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Commit 5a5b120a authored by Nicolas Pope's avatar Nicolas Pope
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Allow web cam in 3D

parent 62166cd4
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1 merge request!316Resolves #343 GUI and Frame Refactor
Pipeline #28174 passed
Stage: all
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components/rgbd-sources/src/sources/stereovideo/opencv.cpp
+ 9
− 4
View file @ 5a5b120a
......@@ -43,10 +43,10 @@ using std::chrono::high_resolution_clock;
using std::chrono::milliseconds;
using std::this_thread::sleep_for;
OpenCVDevice::OpenCVDevice(nlohmann::json &config)
OpenCVDevice::OpenCVDevice(nlohmann::json &config, bool stereo)
: ftl::rgbd::detail::Device(config), timestamp_(0.0) {
std::vector<ftl::rgbd::detail::DeviceDetails> devices = _selectDevices();
std::vector<ftl::rgbd::detail::DeviceDetails> devices = getDevices();
int device_left = 0;
int device_right = -1;
......@@ -77,7 +77,7 @@ OpenCVDevice::OpenCVDevice(nlohmann::json &config)
device_right = value("device_right", (devices.size() > 1) ? devices[1].id : 1);
}
nostereo_ = value("nostereo", false);
nostereo_ = value("nostereo", !stereo);
if (device_left < 0) {
LOG(ERROR) << "No available cameras";
......@@ -147,7 +147,11 @@ OpenCVDevice::~OpenCVDevice() {
}
std::vector<ftl::rgbd::detail::DeviceDetails> OpenCVDevice::_selectDevices() {
static std::vector<ftl::rgbd::detail::DeviceDetails> opencv_devices;
std::vector<ftl::rgbd::detail::DeviceDetails> OpenCVDevice::getDevices() {
if (opencv_devices.size() > 0) return opencv_devices;
std::vector<ftl::rgbd::detail::DeviceDetails> devices;
#ifdef WIN32
......@@ -291,6 +295,7 @@ std::vector<ftl::rgbd::detail::DeviceDetails> OpenCVDevice::_selectDevices() {
#endif
opencv_devices = devices;
return devices;
}
......
......
components/rgbd-sources/src/sources/stereovideo/opencv.hpp
+ 3
− 3
View file @ 5a5b120a
......@@ -14,7 +14,7 @@ namespace detail {
class OpenCVDevice : public ftl::rgbd::detail::Device {
public:
explicit OpenCVDevice(nlohmann::json &config);
explicit OpenCVDevice(nlohmann::json &config, bool stereo);
~OpenCVDevice();
static std::vector<DeviceDetails> listDevices();
......@@ -32,6 +32,8 @@ class OpenCVDevice : public ftl::rgbd::detail::Device {
bool isStereo() const override;
static std::vector<DeviceDetails> getDevices();
private:
double timestamp_;
//double tps_;
......@@ -55,8 +57,6 @@ class OpenCVDevice : public ftl::rgbd::detail::Device {
cv::Mat frame_l_;
cv::Mat frame_r_;
std::vector<DeviceDetails> _selectDevices();
};
}
......
......
components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp
+ 112
− 72
View file @ 5a5b120a
......@@ -40,6 +40,25 @@ using ftl::codecs::Channel;
using std::string;
using ftl::rgbd::Capability;
static cv::Mat rmat(const cv::Vec3d &rvec) {
cv::Mat R(cv::Size(3, 3), CV_64FC1);
cv::Rodrigues(rvec, R);
return R;
}
static Eigen::Matrix4d matrix(const cv::Vec3d &rvec, const cv::Vec3d &tvec) {
cv::Mat M = cv::Mat::eye(cv::Size(4, 4), CV_64FC1);
rmat(rvec).copyTo(M(cv::Rect(0, 0, 3, 3)));
M.at<double>(0, 3) = tvec[0];
M.at<double>(1, 3) = tvec[1];
M.at<double>(2, 3) = tvec[2];
Eigen::Matrix4d r;
cv::cv2eigen(M,r);
return r;
}
ftl::rgbd::detail::Device::Device(nlohmann::json &config) : Configurable(config) {
}
......@@ -80,7 +99,9 @@ bool StereoVideoSource::supported(const std::string &dev) {
} else if (dev == "video") {
return true;
} else if (dev == "camera") {
return true; // TODO
return ftl::rgbd::detail::OpenCVDevice::getDevices().size() > 0;
} else if (dev == "stereo") {
return ftl::rgbd::detail::OpenCVDevice::getDevices().size() > 1;
}
return false;
......@@ -102,24 +123,15 @@ void StereoVideoSource::init(const string &file) {
} else if (uri.getPathSegment(0) == "opencv") {
// Use cameras
LOG(INFO) << "Using OpenCV cameras...";
lsrc_ = ftl::create<ftl::rgbd::detail::OpenCVDevice>(host_, "feed");
lsrc_ = ftl::create<ftl::rgbd::detail::OpenCVDevice>(host_, "feed", true);
} else if (uri.getPathSegment(0) == "video" || uri.getPathSegment(0) == "camera") {
// Now detect automatically which device to use
#ifdef HAVE_PYLON
auto pylon_devices = ftl::rgbd::detail::PylonDevice::listDevices();
if (pylon_devices.size() > 0) {
LOG(INFO) << "Using Pylon...";
lsrc_ = ftl::create<ftl::rgbd::detail::PylonDevice>(host_, "feed");
} else {
// Use cameras
LOG(INFO) << "Using OpenCV cameras...";
lsrc_ = ftl::create<ftl::rgbd::detail::OpenCVDevice>(host_, "feed");
}
#else
LOG(INFO) << "Using OpenCV camera...";
lsrc_ = ftl::create<ftl::rgbd::detail::OpenCVDevice>(host_, "feed", false);
} else if (uri.getPathSegment(0) == "stereo") {
// Use cameras
LOG(INFO) << "Using OpenCV cameras...";
lsrc_ = ftl::create<ftl::rgbd::detail::OpenCVDevice>(host_, "feed");
#endif
lsrc_ = ftl::create<ftl::rgbd::detail::OpenCVDevice>(host_, "feed", true);
}
}
......@@ -165,11 +177,6 @@ ftl::rgbd::Camera StereoVideoSource::parameters(Channel chan) {
}
void StereoVideoSource::updateParameters(ftl::rgbd::Frame &frame) {
Eigen::Matrix4d pose;
cv::cv2eigen(rectification_->getPose(Channel::Left), pose);
frame.setPose() = pose;
auto &meta = frame.create<std::map<std::string,std::string>>(Channel::MetaData);
meta["name"] = host_->value("name", host_->getID());
meta["uri"] = host_->value("uri", std::string(""));
......@@ -201,6 +208,12 @@ void StereoVideoSource::updateParameters(ftl::rgbd::Frame &frame) {
return true;
});
if (lsrc_->isStereo()) {
Eigen::Matrix4d pose;
cv::cv2eigen(rectification_->getPose(Channel::Left), pose);
frame.setPose() = pose;
cv::Mat K;
// same for left and right
......@@ -209,7 +222,7 @@ void StereoVideoSource::updateParameters(ftl::rgbd::Frame &frame) {
double d_resolution = this->host_->getConfig().value<double>("depth_resolution", 0.0);
float min_depth = this->host_->getConfig().value<double>("min_depth", 0.45);
float max_depth = this->host_->getConfig().value<double>("max_depth", 12.0);
float max_depth = this->host_->getConfig().value<double>("max_depth", (lsrc_->isStereo()) ? 12.0 : 1.0);
// left
......@@ -258,6 +271,33 @@ void StereoVideoSource::updateParameters(ftl::rgbd::Frame &frame) {
baseline,
doff
};
} else {
Eigen::Matrix4d pose;
params_.cx = -(color_size_.width / 2.0);
params_.cy = -(color_size_.height / 2.0);
params_.fx = 700.0;
params_.fy = 700.0;
params_.maxDepth = host_->value("size", 1.0f);
params_.minDepth = 0.0f;
params_.doffs = 0.0;
params_.baseline = 0.1f;
float offsetz = host_->value("offset_z",0.0f);
//state_.setPose(matrix(cv::Vec3d(0.0, 3.14159, 0.0), cv::Vec3d(0.0,0.0,params_.maxDepth+offsetz)));
pose = matrix(cv::Vec3d(0.0, 3.14159, 0.0), cv::Vec3d(0.0,0.0,params_.maxDepth+offsetz));
/*host_->on("size", [this](const ftl::config::Event &e) {
float offsetz = host_->value("offset_z",0.0f);
params_.maxDepth = host_->value("size", 1.0f);
//state_.getLeft() = params_;
pose_ = matrix(cv::Vec3d(0.0, 3.14159, 0.0), cv::Vec3d(0.0,0.0,params_.maxDepth+offsetz));
do_update_params_ = true;
});*/
frame.setLeft() = params_;
frame.setPose() = pose;
}
}
bool StereoVideoSource::capture(int64_t ts) {
......
......
components/streams/src/feed.cpp
+ 1
− 0
View file @ 5a5b120a
......@@ -376,6 +376,7 @@ std::vector<std::string> Feed::availableDeviceSources() {
if (ftl::rgbd::Source::supports("device:pylon")) results.emplace_back("device:pylon");
if (ftl::rgbd::Source::supports("device:camera")) results.emplace_back("device:camera");
if (ftl::rgbd::Source::supports("device:stereo")) results.emplace_back("device:stereo");
if (ftl::rgbd::Source::supports("device:screen")) results.emplace_back("device:screen");
if (ftl::rgbd::Source::supports("device:realsense")) results.emplace_back("device:realsense");
results.emplace_back("device:render");
......
......
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