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CameraThread: Added stereo to depth option. Added parameter "Mem/SaveDepth16Format".

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This commit is contained in:
matlabbe
2015-08-27 17:16:12 -04:00
parent 0651d5dfbd
commit ce2bbd8feb
16 changed files with 343 additions and 230 deletions
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corelib/src/CameraThread.cpp
+14 -1
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@@ -29,6 +29,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/Camera.h"
#include "rtabmap/core/CameraEvent.h"
#include "rtabmap/core/CameraRGBD.h"
#include "rtabmap/core/util2d.h"
#include "rtabmap/core/util3d.h"
#include <rtabmap/utilite/UTimer.h>
#include <rtabmap/utilite/ULogger.h>
@@ -40,7 +42,8 @@ namespace rtabmap
CameraThread::CameraThread(Camera * camera) :
_camera(camera),
_mirroring(false),
_colorOnly(false)
_colorOnly(false),
_stereoToDepth(false)
{
UASSERT(_camera != 0);
}
@@ -96,6 +99,16 @@ void CameraThread::mainLoop()
data.setDepthOrRightRaw(tmpDepth);
}
}
if(_stereoToDepth && data.stereoCameraModel().isValid() && !data.rightRaw().empty())
{
cv::Mat depth = util2d::depthFromDisparity(
util2d::disparityFromStereoImages(data.imageRaw(), data.rightRaw()),
data.stereoCameraModel().left().fx(),
data.stereoCameraModel().baseline());
data.setCameraModel(data.stereoCameraModel().left());
data.setDepthOrRightRaw(depth);
data.setStereoCameraModel(StereoCameraModel());
}
this->post(new CameraEvent(data, _camera->getSerial()));
}