mirror of
https://github.com/introlab/rtabmap.git
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238 lines
7.1 KiB
C++
238 lines
7.1 KiB
C++
/*
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Copyright (c) 2010-2014, 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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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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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/CameraRGBD.h"
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#include "rtabmap/core/util3d.h"
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#include "rtabmap/core/util3d_transforms.h"
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#include "rtabmap/utilite/ULogger.h"
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#include "rtabmap/utilite/UMath.h"
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#include <opencv2/highgui/highgui.hpp>
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#include <opencv2/imgproc/imgproc.hpp>
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#include <pcl/visualization/cloud_viewer.h>
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#include <stdio.h>
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void showUsage()
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{
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printf("\nUsage:\n"
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"rtabmap-rgbd_camera driver\n"
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" driver Driver number to use: 0=OpenNI-PCL (Kinect)\n"
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" 1=OpenNI2 (Kinect and Xtion PRO Live)\n"
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" 2=Freenect (Kinect)\n"
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" 3=OpenNI-CV (Kinect)\n"
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" 4=OpenNI-CV-ASUS (Xtion PRO Live)\n"
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" 5=Freenect2 (Kinect v2)\n"
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" 6=DC1394 (Bumblebee2)\n"
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" 7=FlyCapture2 (Bumblebee2)\n");
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exit(1);
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}
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int main(int argc, char * argv[])
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{
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ULogger::setType(ULogger::kTypeConsole);
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ULogger::setLevel(ULogger::kInfo);
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//ULogger::setPrintTime(false);
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//ULogger::setPrintWhere(false);
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int driver = 0;
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if(argc < 2)
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{
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showUsage();
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}
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else
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{
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if(strcmp(argv[argc-1], "--help") == 0)
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{
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showUsage();
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}
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driver = atoi(argv[argc-1]);
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if(driver < 0 || driver > 7)
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{
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UERROR("driver should be between 0 and 6.");
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showUsage();
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}
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}
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UINFO("Using driver %d", driver);
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rtabmap::CameraRGBD * camera = 0;
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if(driver == 0)
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{
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camera = new rtabmap::CameraOpenni();
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}
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else if(driver == 1)
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{
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if(!rtabmap::CameraOpenNI2::available())
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{
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UERROR("Not built with OpenNI2 support...");
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exit(-1);
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}
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camera = new rtabmap::CameraOpenNI2();
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}
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else if(driver == 2)
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{
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if(!rtabmap::CameraFreenect::available())
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{
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UERROR("Not built with Freenect support...");
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exit(-1);
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}
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camera = new rtabmap::CameraFreenect();
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}
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else if(driver == 3)
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{
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if(!rtabmap::CameraOpenNICV::available())
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{
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UERROR("Not built with OpenNI from OpenCV support...");
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exit(-1);
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}
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camera = new rtabmap::CameraOpenNICV(false);
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}
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else if(driver == 4)
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{
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if(!rtabmap::CameraOpenNICV::available())
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{
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UERROR("Not built with OpenNI from OpenCV support...");
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exit(-1);
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}
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camera = new rtabmap::CameraOpenNICV(true);
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}
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else if(driver == 5)
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{
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if(!rtabmap::CameraFreenect2::available())
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{
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UERROR("Not built with Freenect2 support...");
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exit(-1);
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}
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camera = new rtabmap::CameraFreenect2(0, rtabmap::CameraFreenect2::kTypeRGBDepthSD);
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}
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else if(driver == 6)
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{
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if(!rtabmap::CameraStereoDC1394::available())
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{
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UERROR("Not built with DC1394 support...");
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exit(-1);
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}
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camera = new rtabmap::CameraStereoDC1394();
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}
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else if(driver == 7)
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{
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if(!rtabmap::CameraStereoFlyCapture2::available())
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{
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UERROR("Not built with FlyCapture2/Triclops support...");
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exit(-1);
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}
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camera = new rtabmap::CameraStereoFlyCapture2();
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}
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else
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{
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UFATAL("");
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}
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if(!camera->init())
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{
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printf("Camera init failed! Please select another driver (see \"--help\").\n");
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delete camera;
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exit(1);
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}
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cv::Mat rgb, depth;
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float fx, fy, cx, cy;
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double stamp = 0.0;
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camera->takeImage(rgb, depth, fx, fy, cx, cy, stamp);
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if(rgb.cols != depth.cols || rgb.rows != depth.rows)
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{
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UWARN("RGB (%d/%d) and depth (%d/%d) frames are not the same size! The registered cloud cannot be shown.",
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rgb.cols, rgb.rows, depth.cols, depth.rows);
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}
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if(!fx || !fy)
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{
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UWARN("fx and/or fy are not set! The registered cloud cannot be shown.");
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}
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pcl::visualization::CloudViewer viewer("cloud");
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rtabmap::Transform t(1, 0, 0, 0,
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0, -1, 0, 0,
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0, 0, -1, 0);
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while(!rgb.empty() && !viewer.wasStopped())
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{
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if(depth.type() == CV_16UC1 || depth.type() == CV_32FC1)
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{
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// depth
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if(depth.type() == CV_32FC1)
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{
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depth = rtabmap::util3d::cvtDepthFromFloat(depth);
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}
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if(rgb.cols == depth.cols && rgb.rows == depth.rows && fx && fy)
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{
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pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = rtabmap::util3d::cloudFromDepthRGB(rgb, depth, cx, cy, fx, fy);
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cloud = rtabmap::util3d::transformPointCloud(cloud, t);
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viewer.showCloud(cloud, "cloud");
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}
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else if(!depth.empty() && fx && fy)
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{
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pcl::PointCloud<pcl::PointXYZ>::Ptr cloud = rtabmap::util3d::cloudFromDepth(depth, cx, cy, fx, fy);
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cloud = rtabmap::util3d::transformPointCloud(cloud, t);
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viewer.showCloud(cloud, "cloud");
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}
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cv::Mat tmp;
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unsigned short min=0, max = 2048;
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uMinMax((unsigned short*)depth.data, depth.rows*depth.cols, min, max);
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depth.convertTo(tmp, CV_8UC1, 255.0/max);
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cv::imshow("Video", rgb); // show frame
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cv::imshow("Depth", tmp);
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}
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else
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{
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// stereo
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cv::imshow("Left", rgb); // show frame
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cv::imshow("Right", depth);
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if(rgb.cols == depth.cols && rgb.rows == depth.rows && fx && fy)
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{
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if(depth.channels() == 3)
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{
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cv::cvtColor(depth, depth, CV_BGR2GRAY);
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}
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pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = rtabmap::util3d::cloudFromStereoImages(rgb, depth, cx, cy, fx, fy);
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cloud = rtabmap::util3d::transformPointCloud(cloud, t);
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viewer.showCloud(cloud, "cloud");
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}
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}
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int c = cv::waitKey(10); // wait 10 ms or for key stroke
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if(c == 27)
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break; // if ESC, break and quit
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rgb = cv::Mat();
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depth = cv::Mat();
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camera->takeImage(rgb, depth, fx, fy, cx, cy, stamp);
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}
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cv::destroyWindow("Video");
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cv::destroyWindow("Depth");
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delete camera;
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return 0;
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}
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