exit(-1);
}
}
else
{
modelTo = model;
}
}
else
{
printf("Using fake calibration model (image size=%dx%d): fx=%d fy=%d cx=%d cy=%d\n",
printf("Using fake calibration model \"from\" (image size=%dx%d): fx=%d fy=%d cx=%d cy=%d\n",
imageFrom.cols, imageFrom.rows, imageFrom.cols/2, imageFrom.cols/2, imageFrom.cols/2, imageFrom.rows/2);
model = CameraModel(imageFrom.cols/2, imageFrom.cols/2, imageFrom.cols/2, imageFrom.rows/2); // Fake model
model.setImageSize(imageFrom.size());
printf("Using fake calibration model \"to\" (image size=%dx%d): fx=%d fy=%d cx=%d cy=%d\n",
imageTo.cols, imageTo.rows, imageTo.cols/2, imageTo.cols/2, imageTo.cols/2, imageTo.rows/2);
modelTo = CameraModel(imageTo.cols/2, imageTo.cols/2, imageTo.cols/2, imageTo.rows/2); // Fake model
modelTo.setImageSize(imageTo.size());
}
Signature dataFrom;
@@ -238,13 +305,13 @@ int main(int argc, char * argv[])
{
printf("Mono calibration model detected.\n");
dataFrom = SensorData(imageFrom, fromDepth, model, 1);
dataTo = SensorData(imageTo, toDepth, model, 2);
dataTo = SensorData(imageTo, toDepth, modelTo, 2);
}
else //stereo
{
printf("Stereo calibration model detected.\n");
dataFrom = SensorData(imageFrom, fromDepth, stereoModel, 1);
dataTo = SensorData(imageTo, toDepth, stereoModel, 2);
dataTo = SensorData(imageTo, toDepth, stereoModelTo, 2);
}
//////////////////