CameraStereoImages.h

/*
Copyright (c) 2010-2016, 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.
*/
 
#pragma once
 
#include <rtabmap/core/camera/CameraImages.h>
 
#include "rtabmap/core/StereoCameraModel.h"
#include "rtabmap/core/Version.h"
 
namespace rtabmap
{
 
class CameraImages;
class RTABMAP_CORE_EXPORT CameraStereoImages :
  public CameraImages
{
public:
  static bool available();
 
public:
  CameraStereoImages(
      const std::string & pathLeftImages,
      const std::string & pathRightImages,
      bool rectifyImages = false,
      float imageRate=0.0f,
      const Transform & localTransform = Transform::getIdentity());
  CameraStereoImages(
      const std::string & pathLeftRightImages,
      bool rectifyImages = false,
      float imageRate=0.0f,
      const Transform & localTransform = Transform::getIdentity());
  virtual ~CameraStereoImages();
 
  void setRightGrayScale(bool enabled = true) {rightGrayScale_ = enabled;}
 
  // Enable multi-camera stereo mode. Each left/right image in the folders is
  // expected to be the horizontal concatenation of N sub-camera images of a
  // stereo rig, all sharing the same base name (timestamp or node id), e.g.
  // "1779318290.502227.jpg". Two calibration files per sub-camera must exist in
  // the calibrationFolder passed to init(), named "<prefix>_<index>_left.yaml"
  // and "<prefix>_<index>_right.yaml" with index starting at 0. The number of
  // cameras is auto-detected. Sub-images are split using a uniform width
  // (stackedWidth / N).
  // If setConfigForEachFrame() is enabled, one calibration set is loaded per frame
  // using each image's base name as prefix. Otherwise a single calibration set is
  // loaded and reused for all frames, using the cameraName passed to init() as
  // prefix (it may differ from any image name), falling back to the first image's
  // base name when cameraName is empty.
  // Note that it is not recommended to use setConfigForEachFrame() if images have
  // to be rectified, a rectification matrix would need to be re-initilaized for each
  // frame.
  void setMultiCameraCalibration(bool enabled) {CameraImages::setMultiCameraCalibration(enabled);}
 
  virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
  virtual bool isCalibrated() const;
  virtual std::string getSerial() const;
 
  virtual void setStartIndex(int index) {CameraImages::setStartIndex(index);camera2_->setStartIndex(index);} // negative means last
  virtual void setMaxFrames(int value) {CameraImages::setMaxFrames(value);camera2_->setMaxFrames(value);}
 
protected:
  virtual SensorData captureImage(SensorCaptureInfo * info = 0);
 
private:
  // Load the sub-camera stereo models of a frame from calibration files named
  // "<baseName>_<index>_{left,right}.yaml" (index 0.._multiCameraCount-1) in
  // _calibrationFolder. Returns an empty vector (and logs an error) on failure.
  std::vector<StereoCameraModel> loadStereoCameraModels(const std::string & baseName, bool rectify) const;
 
private:
  CameraImages * camera2_;
  StereoCameraModel stereoModel_;
  bool rightGrayScale_;
  std::vector<StereoCameraModel> multiStereoModels_; // sub-camera stereo models shared by all frames (multi-camera mode); empty when loaded per-frame
};
 
 
} // namespace rtabmap