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93 lines
3.0 KiB
C++
93 lines
3.0 KiB
C++
/*
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Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#include <rtabmap/core/camera/CameraRGBDImages.h>
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namespace rtabmap
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{
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bool CameraRGBDImages::available()
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{
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return true;
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}
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CameraRGBDImages::CameraRGBDImages(
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const std::string & pathRGBImages,
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const std::string & pathDepthImages,
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float depthScaleFactor,
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float imageRate,
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const Transform & localTransform) :
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CameraImages(pathRGBImages, imageRate, localTransform)
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{
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UASSERT(depthScaleFactor >= 1.0);
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cameraDepth_.setPath(pathDepthImages);
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cameraDepth_.setDepth(true, depthScaleFactor);
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}
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CameraRGBDImages::~CameraRGBDImages()
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{
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}
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bool CameraRGBDImages::init(const std::string & calibrationFolder, const std::string & cameraName)
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{
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bool success = false;
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if(CameraImages::init(calibrationFolder, cameraName) && cameraDepth_.init())
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{
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if(this->imagesCount() == cameraDepth_.imagesCount())
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{
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success = true;
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}
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else
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{
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UERROR("Cameras don't have the same number of images (%d vs %d)",
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this->imagesCount(), cameraDepth_.imagesCount());
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}
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}
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return success;
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}
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SensorData CameraRGBDImages::captureImage(CameraInfo * info)
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{
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SensorData data;
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SensorData rgb, depth;
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rgb = CameraImages::captureImage(info);
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if(!rgb.imageRaw().empty())
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{
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depth = cameraDepth_.takeImage();
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if(!depth.depthRaw().empty())
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{
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data = SensorData(rgb.imageRaw(), depth.depthRaw(), rgb.cameraModels(), rgb.id(), rgb.stamp());
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data.setGroundTruth(rgb.groundTruth());
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}
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}
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return data;
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}
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} // namespace rtabmap
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