void updateCurve(UPlotCurve * curve, void * data, unsigned int dataSize, int channels, int sampleSize)
{
if(!curve || !data || dataSize == 0)
{
return;
}
//ROS_INFO("curve %s size=%d item=%f", curve->name().toStdString().c_str(), dataSize, curve->itemsSize()>0?curve->getItemData(curve->itemsSize()-1).x():0);
//ROS_INFO("channels=%d, bitsPerSample=%d", channels, sampleSize);
int downSamplingFactor = PLOT_SAMPLING_RATIO*channels;
QVector<int> v(dataSize/downSamplingFactor/sampleSize);
//ROS_INFO("dataSize=%d downSamplingFactor = %d, v=%d", dataSize, downSamplingFactor, v.size());
if(sampleSize == 1)
{
char * p = (char*)data;
char min,max;
for(int i=0; i<v.size(); ++i)
{
uMinMax(p + i*downSamplingFactor, downSamplingFactor, min, max);
v[i] = abs(min) > abs(max) ? min : max;
}
}
else if(sampleSize == 2)
{
short * p = (short*)data;
short min,max;
for(int i=0; i<v.size(); ++i)
{
uMinMax(p + i*downSamplingFactor, downSamplingFactor, min, max);
v[i] = abs(min) > abs(max) ? min : max;
}
}
else if(sampleSize == 4)
{
int * p = (int*)data;
int min,max;
for(int i=0; i<v.size(); ++i)
{
uMinMax(p + i*downSamplingFactor, downSamplingFactor, min, max);
v[i] = abs(min) > abs(max) ? min : max;
}
}
QMetaObject::invokeMethod(curve, "addValues", Q_ARG(QVector<int>, v));
}
int main(int argc, char * argv[])
{
ULogger::setType(ULogger::kTypeConsole);
ULogger::setLevel(ULogger::kInfo);
//ULogger::setPrintTime(false);
//ULogger::setPrintWhere(false);
int driver = 0;
std::string stereoSavePath;
float rate = 0.0f;
std::string fourcc = "MJPG";
if(argc < 2)
{
showUsage();
}
else
{
for(int i=1; i<argc; ++i)
{
if(strcmp(argv[i], "-rate") == 0)
{
++i;
if(i < argc)
{
rate = uStr2Float(argv[i]);
if(rate < 0.0f)
{
showUsage();
}
}
else
{
showUsage();
}
continue;
}
if(strcmp(argv[i], "-save_stereo") == 0)
{
++i;
if(i < argc)
{
stereoSavePath = argv[i];
}
else
{
showUsage();
}
continue;
}
if(strcmp(argv[i], "-fourcc") == 0)
{
++i;
if(i < argc)
{
fourcc = argv[i];
if(fourcc.size() != 4)
{
UERROR("fourcc should be 4 characters.");
showUsage();
}
}
else
{
showUsage();
}
continue;
}
if(strcmp(argv[i], "--help") == 0 || strcmp(argv[i], "-help") == 0)
{
showUsage();
}
else if(i< argc-1)
{
printf("Unrecognized option \"%s\"", argv[i]);
showUsage();
}
// last
driver = atoi(argv[i]);
if(driver < 0 || driver > 8)
{
UERROR("driver should be between 0 and 8.");
showUsage();
}
}
}
UINFO("Using driver %d", driver);
rtabmap::Camera * camera = 0;
if(driver < 6)
{
if(!stereoSavePath.empty())
{
UWARN("-save_stereo option cannot be used with RGB-D drivers.");
stereoSavePath.clear();
}
if(driver == 0)
{
camera = new rtabmap::CameraOpenni();
}
else if(driver == 1)
{
if(!rtabmap::CameraOpenNI2::available())
{
UERROR("Not built with OpenNI2 support...");
exit(-1);
}
camera = new rtabmap::CameraOpenNI2();
}
else if(driver == 2)
{
if(!rtabmap::CameraFreenect::available())
{
UERROR("Not built with Freenect support...");
exit(-1);
}
camera = new rtabmap::CameraFreenect();
}
else if(driver == 3)
{
if(!rtabmap::CameraOpenNICV::available())
{
UERROR("Not built with OpenNI from OpenCV support...");
exit(-1);
}
camera = new rtabmap::CameraOpenNICV(false);
}
else if(driver == 4)
{
if(!rtabmap::CameraOpenNICV::available())
{
UERROR("Not built with OpenNI from OpenCV support...");
exit(-1);
}
camera = new rtabmap::CameraOpenNICV(true);
}
else if(driver == 5)
{
if(!rtabmap::CameraFreenect2::available())
{
UERROR("Not built with Freenect2 support...");
exit(-1);
}
camera = new rtabmap::CameraFreenect2(0, rtabmap::CameraFreenect2::kTypeColor2DepthSD);
}
}
else if(driver == 6)
{
if(!rtabmap::CameraStereoDC1394::available())
{
UERROR("Not built with DC1394 support...");
exit(-1);
}
camera = new rtabmap::CameraStereoDC1394();
}
else if(driver == 7)
{
if(!rtabmap::CameraStereoFlyCapture2::available())
{
UERROR("Not built with FlyCapture2/Triclops support...");
exit(-1);
}
camera = new rtabmap::CameraStereoFlyCapture2();
}
else if(driver == 8)
{
if(!rtabmap::CameraStereoZed::available())
{
UERROR("Not built with ZED sdk support...");
exit(-1);
}
camera = new rtabmap::CameraStereoZed(0);
}
else
{
UFATAL("");
}
if(!camera->init())
{
printf("Camera init failed! Please select another driver (see \"--help\").\n");
delete camera;
exit(1);
}
rtabmap::SensorData data = camera->takeImage();
if(data.imageRaw().cols != data.depthOrRightRaw().cols || data.imageRaw().rows != data.depthOrRightRaw().rows)
{
UWARN("RGB (%d/%d) and depth (%d/%d) frames are not the same size! The registered cloud cannot be shown.",
data.imageRaw().cols, data.imageRaw().rows, data.depthOrRightRaw().cols, data.depthOrRightRaw().rows);
}
pcl::visualization::CloudViewer * viewer = 0;
if(!data.stereoCameraModel().isValidForProjection() && (data.cameraModels().size() == 0 || !data.cameraModels()[0].isValidForProjection()))
{
UWARN("Camera not calibrated! The registered cloud cannot be shown.");
}
else
{
viewer = new pcl::visualization::CloudViewer("cloud");
}
rtabmap::Transform t(1, 0, 0, 0,
0, -1, 0, 0,
0, 0, -1, 0);
cv::VideoWriter videoWriter;
UDirectory dir;
if(!stereoSavePath.empty() &&
!data.imageRaw().empty() &&
!data.rightRaw().empty())
{
if(UFile::getExtension(stereoSavePath).compare("avi") == 0)
{
if(data.imageRaw().size() == data.rightRaw().size())
{
if(rate <= 0)
{
UERROR("You should set the input rate when saving stereo images to a video file.");
showUsage();
}
cv::Size targetSize = data.imageRaw().size();
targetSize.width *= 2;
UASSERT(fourcc.size() == 4);
videoWriter.open(
stereoSavePath,
CV_FOURCC(fourcc.at(0), fourcc.at(1), fourcc.at(2), fourcc.at(3)),
rate,
targetSize,
data.imageRaw().channels() == 3);
}
else
{
UERROR("Images not the same size, cannot save stereo images to the video file.");
}
}
else if(UDirectory::exists(stereoSavePath))
{
UDirectory::makeDir(stereoSavePath+"/"+"left");
UDirectory::makeDir(stereoSavePath+"/"+"right");
}
else
{
UERROR("Directory \"%s\" doesn't exist.", stereoSavePath.c_str());
stereoSavePath.clear();
}
}
// to catch the ctrl-c
signal(SIGABRT, &sighandler);
signal(SIGTERM, &sighandler);
signal(SIGINT, &sighandler);
int id=1;
while(!data.imageRaw().empty() && (viewer==0 || !viewer->wasStopped()) && running)
{
cv::Mat rgb = data.imageRaw();
if(!data.depthRaw().empty() && (data.depthRaw().type() == CV_16UC1 || data.depthRaw().type() == CV_32FC1))
{
// depth
cv::Mat depth = data.depthRaw();
if(depth.type() == CV_32FC1)
{
depth = rtabmap::util2d::cvtDepthFromFloat(depth);
}
if(rgb.cols == depth.cols && rgb.rows == depth.rows &&
data.cameraModels().size() &&
data.cameraModels()[0].isValidForProjection())
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = rtabmap::util3d::cloudFromDepthRGB(
rgb, depth,
data.cameraModels()[0]);
cloud = rtabmap::util3d::transformPointCloud(cloud, t);
if(viewer)
viewer->showCloud(cloud, "cloud");
}
else if(!depth.empty() &&
data.cameraModels().size() &&
data.cameraModels()[0].isValidForProjection())
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud = rtabmap::util3d::cloudFromDepth(
depth,
data.cameraModels()[0]);
cloud = rtabmap::util3d::transformPointCloud(cloud, t);
viewer->showCloud(cloud, "cloud");
}
cv::Mat tmp;
unsigned short min=0, max = 2048;
uMinMax((unsigned short*)depth.data, depth.rows*depth.cols, min, max);
depth.convertTo(tmp, CV_8UC1, 255.0/max);
cv::imshow("Video", rgb); // show frame
cv::imshow("Depth", tmp);
}
else if(!data.rightRaw().empty())
{
// stereo
cv::Mat right = data.rightRaw();
cv::imshow("Left", rgb); // show frame
cv::imshow("Right", right);
if(rgb.cols == right.cols && rgb.rows == right.rows && data.stereoCameraModel().isValidForProjection())
{
if(right.channels() == 3)
{
cv::cvtColor(right, right, CV_BGR2GRAY);
}
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = rtabmap::util3d::cloudFromStereoImages(
rgb, right,
data.stereoCameraModel());
cloud = rtabmap::util3d::transformPointCloud(cloud, t);
if(viewer)
viewer->showCloud(cloud, "cloud");
}
}
int c = cv::waitKey(10); // wait 10 ms or for key stroke
if(c == 27)
break; // if ESC, break and quit
if(videoWriter.isOpened())
{
cv::Mat left = data.imageRaw();
cv::Mat right = data.rightRaw();
if(left.size() == right.size())
{
cv::Size targetSize = left.size();
targetSize.width *= 2;
cv::Mat targetImage(targetSize, left.type());
if(right.type() != left.type())
{
cv::Mat tmp;
cv::cvtColor(right, tmp, left.channels()==3?CV_GRAY2BGR:CV_BGR2GRAY);
right = tmp;
}
UASSERT(left.type() == right.type());
cv::Mat roiA(targetImage, cv::Rect( 0, 0, left.size().width, left.size().height ));
left.copyTo(roiA);
cv::Mat roiB( targetImage, cvRect( left.size().width, 0, left.size().width, left.size().height ) );
right.copyTo(roiB);
videoWriter.write(targetImage);
printf("Saved frame %d to \"%s\"\n", id, stereoSavePath.c_str());
}
else
{
UERROR("Left and right images are not the same size!?");
}
}
else if(!stereoSavePath.empty())
{
cv::imwrite(stereoSavePath+"/"+"left/"+uNumber2Str(id) + ".jpg", data.imageRaw());
cv::imwrite(stereoSavePath+"/"+"right/"+uNumber2Str(id) + ".jpg", data.rightRaw());
printf("Saved frames %d to \"%s/left\" and \"%s/right\" directories\n", id, stereoSavePath.c_str(), stereoSavePath.c_str());
}
++id;
data = camera->takeImage();
}
printf("Closing...\n");
if(viewer)
{
delete viewer;
}
cv::destroyWindow("Video");
cv::destroyWindow("Depth");
delete camera;
return 0;
}
int main(int argc, char * argv[])
{
ULogger::setType(ULogger::kTypeConsole);
ULogger::setLevel(ULogger::kInfo);
//ULogger::setPrintTime(false);
//ULogger::setPrintWhere(false);
int driver = 0;
if(argc < 2)
{
showUsage();
}
else
{
if(strcmp(argv[argc-1], "--help") == 0)
{
showUsage();
}
driver = atoi(argv[argc-1]);
if(driver < 0 || driver > 7)
{
UERROR("driver should be between 0 and 6.");
showUsage();
}
}
UINFO("Using driver %d", driver);
rtabmap::CameraRGBD * camera = 0;
if(driver == 0)
{
camera = new rtabmap::CameraOpenni();
}
else if(driver == 1)
{
if(!rtabmap::CameraOpenNI2::available())
{
UERROR("Not built with OpenNI2 support...");
exit(-1);
}
camera = new rtabmap::CameraOpenNI2();
}
else if(driver == 2)
{
if(!rtabmap::CameraFreenect::available())
{
UERROR("Not built with Freenect support...");
exit(-1);
}
camera = new rtabmap::CameraFreenect();
}
else if(driver == 3)
{
if(!rtabmap::CameraOpenNICV::available())
{
UERROR("Not built with OpenNI from OpenCV support...");
exit(-1);
}
camera = new rtabmap::CameraOpenNICV(false);
}
else if(driver == 4)
{
if(!rtabmap::CameraOpenNICV::available())
{
UERROR("Not built with OpenNI from OpenCV support...");
exit(-1);
}
camera = new rtabmap::CameraOpenNICV(true);
}
else if(driver == 5)
{
if(!rtabmap::CameraFreenect2::available())
{
UERROR("Not built with Freenect2 support...");
exit(-1);
}
camera = new rtabmap::CameraFreenect2(0, rtabmap::CameraFreenect2::kTypeRGBDepthSD);
}
else if(driver == 6)
{
if(!rtabmap::CameraStereoDC1394::available())
{
UERROR("Not built with DC1394 support...");
exit(-1);
}
camera = new rtabmap::CameraStereoDC1394();
}
else if(driver == 7)
{
if(!rtabmap::CameraStereoFlyCapture2::available())
{
UERROR("Not built with FlyCapture2/Triclops support...");
exit(-1);
}
camera = new rtabmap::CameraStereoFlyCapture2();
}
else
{
UFATAL("");
}
if(!camera->init())
{
printf("Camera init failed! Please select another driver (see \"--help\").\n");
delete camera;
exit(1);
}
cv::Mat rgb, depth;
float fx, fy, cx, cy;
camera->takeImage(rgb, depth, fx, fy, cx, cy);
if(rgb.cols != depth.cols || rgb.rows != depth.rows)
{
UWARN("RGB (%d/%d) and depth (%d/%d) frames are not the same size! The registered cloud cannot be shown.",
rgb.cols, rgb.rows, depth.cols, depth.rows);
}
if(!fx || !fy)
{
UWARN("fx and/or fy are not set! The registered cloud cannot be shown.");
}
pcl::visualization::CloudViewer viewer("cloud");
rtabmap::Transform t(1, 0, 0, 0,
0, -1, 0, 0,
0, 0, -1, 0);
while(!rgb.empty() && !viewer.wasStopped())
{
if(depth.type() == CV_16UC1 || depth.type() == CV_32FC1)
{
// depth
if(depth.type() == CV_32FC1)
{
depth = rtabmap::util3d::cvtDepthFromFloat(depth);
}
if(rgb.cols == depth.cols && rgb.rows == depth.rows && fx && fy)
{
std::cout << "------------------------------------------------- tools/CameraRGBD/main.cpp -------------------------------------------------" << std::endl;
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = rtabmap::util3d::cloudFromDepthRGB(rgb, depth, cx, cy, fx, fy);
cloud = rtabmap::util3d::transformPointCloud(cloud, t);
viewer.showCloud(cloud, "cloud");
}
else if(!depth.empty() && fx && fy)
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud = rtabmap::util3d::cloudFromDepth(depth, cx, cy, fx, fy);
cloud = rtabmap::util3d::transformPointCloud(cloud, t);
viewer.showCloud(cloud, "cloud");
}
cv::Mat tmp;
unsigned short min=0, max = 2048;
uMinMax((unsigned short*)depth.data, depth.rows*depth.cols, min, max);
depth.convertTo(tmp, CV_8UC1, 255.0/max);
cv::imshow("Video", rgb); // show frame
cv::imshow("Depth", tmp);
}
else
{
// stereo
cv::imshow("Left", rgb); // show frame
cv::imshow("Right", depth);
if(rgb.cols == depth.cols && rgb.rows == depth.rows && fx && fy)
{
if(depth.channels() == 3)
{
cv::cvtColor(depth, depth, CV_BGR2GRAY);
}
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = rtabmap::util3d::cloudFromStereoImages(rgb, depth, cx, cy, fx, fy);
cloud = rtabmap::util3d::transformPointCloud(cloud, t);
viewer.showCloud(cloud, "cloud");
}
}
int c = cv::waitKey(10); // wait 10 ms or for key stroke
if(c == 27)
break; // if ESC, break and quit
rgb = cv::Mat();
depth = cv::Mat();
camera->takeImage(rgb, depth, fx, fy, cx, cy);
}
cv::destroyWindow("Video");
cv::destroyWindow("Depth");
delete camera;
return 0;
}
