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Camera: added some getters and protected image size modification

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@574 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2012-06-26 19:23:43 +00:00
parent fe8e261fc6
commit c2008a448c
2 changed files with 80 additions and 33 deletions
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corelib/src/Camera.cpp
+63 -27
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@@ -78,6 +78,26 @@ void Camera::setFeaturesExtracted(bool featuresExtracted, KeypointDetector::Dete
}
}
void Camera::setImageSize(unsigned int width, unsigned int height)
{
_imageSizeMutex.lock();
{
_imageWidth = width;
_imageHeight = height;
}
_imageSizeMutex.unlock();
}
void Camera::getImageSize(unsigned int & width, unsigned int & height)
{
_imageSizeMutex.lock();
{
width = _imageWidth;
height = _imageHeight;
}
_imageSizeMutex.unlock();
}
void Camera::parseParameters(const ParametersMap & parameters)
{
UDEBUG("");
@@ -262,17 +282,18 @@ cv::Mat Camera::takeImage(cv::Mat & descriptors, std::vector<cv::KeyPoint> & key
UTimer timer;
img = this->captureImage();
UDEBUG("Time capturing image = %fs", timer.ticks());
if(img.depth() != CV_8U)
{
UWARN("Images should have already 8U depth !?");
cv::Mat tmp = img;
img = cv::Mat();
tmp.convertTo(img, CV_8U);
UDEBUG("Time converting image to 8U = %fs", timer.ticks());
}
if(!img.empty())
{
if(img.depth() != CV_8U)
{
UWARN("Images should have already 8U depth !?");
cv::Mat tmp = img;
img = cv::Mat();
tmp.convertTo(img, CV_8U);
UDEBUG("Time converting image to 8U = %fs", timer.ticks());
}
if(_featuresExtracted && _keypointDetector && _keypointDescriptor)
{
keypoints = _keypointDetector->generateKeypoints(img);
@@ -424,6 +445,8 @@ cv::Mat CameraImages::captureImage()
#else
img = cv::imread(fullPath.c_str(), -1);
#endif
UDEBUG("width=%d, height=%d, channels=%d, elementSize=%d, total=%d", img.cols, img.rows, img.channels(), img.elemSize(), img.total());
// FIXME : it seems that some png are incorrectly loaded with opencv c++ interface, where c interface works...
if(img.depth() != CV_8U)
{
@@ -442,17 +465,21 @@ cv::Mat CameraImages::captureImage()
UWARN("Directory is not set, camera must be initialized.");
}
unsigned int w;
unsigned int h;
this->getImageSize(w, h);
if(!img.empty() &&
getImageWidth() &&
getImageHeight() &&
getImageWidth() != (unsigned int)img.cols &&
getImageHeight() != (unsigned int)img.rows)
w &&
h &&
w != (unsigned int)img.cols &&
h != (unsigned int)img.rows)
{
cv::Mat resampled;
cv::resize(img, resampled, cv::Size(getImageWidth(), getImageHeight()));
cv::resize(img, resampled, cv::Size(w, h));
img = resampled;
}
UDEBUG("");
return img;
}
@@ -475,7 +502,7 @@ CameraVideo::CameraVideo(int usbDevice,
}
CameraVideo::CameraVideo(const std::string & fileName,
CameraVideo::CameraVideo(const std::string & filePath,
float imageRate,
bool autoRestart,
unsigned int imageWidth,
@@ -483,7 +510,7 @@ CameraVideo::CameraVideo(const std::string & fileName,
unsigned int framesDropped,
int id) :
Camera(imageRate, autoRestart, imageWidth, imageHeight, framesDropped, id),
_fileName(fileName),
_filePath(filePath),
_src(kVideoFile)
{
}
@@ -503,18 +530,23 @@ bool CameraVideo::init()
if(_src == kUsbDevice)
{
ULOGGER_DEBUG("CameraVideo::init() Usb device initialization on device %d with imgSize=[%d,%d]", _usbDevice, getImageWidth(), getImageHeight());
unsigned int w;
unsigned int h;
this->getImageSize(w, h);
ULOGGER_DEBUG("CameraVideo::init() Usb device initialization on device %d with imgSize=[%d,%d]", _usbDevice, w, h);
_capture.open(_usbDevice);
if(getImageWidth() && getImageHeight())
if(w && h)
{
_capture.set(CV_CAP_PROP_FRAME_WIDTH, double(getImageWidth()));
_capture.set(CV_CAP_PROP_FRAME_HEIGHT, double(getImageHeight()));
_capture.set(CV_CAP_PROP_FRAME_WIDTH, double(w));
_capture.set(CV_CAP_PROP_FRAME_HEIGHT, double(h));
}
}
else if(_src == kVideoFile)
{
ULOGGER_DEBUG("Camera: filename=\"%s\"", _fileName.c_str());
_capture.open(_fileName.c_str());
ULOGGER_DEBUG("Camera: filename=\"%s\"", _filePath.c_str());
_capture.open(_filePath.c_str());
}
else
{
@@ -541,14 +573,18 @@ cv::Mat CameraVideo::captureImage()
ULOGGER_WARN("The camera must be initialized before requesting an image.");
}
unsigned int w;
unsigned int h;
this->getImageSize(w, h);
if(!img.empty() &&
getImageWidth() &&
getImageHeight() &&
getImageWidth() != (unsigned int)img.cols &&
getImageHeight() != (unsigned int)img.rows)
w &&
h &&
w != (unsigned int)img.cols &&
h != (unsigned int)img.rows)
{
cv::Mat resampled;
cv::resize(img, resampled, cv::Size(getImageWidth(), getImageHeight()));
cv::resize(img, resampled, cv::Size(w, h));
return resampled;
}
else