Added StereoVideo source input (side-by-side video)

corelib/include/rtabmap/core/CameraModel.h

@@ -80,6 +80,7 @@ public:
 	const cv::Mat & R() const {return R_;} //rectification matrix
 	const cv::Mat & P() const {return P_;} //projection matrix
 
+	void setLocalTransform(const Transform & transform) {localTransform_ = transform;}
 	const Transform & localTransform() const {return localTransform_;}
 
 	const cv::Size & imageSize() const {return imageSize_;}
@@ -157,6 +158,8 @@ public:
 
 	void scale(double scale);
 
+	void setLocalTransform(const Transform & transform) {left_.setLocalTransform(transform);}
+	const Transform & localTransform() const {return left_.localTransform();}
 	Transform stereoTransform() const;
 
 	const CameraModel & left() const {return left_;}

corelib/include/rtabmap/core/CameraRGB.h

@@ -52,6 +52,7 @@ public:
 	CameraImages(const std::string & path,
 			int startAt = 1,
 			bool refreshDir = false,
+			bool rectifyImages = false,
 			float imageRate = 0,
 			const Transform & localTransform = Transform::getIdentity());
 	virtual ~CameraImages();
@@ -71,9 +72,13 @@ private:
 	// If the list of files in the directory is refreshed
 	// on each call of takeImage()
 	bool _refreshDir;
+	bool _rectifyImages;
 	int _count;
 	UDirectory * _dir;
 	std::string _lastFileName;
+
+	std::string _cameraName;
+	CameraModel _model;
 };
 
 
@@ -93,6 +98,7 @@ public:
 			float imageRate = 0,
 			const Transform & localTransform = Transform::getIdentity());
 	CameraVideo(const std::string & filePath,
+			bool rectifyImages = false,
 			float imageRate = 0,
 			const Transform & localTransform = Transform::getIdentity());
 	virtual ~CameraVideo();
@@ -109,6 +115,7 @@ protected:
 private:
 	// File type
 	std::string _filePath;
+	bool _rectifyImages;
 
 	cv::VideoCapture _capture;
 	Source _src;

corelib/include/rtabmap/core/CameraStereo.h

@@ -107,6 +107,7 @@ public:
 	CameraStereoImages(
 			const std::string & path,
 			const std::string & timestampsPath = "", // "times.txt"
+			bool rectifyImages = false,
 			float imageRate=0.0f,
 			const Transform & localTransform = Transform::getIdentity());
 	virtual ~CameraStereoImages();
@@ -122,9 +123,44 @@ private:
 	CameraImages * camera_;
 	CameraImages * camera2_;
 	std::string timestampsPath_;
+	bool rectifyImages_;
 	std::list<double> stamps_;
 	StereoCameraModel stereoModel_;
 	std::string cameraName_;
 };
 
+
+/////////////////////////
+// CameraStereoVideo
+/////////////////////////
+class CameraImages;
+class RTABMAP_EXP CameraStereoVideo :
+	public Camera
+{
+public:
+	static bool available();
+
+public:
+	CameraStereoVideo(
+			const std::string & path,
+			bool rectifyImages = false,
+			float imageRate=0.0f,
+			const Transform & localTransform = Transform::getIdentity());
+	virtual ~CameraStereoVideo();
+
+	virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
+	virtual bool isCalibrated() const;
+	virtual std::string getSerial() const;
+
+protected:
+	virtual SensorData captureImage();
+
+private:
+	cv::VideoCapture capture_;
+	std::string path_;
+	bool rectifyImages_;
+	StereoCameraModel stereoModel_;
+	std::string cameraName_;
+};
+
 } // namespace rtabmap