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/* | |
* Copyright (C) 2016 Love Park Robotics, LLC | |
* | |
* Licensed under the Apache License, Version 2.0 (the "License"); | |
* you may not use this file except in compliance with the License. | |
* You may obtain a copy of the License at | |
* | |
* http://www.apache.org/licenses/LICENSE-2.0 | |
* | |
* Unless required by applicable law or agreed to in writing, software | |
* distributed under the License is distribted on an "AS IS" BASIS, | |
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | |
* See the License for the specific language governing permissions and | |
* limitations under the License. | |
*/ | |
// | |
// ex-cartesian.cpp | |
// | |
// Computes the cartesian data from unit vectors, extrinsics, and | |
// radial depth image. | |
// | |
#include <iostream> | |
#include <memory> | |
#include <vector> | |
#include <opencv2/core/core.hpp> | |
#include "o3d3xx_camera.h" | |
#include "o3d3xx_framegrabber.h" | |
#include "o3d3xx_image.h" | |
int main(int argc, const char **argv) | |
{ | |
o3d3xx::Logging::Init(); | |
// Get access to the camera and an image buffer to hold and organize the data | |
// from the camera | |
o3d3xx::Camera::Ptr cam = std::make_shared<o3d3xx::Camera>(); | |
o3d3xx::ImageBuffer::Ptr img = std::make_shared<o3d3xx::ImageBuffer>(); | |
// Initialize the framegrabber, with a schema that only streams in the unit | |
// vectors and get the unit vectors. We only need to get them once. | |
o3d3xx::FrameGrabber::Ptr fg = | |
std::make_shared<o3d3xx::FrameGrabber>(cam, o3d3xx::IMG_UVEC); | |
if (! fg->WaitForFrame(img.get(), 1000)) | |
{ | |
std::cerr << "Failed to get unit vectors." << std::endl; | |
std::cerr << "Timeout waiting for camera!" << std::endl; | |
return -1; | |
} | |
// rotated unit vectors | |
cv::Mat ex, ey, ez; | |
std::vector<cv::Mat> uvec_channels(3); | |
cv::split(img->UnitVectors(), uvec_channels); | |
ex = uvec_channels[0]; | |
ey = uvec_channels[1]; | |
ez = uvec_channels[2]; | |
// Reinitialize the framegrabber with a schema that streams only the radial | |
// distance image. NOTE: The extrinsics will be available as part of this | |
// schema as they are an invariant. | |
fg.reset(new o3d3xx::FrameGrabber(cam, o3d3xx::IMG_RDIS)); | |
for(auto i = 0;i< 100;i++) | |
{ | |
img = std::make_shared<o3d3xx::ImageBuffer>(); | |
// Typically, the rest of this would be in a loop, but we are only going to | |
// compute the cartesian data once. | |
if (! fg->WaitForFrame(img.get(), 1000)) | |
{ | |
std::cerr << "Failed to get radial distance image." << std::endl; | |
std::cerr << "Timeout waiting for camera!" << std::endl; | |
return -1; | |
} | |
img->Organize(); | |
// hold a reference to the radial distance image and convert to float | |
cv::Mat rdis = img->DepthImage(); | |
cv::Mat rdis_f; | |
rdis.convertTo(rdis_f, CV_32FC1); | |
// get a copy of the extrinsics | |
std::vector<float> extrinsics = img->Extrinsics(); | |
// NOTE: The unit vectors are already rotated, so, we only need to extract | |
// out the translation vector. The units are in mm. | |
float tx = extrinsics[0]; | |
float ty = extrinsics[1]; | |
float tz = extrinsics[2]; | |
// Compute the cartesian data | |
cv::Mat x_f = ex.mul(rdis_f) + tx; | |
cv::Mat y_f = ey.mul(rdis_f) + ty; | |
cv::Mat z_f = ez.mul(rdis_f) + tz; | |
// cast to int16_t | |
cv::Mat x_i, y_i, z_i; | |
x_f.convertTo(x_i, CV_16SC1); | |
y_f.convertTo(y_i, CV_16SC1); | |
z_f.convertTo(z_i, CV_16SC1); | |
// explicitly set to zero any bad pixels | |
cv::Mat mask; | |
cv::Mat mask_ = rdis != 0; | |
mask_.convertTo(mask, CV_16SC1); | |
mask /= 255; | |
x_i = x_i.mul(mask); | |
y_i = y_i.mul(mask); | |
z_i = z_i.mul(mask); | |
// Transform from the IFM/O3D camera frame to the libo3d3xx/ROS camera frame | |
// NOTE: x, y, and z are now in mm. | |
cv::Mat x = z_i; | |
cv::Mat y = -x_i; | |
cv::Mat z = -y_i; | |
// loop count | |
std::cout << i << std::endl; | |
} | |
return 0; | |
} |
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