i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 01:20:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

Added stereo option for the CalibrationDialog class

Browse Source
This commit is contained in:
Mathieu Labbe
2015-04-05 16:42:41 -04:00
parent 6a0e48a6fa
commit fee32c4e25
14 changed files with 1075 additions and 318 deletions
Download Patch File Download Diff File Expand all files Collapse all files

18
corelib/include/rtabmap/core/CameraEvent.h
View File

@@ -44,9 +44,10 @@ public:
};
public:
CameraEvent(const cv::Mat & image, int seq=0, double stamp = 0.0) :
CameraEvent(const cv::Mat & image, int seq=0, double stamp = 0.0, const std::string & cameraName = "") :
UEvent(kCodeImage),
data_(image, seq, stamp)
data_(image, seq, stamp),
cameraName_(cameraName)
{
}
@@ -55,26 +56,23 @@ public:
{
}
CameraEvent(const cv::Mat & rgb, const cv::Mat & depth, float fx, float fy, float cx, float cy, const Transform & localTransform, int id, double stamp) :
CameraEvent(const SensorData & data, const std::string & cameraName = "") :
UEvent(kCodeImageDepth),
data_(rgb, depth, fx, fy, cx, cy, localTransform, Transform(), 1.0f, 1.0f, id, stamp)
{
}
CameraEvent(const SensorData & data) :
UEvent(kCodeImageDepth),
data_(data)
data_(data),
cameraName_(cameraName)
{
}
// Image or descriptors
const SensorData & data() const {return data_;}
const std::string & cameraName() const {return cameraName_;}
virtual ~CameraEvent() {}
virtual std::string getClassName() const {return std::string("CameraEvent");}
private:
SensorData data_;
std::string cameraName_;
};
} // namespace rtabmap

51
corelib/include/rtabmap/core/CameraModel.h
View File

@@ -36,8 +36,23 @@ class CameraModel
{
public:
CameraModel();
// K is the camera intrinsic 3x3 CV_64FC1
// D is the distortion coefficients 1x5 CV_64FC1
// R is the rectification matrix 3x3 CV_64FC1 (computed from stereo or Identity)
// P is the projection matrix 3x4 CV_64FC1 (computed from stereo or equal to [K [0 0 1]'])
CameraModel(const std::string & name, const cv::Size & imageSize, const cv::Mat & K, const cv::Mat & D, const cv::Mat & R, const cv::Mat & P);
virtual ~CameraModel() {}
bool isValid() const {return !K_.empty() &&
!D_.empty() &&
!R_.empty() &&
!P_.empty() &&
imageSize_.height &&
imageSize_.width &&
!name_.empty();}
const std::string & name() const {return name_;}
double fx() const {return P_.at<double>(0,0);}
double fy() const {return P_.at<double>(1,1);}
double cx() const {return P_.at<double>(0,2);}
@@ -49,17 +64,18 @@ public:
const cv::Mat & R() const {return R_;}
const cv::Mat & P() const {return P_;}
int width() const {return width_;}
int height() const {return height_;}
const cv::Size & imageSize() const {return imageSize_;}
int imageWidth() const {return imageSize_.width;}
int imageWeight() const {return imageSize_.height;}
bool load(const std::string & directory, const std::string & cameraName);
void save(const std::string & directory, const std::string & cameraName);
bool load(const std::string & filePath);
bool save(const std::string & filePath);
cv::Mat rectifyImage(const cv::Mat & raw) const;
private:
int width_;
int height_;
std::string name_;
cv::Size imageSize_;
cv::Mat K_;
cv::Mat D_;
cv::Mat R_;
@@ -72,17 +88,29 @@ class StereoCameraModel
{
public:
StereoCameraModel() {}
StereoCameraModel(const std::string & name, const cv::Size & imageSize,
const cv::Mat & K1, const cv::Mat & D1, const cv::Mat & R1, const cv::Mat & P1,
const cv::Mat & K2, const cv::Mat & D2, const cv::Mat & R2, const cv::Mat & P2) :
left_(name+"_left", imageSize, K1, D1, R1, P1),
right_(name+"_right", imageSize, K2, D2, R2, P2),
name_(name)
{
}
virtual ~StereoCameraModel() {}
bool isValid() const {return left_.isValid() && right_.isValid();}
const std::string & name() const {return name_;}
bool load(const std::string & directory, const std::string & cameraName)
{
return left_.load(directory, cameraName+"_left") &&
right_.load(directory, cameraName+"_right");
name_ = cameraName;
return left_.load(directory+"/"+cameraName+"_left.yaml") &&
right_.load(directory+"/"+cameraName+"_right.yaml");
}
void save(const std::string & directory, const std::string & cameraName)
bool save(const std::string & directory, const std::string & cameraName)
{
left_.save(directory, cameraName+"_left");
right_.save(directory, cameraName+"_right");
return left_.save(directory+"/"+cameraName+"_left.yaml") &&
right_.save(directory+"/"+cameraName+"_right.yaml");
}
double baseline() const {return -right_.Tx()/right_.fx();}
@@ -92,6 +120,7 @@ public:
private:
CameraModel left_;
CameraModel right_;
std::string name_;
};
} /* namespace rtabmap */

19
corelib/include/rtabmap/core/CameraRGBD.h
View File

@@ -81,6 +81,7 @@ public:
virtual ~CameraRGBD();
void takeImage(cv::Mat & rgb, cv::Mat & depth, float & fx, float & fy, float & cx, float & cy);
virtual bool init() = 0;
virtual std::string getSerial() const = 0;
//getters
float getImageRate() const {return _imageRate;}
@@ -154,7 +155,8 @@ public:
const boost::shared_ptr<openni_wrapper::DepthImage>& depth,
float constant);
bool init();
virtual bool init();
virtual std::string getSerial() const;
protected:
virtual void captureImage(cv::Mat & rgb, cv::Mat & depth, float & fx, float & fy, float & cx, float & cy);
@@ -191,6 +193,7 @@ public:
virtual ~CameraOpenNICV();
virtual bool init();
virtual std::string getSerial() const {return "";} // unknown with OpenCV
protected:
virtual void captureImage(cv::Mat & rgb, cv::Mat & depth, float & fx, float & fy, float & cx, float & cy);
@@ -223,6 +226,7 @@ public:
virtual ~CameraOpenNI2();
virtual bool init();
virtual std::string getSerial() const;
bool setAutoWhiteBalance(bool enabled);
bool setAutoExposure(bool enabled);
@@ -266,6 +270,7 @@ public:
virtual ~CameraFreenect();
bool init();
virtual std::string getSerial() const;
protected:
virtual void captureImage(cv::Mat & rgb, cv::Mat & depth, float & fx, float & fy, float & cx, float & cy);
@@ -298,6 +303,7 @@ public:
virtual ~CameraFreenect2();
bool init();
virtual std::string getSerial() const;
protected:
virtual void captureImage(cv::Mat & rgb, cv::Mat & depth, float & fx, float & fy, float & cx, float & cy);
@@ -321,7 +327,14 @@ public:
static bool available();
public:
// default local transform z in, x right, y down));
// The first constructor will not check for calibration files, so
// the images returned won't be rectified
CameraDC1394( float imageRate=0.0f,
const Transform & localTransform = Transform::getIdentity(),
float fx = 0.0f,
float fy = 0.0f,
float cx = 0.0f,
float cy = 0.0f);
CameraDC1394(const std::string & calibrationFolder,
float imageRate=0.0f,
const Transform & localTransform = Transform::getIdentity(),
@@ -332,11 +345,13 @@ public:
virtual ~CameraDC1394();
bool init();
virtual std::string getSerial() const;
protected:
virtual void captureImage(cv::Mat & left, cv::Mat & right, float & fx, float & baseline, float & cx, float & cy);
private:
bool lookForCalibration_;
std::string calibrationFolder_;
DC1394Device *device_;
StereoCameraModel stereoModel_;