i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-07 18:47:48 +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
corelib/src/CameraRGBD.cpp
+97 -3
View File
@@ -225,6 +225,15 @@ bool CameraOpenni::init()
return true;
}
std::string CameraOpenni::getSerial() const
{
if(interface_)
{
return interface_->getName();
}
return "";
}
void CameraOpenni::captureImage(cv::Mat & rgb, cv::Mat & depth, float & fx, float & fy, float & cx, float & cy)
{
if(interface_ && interface_->isRunning())
@@ -637,6 +646,15 @@ bool CameraOpenNI2::init()
#endif
}
std::string CameraOpenNI2::getSerial() const
{
if(_device)
{
return _device->getDeviceInfo().getName();
}
return "";
}
void CameraOpenNI2::captureImage(cv::Mat & rgb, cv::Mat & depth, float & fx, float & fy, float & cx, float & cy)
{
#ifdef WITH_OPENNI2
@@ -698,13 +716,41 @@ class FreenectDevice : public UThread {
if(device_ && freenect_close_device(device_) < 0){} //FN_WARNING("Device did not shutdown in a clean fashion");
}
const std::string & getSerial() const {return serial_;}
bool init()
{
if(device_)
{
this->join(true);
freenect_close_device(device_);
device_ = 0;
}
serial_.clear();
std::vector<std::string> deviceSerials;
freenect_device_attributes* attr_list;
freenect_device_attributes* item;
freenect_list_device_attributes(ctx_, &attr_list);
for (item = attr_list; item != NULL; item = item->next) {
deviceSerials.push_back(std::string(item->camera_serial));
}
freenect_free_device_attributes(attr_list);
if(freenect_open_device(ctx_, &device_, index_) < 0)
{
UERROR("FreenectDevice: Cannot open Kinect");
return false;
}
if(index_ >= 0 && index_ < (int)deviceSerials.size())
{
serial_ = deviceSerials[index_];
}
else
{
UERROR("Could not get serial for index %d", index_);
}
freenect_set_user(device_, this);
freenect_set_video_mode(device_, freenect_find_video_mode(FREENECT_RESOLUTION_MEDIUM, FREENECT_VIDEO_RGB));
freenect_set_depth_mode(device_, freenect_find_depth_mode(FREENECT_RESOLUTION_MEDIUM, FREENECT_DEPTH_REGISTERED));
@@ -833,6 +879,7 @@ private:
private:
int index_;
std::string serial_;
freenect_context * ctx_;
freenect_device * device_;
cv::Mat depthBuffer_;
@@ -922,6 +969,17 @@ bool CameraFreenect::init()
return false;
}
std::string CameraFreenect::getSerial() const
{
#ifdef WITH_FREENECT
if(freenectDevice_)
{
return freenectDevice_->getSerial();
}
#endif
return "";
}
void CameraFreenect::captureImage(cv::Mat & rgb, cv::Mat & depth, float & fx, float & fy, float & cx, float & cy)
{
#ifdef WITH_FREENECT
@@ -1045,6 +1103,17 @@ bool CameraFreenect2::init()
return false;
}
std::string CameraFreenect2::getSerial() const
{
#ifdef WITH_FREENECT2
if(dev_)
{
return dev_->getSerialNumber();
}
#endif
return "";
}
void CameraFreenect2::captureImage(cv::Mat & rgb, cv::Mat & depth, float & fx, float & fy, float & cx, float & cy)
{
#ifdef WITH_FREENECT2
@@ -1353,7 +1422,7 @@ public:
//DC1394_COLOR_CODING_RAW16:
//DC1394_COLOR_FILTER_BGGR
cv::cvtColor(cv::Mat(frame->size[1], frame->size[0], CV_8UC1, capture_buffer), left, CV_BayerRG2BGR);
cv::cvtColor(cv::Mat(frame->size[1], frame->size[0], CV_8UC1, capture_buffer+image.total()), right, CV_BayerRG2BGR);
cv::cvtColor(cv::Mat(frame->size[1], frame->size[0], CV_8UC1, capture_buffer+image.total()), right, CV_BayerRG2GRAY);
dc1394_capture_enqueue(camera_, frame);
@@ -1380,8 +1449,19 @@ bool CameraDC1394::available()
#endif
}
CameraDC1394::CameraDC1394(float imageRate, const Transform & localTransform, float fx, float fy, float cx, float cy) :
CameraRGBD(imageRate, localTransform, fx, fy, cx, cy),
lookForCalibration_(false),
device_(0)
{
#ifdef WITH_DC1394
device_ = new DC1394Device();
#endif
}
CameraDC1394::CameraDC1394(const std::string & calibrationFolder, float imageRate, const Transform & localTransform, float fx, float fy, float cx, float cy) :
CameraRGBD(imageRate, localTransform, fx, fy, cx, cy),
lookForCalibration_(true),
calibrationFolder_(calibrationFolder),
device_(0)
{
@@ -1409,9 +1489,12 @@ bool CameraDC1394::init()
if(ok)
{
// look for calibration files
if(!stereoModel_.load(calibrationFolder_, device_->guid()))
if(lookForCalibration_)
{
UWARN("Missing calibration files for camera \"%s\" in \"%s\" folder, you should calibrate the camera!", device_->guid().c_str(), calibrationFolder_.c_str());
if(!stereoModel_.load(calibrationFolder_, device_->guid()))
{
UWARN("Missing calibration files for camera \"%s\" in \"%s\" folder, you should calibrate the camera!", device_->guid().c_str(), calibrationFolder_.c_str());
}
}
}
return ok;
@@ -1422,6 +1505,17 @@ bool CameraDC1394::init()
return false;
}
std::string CameraDC1394::getSerial() const
{
#ifdef WITH_DC1394
if(device_)
{
return device_->guid();
}
#endif
return "";
}
void CameraDC1394::captureImage(cv::Mat & left, cv::Mat & right, float & fx, float & baseline, float & cx, float & cy)
{
#ifdef WITH_DC1394