i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-03 01:50:24 +08:00
Code Issues Packages Projects Releases Wiki Activity

CameraRealSense2: Odom extrinsics against another sensor can be calibrated with having to calibrate stereo first. DBViewer: fixed local grid wrongly using global grid parameters.

Browse Source
This commit is contained in:
matlabbe
2021-11-05 18:05:50 -04:00
parent 20bc281db7
commit ddd5eb5a41
8 changed files with 112 additions and 48 deletions
Download Patch File Download Diff File Expand all files Collapse all files

127
corelib/src/camera/CameraRealSense2.cpp
View File

@@ -70,6 +70,7 @@ CameraRealSense2::CameraRealSense2(
rectifyImages_(true),
odometryProvided_(false),
odometryImagesDisabled_(false),
odometryOnlyLeftStream_(false),
cameraWidth_(640),
cameraHeight_(480),
cameraFps_(30),
@@ -193,7 +194,7 @@ void CameraRealSense2::pose_callback(rs2::frame frame)
void CameraRealSense2::frame_callback(rs2::frame frame)
{
//UDEBUG("Frame callback! %f", frame.get_timestamp());
UDEBUG("Frame callback! %f", frame.get_timestamp());
syncer_(frame);
}
void CameraRealSense2::multiple_message_callback(rs2::frame frame)
@@ -694,8 +695,6 @@ bool CameraRealSense2::init(const std::string & calibrationFolder, const std::st
UDEBUG("");
model_ = CameraModel();
rs2::stream_profile depthStreamProfile;
rs2::stream_profile rgbStreamProfile;
std::vector<std::vector<rs2::stream_profile> > profilesPerSensor(sensors.size());
for (unsigned int i=0; i<sensors.size(); ++i)
{
@@ -759,8 +758,6 @@ bool CameraRealSense2::init(const std::string & calibrationFolder, const std::st
intrinsic.fx, intrinsic.fy, intrinsic.ppx, intrinsic.ppy,
intrinsic.model,
intrinsic.coeffs[0], intrinsic.coeffs[1], intrinsic.coeffs[2], intrinsic.coeffs[3], intrinsic.coeffs[4]);
rgbStreamProfile = profile;
rgbIntrinsics_ = intrinsic;
added = true;
if(video_profile.format() == RS2_FORMAT_RGB8 || profilesPerSensor[i].size()==2)
{
@@ -773,8 +770,6 @@ bool CameraRealSense2::init(const std::string & calibrationFolder, const std::st
{
profilesPerSensor[i].push_back(profile);
depthBuffer_ = cv::Mat(cv::Size(cameraWidth_, cameraHeight_), video_profile.format() == RS2_FORMAT_Y8?CV_8UC1:CV_16UC1, cv::Scalar(0));
depthStreamProfile = profile;
depthIntrinsics_ = intrinsic;
added = true;
if(!ir_ || irDepth_ || profilesPerSensor[i].size()==2)
{
@@ -828,20 +823,44 @@ bool CameraRealSense2::init(const std::string & calibrationFolder, const std::st
{
UASSERT(i<2);
profilesPerSensor[i].push_back(profile);
auto intrinsic = video_profile.get_intrinsics();
if(pi==0)
{
// LEFT FISHEYE
rgbBuffer_ = cv::Mat(cv::Size(848, 800), CV_8UC1, cv::Scalar(0));
rgbStreamProfile = profile;
rgbIntrinsics_ = intrinsic;
if(odometryOnlyLeftStream_)
{
auto intrinsic = video_profile.get_intrinsics();
UINFO("Model: %dx%d fx=%f fy=%f cx=%f cy=%f dist model=%d coeff=%f %f %f %f",
intrinsic.width, intrinsic.height,
intrinsic.fx, intrinsic.fy, intrinsic.ppx, intrinsic.ppy,
intrinsic.model,
intrinsic.coeffs[0], intrinsic.coeffs[1], intrinsic.coeffs[2], intrinsic.coeffs[3]);
cv::Mat K = cv::Mat::eye(3,3,CV_64FC1);
K.at<double>(0,0) = intrinsic.fx;
K.at<double>(1,1) = intrinsic.fy;
K.at<double>(0,2) = intrinsic.ppx;
K.at<double>(1,2) = intrinsic.ppy;
UASSERT(intrinsic.model == RS2_DISTORTION_KANNALA_BRANDT4); // we expect fisheye 4 values
cv::Mat D = cv::Mat::zeros(1,6,CV_64FC1);
D.at<double>(0,0) = intrinsic.coeffs[0];
D.at<double>(0,1) = intrinsic.coeffs[1];
D.at<double>(0,4) = intrinsic.coeffs[2];
D.at<double>(0,5) = intrinsic.coeffs[3];
cv::Mat P = cv::Mat::eye(3, 4, CV_64FC1);
P.at<double>(0,0) = intrinsic.fx;
P.at<double>(1,1) = intrinsic.fy;
P.at<double>(0,2) = intrinsic.ppx;
P.at<double>(1,2) = intrinsic.ppy;
cv::Mat R = cv::Mat::eye(3, 3, CV_64FC1);
model_ = CameraModel(camera_name, cv::Size(intrinsic.width, intrinsic.height), K, D, R, P, this->getLocalTransform());
if(rectifyImages_)
model_.initRectificationMap();
}
}
else
else if(!odometryOnlyLeftStream_)
{
// RIGHT FISHEYE
depthBuffer_ = cv::Mat(cv::Size(848, 800), CV_8UC1, cv::Scalar(0));
depthStreamProfile = profile;
depthIntrinsics_ = intrinsic;
}
added = true;
}
@@ -961,7 +980,9 @@ bool CameraRealSense2::init(const std::string & calibrationFolder, const std::st
{
serial = cameraName;
}
if(!calibrationFolder.empty() && !serial.empty())
if(!odometryImagesDisabled_ &&
!odometryOnlyLeftStream_ &&
!calibrationFolder.empty() && !serial.empty())
{
if(!stereoModel_.load(calibrationFolder, serial, false))
{
@@ -1005,7 +1026,10 @@ bool CameraRealSense2::init(const std::string & calibrationFolder, const std::st
Transform opticalTransform(0, 0, 1, 0, -1, 0, 0, 0, 0, -1, 0, 0);
this->setLocalTransform(this->getLocalTransform() * opticalTransform.inverse());
stereoModel_.setLocalTransform(this->getLocalTransform()*poseToLeftT);
if(odometryOnlyLeftStream_)
model_.setLocalTransform(this->getLocalTransform()*poseToLeftT);
else
stereoModel_.setLocalTransform(this->getLocalTransform()*poseToLeftT);
imuLocalTransform_ = this->getLocalTransform()* poseToIMUT;
if(odometryImagesDisabled_)
@@ -1027,9 +1051,12 @@ bool CameraRealSense2::init(const std::string & calibrationFolder, const std::st
UINFO("leftToIMU = %s", leftToIMUT.prettyPrint().c_str());
imuLocalTransform_ = this->getLocalTransform() * leftToIMUT;
UINFO("imu local transform = %s", imuLocalTransform_.prettyPrint().c_str());
stereoModel_.setLocalTransform(this->getLocalTransform());
if(odometryOnlyLeftStream_)
model_.setLocalTransform(this->getLocalTransform());
else
stereoModel_.setLocalTransform(this->getLocalTransform());
}
if(rectifyImages_ && !stereoModel_.isValidForRectification())
if(!odometryImagesDisabled_ && rectifyImages_ && !model_.isValidForRectification() && !stereoModel_.isValidForRectification())
{
UERROR("Parameter \"rectifyImages\" is set, but no stereo model is loaded or valid.");
return false;
@@ -1192,6 +1219,7 @@ void CameraRealSense2::setDualMode(bool enabled, const Transform & extrinsics)
{
odometryProvided_ = true;
odometryImagesDisabled_ = false;
odometryOnlyLeftStream_ = false;
}
#endif
}
@@ -1210,7 +1238,7 @@ void CameraRealSense2::setImagesRectified(bool enabled)
#endif
}
void CameraRealSense2::setOdomProvided(bool enabled, bool imageStreamsDisabled)
void CameraRealSense2::setOdomProvided(bool enabled, bool imageStreamsDisabled, bool onlyLeftStream)
{
#ifdef RTABMAP_REALSENSE2
if(dualMode_ && !enabled)
@@ -1220,6 +1248,7 @@ void CameraRealSense2::setOdomProvided(bool enabled, bool imageStreamsDisabled)
}
odometryProvided_ = enabled;
odometryImagesDisabled_ = enabled && imageStreamsDisabled;
odometryOnlyLeftStream_ = enabled && !imageStreamsDisabled && onlyLeftStream;
#endif
}
@@ -1374,27 +1403,48 @@ SensorData CameraRealSense2::captureImage(CameraInfo * info)
data = SensorData(bgr, depth, model_, this->getNextSeqID(), stamp);
}
}
else if(is_left_fisheye_arrived && is_right_fisheye_arrived)
else if(is_left_fisheye_arrived)
{
auto from_image_frame = depth_frame.as<rs2::video_frame>();
cv::Mat left,right;
if(rectifyImages_ && stereoModel_.left().isValidForRectification() && stereoModel_.right().isValidForRectification())
if(odometryOnlyLeftStream_)
{
left = stereoModel_.left().rectifyImage(cv::Mat(rgbBuffer_.size(), rgbBuffer_.type(), (void*)rgb_frame.get_data()));
right = stereoModel_.right().rectifyImage(cv::Mat(depthBuffer_.size(), depthBuffer_.type(), (void*)depth_frame.get_data()));
}
else
{
left = cv::Mat(rgbBuffer_.size(), rgbBuffer_.type(), (void*)rgb_frame.get_data()).clone();
right = cv::Mat(depthBuffer_.size(), depthBuffer_.type(), (void*)depth_frame.get_data()).clone();
}
cv::Mat left;
if(rectifyImages_ && model_.isValidForRectification())
{
left = model_.rectifyImage(cv::Mat(rgbBuffer_.size(), rgbBuffer_.type(), (void*)rgb_frame.get_data()));
}
else
{
left = cv::Mat(rgbBuffer_.size(), rgbBuffer_.type(), (void*)rgb_frame.get_data()).clone();
}
if(stereoModel_.left().imageHeight() == 0 || stereoModel_.left().imageWidth() == 0)
{
stereoModel_.setImageSize(left.size());
}
if(model_.imageHeight() == 0 || model_.imageWidth() == 0)
{
model_.setImageSize(left.size());
}
data = SensorData(left, right, stereoModel_, this->getNextSeqID(), stamp);
data = SensorData(left, cv::Mat(), model_, this->getNextSeqID(), stamp);
}
else if(is_right_fisheye_arrived)
{
cv::Mat left,right;
if(rectifyImages_ && stereoModel_.left().isValidForRectification() && stereoModel_.right().isValidForRectification())
{
left = stereoModel_.left().rectifyImage(cv::Mat(rgbBuffer_.size(), rgbBuffer_.type(), (void*)rgb_frame.get_data()));
right = stereoModel_.right().rectifyImage(cv::Mat(depthBuffer_.size(), depthBuffer_.type(), (void*)depth_frame.get_data()));
}
else
{
left = cv::Mat(rgbBuffer_.size(), rgbBuffer_.type(), (void*)rgb_frame.get_data()).clone();
right = cv::Mat(depthBuffer_.size(), depthBuffer_.type(), (void*)depth_frame.get_data()).clone();
}
if(stereoModel_.left().imageHeight() == 0 || stereoModel_.left().imageWidth() == 0)
{
stereoModel_.setImageSize(left.size());
}
data = SensorData(left, right, stereoModel_, this->getNextSeqID(), stamp);
}
}
else
{
@@ -1471,6 +1521,13 @@ SensorData CameraRealSense2::captureImage(CameraInfo * info)
lastImuStamp_ = imuStamp;
}
}
else if(frameset.size()==1 && frameset[0].get_profile().stream_type() == RS2_STREAM_FISHEYE)
{
UERROR("Missing frames (received %d, needed=%d). For T265 camera, "
"either use realsense sdk v2.42.0, or apply "
"this patch (https://github.com/IntelRealSense/librealsense/issues/9030#issuecomment-962223017) "
"to fix this problem.", (int)frameset.size(), desiredFramesetSize);
}
else
{
UERROR("Missing frames (received %d, needed=%d)", (int)frameset.size(), desiredFramesetSize);