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Code Issues Packages Projects Releases Wiki Activity

Added preferences for Azure Kinect camera (#559)

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* Added Kinect for Azure menu option

* Reintegrated Kinect for Azure initialization code, fixed previous GUI commit

* Added ifdefs to fix build

* Added preliminary K4A device support

* Edits to K4A camera implementation

* K4A minor initialization fix

* Typo

* Another initialization fix

* Update CameraRGBD tool to display K4A camera output

* K4A added model parameter so we can create maps

* Added combo boxes for K4A options

* Functionalized combo boxes for K4A options

* Finished adding K4A preferences
This commit is contained in:
Thomas Kircher
2020-06-04 07:34:37 -08:00
committed by GitHub
parent 7a9a5d2ef9
commit de5610bd08
4 changed files with 248 additions and 40 deletions
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52
corelib/src/camera/CameraK4A.cpp
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@@ -69,12 +69,14 @@ CameraK4A::CameraK4A(
const Transform & localTransform) :
Camera(imageRate, localTransform)
#ifdef RTABMAP_K4A
,
device_(NULL),
,device_(NULL),
playbackHandle_(NULL),
transformationHandle_(NULL),
deviceId_(-1),
fileName_(fileName),
rgb_resolution_(1),
framerate_(2),
depth_resolution_(2),
ir_(false),
previousStamp_(0.0)
#endif
@@ -123,6 +125,16 @@ void CameraK4A::close()
#endif
}
void CameraK4A::setPreferences(int rgb_resolution, int framerate, int depth_resolution)
{
#ifdef RTABMAP_K4A
rgb_resolution_ = rgb_resolution;
framerate_ = framerate;
depth_resolution_ = depth_resolution;
UINFO("setPreferences(): %i %i %i", rgb_resolution, framerate, depth_resolution);
#endif
}
void CameraK4A::setIRDepthFormat(bool enabled)
{
#ifdef RTABMAP_K4A
@@ -193,10 +205,37 @@ bool CameraK4A::init(const std::string & calibrationFolder, const std::string &
device_ = NULL;
config_ = K4A_DEVICE_CONFIG_INIT_DISABLE_ALL;
config_.camera_fps = K4A_FRAMES_PER_SECOND_15;
config_.depth_mode = K4A_DEPTH_MODE_WFOV_2X2BINNED;
switch(rgb_resolution_)
{
case 0: config_.color_resolution = K4A_COLOR_RESOLUTION_720P; break;
case 1: config_.color_resolution = K4A_COLOR_RESOLUTION_1080P; break;
case 2: config_.color_resolution = K4A_COLOR_RESOLUTION_1440P; break;
case 3: config_.color_resolution = K4A_COLOR_RESOLUTION_1536P; break;
case 4: config_.color_resolution = K4A_COLOR_RESOLUTION_2160P; break;
case 5:
default: config_.color_resolution = K4A_COLOR_RESOLUTION_3072P; break;
}
switch(framerate_)
{
case 0: config_.camera_fps = K4A_FRAMES_PER_SECOND_5; break;
case 1: config_.camera_fps = K4A_FRAMES_PER_SECOND_15; break;
case 2:
default: config_.camera_fps = K4A_FRAMES_PER_SECOND_30; break;
}
switch(depth_resolution_)
{
case 0: config_.depth_mode = K4A_DEPTH_MODE_NFOV_2X2BINNED; break;
case 1: config_.depth_mode = K4A_DEPTH_MODE_NFOV_UNBINNED; break;
case 2: config_.depth_mode = K4A_DEPTH_MODE_WFOV_2X2BINNED; break;
case 3:
default: config_.depth_mode = K4A_DEPTH_MODE_WFOV_UNBINNED; break;
}
// This is fixed for now
config_.color_format = K4A_IMAGE_FORMAT_COLOR_BGRA32;
config_.color_resolution = K4A_COLOR_RESOLUTION_720P;
int device_count = k4a_device_get_installed_count();
@@ -629,9 +668,6 @@ SensorData CameraK4A::captureImage(CameraInfo * info)
cv::Vec3d(-1 * imu_sample_.acc_sample.xyz.x, imu_sample_.acc_sample.xyz.y, -1 * imu_sample_.acc_sample.xyz.z),
cv::Mat::eye(3, 3, CV_64FC1),
Transform::getIdentity());
UINFO("IMU: %f %f %f %f %f %f", imu_sample_.gyro_sample.xyz.x, imu_sample_.gyro_sample.xyz.y, imu_sample_.gyro_sample.xyz.z,
imu_sample_.acc_sample.xyz.x, imu_sample_.acc_sample.xyz.y, imu_sample_.acc_sample.xyz.z);
}
else
{