CameraOpenNI2.cpp
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1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
3 All rights reserved.
4 
5 Redistribution and use in source and binary forms, with or without
6 modification, are permitted provided that the following conditions are met:
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15 
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26 
27 #include <rtabmap/core/camera/CameraOpenNI2.h>
28 #include <rtabmap/utilite/UTimer.h>
29 #include <rtabmap/utilite/UFile.h>
30 #include <rtabmap/utilite/UThreadC.h>
31 #include <rtabmap/core/util2d.h>
32 #include <opencv2/imgproc/types_c.h>
33 
34 #ifdef RTABMAP_OPENNI2
35 #include <OniVersion.h>
36 #include <OpenNI.h>
37 #endif
38 
39 namespace rtabmap
40 {
41 
42 bool CameraOpenNI2::available()
43 {
44 #ifdef RTABMAP_OPENNI2
45  return true;
46 #else
47  return false;
48 #endif
49 }
50 
51 bool CameraOpenNI2::exposureGainAvailable()
52 {
53 #if ONI_VERSION_MAJOR > 2 || (ONI_VERSION_MAJOR==2 && ONI_VERSION_MINOR >= 2)
54  return true;
55 #else
56  return false;
57 #endif
58 }
59 
60 CameraOpenNI2::CameraOpenNI2(
61  const std::string & deviceId,
62  Type type,
63  float imageRate,
64  const rtabmap::Transform & localTransform) :
65  Camera(imageRate, localTransform)
66 #ifdef RTABMAP_OPENNI2
67  ,
68  _type(type),
69  _device(new openni::Device()),
70  _color(new openni::VideoStream()),
71  _depth(new openni::VideoStream()),
72  _depthFx(0.0f),
73  _depthFy(0.0f),
74  _deviceId(deviceId),
75  _openNI2StampsAndIDsUsed(false),
76  _depthHShift(0),
77  _depthVShift(0),
78  _depthDecimation(1)
79 #endif
80 {
81 }
82 
83 CameraOpenNI2::~CameraOpenNI2()
84 {
85 #ifdef RTABMAP_OPENNI2
86  _color->stop();
87  _color->destroy();
88  _depth->stop();
89  _depth->destroy();
90  _device->close();
91  openni::OpenNI::shutdown();
92 
93  delete _device;
94  delete _color;
95  delete _depth;
96 #endif
97 }
98 
99 bool CameraOpenNI2::setAutoWhiteBalance(bool enabled)
100 {
101 #ifdef RTABMAP_OPENNI2
102  if(_color && _color->getCameraSettings())
103  {
104  return _color->getCameraSettings()->setAutoWhiteBalanceEnabled(enabled) == openni::STATUS_OK;
105  }
106 #else
107  UERROR("CameraOpenNI2: RTAB-Map is not built with OpenNI2 support!");
108 #endif
109  return false;
110 }
111 
112 bool CameraOpenNI2::setAutoExposure(bool enabled)
113 {
114 #ifdef RTABMAP_OPENNI2
115  if(_color && _color->getCameraSettings())
116  {
117  return _color->getCameraSettings()->setAutoExposureEnabled(enabled) == openni::STATUS_OK;
118  }
119 #else
120  UERROR("CameraOpenNI2: RTAB-Map is not built with OpenNI2 support!");
121 #endif
122  return false;
123 }
124 
125 bool CameraOpenNI2::setExposure(int value)
126 {
127 #ifdef RTABMAP_OPENNI2
128 #if ONI_VERSION_MAJOR > 2 || (ONI_VERSION_MAJOR==2 && ONI_VERSION_MINOR >= 2)
129  if(_color && _color->getCameraSettings())
130  {
131  return _color->getCameraSettings()->setExposure(value) == openni::STATUS_OK;
132  }
133 #else
134  UERROR("CameraOpenNI2: OpenNI >= 2.2 required to use this method.");
135 #endif
136 #else
137  UERROR("CameraOpenNI2: RTAB-Map is not built with OpenNI2 support!");
138 #endif
139  return false;
140 }
141 
142 bool CameraOpenNI2::setGain(int value)
143 {
144 #ifdef RTABMAP_OPENNI2
145 #if ONI_VERSION_MAJOR > 2 || (ONI_VERSION_MAJOR==2 && ONI_VERSION_MINOR >= 2)
146  if(_color && _color->getCameraSettings())
147  {
148  return _color->getCameraSettings()->setGain(value) == openni::STATUS_OK;
149  }
150 #else
151  UERROR("CameraOpenNI2: OpenNI >= 2.2 required to use this method.");
152 #endif
153 #else
154  UERROR("CameraOpenNI2: RTAB-Map is not built with OpenNI2 support!");
155 #endif
156  return false;
157 }
158 
159 bool CameraOpenNI2::setMirroring(bool enabled)
160 {
161 #ifdef RTABMAP_OPENNI2
162  if(_color->isValid() && _depth->isValid())
163  {
164  return _depth->setMirroringEnabled(enabled) == openni::STATUS_OK &&
165  _color->setMirroringEnabled(enabled) == openni::STATUS_OK;
166  }
167 #endif
168  return false;
169 }
170 
171 void CameraOpenNI2::setOpenNI2StampsAndIDsUsed(bool used)
172 {
173 #ifdef RTABMAP_OPENNI2
174  _openNI2StampsAndIDsUsed = used;
175 #endif
176 }
177 
178 void CameraOpenNI2::setIRDepthShift(int horizontal, int vertical)
179 {
180 #ifdef RTABMAP_OPENNI2
181  _depthHShift = horizontal;
182  _depthVShift = vertical;
183 #endif
184 }
185 
186 void CameraOpenNI2::setDepthDecimation(int decimation)
187 {
188 #ifdef RTABMAP_OPENNI2
189  UASSERT(decimation >= 1);
190  _depthDecimation = decimation;
191 #endif
192 }
193 
194 bool CameraOpenNI2::init(const std::string & calibrationFolder, const std::string & cameraName)
195 {
196 #ifdef RTABMAP_OPENNI2
197  openni::OpenNI::initialize();
198 
199  openni::Array<openni::DeviceInfo> devices;
200  openni::OpenNI::enumerateDevices(&devices);
201  for(int i=0; i<devices.getSize(); ++i)
202  {
203  UINFO("Device %d: Name=%s URI=%s Vendor=%s",
204  i,
205  devices[i].getName(),
206  devices[i].getUri(),
207  devices[i].getVendor());
208  }
209  if(_deviceId.empty() && devices.getSize() == 0)
210  {
211  UERROR("CameraOpenNI2: No device detected!");
212  return false;
213  }
214 
215  openni::Status error = _device->open(_deviceId.empty()?openni::ANY_DEVICE:_deviceId.c_str());
216  if(error != openni::STATUS_OK)
217  {
218  if(!_deviceId.empty())
219  {
220  UERROR("CameraOpenNI2: Cannot open device \"%s\" (error=%d).", _deviceId.c_str(), error);
221  }
222  else
223  {
224 #ifdef _WIN32
225  UERROR("CameraOpenNI2: Cannot open device \"%s\" (error=%d).", devices[0].getName(), error);
226 #else
227  UERROR("CameraOpenNI2: Cannot open device \"%s\" (error=%d). Verify if \"%s\" is in udev rules: \"/lib/udev/rules.d/40-libopenni2-0.rules\". If not, add it and reboot.", devices[0].getName(), error, devices[0].getUri());
228 #endif
229  }
230 
231  _device->close();
232  openni::OpenNI::shutdown();
233  return false;
234  }
235 
236  // look for calibration files
237  _stereoModel = StereoCameraModel();
238  bool hardwareRegistration = true;
239  if(!calibrationFolder.empty())
240  {
241  // we need the serial
242  std::string calibrationName = _device->getDeviceInfo().getName();
243  if(!cameraName.empty())
244  {
245  calibrationName = cameraName;
246  }
247  _stereoModel.setName(calibrationName, "depth", "rgb");
248  hardwareRegistration = !_stereoModel.load(calibrationFolder, calibrationName, false);
249 
250  if(_type != kTypeColorDepth)
251  {
252  hardwareRegistration = false;
253  }
254 
255 
256  if((_type != kTypeColorDepth && !_stereoModel.left().isValidForRectification()) ||
257  (_type == kTypeColorDepth && !_stereoModel.right().isValidForRectification()))
258  {
259  UWARN("Missing calibration files for camera \"%s\" in \"%s\" folder, default calibration used.",
260  calibrationName.c_str(), calibrationFolder.c_str());
261  }
262  else if(_type == kTypeColorDepth && _stereoModel.right().isValidForRectification() && hardwareRegistration)
263  {
264  UWARN("Missing extrinsic calibration file for camera \"%s\" in \"%s\" folder, default registration is used even if rgb is rectified!",
265  calibrationName.c_str(), calibrationFolder.c_str());
266  }
267  else if(_type == kTypeColorDepth && _stereoModel.right().isValidForRectification() && !hardwareRegistration)
268  {
269  UINFO("Custom calibration files for \"%s\" were found in \"%s\" folder. To use "
270  "factory calibration, remove the corresponding files from that directory.", calibrationName.c_str(), calibrationFolder.c_str());
271  }
272  }
273 
274  if(UFile::getExtension(_deviceId).compare("oni")==0)
275  {
276  if(_device->getPlaybackControl() &&
277  _device->getPlaybackControl()->setRepeatEnabled(false) != openni::STATUS_OK)
278  {
279  UERROR("CameraOpenNI2: Cannot set repeat mode to false.");
280  _device->close();
281  openni::OpenNI::shutdown();
282  return false;
283  }
284  }
285  else if(_type==kTypeColorDepth && hardwareRegistration &&
286  !_device->isImageRegistrationModeSupported(openni::IMAGE_REGISTRATION_DEPTH_TO_COLOR))
287  {
288  UERROR("CameraOpenNI2: Device doesn't support depth/color registration.");
289  _device->close();
290  openni::OpenNI::shutdown();
291  return false;
292  }
293 
294  if(_device->getSensorInfo(openni::SENSOR_DEPTH) == NULL ||
295  _device->getSensorInfo(_type==kTypeColorDepth?openni::SENSOR_COLOR:openni::SENSOR_IR) == NULL)
296  {
297  UERROR("CameraOpenNI2: Cannot get sensor info for depth and %s.", _type==kTypeColorDepth?"color":"ir");
298  _device->close();
299  openni::OpenNI::shutdown();
300  return false;
301  }
302 
303  if(_depth->create(*_device, openni::SENSOR_DEPTH) != openni::STATUS_OK)
304  {
305  UERROR("CameraOpenNI2: Cannot create depth stream.");
306  _device->close();
307  openni::OpenNI::shutdown();
308  return false;
309  }
310 
311  if(_color->create(*_device, _type==kTypeColorDepth?openni::SENSOR_COLOR:openni::SENSOR_IR) != openni::STATUS_OK)
312  {
313  UERROR("CameraOpenNI2: Cannot create %s stream.", _type==kTypeColorDepth?"color":"ir");
314  _depth->destroy();
315  _device->close();
316  openni::OpenNI::shutdown();
317  return false;
318  }
319 
320  if(_type==kTypeColorDepth && hardwareRegistration &&
321  _device->setImageRegistrationMode(openni::IMAGE_REGISTRATION_DEPTH_TO_COLOR ) != openni::STATUS_OK)
322  {
323  UERROR("CameraOpenNI2: Failed to set depth/color registration.");
324  }
325 
326  if (_device->setDepthColorSyncEnabled(true) != openni::STATUS_OK)
327  {
328  UERROR("CameraOpenNI2: Failed to set depth color sync");
329  }
330 
331  _depth->setMirroringEnabled(false);
332  _color->setMirroringEnabled(false);
333 
334  const openni::Array<openni::VideoMode>& depthVideoModes = _depth->getSensorInfo().getSupportedVideoModes();
335  for(int i=0; i<depthVideoModes.getSize(); ++i)
336  {
337  UINFO("CameraOpenNI2: Depth video mode %d: fps=%d, pixel=%d, w=%d, h=%d",
338  i,
339  depthVideoModes[i].getFps(),
340  depthVideoModes[i].getPixelFormat(),
341  depthVideoModes[i].getResolutionX(),
342  depthVideoModes[i].getResolutionY());
343  }
344 
345  const openni::Array<openni::VideoMode>& colorVideoModes = _color->getSensorInfo().getSupportedVideoModes();
346  for(int i=0; i<colorVideoModes.getSize(); ++i)
347  {
348  UINFO("CameraOpenNI2: %s video mode %d: fps=%d, pixel=%d, w=%d, h=%d",
349  _type==kTypeColorDepth?"color":"ir",
350  i,
351  colorVideoModes[i].getFps(),
352  colorVideoModes[i].getPixelFormat(),
353  colorVideoModes[i].getResolutionX(),
354  colorVideoModes[i].getResolutionY());
355  }
356 
357  openni::VideoMode mMode;
358  mMode.setFps(30);
359  mMode.setResolution(640,480);
360  mMode.setPixelFormat(openni::PIXEL_FORMAT_DEPTH_1_MM);
361  _depth->setVideoMode(mMode);
362 
363  openni::VideoMode mModeColor;
364  mModeColor.setFps(30);
365  mModeColor.setResolution(640,480);
366  mModeColor.setPixelFormat(openni::PIXEL_FORMAT_RGB888);
367  _color->setVideoMode(mModeColor);
368 
369  UINFO("CameraOpenNI2: Using depth video mode: fps=%d, pixel=%d, w=%d, h=%d, H-FOV=%f rad, V-FOV=%f rad",
370  _depth->getVideoMode().getFps(),
371  _depth->getVideoMode().getPixelFormat(),
372  _depth->getVideoMode().getResolutionX(),
373  _depth->getVideoMode().getResolutionY(),
374  _depth->getHorizontalFieldOfView(),
375  _depth->getVerticalFieldOfView());
376  UINFO("CameraOpenNI2: Using %s video mode: fps=%d, pixel=%d, w=%d, h=%d, H-FOV=%f rad, V-FOV=%f rad",
377  _type==kTypeColorDepth?"color":"ir",
378  _color->getVideoMode().getFps(),
379  _color->getVideoMode().getPixelFormat(),
380  _color->getVideoMode().getResolutionX(),
381  _color->getVideoMode().getResolutionY(),
382  _color->getHorizontalFieldOfView(),
383  _color->getVerticalFieldOfView());
384 
385  if(_depth->getVideoMode().getResolutionX() != 640 ||
386  _depth->getVideoMode().getResolutionY() != 480 ||
387  _depth->getVideoMode().getPixelFormat() != openni::PIXEL_FORMAT_DEPTH_1_MM)
388  {
389  UERROR("Could not set depth format to 640x480 pixel=%d(mm)!",
390  openni::PIXEL_FORMAT_DEPTH_1_MM);
391  _depth->destroy();
392  _color->destroy();
393  _device->close();
394  openni::OpenNI::shutdown();
395  return false;
396  }
397  if(_color->getVideoMode().getResolutionX() != 640 ||
398  _color->getVideoMode().getResolutionY() != 480 ||
399  _color->getVideoMode().getPixelFormat() != openni::PIXEL_FORMAT_RGB888)
400  {
401  UERROR("Could not set %s format to 640x480 pixel=%d!",
402  _type==kTypeColorDepth?"color":"ir",
403  openni::PIXEL_FORMAT_RGB888);
404  _depth->destroy();
405  _color->destroy();
406  _device->close();
407  openni::OpenNI::shutdown();
408  return false;
409  }
410 
411  if(_color->getCameraSettings())
412  {
413  UINFO("CameraOpenNI2: AutoWhiteBalanceEnabled = %d", _color->getCameraSettings()->getAutoWhiteBalanceEnabled()?1:0);
414  UINFO("CameraOpenNI2: AutoExposureEnabled = %d", _color->getCameraSettings()->getAutoExposureEnabled()?1:0);
415 #if ONI_VERSION_MAJOR > 2 || (ONI_VERSION_MAJOR==2 && ONI_VERSION_MINOR >= 2)
416  UINFO("CameraOpenNI2: Exposure = %d", _color->getCameraSettings()->getExposure());
417  UINFO("CameraOpenNI2: GAIN = %d", _color->getCameraSettings()->getGain());
418 #endif
419  }
420 
421  if(_type==kTypeColorDepth && hardwareRegistration)
422  {
423  _depthFx = float(_color->getVideoMode().getResolutionX()/2) / std::tan(_color->getHorizontalFieldOfView()/2.0f);
424  _depthFy = float(_color->getVideoMode().getResolutionY()/2) / std::tan(_color->getVerticalFieldOfView()/2.0f);
425  }
426  else
427  {
428  _depthFx = float(_depth->getVideoMode().getResolutionX()/2) / std::tan(_depth->getHorizontalFieldOfView()/2.0f);
429  _depthFy = float(_depth->getVideoMode().getResolutionY()/2) / std::tan(_depth->getVerticalFieldOfView()/2.0f);
430  }
431  UINFO("depth fx=%f fy=%f", _depthFx, _depthFy);
432 
433  if(_type == kTypeIR)
434  {
435  UWARN("With type IR-only, depth stream will not be started");
436  }
437 
438  if((_type != kTypeIR && _depth->start() != openni::STATUS_OK) ||
439  _color->start() != openni::STATUS_OK)
440  {
441  UERROR("CameraOpenNI2: Cannot start depth and/or color streams.");
442  _depth->stop();
443  _color->stop();
444  _depth->destroy();
445  _color->destroy();
446  _device->close();
447  openni::OpenNI::shutdown();
448  return false;
449  }
450 
451  uSleep(3000); // just to make sure the sensor is correctly initialized and exposure is set
452 
453  return true;
454 #else
455  UERROR("CameraOpenNI2: RTAB-Map is not built with OpenNI2 support!");
456  return false;
457 #endif
458 }
459 
460 bool CameraOpenNI2::isCalibrated() const
461 {
462  return true;
463 }
464 
465 std::string CameraOpenNI2::getSerial() const
466 {
467 #ifdef RTABMAP_OPENNI2
468  if(_device)
469  {
470  return _device->getDeviceInfo().getName();
471  }
472 #endif
473  return "";
474 }
475 
476 SensorData CameraOpenNI2::captureImage(SensorCaptureInfo * info)
477 {
478  SensorData data;
479 #ifdef RTABMAP_OPENNI2
480  int readyStream = -1;
481  if(_device->isValid() &&
482  _depth->isValid() &&
483  _color->isValid() &&
484  _device->getSensorInfo(openni::SENSOR_DEPTH) != NULL &&
485  _device->getSensorInfo(_type==kTypeColorDepth?openni::SENSOR_COLOR:openni::SENSOR_IR) != NULL)
486  {
487  openni::VideoStream* depthStream[] = {_depth};
488  openni::VideoStream* colorStream[] = {_color};
489  if((_type != kTypeIR && openni::OpenNI::waitForAnyStream(depthStream, 1, &readyStream, 5000) != openni::STATUS_OK) ||
490  openni::OpenNI::waitForAnyStream(colorStream, 1, &readyStream, 5000) != openni::STATUS_OK)
491  {
492  UWARN("No frames received since the last 5 seconds, end of stream is reached!");
493  }
494  else
495  {
496  openni::VideoFrameRef depthFrame, colorFrame;
497  if(_type != kTypeIR)
498  {
499  _depth->readFrame(&depthFrame);
500  }
501  _color->readFrame(&colorFrame);
502  cv::Mat depth, rgb;
503  if((_type == kTypeIR || depthFrame.isValid()) && colorFrame.isValid())
504  {
505  int h,w;
506  if(_type != kTypeIR)
507  {
508  h=depthFrame.getHeight();
509  w=depthFrame.getWidth();
510  depth = cv::Mat(h, w, CV_16U, (void*)depthFrame.getData()).clone();
511  }
512  h=colorFrame.getHeight();
513  w=colorFrame.getWidth();
514  cv::Mat tmp(h, w, CV_8UC3, (void *)colorFrame.getData());
515  if(_type==kTypeColorDepth)
516  {
517  cv::cvtColor(tmp, rgb, CV_RGB2BGR);
518  }
519  else // IR
520  {
521  rgb = tmp.clone();
522  }
523  }
524  UASSERT(_depthFx != 0.0f && _depthFy != 0.0f);
525  if(!rgb.empty() && (_type == kTypeIR || !depth.empty()))
526  {
527  // default calibration
528  CameraModel model(
529  _depthFx, //fx
530  _depthFy, //fy
531  float(rgb.cols/2) - 0.5f, //cx
532  float(rgb.rows/2) - 0.5f, //cy
533  this->getLocalTransform(),
534  0,
535  rgb.size());
536 
537  if(_type==kTypeColorDepth)
538  {
539  if (_depthHShift != 0 || _depthVShift != 0)
540  {
541  cv::Mat out = cv::Mat::zeros(depth.size(), depth.type());
542  depth(cv::Rect(
543  _depthHShift>0?_depthHShift:0,
544  _depthVShift>0?_depthVShift:0,
545  depth.cols - abs(_depthHShift),
546  depth.rows - abs(_depthVShift))).copyTo(
547  out(cv::Rect(
548  _depthHShift<0?-_depthHShift:0,
549  _depthVShift<0?-_depthVShift:0,
550  depth.cols - abs(_depthHShift),
551  depth.rows - abs(_depthVShift))));
552  depth = out;
553  }
554 
555  if(_stereoModel.right().isValidForRectification())
556  {
557  rgb = _stereoModel.right().rectifyImage(rgb);
558  model = _stereoModel.right();
559 
560  if(_stereoModel.left().isValidForRectification() && !_stereoModel.stereoTransform().isNull())
561  {
562  depth = _stereoModel.left().rectifyImage(depth, 0);
563  CameraModel depthModel = _stereoModel.left().scaled(1.0 / double(_depthDecimation));
564  depth = util2d::decimate(depth, _depthDecimation);
565  depth = util2d::registerDepth(depth, depthModel.K(), rgb.size()/_depthDecimation, _stereoModel.right().scaled(1.0/double(_depthDecimation)).K(), _stereoModel.stereoTransform());
566  }
567  else if (_depthDecimation > 1)
568  {
569  depth = util2d::decimate(depth, _depthDecimation);
570  }
571  }
572  else if (_depthDecimation > 1)
573  {
574  depth = util2d::decimate(depth, _depthDecimation);
575  }
576  }
577  else // IR
578  {
579  if(_stereoModel.left().isValidForRectification())
580  {
581  rgb = _stereoModel.left().rectifyImage(rgb);
582  if(_type!=kTypeIR)
583  {
584  depth = _stereoModel.left().rectifyImage(depth, 0);
585  }
586  model = _stereoModel.left();
587  }
588  }
589  model.setLocalTransform(this->getLocalTransform());
590 
591  if(_openNI2StampsAndIDsUsed)
592  {
593  data = SensorData(rgb, depth, model, depthFrame.getFrameIndex(), double(depthFrame.getTimestamp()) / 1000000.0);
594  }
595  else
596  {
597  data = SensorData(rgb, depth, model, this->getNextSeqID(), UTimer::now());
598  }
599  }
600  }
601  }
602  else
603  {
604  ULOGGER_WARN("The camera must be initialized before requesting an image.");
605  }
606 #else
607  UERROR("CameraOpenNI2: RTAB-Map is not built with OpenNI2 support!");
608 #endif
609  return data;
610 }
611 
612 } // namespace rtabmap
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Definition: SensorData.h:51
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rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:07