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rtabmap/corelib/src/CameraStereo.cpp

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/*
Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include "rtabmap/core/CameraStereo.h"
#include "rtabmap/core/util2d.h"
#include "rtabmap/core/CameraRGB.h"
#include <rtabmap/utilite/UEventsManager.h>
#include <rtabmap/utilite/UConversion.h>
#include <rtabmap/utilite/UStl.h>
#include <rtabmap/utilite/UConversion.h>
#include <rtabmap/utilite/UFile.h>
#include <rtabmap/utilite/UDirectory.h>
#include <rtabmap/utilite/UTimer.h>
#include <rtabmap/utilite/UMath.h>
#ifdef WITH_DC1394
#include <dc1394/dc1394.h>
#endif
#ifdef WITH_FLYCAPTURE2
#include <triclops.h>
#include <fc2triclops.h>
#endif
namespace rtabmap
{
//
// CameraStereoDC1394
// Inspired from ROS camera1394stereo package
//
#ifdef WITH_DC1394
class DC1394Device
{
public:
DC1394Device() :
camera_(0),
context_(0)
{
}
~DC1394Device()
{
if (camera_)
{
if (DC1394_SUCCESS != dc1394_video_set_transmission(camera_, DC1394_OFF) ||
DC1394_SUCCESS != dc1394_capture_stop(camera_))
{
UWARN("unable to stop camera");
}
// Free resources
dc1394_capture_stop(camera_);
dc1394_camera_free(camera_);
camera_ = NULL;
}
if(context_)
{
dc1394_free(context_);
context_ = NULL;
}
}
const std::string & guid() const {return guid_;}
bool init()
{
if(camera_)
{
// Free resources
dc1394_capture_stop(camera_);
dc1394_camera_free(camera_);
camera_ = NULL;
}
// look for a camera
int err;
if(context_ == NULL)
{
context_ = dc1394_new ();
if (context_ == NULL)
{
UERROR( "Could not initialize dc1394_context.\n"
"Make sure /dev/raw1394 exists, you have access permission,\n"
"and libraw1394 development package is installed.");
return false;
}
}
dc1394camera_list_t *list;
err = dc1394_camera_enumerate(context_, &list);
if (err != DC1394_SUCCESS)
{
UERROR("Could not get camera list");
return false;
}
if (list->num == 0)
{
UERROR("No cameras found");
dc1394_camera_free_list (list);
return false;
}
uint64_t guid = list->ids[0].guid;
dc1394_camera_free_list (list);
// Create a camera
camera_ = dc1394_camera_new (context_, guid);
if (!camera_)
{
UERROR("Failed to initialize camera with GUID [%016lx]", guid);
return false;
}
uint32_t value[3];
value[0]= camera_->guid & 0xffffffff;
value[1]= (camera_->guid >>32) & 0x000000ff;
value[2]= (camera_->guid >>40) & 0xfffff;
guid_ = uFormat("%06x%02x%08x", value[2], value[1], value[0]);
UINFO("camera model: %s %s", camera_->vendor, camera_->model);
// initialize camera
// Enable IEEE1394b mode if the camera and bus support it
bool bmode = camera_->bmode_capable;
if (bmode
&& (DC1394_SUCCESS !=
dc1394_video_set_operation_mode(camera_,
DC1394_OPERATION_MODE_1394B)))
{
bmode = false;
UWARN("failed to set IEEE1394b mode");
}
// start with highest speed supported
dc1394speed_t request = DC1394_ISO_SPEED_3200;
int rate = 3200;
if (!bmode)
{
// not IEEE1394b capable: so 400Mb/s is the limit
request = DC1394_ISO_SPEED_400;
rate = 400;
}
// round requested speed down to next-lower defined value
while (rate > 400)
{
if (request <= DC1394_ISO_SPEED_MIN)
{
// get current ISO speed of the device
dc1394speed_t curSpeed;
if (DC1394_SUCCESS == dc1394_video_get_iso_speed(camera_, &curSpeed) && curSpeed <= DC1394_ISO_SPEED_MAX)
{
// Translate curSpeed back to an int for the parameter
// update, works as long as any new higher speeds keep
// doubling.
request = curSpeed;
rate = 100 << (curSpeed - DC1394_ISO_SPEED_MIN);
}
else
{
UWARN("Unable to get ISO speed; assuming 400Mb/s");
rate = 400;
request = DC1394_ISO_SPEED_400;
}
break;
}
// continue with next-lower possible value
request = (dc1394speed_t) ((int) request - 1);
rate = rate / 2;
}
// set the requested speed
if (DC1394_SUCCESS != dc1394_video_set_iso_speed(camera_, request))
{
UERROR("Failed to set iso speed");
return false;
}
// set video mode
dc1394video_modes_t vmodes;
err = dc1394_video_get_supported_modes(camera_, &vmodes);
if (err != DC1394_SUCCESS)
{
UERROR("unable to get supported video modes");
return (dc1394video_mode_t) 0;
}
// see if requested mode is available
bool found = false;
dc1394video_mode_t videoMode = DC1394_VIDEO_MODE_FORMAT7_3; // bumblebee
for (uint32_t i = 0; i < vmodes.num; ++i)
{
if (vmodes.modes[i] == videoMode)
{
found = true;
}
}
if(!found)
{
UERROR("unable to get video mode %d", videoMode);
return false;
}
if (DC1394_SUCCESS != dc1394_video_set_mode(camera_, videoMode))
{
UERROR("Failed to set video mode %d", videoMode);
return false;
}
// special handling for Format7 modes
if (dc1394_is_video_mode_scalable(videoMode) == DC1394_TRUE)
{
if (DC1394_SUCCESS != dc1394_format7_set_color_coding(camera_, videoMode, DC1394_COLOR_CODING_RAW16))
{
UERROR("Could not set color coding");
return false;
}
uint32_t packetSize;
if (DC1394_SUCCESS != dc1394_format7_get_recommended_packet_size(camera_, videoMode, &packetSize))
{
UERROR("Could not get default packet size");
return false;
}
if (DC1394_SUCCESS != dc1394_format7_set_packet_size(camera_, videoMode, packetSize))
{
UERROR("Could not set packet size");
return false;
}
}
else
{
UERROR("Video is not in mode scalable");
}
// start the device streaming data
// Set camera to use DMA, improves performance.
if (DC1394_SUCCESS != dc1394_capture_setup(camera_, 4, DC1394_CAPTURE_FLAGS_DEFAULT))
{
UERROR("Failed to open device!");
return false;
}
// Start transmitting camera data
if (DC1394_SUCCESS != dc1394_video_set_transmission(camera_, DC1394_ON))
{
UERROR("Failed to start device!");
return false;
}
return true;
}
bool getImages(cv::Mat & left, cv::Mat & right)
{
if(camera_)
{
dc1394video_frame_t * frame = NULL;
UDEBUG("[%016lx] waiting camera", camera_->guid);
dc1394_capture_dequeue (camera_, DC1394_CAPTURE_POLICY_WAIT, &frame);
if (!frame)
{
UERROR("Unable to capture frame");
return false;
}
dc1394video_frame_t frame1 = *frame;
// deinterlace frame into two imagesCount one on top the other
size_t frame1_size = frame->total_bytes;
frame1.image = (unsigned char *) malloc(frame1_size);
frame1.allocated_image_bytes = frame1_size;
frame1.color_coding = DC1394_COLOR_CODING_RAW8;
int err = dc1394_deinterlace_stereo_frames(frame, &frame1, DC1394_STEREO_METHOD_INTERLACED);
if (err != DC1394_SUCCESS)
{
free(frame1.image);
dc1394_capture_enqueue(camera_, frame);
UERROR("Could not extract stereo frames");
return false;
}
uint8_t* capture_buffer = reinterpret_cast<uint8_t *>(frame1.image);
UASSERT(capture_buffer);
cv::Mat image(frame->size[1], frame->size[0], CV_8UC3);
cv::Mat image2 = image.clone();
//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_BayerRG2GRAY);
dc1394_capture_enqueue(camera_, frame);
free(frame1.image);
return true;
}
return false;
}
private:
dc1394camera_t *camera_;
dc1394_t *context_;
std::string guid_;
};
#endif
bool CameraStereoDC1394::available()
{
#ifdef WITH_DC1394
return true;
#else
return false;
#endif
}
CameraStereoDC1394::CameraStereoDC1394(float imageRate, const Transform & localTransform) :
Camera(imageRate, localTransform),
device_(0)
{
#ifdef WITH_DC1394
device_ = new DC1394Device();
#endif
}
CameraStereoDC1394::~CameraStereoDC1394()
{
#ifdef WITH_DC1394
if(device_)
{
delete device_;
}
#endif
}
bool CameraStereoDC1394::init(const std::string & calibrationFolder, const std::string & cameraName)
{
#ifdef WITH_DC1394
if(device_)
{
bool ok = device_->init();
if(ok)
{
// look for calibration files
if(!calibrationFolder.empty())
{
if(!stereoModel_.load(calibrationFolder, cameraName.empty()?device_->guid():cameraName))
{
UWARN("Missing calibration files for camera \"%s\" in \"%s\" folder, you should calibrate the camera!",
cameraName.empty()?device_->guid().c_str():cameraName.c_str(), calibrationFolder.c_str());
}
else
{
UINFO("Stereo parameters: fx=%f cx=%f cy=%f baseline=%f",
stereoModel_.left().fx(),
stereoModel_.left().cx(),
stereoModel_.left().cy(),
stereoModel_.baseline());
}
}
}
return ok;
}
#else
UERROR("CameraDC1394: RTAB-Map is not built with dc1394 support!");
#endif
return false;
}
bool CameraStereoDC1394::isCalibrated() const
{
return stereoModel_.isValidForProjection();
}
std::string CameraStereoDC1394::getSerial() const
{
#ifdef WITH_DC1394
if(device_)
{
return device_->guid();
}
#endif
return "";
}
SensorData CameraStereoDC1394::captureImage()
{
SensorData data;
#ifdef WITH_DC1394
if(device_)
{
cv::Mat left, right;
device_->getImages(left, right);
if(!left.empty() && !right.empty())
{
// Rectification
if(stereoModel_.left().isValidForRectification())
{
left = stereoModel_.left().rectifyImage(left);
}
if(stereoModel_.right().isValidForRectification())
{
right = stereoModel_.right().rectifyImage(right);
}
StereoCameraModel model;
if(stereoModel_.isValidForProjection())
{
model = StereoCameraModel(
stereoModel_.left().fx(), //fx
stereoModel_.left().fy(), //fy
stereoModel_.left().cx(), //cx
stereoModel_.left().cy(), //cy
stereoModel_.baseline(),
this->getLocalTransform());
}
data = SensorData(left, right, model, this->getNextSeqID(), UTimer::now());
}
}
#else
UERROR("CameraDC1394: RTAB-Map is not built with dc1394 support!");
#endif
return data;
}
//
// CameraTriclops
//
CameraStereoFlyCapture2::CameraStereoFlyCapture2(float imageRate, const Transform & localTransform) :
Camera(imageRate, localTransform),
camera_(0),
triclopsCtx_(0)
{
#ifdef WITH_FLYCAPTURE2
camera_ = new FlyCapture2::Camera();
#endif
}
CameraStereoFlyCapture2::~CameraStereoFlyCapture2()
{
#ifdef WITH_FLYCAPTURE2
// Close the camera
camera_->StopCapture();
camera_->Disconnect();
// Destroy the Triclops context
triclopsDestroyContext( triclopsCtx_ ) ;
delete camera_;
#endif
}
bool CameraStereoFlyCapture2::available()
{
#ifdef WITH_FLYCAPTURE2
return true;
#else
return false;
#endif
}
bool CameraStereoFlyCapture2::init(const std::string & calibrationFolder, const std::string & cameraName)
{
#ifdef WITH_FLYCAPTURE2
if(camera_)
{
// Close the camera
camera_->StopCapture();
camera_->Disconnect();
}
if(triclopsCtx_)
{
triclopsDestroyContext(triclopsCtx_);
triclopsCtx_ = 0;
}
// connect camera
FlyCapture2::Error fc2Error = camera_->Connect();
if(fc2Error != FlyCapture2::PGRERROR_OK)
{
UERROR("Failed to connect the camera.");
return false;
}
// configure camera
Fc2Triclops::StereoCameraMode mode = Fc2Triclops::TWO_CAMERA_NARROW;
if(Fc2Triclops::setStereoMode(*camera_, mode ))
{
UERROR("Failed to set stereo mode.");
return false;
}
// generate the Triclops context
FlyCapture2::CameraInfo camInfo;
if(camera_->GetCameraInfo(&camInfo) != FlyCapture2::PGRERROR_OK)
{
UERROR("Failed to get camera info.");
return false;
}
float dummy;
unsigned packetSz;
FlyCapture2::Format7ImageSettings imageSettings;
int maxWidth = 640;
int maxHeight = 480;
if(camera_->GetFormat7Configuration(&imageSettings, &packetSz, &dummy) == FlyCapture2::PGRERROR_OK)
{
maxHeight = imageSettings.height;
maxWidth = imageSettings.width;
}
// Get calibration from th camera
if(Fc2Triclops::getContextFromCamera(camInfo.serialNumber, &triclopsCtx_))
{
UERROR("Failed to get calibration from the camera.");
return false;
}
float fx, cx, cy, baseline;
triclopsGetFocalLength(triclopsCtx_, &fx);
triclopsGetImageCenter(triclopsCtx_, &cy, &cx);
triclopsGetBaseline(triclopsCtx_, &baseline);
UINFO("Stereo parameters: fx=%f cx=%f cy=%f baseline=%f", fx, cx, cy, baseline);
triclopsSetCameraConfiguration(triclopsCtx_, TriCfg_2CAM_HORIZONTAL_NARROW );
UASSERT(triclopsSetResolutionAndPrepare(triclopsCtx_, maxHeight, maxWidth, maxHeight, maxWidth) == Fc2Triclops::ERRORTYPE_OK);
if(camera_->StartCapture() != FlyCapture2::PGRERROR_OK)
{
UERROR("Failed to start capture.");
return false;
}
return true;
#else
UERROR("CameraStereoFlyCapture2: RTAB-Map is not built with Triclops support!");
#endif
return false;
}
bool CameraStereoFlyCapture2::isCalibrated() const
{
#ifdef WITH_FLYCAPTURE2
if(triclopsCtx_)
{
float fx, cx, cy, baseline;
triclopsGetFocalLength(triclopsCtx_, &fx);
triclopsGetImageCenter(triclopsCtx_, &cy, &cx);
triclopsGetBaseline(triclopsCtx_, &baseline);
return fx > 0.0f && cx > 0.0f && cy > 0.0f && baseline > 0.0f;
}
#endif
return false;
}
std::string CameraStereoFlyCapture2::getSerial() const
{
#ifdef WITH_FLYCAPTURE2
if(camera_ && camera_->IsConnected())
{
FlyCapture2::CameraInfo camInfo;
if(camera_->GetCameraInfo(&camInfo) == FlyCapture2::PGRERROR_OK)
{
return uNumber2Str(camInfo.serialNumber);
}
}
#endif
return "";
}
// struct containing image needed for processing
#ifdef WITH_FLYCAPTURE2
struct ImageContainer
{
FlyCapture2::Image tmp[2];
FlyCapture2::Image unprocessed[2];
} ;
#endif
SensorData CameraStereoFlyCapture2::captureImage()
{
SensorData data;
#ifdef WITH_FLYCAPTURE2
if(camera_ && triclopsCtx_ && camera_->IsConnected())
{
// grab image from camera.
// this image contains both right and left imagesCount
FlyCapture2::Image grabbedImage;
if(camera_->RetrieveBuffer(&grabbedImage) == FlyCapture2::PGRERROR_OK)
{
// right and left image extracted from grabbed image
ImageContainer imageCont;
// generate triclops input from grabbed image
FlyCapture2::Image imageRawRight;
FlyCapture2::Image imageRawLeft;
FlyCapture2::Image * unprocessedImage = imageCont.unprocessed;
// Convert the pixel interleaved raw data to de-interleaved and color processed data
if(Fc2Triclops::unpackUnprocessedRawOrMono16Image(
grabbedImage,
true /*assume little endian*/,
imageRawLeft /* right */,
imageRawRight /* left */) == Fc2Triclops::ERRORTYPE_OK)
{
// convert to color
FlyCapture2::Image srcImgRightRef(imageRawRight);
FlyCapture2::Image srcImgLeftRef(imageRawLeft);
bool ok = true;;
if ( srcImgRightRef.SetColorProcessing(FlyCapture2::HQ_LINEAR) != FlyCapture2::PGRERROR_OK ||
srcImgLeftRef.SetColorProcessing(FlyCapture2::HQ_LINEAR) != FlyCapture2::PGRERROR_OK)
{
ok = false;
}
if(ok)
{
FlyCapture2::Image imageColorRight;
FlyCapture2::Image imageColorLeft;
if ( srcImgRightRef.Convert(FlyCapture2::PIXEL_FORMAT_MONO8, &imageColorRight) != FlyCapture2::PGRERROR_OK ||
srcImgLeftRef.Convert(FlyCapture2::PIXEL_FORMAT_BGRU, &imageColorLeft) != FlyCapture2::PGRERROR_OK)
{
ok = false;
}
if(ok)
{
//RECTIFY RIGHT
TriclopsInput triclopsColorInputs;
triclopsBuildRGBTriclopsInput(
grabbedImage.GetCols(),
grabbedImage.GetRows(),
imageColorRight.GetStride(),
(unsigned long)grabbedImage.GetTimeStamp().seconds,
(unsigned long)grabbedImage.GetTimeStamp().microSeconds,
imageColorRight.GetData(),
imageColorRight.GetData(),
imageColorRight.GetData(),
&triclopsColorInputs);
triclopsRectify(triclopsCtx_, const_cast<TriclopsInput *>(&triclopsColorInputs) );
// Retrieve the rectified image from the triclops context
TriclopsImage rectifiedImage;
triclopsGetImage( triclopsCtx_,
TriImg_RECTIFIED,
TriCam_REFERENCE,
&rectifiedImage );
cv::Mat left,right;
right = cv::Mat(rectifiedImage.nrows, rectifiedImage.ncols, CV_8UC1, rectifiedImage.data).clone();
//RECTIFY LEFT COLOR
triclopsBuildPackedTriclopsInput(
grabbedImage.GetCols(),
grabbedImage.GetRows(),
imageColorLeft.GetStride(),
(unsigned long)grabbedImage.GetTimeStamp().seconds,
(unsigned long)grabbedImage.GetTimeStamp().microSeconds,
imageColorLeft.GetData(),
&triclopsColorInputs );
cv::Mat pixelsLeftBuffer( grabbedImage.GetRows(), grabbedImage.GetCols(), CV_8UC4);
TriclopsPackedColorImage colorImage;
triclopsSetPackedColorImageBuffer(
triclopsCtx_,
TriCam_LEFT,
(TriclopsPackedColorPixel*)pixelsLeftBuffer.data );
triclopsRectifyPackedColorImage(
triclopsCtx_,
TriCam_LEFT,
&triclopsColorInputs,
&colorImage );
cv::cvtColor(pixelsLeftBuffer, left, CV_RGBA2RGB);
// Set calibration stuff
float fx, cy, cx, baseline;
triclopsGetFocalLength(triclopsCtx_, &fx);
triclopsGetImageCenter(triclopsCtx_, &cy, &cx);
triclopsGetBaseline(triclopsCtx_, &baseline);
StereoCameraModel model(
fx,
fx,
cx,
cy,
baseline,
this->getLocalTransform());
data = SensorData(left, right, model, this->getNextSeqID(), UTimer::now());
}
}
}
}
}
#else
UERROR("CameraStereoFlyCapture2: RTAB-Map is not built with Triclops support!");
#endif
return data;
}
//
// CameraStereoImages
//
bool CameraStereoImages::available()
{
return true;
}
CameraStereoImages::CameraStereoImages(
const std::string & pathLeftImages,
const std::string & pathRightImages,
bool rectifyImages,
float imageRate,
const Transform & localTransform) :
CameraImages(pathLeftImages, imageRate, localTransform),
camera2_(new CameraImages(pathRightImages))
{
this->setImagesRectified(rectifyImages);
}
CameraStereoImages::CameraStereoImages(
const std::string & pathLeftRightImages,
bool rectifyImages,
float imageRate,
const Transform & localTransform) :
CameraImages("", imageRate, localTransform),
camera2_(0)
{
std::vector<std::string> paths = uListToVector(uSplit(pathLeftRightImages, uStrContains(pathLeftRightImages, ":")?':':';'));
if(paths.size() >= 1)
{
this->setPath(paths[0]);
this->setImagesRectified(rectifyImages);
if(paths.size() >= 2)
{
camera2_ = new CameraImages(paths[1]);
}
}
else
{
UERROR("The path is empty!");
}
}
CameraStereoImages::~CameraStereoImages()
{
UDEBUG("");
if(camera2_)
{
delete camera2_;
}
UDEBUG("");
}
bool CameraStereoImages::init(const std::string & calibrationFolder, const std::string & cameraName)
{
// look for calibration files
if(!calibrationFolder.empty() && !cameraName.empty())
{
if(!stereoModel_.load(calibrationFolder, cameraName))
{
UWARN("Missing calibration files for camera \"%s\" in \"%s\" folder, you should calibrate the camera!",
cameraName.c_str(), calibrationFolder.c_str());
}
else
{
UINFO("Stereo parameters: fx=%f cx=%f cy=%f baseline=%f",
stereoModel_.left().fx(),
stereoModel_.left().cx(),
stereoModel_.left().cy(),
stereoModel_.baseline());
}
}
stereoModel_.setLocalTransform(this->getLocalTransform());
stereoModel_.setName(cameraName);
if(this->isImagesRectified() && !stereoModel_.isValidForRectification())
{
UERROR("Parameter \"rectifyImages\" is set, but no stereo model is loaded or valid.");
return false;
}
//desactivate before init as we will do it in this class instead for convenience
bool rectify = this->isImagesRectified();
this->setImagesRectified(false);
bool success = false;
if(CameraImages::init())
{
if(camera2_)
{
camera2_->setBayerMode(this->getBayerMode());
if(camera2_->init())
{
if(this->imagesCount() == camera2_->imagesCount())
{
success = true;
}
else
{
UERROR("Cameras don't have the same number of images (%d vs %d)",
this->imagesCount(), camera2_->imagesCount());
}
}
else
{
UERROR("Cannot initialize the second camera.");
}
}
else
{
success = true;
}
}
this->setImagesRectified(rectify); // reset the flag
return success;
}
bool CameraStereoImages::isCalibrated() const
{
return stereoModel_.isValidForProjection();
}
std::string CameraStereoImages::getSerial() const
{
return stereoModel_.name();
}
SensorData CameraStereoImages::captureImage()
{
SensorData data;
SensorData left, right;
left = CameraImages::captureImage();
if(!left.imageRaw().empty())
{
if(camera2_)
{
right = camera2_->takeImage();
}
else
{
right = this->takeImage();
}
if(!right.imageRaw().empty())
{
// Rectification
cv::Mat leftImage = left.imageRaw();
cv::Mat rightImage = right.imageRaw();
if(rightImage.type() != CV_8UC1)
{
cv::Mat tmp;
cv::cvtColor(rightImage, tmp, CV_BGR2GRAY);
rightImage = tmp;
}
if(this->isImagesRectified() && stereoModel_.isValidForRectification())
{
leftImage = stereoModel_.left().rectifyImage(leftImage);
rightImage = stereoModel_.right().rectifyImage(rightImage);
}
data = SensorData(left.laserScanRaw(), left.laserScanMaxPts(), 0, leftImage, rightImage, stereoModel_, left.id()/(camera2_?1:2), left.stamp());
data.setGroundTruth(left.groundTruth());
}
}
return data;
}
//
// CameraStereoVideo
//
bool CameraStereoVideo::available()
{
return true;
}
CameraStereoVideo::CameraStereoVideo(
const std::string & path,
bool rectifyImages,
float imageRate,
const Transform & localTransform) :
Camera(imageRate, localTransform),
path_(path),
rectifyImages_(rectifyImages)
{
}
CameraStereoVideo::~CameraStereoVideo()
{
capture_.release();
}
bool CameraStereoVideo::init(const std::string & calibrationFolder, const std::string & cameraName)
{
if(capture_.isOpened())
{
capture_.release();
}
ULOGGER_DEBUG("Camera: filename=\"%s\"", path_.c_str());
capture_.open(path_.c_str());
if(!capture_.isOpened())
{
ULOGGER_ERROR("Camera: Failed to create a capture object!");
capture_.release();
return false;
}
else
{
// look for calibration files
cameraName_ = cameraName;
if(!calibrationFolder.empty() && !cameraName.empty())
{
if(!stereoModel_.load(calibrationFolder, cameraName))
{
UWARN("Missing calibration files for camera \"%s\" in \"%s\" folder, you should calibrate the camera!",
cameraName.c_str(), calibrationFolder.c_str());
}
else
{
UINFO("Stereo parameters: fx=%f cx=%f cy=%f baseline=%f",
stereoModel_.left().fx(),
stereoModel_.left().cx(),
stereoModel_.left().cy(),
stereoModel_.baseline());
}
}
stereoModel_.setLocalTransform(this->getLocalTransform());
if(rectifyImages_ && !stereoModel_.isValidForRectification())
{
UERROR("Parameter \"rectifyImages\" is set, but no stereo model is loaded or valid.");
return false;
}
}
return true;
}
bool CameraStereoVideo::isCalibrated() const
{
return stereoModel_.isValidForProjection();
}
std::string CameraStereoVideo::getSerial() const
{
return cameraName_;
}
SensorData CameraStereoVideo::captureImage()
{
SensorData data;
cv::Mat img;
if(capture_.isOpened())
{
if(capture_.read(img))
{
// Rectification
cv::Mat leftImage(img, cv::Rect( 0, 0, img.size().width/2, img.size().height ));
cv::Mat rightImage(img, cv::Rect( img.size().width/2, 0, img.size().width/2, img.size().height ));
bool rightCvt = false;
if(rightImage.type() != CV_8UC1)
{
cv::Mat tmp;
cv::cvtColor(rightImage, tmp, CV_BGR2GRAY);
rightImage = tmp;
rightCvt = true;
}
if(rectifyImages_ && stereoModel_.left().isValidForRectification() && stereoModel_.right().isValidForRectification())
{
leftImage = stereoModel_.left().rectifyImage(leftImage);
rightImage = stereoModel_.right().rectifyImage(rightImage);
}
else
{
leftImage = leftImage.clone();
if(!rightCvt)
{
rightImage = rightImage.clone();
}
}
data = SensorData(leftImage, rightImage, stereoModel_, this->getNextSeqID(), UTimer::now());
}
}
else
{
ULOGGER_WARN("The camera must be initialized before requesting an image.");
}
return data;
}
} // namespace rtabmap
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