CameraTango.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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8  notice, this list of conditions and the following disclaimer.
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10  notice, this list of conditions and the following disclaimer in the
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14  derived from this software without specific prior written permission.
15 
16 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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20 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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25 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27 
28 #include "CameraTango.h"
29 #include "util.h"
30 #include "rtabmap/utilite/ULogger.h"
31 #include "rtabmap/core/util3d_transforms.h"
32 #include "rtabmap/core/OdometryEvent.h"
33 #include "rtabmap/core/util2d.h"
34 #include <tango_client_api.h>
35 #include <tango_support_api.h>
36 #include "tango-gl/camera.h"
37 
38 namespace rtabmap {
39 
40 #define nullptr 0
41 const int kVersionStringLength = 128;
42 const int holeSize = 5;
43 const float maxDepthError = 0.10;
44 const int scanDownsampling = 1;
45 
46 //android phone
47 //11 10 01 00 // portrait
48 //01 11 00 10 // left
49 //10 00 11 01 // right
50 //00 01 10 11 // down
51 
52 const float kTextureCoords0[] = {1.0, 1.0, 1.0, 0.0, 0.0, 1.0, 0.0, 0.0};
53 const float kTextureCoords90[] = {0.0, 1.0, 1.0, 1.0, 0.0, 0.0, 1.0, 0.0};
54 const float kTextureCoords180[] = {0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 1.0, 1.0};
55 const float kTextureCoords270[] = {1.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 1.0};
56 
57 // Callbacks
58 void onPointCloudAvailableRouter(void* context, const TangoPointCloud* point_cloud)
59 {
60  CameraTango* app = static_cast<CameraTango*>(context);
61  if(point_cloud->num_points>0)
62  {
63  app->cloudReceived(cv::Mat(1, point_cloud->num_points, CV_32FC4, point_cloud->points[0]), point_cloud->timestamp);
64  }
65 }
66 
67 void onFrameAvailableRouter(void* context, TangoCameraId id, const TangoImageBuffer* color)
68 {
69  CameraTango* app = static_cast<CameraTango*>(context);
70 
71  cv::Mat tangoImage;
72  if(color->format == TANGO_HAL_PIXEL_FORMAT_RGBA_8888)
73  {
74  tangoImage = cv::Mat(color->height, color->width, CV_8UC4, color->data);
75  }
76  else if(color->format == TANGO_HAL_PIXEL_FORMAT_YV12)
77  {
78  tangoImage = cv::Mat(color->height+color->height/2, color->width, CV_8UC1, color->data);
79  }
80  else if(color->format == TANGO_HAL_PIXEL_FORMAT_YCrCb_420_SP)
81  {
82  tangoImage = cv::Mat(color->height+color->height/2, color->width, CV_8UC1, color->data);
83  }
84  else if(color->format == 35)
85  {
86  tangoImage = cv::Mat(color->height+color->height/2, color->width, CV_8UC1, color->data);
87  }
88  else
89  {
90  LOGE("Not supported color format : %d.", color->format);
91  }
92 
93  if(!tangoImage.empty())
94  {
95  app->rgbReceived(tangoImage, (unsigned int)color->format, color->timestamp);
96  }
97 }
98 
99 void onPoseAvailableRouter(void* context, const TangoPoseData* pose)
100 {
101  if(pose->status_code == TANGO_POSE_VALID)
102  {
103  CameraTango* app = static_cast<CameraTango*>(context);
104  app->poseReceived(rtabmap_world_T_tango_world * app->tangoPoseToTransform(pose) * tango_device_T_rtabmap_world, pose->timestamp);
105  }
106 }
107 
108 void onTangoEventAvailableRouter(void* context, const TangoEvent* event)
109 {
110  CameraTango* app = static_cast<CameraTango*>(context);
111  app->tangoEventReceived(event->type, event->event_key, event->event_value);
112 }
113 
115 // CameraTango
117 CameraTango::CameraTango(bool colorCamera, int decimation, bool publishRawScan, bool smoothing) :
118  CameraMobile(smoothing),
119  tango_config_(0),
120  colorCamera_(colorCamera),
121  decimation_(decimation),
122  rawScanPublished_(publishRawScan),
123  tangoColorType_(0),
124  tangoColorStamp_(0)
125 {
126  UASSERT(decimation >= 1);
127 }
128 
129 CameraTango::~CameraTango() {
130  // Disconnect Tango service
131  close();
132 }
133 
134 // Compute fisheye distorted coordinates from undistorted coordinates.
135 // The distortion model used by the Tango fisheye camera is called FOV and is
136 // described in 'Straight lines have to be straight' by Frederic Devernay and
137 // Olivier Faugeras. See https://hal.inria.fr/inria-00267247/document.
138 // Tango ROS Streamer: https://github.com/Intermodalics/tango_ros/blob/master/tango_ros_common/tango_ros_native/src/tango_ros_node.cpp
139 void applyFovModel(
140  double xu, double yu, double w, double w_inverse, double two_tan_w_div_two,
141  double* xd, double* yd) {
142  double ru = sqrt(xu * xu + yu * yu);
143  constexpr double epsilon = 1e-7;
144  if (w < epsilon || ru < epsilon) {
145  *xd = xu;
146  *yd = yu ;
147  } else {
148  double rd_div_ru = std::atan(ru * two_tan_w_div_two) * w_inverse / ru;
149  *xd = xu * rd_div_ru;
150  *yd = yu * rd_div_ru;
151  }
152 }
153 // Compute the warp maps to undistort the Tango fisheye image using the FOV
154 // model. See OpenCV documentation for more information on warp maps:
155 // http://docs.opencv.org/2.4/modules/imgproc/doc/geometric_transformations.html
156 // Tango ROS Streamer: https://github.com/Intermodalics/tango_ros/blob/master/tango_ros_common/tango_ros_native/src/tango_ros_node.cpp
157 // @param fisheyeModel the fisheye camera intrinsics.
158 // @param mapX the output map for the x direction.
159 // @param mapY the output map for the y direction.
160 void initFisheyeRectificationMap(
161  const CameraModel& fisheyeModel,
162  cv::Mat & mapX, cv::Mat & mapY) {
163  const double & fx = fisheyeModel.K().at<double>(0,0);
164  const double & fy = fisheyeModel.K().at<double>(1,1);
165  const double & cx = fisheyeModel.K().at<double>(0,2);
166  const double & cy = fisheyeModel.K().at<double>(1,2);
167  const double & w = fisheyeModel.D().at<double>(0,0);
168  mapX.create(fisheyeModel.imageSize(), CV_32FC1);
169  mapY.create(fisheyeModel.imageSize(), CV_32FC1);
170  LOGD("initFisheyeRectificationMap: fx=%f fy=%f, cx=%f, cy=%f, w=%f", fx, fy, cx, cy, w);
171  // Pre-computed variables for more efficiency.
172  const double fy_inverse = 1.0 / fy;
173  const double fx_inverse = 1.0 / fx;
174  const double w_inverse = 1 / w;
175  const double two_tan_w_div_two = 2.0 * std::tan(w * 0.5);
176  // Compute warp maps in x and y directions.
177  // OpenCV expects maps from dest to src, i.e. from undistorted to distorted
178  // pixel coordinates.
179  for(int iu = 0; iu < fisheyeModel.imageHeight(); ++iu) {
180  for (int ju = 0; ju < fisheyeModel.imageWidth(); ++ju) {
181  double xu = (ju - cx) * fx_inverse;
182  double yu = (iu - cy) * fy_inverse;
183  double xd, yd;
184  applyFovModel(xu, yu, w, w_inverse, two_tan_w_div_two, &xd, &yd);
185  double jd = cx + xd * fx;
186  double id = cy + yd * fy;
187  mapX.at<float>(iu, ju) = jd;
188  mapY.at<float>(iu, ju) = id;
189  }
190  }
191 }
192 
193 bool CameraTango::init(const std::string & calibrationFolder, const std::string & cameraName)
194 {
195  close();
196 
197  TangoSupport_initialize(TangoService_getPoseAtTime, TangoService_getCameraIntrinsics);
198 
199  // Connect to Tango
200  LOGI("NativeRTABMap: Setup tango config");
201  tango_config_ = TangoService_getConfig(TANGO_CONFIG_DEFAULT);
202  if (tango_config_ == nullptr)
203  {
204  LOGE("NativeRTABMap: Failed to get default config form");
205  return false;
206  }
207 
208  // Set auto-recovery for motion tracking as requested by the user.
209  bool is_atuo_recovery = true;
210  int ret = TangoConfig_setBool(tango_config_, "config_enable_auto_recovery", is_atuo_recovery);
211  if (ret != TANGO_SUCCESS)
212  {
213  LOGE("NativeRTABMap: config_enable_auto_recovery() failed with error code: %d", ret);
214  return false;
215  }
216 
217  if(colorCamera_)
218  {
219  // Enable color.
220  ret = TangoConfig_setBool(tango_config_, "config_enable_color_camera", true);
221  if (ret != TANGO_SUCCESS)
222  {
223  LOGE("NativeRTABMap: config_enable_color_camera() failed with error code: %d", ret);
224  return false;
225  }
226  }
227 
228  // Enable depth.
229  ret = TangoConfig_setBool(tango_config_, "config_enable_depth", true);
230  if (ret != TANGO_SUCCESS)
231  {
232  LOGE("NativeRTABMap: config_enable_depth() failed with error code: %d", ret);
233  return false;
234  }
235 
236  // Need to specify the depth_mode as XYZC.
237  ret = TangoConfig_setInt32(tango_config_, "config_depth_mode", TANGO_POINTCLOUD_XYZC);
238  if (ret != TANGO_SUCCESS)
239  {
240  LOGE("Failed to set 'depth_mode' configuration flag with error code: %d", ret);
241  return false;
242  }
243 
244  // Note that it's super important for AR applications that we enable low
245  // latency imu integration so that we have pose information available as
246  // quickly as possible. Without setting this flag, you'll often receive
247  // invalid poses when calling GetPoseAtTime for an image.
248  ret = TangoConfig_setBool(tango_config_, "config_enable_low_latency_imu_integration", true);
249  if (ret != TANGO_SUCCESS)
250  {
251  LOGE("NativeRTABMap: Failed to enable low latency imu integration.");
252  return false;
253  }
254 
255  // Drift correction allows motion tracking to recover after it loses tracking.
256  //
257  // The drift corrected pose is is available through the frame pair with
258  // base frame AREA_DESCRIPTION and target frame DEVICE.
259  /*ret = TangoConfig_setBool(tango_config_, "config_enable_drift_correction", true);
260  if (ret != TANGO_SUCCESS) {
261  LOGE(
262  "NativeRTABMap: enabling config_enable_drift_correction "
263  "failed with error code: %d",
264  ret);
265  return false;
266  }*/
267 
268  // Get TangoCore version string from service.
269  char tango_core_version[kVersionStringLength];
270  ret = TangoConfig_getString(tango_config_, "tango_service_library_version", tango_core_version, kVersionStringLength);
271  if (ret != TANGO_SUCCESS)
272  {
273  LOGE("NativeRTABMap: get tango core version failed with error code: %d", ret);
274  return false;
275  }
276  LOGI("NativeRTABMap: Tango version : %s", tango_core_version);
277 
278 
279  // Callbacks
280  LOGI("NativeRTABMap: Setup callbacks");
281  // Attach the OnXYZijAvailable callback.
282  // The callback will be called after the service is connected.
283  ret = TangoService_connectOnPointCloudAvailable(onPointCloudAvailableRouter);
284  if (ret != TANGO_SUCCESS)
285  {
286  LOGE("NativeRTABMap: Failed to connect to point cloud callback with error code: %d", ret);
287  return false;
288  }
289 
290  ret = TangoService_connectOnFrameAvailable(colorCamera_?TANGO_CAMERA_COLOR:TANGO_CAMERA_FISHEYE, this, onFrameAvailableRouter);
291  if (ret != TANGO_SUCCESS)
292  {
293  LOGE("NativeRTABMap: Failed to connect to color callback with error code: %d", ret);
294  return false;
295  }
296 
297  // Attach the onPoseAvailable callback.
298  // The callback will be called after the service is connected.
299  TangoCoordinateFramePair pair;
300  //pair.base = TANGO_COORDINATE_FRAME_AREA_DESCRIPTION; // drift correction is enabled
301  pair.base = TANGO_COORDINATE_FRAME_START_OF_SERVICE;
302  pair.target = TANGO_COORDINATE_FRAME_DEVICE;
303  ret = TangoService_connectOnPoseAvailable(1, &pair, onPoseAvailableRouter);
304  if (ret != TANGO_SUCCESS)
305  {
306  LOGE("NativeRTABMap: Failed to connect to pose callback with error code: %d", ret);
307  return false;
308  }
309 
310  // Attach the onEventAvailable callback.
311  // The callback will be called after the service is connected.
312  ret = TangoService_connectOnTangoEvent(onTangoEventAvailableRouter);
313  if (ret != TANGO_SUCCESS)
314  {
315  LOGE("PointCloudApp: Failed to connect to event callback with error code: %d", ret);
316  return false;
317  }
318 
319  // Now connect service so the callbacks above will be called
320  LOGI("NativeRTABMap: Connect to tango service");
321  ret = TangoService_connect(this, tango_config_);
322  if (ret != TANGO_SUCCESS)
323  {
324  LOGE("NativeRTABMap: Failed to connect to the Tango service with error code: %d", ret);
325  return false;
326  }
327 
328  // update extrinsics
329  LOGI("NativeRTABMap: Update extrinsics");
330  TangoPoseData pose_data;
331  TangoCoordinateFramePair frame_pair;
332 
333  // TangoService_getPoseAtTime function is used for query device extrinsics
334  // as well. We use timestamp 0.0 and the target frame pair to get the
335  // extrinsics from the sensors.
336  //
337  // Get color camera with respect to device transformation matrix.
338  frame_pair.base = TANGO_COORDINATE_FRAME_DEVICE;
339  frame_pair.target = colorCamera_?TANGO_COORDINATE_FRAME_CAMERA_COLOR:TANGO_COORDINATE_FRAME_CAMERA_FISHEYE;
340  ret = TangoService_getPoseAtTime(0.0, frame_pair, &pose_data);
341  if (ret != TANGO_SUCCESS)
342  {
343  LOGE("NativeRTABMap: Failed to get transform between the color camera frame and device frames");
344  return false;
345  }
346  deviceTColorCamera_ = rtabmap::Transform(
347  pose_data.translation[0],
348  pose_data.translation[1],
349  pose_data.translation[2],
350  pose_data.orientation[0],
351  pose_data.orientation[1],
352  pose_data.orientation[2],
353  pose_data.orientation[3]);
354  deviceTColorCamera_ = rtabmap_world_T_opengl_world * deviceTColorCamera_;
355 
356  // camera intrinsic
357  TangoCameraIntrinsics color_camera_intrinsics;
358  ret = TangoService_getCameraIntrinsics(colorCamera_?TANGO_CAMERA_COLOR:TANGO_CAMERA_FISHEYE, &color_camera_intrinsics);
359  if (ret != TANGO_SUCCESS)
360  {
361  LOGE("NativeRTABMap: Failed to get the intrinsics for the color camera with error code: %d.", ret);
362  return false;
363  }
364 
365  LOGD("Calibration: fx=%f fy=%f cx=%f cy=%f width=%d height=%d",
366  color_camera_intrinsics.fx,
367  color_camera_intrinsics.fy,
368  color_camera_intrinsics.cx,
369  color_camera_intrinsics.cy,
370  color_camera_intrinsics.width,
371  color_camera_intrinsics.height);
372 
373  cv::Mat K = cv::Mat::eye(3, 3, CV_64FC1);
374  K.at<double>(0,0) = color_camera_intrinsics.fx;
375  K.at<double>(1,1) = color_camera_intrinsics.fy;
376  K.at<double>(0,2) = color_camera_intrinsics.cx;
377  K.at<double>(1,2) = color_camera_intrinsics.cy;
378  cv::Mat D = cv::Mat::zeros(1, 5, CV_64FC1);
379  LOGD("Calibration type = %d", color_camera_intrinsics.calibration_type);
380  if(color_camera_intrinsics.calibration_type == TANGO_CALIBRATION_POLYNOMIAL_5_PARAMETERS ||
381  color_camera_intrinsics.calibration_type == TANGO_CALIBRATION_EQUIDISTANT)
382  {
383  D.at<double>(0,0) = color_camera_intrinsics.distortion[0];
384  D.at<double>(0,1) = color_camera_intrinsics.distortion[1];
385  D.at<double>(0,2) = color_camera_intrinsics.distortion[2];
386  D.at<double>(0,3) = color_camera_intrinsics.distortion[3];
387  D.at<double>(0,4) = color_camera_intrinsics.distortion[4];
388  }
389  else if(color_camera_intrinsics.calibration_type == TANGO_CALIBRATION_POLYNOMIAL_3_PARAMETERS)
390  {
391  D.at<double>(0,0) = color_camera_intrinsics.distortion[0];
392  D.at<double>(0,1) = color_camera_intrinsics.distortion[1];
393  D.at<double>(0,2) = 0.;
394  D.at<double>(0,3) = 0.;
395  D.at<double>(0,4) = color_camera_intrinsics.distortion[2];
396  }
397  else if(color_camera_intrinsics.calibration_type == TANGO_CALIBRATION_POLYNOMIAL_2_PARAMETERS)
398  {
399  D.at<double>(0,0) = color_camera_intrinsics.distortion[0];
400  D.at<double>(0,1) = color_camera_intrinsics.distortion[1];
401  D.at<double>(0,2) = 0.;
402  D.at<double>(0,3) = 0.;
403  D.at<double>(0,4) = 0.;
404  }
405 
406  cv::Mat R = cv::Mat::eye(3, 3, CV_64FC1);
407  cv::Mat P;
408 
409  LOGD("Distortion params: %f, %f, %f, %f, %f", D.at<double>(0,0), D.at<double>(0,1), D.at<double>(0,2), D.at<double>(0,3), D.at<double>(0,4));
410  model_ = CameraModel(colorCamera_?"color":"fisheye",
411  cv::Size(color_camera_intrinsics.width, color_camera_intrinsics.height),
412  K, D, R, P,
413  deviceTColorCamera_);
414 
415  if(!colorCamera_)
416  {
417  initFisheyeRectificationMap(model_, fisheyeRectifyMapX_, fisheyeRectifyMapY_);
418  }
419 
420  LOGI("deviceTColorCameraRtabmap =%s", deviceTColorCamera_.prettyPrint().c_str());
421  return true;
422 }
423 
424 void CameraTango::close()
425 {
426  if(tango_config_)
427  {
428  TangoConfig_free(tango_config_);
429  tango_config_ = nullptr;
430  LOGI("TangoService_disconnect()");
431  TangoService_disconnect();
432  LOGI("TangoService_disconnect() done.");
433  }
434  fisheyeRectifyMapX_ = cv::Mat();
435  fisheyeRectifyMapY_ = cv::Mat();
436 
437  CameraMobile::close();
438 }
439 
440 void CameraTango::cloudReceived(const cv::Mat & cloud, double timestamp)
441 {
442  if(!cloud.empty())
443  {
444  //LOGD("Depth received! %fs (%d points)", timestamp, cloud.cols);
445 
446  UASSERT(cloud.type() == CV_32FC4);
447  boost::mutex::scoped_lock lock(tangoDataMutex_);
448 
449  // From post: http://stackoverflow.com/questions/29236110/timing-issues-with-tango-image-frames
450  // "In the current version of Project Tango Tablet RGB IR camera
451  // is used for both depth and color images and it can only do one
452  // or the other for each frame. So in the stream we get 4 RGB frames
453  // followed by 1 Depth frame resulting in the pattern you observed. This
454  // is more of a hardware limitation."
455  //
456  // So, synchronize with the last RGB frame before the Depth is acquired
457  if(!tangoColor_.empty())
458  {
459  UTimer timer;
460  double dt = fabs(timestamp - tangoColorStamp_);
461 
462  //LOGD("Depth: %f vs %f = %f", tangoColorStamp_, timestamp, dt);
463 
464  if(dt >= 0.0 && dt < 0.5)
465  {
466  bool notify = !tangoData_.isValid();
467 
468  cv::Mat tangoImage = tangoColor_;
469  cv::Mat rgb;
470  double cloudStamp = timestamp;
471  double rgbStamp = tangoColorStamp_;
472  int tangoColorType = tangoColorType_;
473 
474  tangoColor_ = cv::Mat();
475  tangoColorStamp_ = 0.0;
476  tangoColorType_ = 0;
477 
478  LOGD("tangoColorType=%d", tangoColorType);
479  if(tangoColorType == TANGO_HAL_PIXEL_FORMAT_RGBA_8888)
480  {
481  cv::cvtColor(tangoImage, rgb, cv::COLOR_RGBA2BGR);
482  }
483  else if(tangoColorType == TANGO_HAL_PIXEL_FORMAT_YV12)
484  {
485  cv::cvtColor(tangoImage, rgb, cv::COLOR_YUV2BGR_YV12);
486  }
487  else if(tangoColorType == TANGO_HAL_PIXEL_FORMAT_YCrCb_420_SP)
488  {
489  cv::cvtColor(tangoImage, rgb, cv::COLOR_YUV2BGR_NV21);
490  }
491  else if(tangoColorType == 35)
492  {
493  cv::cvtColor(tangoImage, rgb, cv::COLOR_YUV420sp2GRAY);
494  }
495  else
496  {
497  LOGE("Not supported color format : %d.", tangoColorType);
498  tangoData_ = SensorData();
499  return;
500  }
501 
502  //for(int i=0; i<rgb.cols; ++i)
503  //{
504  // UERROR("%d,%d,%d", (int)rgb.at<cv::Vec3b>(i)[0], (int)rgb.at<cv::Vec3b>(i)[1], (int)rgb.at<cv::Vec3b>(i)[2]);
505  //}
506 
507  CameraModel model = model_;
508 
509  if(colorCamera_)
510  {
511  if(decimation_ > 1)
512  {
513  rgb = util2d::decimate(rgb, decimation_);
514  model = model.scaled(1.0/double(decimation_));
515  }
516  }
517  else
518  {
519  //UTimer t;
520  cv::Mat rgbRect;
521  cv::remap(rgb, rgbRect, fisheyeRectifyMapX_, fisheyeRectifyMapY_, cv::INTER_LINEAR, cv::BORDER_CONSTANT, 0);
522  rgb = rgbRect;
523  //LOGD("Rectification time=%fs", t.ticks());
524  }
525 
526  // Querying the depth image's frame transformation based on the depth image's
527  // timestamp.
528  cv::Mat depth;
529 
530  // Calculate the relative pose from color camera frame at timestamp
531  // color_timestamp t1 and depth
532  // camera frame at depth_timestamp t0.
533  Transform colorToDepth;
534  TangoPoseData pose_color_image_t1_T_depth_image_t0;
535  if (TangoSupport_calculateRelativePose(
536  rgbStamp, colorCamera_?TANGO_COORDINATE_FRAME_CAMERA_COLOR:TANGO_COORDINATE_FRAME_CAMERA_FISHEYE, cloudStamp,
537  TANGO_COORDINATE_FRAME_CAMERA_DEPTH,
538  &pose_color_image_t1_T_depth_image_t0) == TANGO_SUCCESS)
539  {
540  colorToDepth = tangoPoseToTransform(&pose_color_image_t1_T_depth_image_t0);
541  }
542  else
543  {
544  LOGE(
545  "SynchronizationApplication: Could not find a valid relative pose at "
546  "time for color and "
547  " depth cameras.");
548  }
549 
550  if(colorToDepth.getNormSquared() > 100000)
551  {
552  LOGE("Very large color to depth error detected (%s)! Ignoring this frame!", colorToDepth.prettyPrint().c_str());
553  colorToDepth.setNull();
554  }
555  cv::Mat scan;
556  if(!colorToDepth.isNull())
557  {
558  // The Color Camera frame at timestamp t0 with respect to Depth
559  // Camera frame at timestamp t1.
560  //LOGD("colorToDepth=%s", colorToDepth.prettyPrint().c_str());
561  LOGD("rgb=%dx%d cloud size=%d", rgb.cols, rgb.rows, (int)cloud.total());
562 
563  int pixelsSet = 0;
564  int depthSizeDec = colorCamera_?8:1;
565  depth = cv::Mat::zeros(model_.imageHeight()/depthSizeDec, model_.imageWidth()/depthSizeDec, CV_16UC1); // mm
566  CameraModel depthModel = model_.scaled(1.0f/float(depthSizeDec));
567  std::vector<cv::Point3f> scanData(rawScanPublished_?cloud.total():0);
568  int oi=0;
569  int closePoints = 0;
570  float closeROI[4];
571  closeROI[0] = depth.cols/4;
572  closeROI[1] = 3*(depth.cols/4);
573  closeROI[2] = depth.rows/4;
574  closeROI[3] = 3*(depth.rows/4);
575  unsigned short minDepthValue=10000;
576  for(unsigned int i=0; i<cloud.total(); ++i)
577  {
578  const float * p = cloud.ptr<float>(0,i);
579  cv::Point3f pt = util3d::transformPoint(cv::Point3f(p[0], p[1], p[2]), colorToDepth);
580 
581  if(pt.z > 0.0f && i%scanDownsampling == 0 && rawScanPublished_)
582  {
583  scanData.at(oi++) = pt;
584  }
585 
586  int pixel_x_l, pixel_y_l, pixel_x_h, pixel_y_h;
587  // get the coordinate on image plane.
588  pixel_x_l = static_cast<int>((depthModel.fx()) * (pt.x / pt.z) + depthModel.cx());
589  pixel_y_l = static_cast<int>((depthModel.fy()) * (pt.y / pt.z) + depthModel.cy());
590  pixel_x_h = static_cast<int>((depthModel.fx()) * (pt.x / pt.z) + depthModel.cx() + 0.5f);
591  pixel_y_h = static_cast<int>((depthModel.fy()) * (pt.y / pt.z) + depthModel.cy() + 0.5f);
592  unsigned short depth_value(pt.z * 1000.0f);
593 
594  if(pixel_x_l>=closeROI[0] && pixel_x_l<closeROI[1] &&
595  pixel_y_l>closeROI[2] && pixel_y_l<closeROI[3] &&
596  depth_value < 600)
597  {
598  ++closePoints;
599  if(depth_value < minDepthValue)
600  {
601  minDepthValue = depth_value;
602  }
603  }
604 
605  bool pixelSet = false;
606  if(pixel_x_l>=0 && pixel_x_l<depth.cols &&
607  pixel_y_l>0 && pixel_y_l<depth.rows && // ignore first line
608  depth_value)
609  {
610  unsigned short & depthPixel = depth.at<unsigned short>(pixel_y_l, pixel_x_l);
611  if(depthPixel == 0 || depthPixel > depth_value)
612  {
613  depthPixel = depth_value;
614  pixelSet = true;
615  }
616  }
617  if(pixel_x_h>=0 && pixel_x_h<depth.cols &&
618  pixel_y_h>0 && pixel_y_h<depth.rows && // ignore first line
619  depth_value)
620  {
621  unsigned short & depthPixel = depth.at<unsigned short>(pixel_y_h, pixel_x_h);
622  if(depthPixel == 0 || depthPixel > depth_value)
623  {
624  depthPixel = depth_value;
625  pixelSet = true;
626  }
627  }
628  if(pixelSet)
629  {
630  pixelsSet += 1;
631  }
632  }
633 
634  if(closePoints > 100)
635  {
636  this->post(new CameraInfoEvent(0, "TooClose", ""));
637  }
638 
639  if(oi)
640  {
641  scan = cv::Mat(1, oi, CV_32FC3, scanData.data()).clone();
642  }
643  //LOGD("pixels depth set= %d", pixelsSet);
644  }
645  else
646  {
647  LOGE("color to depth pose is null?!? (rgb stamp=%f) (depth stamp=%f)", rgbStamp, cloudStamp);
648  }
649 
650  if(!rgb.empty() && !depth.empty())
651  {
652  depth = rtabmap::util2d::fillDepthHoles(depth, holeSize, maxDepthError);
653 
654  Transform odom = getPoseAtTimestamp(rgbStamp);
655 
656  //LOGD("Local = %s", model.localTransform().prettyPrint().c_str());
657  //LOGD("tango = %s", poseDevice.prettyPrint().c_str());
658  //LOGD("opengl(t)= %s", (opengl_world_T_tango_world * poseDevice).prettyPrint().c_str());
659 
660  // adjust origin
661  if(!getOriginOffset().isNull())
662  {
663  odom = getOriginOffset() * odom;
664  }
665 
666  // occlusion depth
667  if(!depth.empty())
668  {
669  rtabmap::CameraModel depthModel = model.scaled(float(depth.cols) / float(model.imageWidth()));
670  depthModel.setLocalTransform(odom*model.localTransform());
671  this->setOcclusionImage(depth, depthModel);
672  }
673 
674  //LOGD("rtabmap = %s", odom.prettyPrint().c_str());
675  //LOGD("opengl(r)= %s", (opengl_world_T_rtabmap_world * odom * rtabmap_device_T_opengl_device).prettyPrint().c_str());
676 
677  Transform scanLocalTransform = model.localTransform();
678 
679  if(rawScanPublished_)
680  {
681  tangoData_ = SensorData(LaserScan::backwardCompatibility(scan, cloud.total()/scanDownsampling, 0, scanLocalTransform), rgb, depth, model, this->getNextSeqID(), rgbStamp);
682  }
683  else
684  {
685  tangoData_ = SensorData(rgb, depth, model, this->getNextSeqID(), rgbStamp);
686  }
687  tangoData_.setGroundTruth(odom);
688  }
689  else
690  {
691  LOGE("Could not get depth and rgb images!?!");
692  tangoData_ = SensorData();
693  return;
694  }
695 
696  if(notify)
697  {
698  tangoDataReady_.release();
699  }
700  LOGD("process cloud received %fs", timer.ticks());
701  }
702  }
703  }
704 }
705 
706 void CameraTango::rgbReceived(const cv::Mat & tangoImage, int type, double timestamp)
707 {
708  if(!tangoImage.empty())
709  {
710  //LOGD("RGB received! %fs", timestamp);
711 
712  boost::mutex::scoped_lock lock(tangoDataMutex_);
713 
714  tangoColor_ = tangoImage.clone();
715  tangoColorStamp_ = timestamp;
716  tangoColorType_ = type;
717  }
718 }
719 
720 void CameraTango::tangoEventReceived(int type, const char * key, const char * value)
721 {
722  this->post(new CameraInfoEvent(type, key, value));
723 }
724 
725 std::string CameraTango::getSerial() const
726 {
727  return "Tango";
728 }
729 
730 rtabmap::Transform CameraTango::tangoPoseToTransform(const TangoPoseData * tangoPose) const
731 {
732  UASSERT(tangoPose);
733  rtabmap::Transform pose;
734 
735  pose = rtabmap::Transform(
736  tangoPose->translation[0],
737  tangoPose->translation[1],
738  tangoPose->translation[2],
739  tangoPose->orientation[0],
740  tangoPose->orientation[1],
741  tangoPose->orientation[2],
742  tangoPose->orientation[3]);
743 
744  return pose;
745 }
746 
747 rtabmap::Transform CameraTango::getPoseAtTimestamp(double timestamp)
748 {
749  rtabmap::Transform pose;
750 
751  TangoPoseData pose_start_service_T_device;
752  TangoCoordinateFramePair frame_pair;
753  frame_pair.base = TANGO_COORDINATE_FRAME_START_OF_SERVICE;
754  frame_pair.target = TANGO_COORDINATE_FRAME_DEVICE;
755  TangoErrorType status = TangoService_getPoseAtTime(timestamp, frame_pair, &pose_start_service_T_device);
756  if (status != TANGO_SUCCESS)
757  {
758  LOGE(
759  "PoseData: Failed to get transform between the Start of service and "
760  "device frames at timestamp %lf",
761  timestamp);
762  }
763  if (pose_start_service_T_device.status_code != TANGO_POSE_VALID)
764  {
765  LOGW(
766  "PoseData: Failed to get transform between the Start of service and "
767  "device frames at timestamp %lf",
768  timestamp);
769  }
770  else
771  {
772  pose = rtabmap_world_T_tango_world * tangoPoseToTransform(&pose_start_service_T_device) * tango_device_T_rtabmap_world;
773  }
774 
775  return pose;
776 }
777 
778 SensorData CameraTango::updateDataOnRender(Transform & pose)
779 {
780  //LOGI("Capturing image...");
781 
782  pose.setNull();
783  if(textureId_ == 0)
784  {
785  glGenTextures(1, &textureId_);
786  glBindTexture(GL_TEXTURE_EXTERNAL_OES, textureId_);
787  glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
788  glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
789  glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
790  glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
791  }
792 
793  // Update Texture (optional, just for first-view rendering)
794  if(colorCamera_ && textureId_)
795  {
796  double video_overlay_timestamp;
797  TangoErrorType status = TangoService_updateTextureExternalOes(TANGO_CAMERA_COLOR, textureId_, &video_overlay_timestamp);
798 
799  if (status == TANGO_SUCCESS)
800  {
801  pose = getPoseAtTimestamp(video_overlay_timestamp);
802 
803  int rotation = static_cast<int>(getScreenRotation()) + 1; // remove 90deg camera rotation
804  if (rotation > 3) {
805  rotation -= 4;
806  }
807 
808  TangoDoubleMatrixTransformData matrix_transform;
809  status = TangoSupport_getDoubleMatrixTransformAtTime(
810  video_overlay_timestamp,
811  TANGO_COORDINATE_FRAME_CAMERA_COLOR,
812  TANGO_COORDINATE_FRAME_START_OF_SERVICE,
813  TANGO_SUPPORT_ENGINE_OPENGL,
814  TANGO_SUPPORT_ENGINE_OPENGL,
815  static_cast<TangoSupportRotation>(rotation),
816  &matrix_transform);
817  if (matrix_transform.status_code == TANGO_POSE_VALID)
818  {
819  // Get projection matrix
820  TangoCameraIntrinsics color_camera_intrinsics;
821  int ret = TangoSupport_getCameraIntrinsicsBasedOnDisplayRotation(
822  TANGO_CAMERA_COLOR,
823  static_cast<TangoSupportRotation>(rotation),
824  &color_camera_intrinsics);
825 
826  if (ret == TANGO_SUCCESS) {
827  float image_width = static_cast<float>(color_camera_intrinsics.width);
828  float image_height = static_cast<float>(color_camera_intrinsics.height);
829  float fx = static_cast<float>(color_camera_intrinsics.fx);
830  float fy = static_cast<float>(color_camera_intrinsics.fy);
831  float cx = static_cast<float>(color_camera_intrinsics.cx);
832  float cy = static_cast<float>(color_camera_intrinsics.cy);
833 
834  viewMatrix_ = glm::make_mat4(matrix_transform.matrix);
835  if(!getOriginOffset().isNull())
836  {
837  viewMatrix_ = glm::inverse(rtabmap::glmFromTransform(rtabmap::opengl_world_T_rtabmap_world * getOriginOffset() *rtabmap::rtabmap_world_T_opengl_world)*glm::inverse(viewMatrix_));
838  }
839 
840  projectionMatrix_ = tango_gl::Camera::ProjectionMatrixForCameraIntrinsics(
841  image_width, image_height, fx, fy, cx, cy, 0.3, 50);
842 
843  switch(rotation)
844  {
845  case ROTATION_90:
846  memcpy(transformed_uvs_, kTextureCoords90, 8*sizeof(float));
847  break;
848  case ROTATION_180:
849  memcpy(transformed_uvs_, kTextureCoords180, 8*sizeof(float));
850  break;
851  case ROTATION_270:
852  memcpy(transformed_uvs_, kTextureCoords270, 8*sizeof(float));
853  break;
854  case ROTATION_0:
855  default:
856  memcpy(transformed_uvs_, kTextureCoords0, 8*sizeof(float));
857  }
858  uvs_initialized_ = true;
859  }
860  else
861  {
862  UERROR("TangoSupport_getCameraIntrinsicsBasedOnDisplayRotation failed!");
863  }
864  }
865  else
866  {
867  UERROR("TangoSupport_getDoubleMatrixTransformAtTime failed!");
868  }
869  }
870  else
871  {
872  UERROR("TangoService_updateTextureExternalOes failed!");
873  }
874  }
875 
876  SensorData data;
877  if(tangoDataReady_.acquireTry(1))
878  {
879  boost::mutex::scoped_lock lock(tangoDataMutex_);
880  data = tangoData_;
881  tangoData_ = SensorData();
882  pose = data.groundTruth();
883  data.setGroundTruth(Transform());
884  }
885  return data;
886 
887 }
888 
889 } /* namespace rtabmap */
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rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:07