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CameraRealSense2.cpp
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/*
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
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.
*/
#include <rtabmap/core/camera/CameraRealSense2.h>
#include <rtabmap/utilite/UTimer.h>
#include <rtabmap/utilite/UThreadC.h>
#include <rtabmap/utilite/UConversion.h>
#include <rtabmap/utilite/UEventsManager.h>
#include <opencv2/imgproc/types_c.h>
#ifdef RTABMAP_REALSENSE2
#include <librealsense2/rs.hpp>
#include <librealsense2/rsutil.h>
#include <librealsense2/hpp/rs_processing.hpp>
#include <librealsense2/rs_advanced_mode.hpp>
#include <fstream>
#endif
namespace rtabmap
{
bool CameraRealSense2::available()
{
#ifdef RTABMAP_REALSENSE2
return true;
#else
return false;
#endif
}
CameraRealSense2::CameraRealSense2(
const std::string & device,
float imageRate,
const rtabmap::Transform & localTransform) :
Camera(imageRate, localTransform)
#ifdef RTABMAP_REALSENSE2
,
ctx_(new rs2::context),
dev_(2, 0),
deviceId_(device),
syncer_(new rs2::syncer),
depth_scale_meters_(1.0f),
depthIntrinsics_(new rs2_intrinsics),
rgbIntrinsics_(new rs2_intrinsics),
depthToRGBExtrinsics_(new rs2_extrinsics),
lastImuStamp_(0.0),
clockSyncWarningShown_(false),
emitterEnabled_(true),
ir_(false),
irDepth_(true),
rectifyImages_(true),
odometryProvided_(false),
cameraWidth_(640),
cameraHeight_(480),
cameraFps_(30),
publishInterIMU_(false),
dualMode_(false)
#endif
{
UDEBUG("");
}
CameraRealSense2::~CameraRealSense2()
{
#ifdef RTABMAP_REALSENSE2
try
{
for(size_t i=0; i<dev_.size(); ++i)
{
if(dev_[i])
{
for(rs2::sensor _sensor : dev_[i]->query_sensors())
{
try
{
_sensor.stop();
_sensor.close();
}
catch(const rs2::error & error)
{
UWARN("%s", error.what());
}
}
delete dev_[i];
}
}
}
catch(const rs2::error & error)
{
UINFO("%s", error.what());
}
try {
delete ctx_;
}
catch(const rs2::error & error)
{
UWARN("%s", error.what());
}
try {
delete syncer_;
}
catch(const rs2::error & error)
{
UWARN("%s", error.what());
}
delete depthIntrinsics_;
delete rgbIntrinsics_;
delete depthToRGBExtrinsics_;
#endif
}
#ifdef RTABMAP_REALSENSE2
void CameraRealSense2::imu_callback(rs2::frame frame)
{
auto stream = frame.get_profile().stream_type();
cv::Vec3f crnt_reading = *reinterpret_cast<const cv::Vec3f*>(frame.get_data());
UDEBUG("%s callback! %f (%f %f %f)",
stream == RS2_STREAM_GYRO?"GYRO":"ACC",
frame.get_timestamp(),
crnt_reading[0],
crnt_reading[1],
crnt_reading[2]);
UScopeMutex sm(imuMutex_);
if(stream == RS2_STREAM_GYRO)
{
gyroBuffer_.insert(gyroBuffer_.end(), std::make_pair(frame.get_timestamp(), crnt_reading));
if(gyroBuffer_.size() > 1000)
{
gyroBuffer_.erase(gyroBuffer_.begin());
}
}
else
{
accBuffer_.insert(accBuffer_.end(), std::make_pair(frame.get_timestamp(), crnt_reading));
if(accBuffer_.size() > 1000)
{
accBuffer_.erase(accBuffer_.begin());
}
}
}
// See https://github.com/IntelRealSense/realsense-ros/blob/2a45f09003c98a5bdf39ee89df032bdb9c9bcd2d/realsense2_camera/src/base_realsense_node.cpp#L1397-L1404
Transform CameraRealSense2::realsense2PoseRotation_ = Transform(
0, 0,-1,0,
-1, 0, 0,0,
0, 1, 0,0);
void CameraRealSense2::pose_callback(rs2::frame frame)
{
rs2_pose pose = frame.as<rs2::pose_frame>().get_pose_data();
// See https://github.com/IntelRealSense/realsense-ros/blob/2a45f09003c98a5bdf39ee89df032bdb9c9bcd2d/realsense2_camera/src/base_realsense_node.cpp#L1397-L1404
Transform poseT = Transform(
-pose.translation.z,
-pose.translation.x,
pose.translation.y,
-pose.rotation.z,
-pose.rotation.x,
pose.rotation.y,
pose.rotation.w);
UDEBUG("POSE callback! %f %s (confidence=%d)", frame.get_timestamp(), poseT.prettyPrint().c_str(), (int)pose.tracker_confidence);
UScopeMutex sm(poseMutex_);
poseBuffer_.insert(poseBuffer_.end(), std::make_pair(frame.get_timestamp(), std::make_pair(poseT, pose.tracker_confidence)));
if(poseBuffer_.size() > 1000)
{
poseBuffer_.erase(poseBuffer_.begin());
}
}
void CameraRealSense2::frame_callback(rs2::frame frame)
{
UDEBUG("Frame callback! %f", frame.get_timestamp());
(*syncer_)(frame);
}
void CameraRealSense2::multiple_message_callback(rs2::frame frame)
{
auto stream = frame.get_profile().stream_type();
switch (stream)
{
case RS2_STREAM_GYRO:
case RS2_STREAM_ACCEL:
//UWARN("IMU : Domain=%d time=%f host=%f", frame.get_frame_timestamp_domain(), frame.get_timestamp()/1000.0, UTimer::now());
imu_callback(frame);
break;
case RS2_STREAM_POSE:
//UWARN("POSE : Domain=%d time=%f host=%f", frame.get_frame_timestamp_domain(), frame.get_timestamp()/1000.0, UTimer::now());
if(odometryProvided_)
{
pose_callback(frame);
}
break;
default:
//UWARN("IMG : Domain=%d time=%f host=%f", frame.get_frame_timestamp_domain(), frame.get_timestamp()/1000.0, UTimer::now());
frame_callback(frame);
}
}
void CameraRealSense2::getPoseAndIMU(
const double & stamp,
Transform & pose,
unsigned int & poseConfidence,
IMU & imu,
int maxWaitTimeMs) const
{
pose.setNull();
imu = IMU();
poseConfidence = 0;
if(accBuffer_.empty() || gyroBuffer_.empty())
{
return;
}
// Interpolate pose
if(!poseBuffer_.empty())
{
poseMutex_.lock();
int waitTry = 0;
while(maxWaitTimeMs>0 && poseBuffer_.rbegin()->first < stamp && waitTry < maxWaitTimeMs)
{
poseMutex_.unlock();
++waitTry;
uSleep(1);
poseMutex_.lock();
}
if(poseBuffer_.rbegin()->first < stamp)
{
if(maxWaitTimeMs > 0)
{
UWARN("Could not find poses to interpolate at time %f after waiting %d ms (last is %f)...", stamp, maxWaitTimeMs, poseBuffer_.rbegin()->first);
}
}
else
{
std::map<double, std::pair<Transform, unsigned int> >::const_iterator iterB = poseBuffer_.lower_bound(stamp);
std::map<double, std::pair<Transform, unsigned int> >::const_iterator iterA = iterB;
if(iterA != poseBuffer_.begin())
{
iterA = --iterA;
}
if(iterB == poseBuffer_.end())
{
iterB = --iterB;
}
if(iterA == iterB && stamp == iterA->first)
{
pose = iterA->second.first;
poseConfidence = iterA->second.second;
}
else if(stamp >= iterA->first && stamp <= iterB->first)
{
pose = iterA->second.first.interpolate((stamp-iterA->first) / (iterB->first-iterA->first), iterB->second.first);
poseConfidence = iterA->second.second;
}
else if(stamp < iterA->first)
{
UWARN("Could not find poses to interpolate at image time %f (earliest is %f). Are sensors synchronized?", stamp, iterA->first);
}
else
{
UWARN("Could not find poses to interpolate at image time %f (between %f and %f), Are sensors synchronized?", stamp, iterA->first, iterB->first);
}
}
poseMutex_.unlock();
}
// Interpolate acc
cv::Vec3d acc;
{
imuMutex_.lock();
int waitTry = 0;
while(maxWaitTimeMs > 0 && accBuffer_.rbegin()->first < stamp && waitTry < maxWaitTimeMs)
{
imuMutex_.unlock();
++waitTry;
uSleep(1);
imuMutex_.lock();
}
if(accBuffer_.rbegin()->first < stamp)
{
if(maxWaitTimeMs>0)
{
UWARN("Could not find acc data to interpolate at time %f after waiting %d ms (last is %f)...", stamp, maxWaitTimeMs, accBuffer_.rbegin()->first);
}
imuMutex_.unlock();
return;
}
else
{
std::map<double, cv::Vec3f>::const_iterator iterB = accBuffer_.lower_bound(stamp);
std::map<double, cv::Vec3f>::const_iterator iterA = iterB;
if(iterA != accBuffer_.begin())
{
iterA = --iterA;
}
if(iterB == accBuffer_.end())
{
iterB = --iterB;
}
if(iterA == iterB && stamp == iterA->first)
{
acc[0] = iterA->second[0];
acc[1] = iterA->second[1];
acc[2] = iterA->second[2];
}
else if(stamp >= iterA->first && stamp <= iterB->first)
{
float t = (stamp-iterA->first) / (iterB->first-iterA->first);
acc[0] = iterA->second[0] + t*(iterB->second[0] - iterA->second[0]);
acc[1] = iterA->second[1] + t*(iterB->second[1] - iterA->second[1]);
acc[2] = iterA->second[2] + t*(iterB->second[2] - iterA->second[2]);
}
else
{
if(stamp < iterA->first)
{
UWARN("Could not find acc data to interpolate at image time %f (earliest is %f). Are sensors synchronized?", stamp, iterA->first);
}
else
{
UWARN("Could not find acc data to interpolate at image time %f (between %f and %f). Are sensors synchronized?", stamp, iterA->first, iterB->first);
}
imuMutex_.unlock();
return;
}
}
imuMutex_.unlock();
}
// Interpolate gyro
cv::Vec3d gyro;
{
imuMutex_.lock();
int waitTry = 0;
while(maxWaitTimeMs>0 && gyroBuffer_.rbegin()->first < stamp && waitTry < maxWaitTimeMs)
{
imuMutex_.unlock();
++waitTry;
uSleep(1);
imuMutex_.lock();
}
if(gyroBuffer_.rbegin()->first < stamp)
{
if(maxWaitTimeMs>0)
{
UWARN("Could not find gyro data to interpolate at time %f after waiting %d ms (last is %f)...", stamp, maxWaitTimeMs, gyroBuffer_.rbegin()->first);
}
imuMutex_.unlock();
return;
}
else
{
std::map<double, cv::Vec3f>::const_iterator iterB = gyroBuffer_.lower_bound(stamp);
std::map<double, cv::Vec3f>::const_iterator iterA = iterB;
if(iterA != gyroBuffer_.begin())
{
iterA = --iterA;
}
if(iterB == gyroBuffer_.end())
{
iterB = --iterB;
}
if(iterA == iterB && stamp == iterA->first)
{
gyro[0] = iterA->second[0];
gyro[1] = iterA->second[1];
gyro[2] = iterA->second[2];
}
else if(stamp >= iterA->first && stamp <= iterB->first)
{
float t = (stamp-iterA->first) / (iterB->first-iterA->first);
gyro[0] = iterA->second[0] + t*(iterB->second[0] - iterA->second[0]);
gyro[1] = iterA->second[1] + t*(iterB->second[1] - iterA->second[1]);
gyro[2] = iterA->second[2] + t*(iterB->second[2] - iterA->second[2]);
}
else
{
if(stamp < iterA->first)
{
UWARN("Could not find gyro data to interpolate at image time %f (earliest is %f). Are sensors synchronized?", stamp, iterA->first);
}
else
{
UWARN("Could not find gyro data to interpolate at image time %f (between %f and %f). Are sensors synchronized?", stamp, iterA->first, iterB->first);
}
imuMutex_.unlock();
return;
}
}
imuMutex_.unlock();
}
imu = IMU(gyro, cv::Mat::eye(3, 3, CV_64FC1), acc, cv::Mat::eye(3, 3, CV_64FC1), imuLocalTransform_);
}
#endif
bool CameraRealSense2::init(const std::string & calibrationFolder, const std::string & cameraName)
{
UDEBUG("");
#ifdef RTABMAP_REALSENSE2
UINFO("setupDevice...");
for(size_t i=0; i<dev_.size(); ++i)
{
delete dev_[i];
dev_[i] = 0;
}
clockSyncWarningShown_ = false;
auto list = ctx_->query_devices();
if (0 == list.size())
{
UERROR("No RealSense2 devices were found!");
return false;
}
bool found=false;
for (auto&& dev : list)
{
auto sn = dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER);
auto pid_str = dev.get_info(RS2_CAMERA_INFO_PRODUCT_ID);
uint16_t pid;
std::stringstream ss;
ss << std::hex << pid_str;
ss >> pid;
UINFO("Device with serial number %s was found with product ID=%d.", sn, (int)pid);
if(dualMode_ && pid == 0x0B37)
{
// Dual setup: device[0] = D400, device[1] = T265
// T265
dev_[1] = new rs2::device();
*dev_[1] = dev;
}
else if (!found && (deviceId_.empty() || deviceId_ == sn))
{
dev_[0] = new rs2::device();
*dev_[0] = dev;
found=true;
}
}
if (!found)
{
if(dualMode_ && dev_[1]!=0)
{
UERROR("Dual setup is enabled, but a D400 camera is not detected!");
delete dev_[1];
dev_[1] = 0;
}
else
{
UERROR("The requested device \"%s\" is NOT found!", deviceId_.c_str());
}
return false;
}
else if(dualMode_ && dev_[1] == 0)
{
UERROR("Dual setup is enabled, but a T265 camera is not detected!");
delete dev_[0];
dev_[0] = 0;
return false;
}
if (!jsonConfig_.empty())
{
if (dev_[0]->is<rs400::advanced_mode>())
{
std::stringstream ss;
std::ifstream in(jsonConfig_);
if (in.is_open())
{
ss << in.rdbuf();
std::string json_file_content = ss.str();
auto adv = dev_[0]->as<rs400::advanced_mode>();
adv.load_json(json_file_content);
UINFO("JSON file is loaded! (%s)", jsonConfig_.c_str());
}
else
{
UWARN("JSON file provided doesn't exist! (%s)", jsonConfig_.c_str());
}
}
else
{
UWARN("A json config file is provided (%s), but device does not support advanced settings!", jsonConfig_.c_str());
}
}
ctx_->set_devices_changed_callback([this](rs2::event_information& info)
{
for(size_t i=0; i<dev_.size(); ++i)
{
if(dev_[i])
{
if (info.was_removed(*dev_[i]))
{
UERROR("The device has been disconnected!");
}
}
}
});
auto camera_name = dev_[0]->get_info(RS2_CAMERA_INFO_NAME);
UINFO("Device Name: %s", camera_name);
auto sn = dev_[0]->get_info(RS2_CAMERA_INFO_SERIAL_NUMBER);
UINFO("Device Serial No: %s", sn);
auto fw_ver = dev_[0]->get_info(RS2_CAMERA_INFO_FIRMWARE_VERSION);
UINFO("Device FW version: %s", fw_ver);
auto pid = dev_[0]->get_info(RS2_CAMERA_INFO_PRODUCT_ID);
UINFO("Device Product ID: 0x%s", pid);
auto dev_sensors = dev_[0]->query_sensors();
if(dualMode_)
{
auto dev_sensors2 = dev_[1]->query_sensors();
dev_sensors.insert(dev_sensors.end(), dev_sensors2.begin(), dev_sensors2.end());
}
UINFO("Device Sensors: ");
std::vector<rs2::sensor> sensors(2); //0=rgb 1=depth 2=(pose in dualMode_)
bool stereo = false;
for(auto&& elem : dev_sensors)
{
std::string module_name = elem.get_info(RS2_CAMERA_INFO_NAME);
if ("Stereo Module" == module_name)
{
sensors[1] = elem;
sensors[1].set_option(rs2_option::RS2_OPTION_EMITTER_ENABLED, emitterEnabled_);
}
else if ("Coded-Light Depth Sensor" == module_name)
{
}
else if ("RGB Camera" == module_name)
{
if(!ir_)
{
sensors[0] = elem;
}
}
else if ("Wide FOV Camera" == module_name)
{
}
else if ("Motion Module" == module_name)
{
if(!dualMode_)
{
sensors.resize(3);
sensors[2] = elem;
}
}
else if ("Tracking Module" == module_name)
{
if(dualMode_)
{
sensors.resize(3);
}
else
{
sensors.resize(1);
stereo = true;
}
sensors.back() = elem;
sensors.back().set_option(rs2_option::RS2_OPTION_ENABLE_POSE_JUMPING, 0);
sensors.back().set_option(rs2_option::RS2_OPTION_ENABLE_RELOCALIZATION, 0);
}
else
{
UERROR("Module Name \"%s\" isn't supported!", module_name.c_str());
return false;
}
UINFO("%s was found.", elem.get_info(RS2_CAMERA_INFO_NAME));
}
UDEBUG("");
model_ = CameraModel();
rs2::stream_profile depthStreamProfile;
rs2::stream_profile rgbStreamProfile;
std::vector<std::vector<rs2::stream_profile> > profilesPerSensor(sensors.size());
for (unsigned int i=0; i<sensors.size(); ++i)
{
if(i==0 && ir_ && !stereo)
{
continue;
}
UINFO("Sensor %d \"%s\"", (int)i, sensors[i].get_info(RS2_CAMERA_INFO_NAME));
auto profiles = sensors[i].get_stream_profiles();
bool added = false;
UINFO("profiles=%d", (int)profiles.size());
if(ULogger::level()>=ULogger::kInfo)
{
for (auto& profile : profiles)
{
auto video_profile = profile.as<rs2::video_stream_profile>();
UINFO("%s %d %d %d %d", rs2_format_to_string(
video_profile.format()),
video_profile.width(),
video_profile.height(),
video_profile.fps(),
video_profile.stream_index());
}
}
int pi = 0;
for (auto& profile : profiles)
{
auto video_profile = profile.as<rs2::video_stream_profile>();
if(!stereo)
{
//D400 series:
if (video_profile.width() == cameraWidth_ &&
video_profile.height() == cameraHeight_ &&
video_profile.fps() == cameraFps_)
{
auto intrinsic = video_profile.get_intrinsics();
// rgb or ir left
if((!ir_ && video_profile.format() == RS2_FORMAT_RGB8) ||
(ir_ && video_profile.format() == RS2_FORMAT_Y8 && video_profile.stream_index() == 1))
{
if(!profilesPerSensor[i].empty())
{
// IR right already there, push ir left front
profilesPerSensor[i].push_back(profilesPerSensor[i].back());
profilesPerSensor[i].front() = profile;
}
else
{
profilesPerSensor[i].push_back(profile);
}
rgbBuffer_ = cv::Mat(cv::Size(cameraWidth_, cameraHeight_), video_profile.format() == RS2_FORMAT_Y8?CV_8UC1:CV_8UC3, ir_?cv::Scalar(0):cv::Scalar(0, 0, 0));
model_ = CameraModel(camera_name, intrinsic.fx, intrinsic.fy, intrinsic.ppx, intrinsic.ppy, this->getLocalTransform(), 0, cv::Size(intrinsic.width, intrinsic.height));
rgbStreamProfile = profile;
*rgbIntrinsics_ = intrinsic;
added = true;
if(video_profile.format() == RS2_FORMAT_RGB8 || profilesPerSensor[i].size()==2)
{
break;
}
}
// depth or ir right
else if(((!ir_ || irDepth_) && video_profile.format() == RS2_FORMAT_Z16) ||
(ir_ && !irDepth_ && video_profile.format() == RS2_FORMAT_Y8 && video_profile.stream_index() == 2))
{
profilesPerSensor[i].push_back(profile);
depthBuffer_ = cv::Mat(cv::Size(cameraWidth_, cameraHeight_), video_profile.format() == RS2_FORMAT_Y8?CV_8UC1:CV_16UC1, cv::Scalar(0));
depthStreamProfile = profile;
*depthIntrinsics_ = intrinsic;
added = true;
if(!ir_ || irDepth_ || profilesPerSensor[i].size()==2)
{
break;
}
}
}
else if(video_profile.format() == RS2_FORMAT_MOTION_XYZ32F || video_profile.format() == RS2_FORMAT_6DOF)
{
//D435i:
//MOTION_XYZ32F 0 0 200
//MOTION_XYZ32F 0 0 400
//MOTION_XYZ32F 0 0 63
//MOTION_XYZ32F 0 0 250
// or dualMode_ T265:
//MOTION_XYZ32F 0 0 200
//MOTION_XYZ32F 0 0 62
//6DOF 0 0 200
profilesPerSensor[i].push_back(profile);
added = true;
}
}
else if(stereo || dualMode_)
{
//T265:
if(!dualMode_ &&
video_profile.format() == RS2_FORMAT_Y8 &&
video_profile.width() == 848 &&
video_profile.height() == 800 &&
video_profile.fps() == 30)
{
UASSERT(i<2);
profilesPerSensor[i].push_back(profile);
auto intrinsic = video_profile.get_intrinsics();
if(pi==0)
{
// LEFT FISHEYE
rgbBuffer_ = cv::Mat(cv::Size(848, 800), CV_8UC1, cv::Scalar(0));
rgbStreamProfile = profile;
*rgbIntrinsics_ = intrinsic;
}
else
{
// RIGHT FISHEYE
depthBuffer_ = cv::Mat(cv::Size(848, 800), CV_8UC1, cv::Scalar(0));
depthStreamProfile = profile;
*depthIntrinsics_ = intrinsic;
}
added = true;
}
else if(video_profile.format() == RS2_FORMAT_MOTION_XYZ32F || video_profile.format() == RS2_FORMAT_6DOF)
{
//MOTION_XYZ32F 0 0 200
//MOTION_XYZ32F 0 0 62
//6DOF 0 0 200
profilesPerSensor[i].push_back(profile);
added = true;
}
}
++pi;
}
if (!added)
{
UERROR("Given stream configuration is not supported by the device! "
"Stream Index: %d, Width: %d, Height: %d, FPS: %d", i, cameraWidth_, cameraHeight_, cameraFps_);
UERROR("Available configurations:");
for (auto& profile : profiles)
{
auto video_profile = profile.as<rs2::video_stream_profile>();
UERROR("%s %d %d %d %d", rs2_format_to_string(
video_profile.format()),
video_profile.width(),
video_profile.height(),
video_profile.fps(),
video_profile.stream_index());
}
return false;
}
}
UDEBUG("");
if(!stereo)
{
if(!model_.isValidForProjection())
{
UERROR("Calibration info not valid!");
return false;
}
*depthToRGBExtrinsics_ = depthStreamProfile.get_extrinsics_to(rgbStreamProfile);
if(dualMode_)
{
Transform opticalTransform(0, 0, 1, 0, -1, 0, 0, 0, 0, -1, 0, 0);
UINFO("Set base to pose");
this->setLocalTransform(this->getLocalTransform()*opticalTransform.inverse());
UINFO("poseToLeftIR = %s", dualExtrinsics_.prettyPrint().c_str());
Transform baseToCam = this->getLocalTransform()*dualExtrinsics_*opticalTransform;
if(!ir_)
{
Transform leftIRToRGB(
depthToRGBExtrinsics_->rotation[0], depthToRGBExtrinsics_->rotation[1], depthToRGBExtrinsics_->rotation[2], depthToRGBExtrinsics_->translation[0],
depthToRGBExtrinsics_->rotation[3], depthToRGBExtrinsics_->rotation[4], depthToRGBExtrinsics_->rotation[5], depthToRGBExtrinsics_->translation[1],
depthToRGBExtrinsics_->rotation[6], depthToRGBExtrinsics_->rotation[7], depthToRGBExtrinsics_->rotation[8], depthToRGBExtrinsics_->translation[2]);
leftIRToRGB = leftIRToRGB.inverse();
UINFO("leftIRToRGB = %s", leftIRToRGB.prettyPrint().c_str());
baseToCam *= leftIRToRGB;
}
UASSERT(profilesPerSensor.size()>=2);
UASSERT(profilesPerSensor.back().size() == 3);
rs2_extrinsics poseToIMU = profilesPerSensor.back()[0].get_extrinsics_to(profilesPerSensor.back()[2]);
Transform poseToIMUT(
poseToIMU.rotation[0], poseToIMU.rotation[1], poseToIMU.rotation[2], poseToIMU.translation[0],
poseToIMU.rotation[3], poseToIMU.rotation[4], poseToIMU.rotation[5], poseToIMU.translation[1],
poseToIMU.rotation[6], poseToIMU.rotation[7], poseToIMU.rotation[8], poseToIMU.translation[2]);
poseToIMUT = realsense2PoseRotation_ * poseToIMUT;
UINFO("poseToIMU = %s", poseToIMUT.prettyPrint().c_str());
UINFO("BaseToCam = %s", baseToCam.prettyPrint().c_str());
model_.setLocalTransform(baseToCam);
imuLocalTransform_ = this->getLocalTransform() * poseToIMUT;
}
if(ir_ && !irDepth_ && profilesPerSensor.size() >= 2 && profilesPerSensor[1].size() >= 2)
{
rs2_extrinsics leftToRight = profilesPerSensor[1][1].get_extrinsics_to(profilesPerSensor[1][0]);
Transform leftToRightT(
leftToRight.rotation[0], leftToRight.rotation[1], leftToRight.rotation[2], leftToRight.translation[0],
leftToRight.rotation[3], leftToRight.rotation[4], leftToRight.rotation[5], leftToRight.translation[1],
leftToRight.rotation[6], leftToRight.rotation[7], leftToRight.rotation[8], leftToRight.translation[2]);
UINFO("left to right transform = %s", leftToRightT.prettyPrint().c_str());
// Create stereo camera model from left and right ir of D435
stereoModel_ = StereoCameraModel(model_.fx(), model_.fy(), model_.cx(), model_.cy(), leftToRightT.x(), model_.localTransform(), model_.imageSize());
UINFO("Stereo parameters: fx=%f cx=%f cy=%f baseline=%f",
stereoModel_.left().fx(),
stereoModel_.left().cx(),
stereoModel_.left().cy(),
stereoModel_.baseline());
}
if(!dualMode_ && profilesPerSensor.size() == 3)
{
if(!profilesPerSensor[2].empty() && !profilesPerSensor[0].empty())
{
rs2_extrinsics leftToIMU = profilesPerSensor[2][0].get_extrinsics_to(profilesPerSensor[0][0]);
Transform leftToIMUT(
leftToIMU.rotation[0], leftToIMU.rotation[1], leftToIMU.rotation[2], leftToIMU.translation[0],
leftToIMU.rotation[3], leftToIMU.rotation[4], leftToIMU.rotation[5], leftToIMU.translation[1],
leftToIMU.rotation[6], leftToIMU.rotation[7], leftToIMU.rotation[8], leftToIMU.translation[2]);
imuLocalTransform_ = this->getLocalTransform() * leftToIMUT;
UINFO("imu local transform = %s", imuLocalTransform_.prettyPrint().c_str());
}
else if(!profilesPerSensor[2].empty() && !profilesPerSensor[1].empty())
{
rs2_extrinsics leftToIMU = profilesPerSensor[2][0].get_extrinsics_to(profilesPerSensor[1][0]);
Transform leftToIMUT(
leftToIMU.rotation[0], leftToIMU.rotation[1], leftToIMU.rotation[2], leftToIMU.translation[0],
leftToIMU.rotation[3], leftToIMU.rotation[4], leftToIMU.rotation[5], leftToIMU.translation[1],
leftToIMU.rotation[6], leftToIMU.rotation[7], leftToIMU.rotation[8], leftToIMU.translation[2]);
imuLocalTransform_ = this->getLocalTransform() * leftToIMUT;
UINFO("imu local transform = %s", imuLocalTransform_.prettyPrint().c_str());
}
}
}
else // T265
{
// look for calibration files
std::string serial = sn;
if(!cameraName.empty())
{
serial = cameraName;
}
if(!calibrationFolder.empty() && !serial.empty())
{
if(!stereoModel_.load(calibrationFolder, serial, false))
{
UWARN("Missing calibration files for camera \"%s\" in \"%s\" folder, you should calibrate the camera!",
serial.c_str(), calibrationFolder.c_str());
}
else
{
UINFO("Stereo parameters: fx=%f cx=%f cy=%f baseline=%f",
stereoModel_.left().fx(),
stereoModel_.left().cx(),
stereoModel_.left().cy(),
stereoModel_.baseline());
}
}
// Get extrinsics with pose as the base frame:
// 0=Left fisheye
// 1=Right fisheye
// 2=GYRO
// 3=ACC
// 4=POSE
UASSERT(profilesPerSensor[0].size() == 5);
if(odometryProvided_)
{
rs2_extrinsics poseToLeft = profilesPerSensor[0][0].get_extrinsics_to(profilesPerSensor[0][4]);
rs2_extrinsics poseToIMU = profilesPerSensor[0][2].get_extrinsics_to(profilesPerSensor[0][4]);
Transform poseToLeftT(
poseToLeft.rotation[0], poseToLeft.rotation[1], poseToLeft.rotation[2], poseToLeft.translation[0],
poseToLeft.rotation[3], poseToLeft.rotation[4], poseToLeft.rotation[5], poseToLeft.translation[1],
poseToLeft.rotation[6], poseToLeft.rotation[7], poseToLeft.rotation[8], poseToLeft.translation[2]);
poseToLeftT = realsense2PoseRotation_ * poseToLeftT;
UINFO("poseToLeft = %s", poseToLeftT.prettyPrint().c_str());
Transform poseToIMUT(
poseToIMU.rotation[0], poseToIMU.rotation[1], poseToIMU.rotation[2], poseToIMU.translation[0],
poseToIMU.rotation[3], poseToIMU.rotation[4], poseToIMU.rotation[5], poseToIMU.translation[1],
poseToIMU.rotation[6], poseToIMU.rotation[7], poseToIMU.rotation[8], poseToIMU.translation[2]);
poseToIMUT = realsense2PoseRotation_ * poseToIMUT;
UINFO("poseToIMU = %s", poseToIMUT.prettyPrint().c_str());
UINFO("Set base to pose");
Transform opticalTransform(0, 0, 1, 0, -1, 0, 0, 0, 0, -1, 0, 0);
this->setLocalTransform(this->getLocalTransform() * opticalTransform.inverse());
stereoModel_.setLocalTransform(this->getLocalTransform()*poseToLeftT);
imuLocalTransform_ = this->getLocalTransform()* poseToIMUT;
}
else
{
// Set imu transform based on the left camera instead of pose
rs2_extrinsics leftToIMU = profilesPerSensor[0][2].get_extrinsics_to(profilesPerSensor[0][0]);
Transform leftToIMUT(
leftToIMU.rotation[0], leftToIMU.rotation[1], leftToIMU.rotation[2], leftToIMU.translation[0],
leftToIMU.rotation[3], leftToIMU.rotation[4], leftToIMU.rotation[5], leftToIMU.translation[1],
leftToIMU.rotation[6], leftToIMU.rotation[7], leftToIMU.rotation[8], leftToIMU.translation[2]);
UINFO("leftToIMU = %s", leftToIMUT.prettyPrint().c_str());
imuLocalTransform_ = this->getLocalTransform() * leftToIMUT;
UINFO("imu local transform = %s", imuLocalTransform_.prettyPrint().c_str());
stereoModel_.setLocalTransform(this->getLocalTransform());
}
if(rectifyImages_ && !stereoModel_.isValidForRectification())
{
UERROR("Parameter \"rectifyImages\" is set, but no stereo model is loaded or valid.");
return false;
}
}
std::function<void(rs2::frame)> multiple_message_callback_function = [this](rs2::frame frame){multiple_message_callback(frame);};
for (unsigned int i=0; i<sensors.size(); ++i)
{
if(profilesPerSensor[i].size())
{
UINFO("Starting sensor %d with %d profiles", (int)i, (int)profilesPerSensor[i].size());
sensors[i].open(profilesPerSensor[i]);
if(sensors[i].is<rs2::depth_sensor>())
{
auto depth_sensor = sensors[i].as<rs2::depth_sensor>();
depth_scale_meters_ = depth_sensor.get_depth_scale();
}
sensors[i].start(multiple_message_callback_function);
}
}
uSleep(1000); // ignore the first frames
UINFO("Enabling streams...done!");
return true;
#else
UERROR("CameraRealSense: RTAB-Map is not built with RealSense2 support!");
return false;
#endif
}
bool CameraRealSense2::isCalibrated() const
{
#ifdef RTABMAP_REALSENSE2
return model_.isValidForProjection() || stereoModel_.isValidForRectification();
#else
return false;
#endif
}
std::string CameraRealSense2::getSerial() const
{
#ifdef RTABMAP_REALSENSE2
if(dev_[0])
{
return dev_[0]->get_info(RS2_CAMERA_INFO_SERIAL_NUMBER);
}
#endif
return "NA";
}
bool CameraRealSense2::odomProvided() const
{
#ifdef RTABMAP_REALSENSE2
return odometryProvided_;
#else
return false;
#endif
}
void CameraRealSense2::setEmitterEnabled(bool enabled)
{
#ifdef RTABMAP_REALSENSE2
emitterEnabled_ = enabled;
#endif
}
void CameraRealSense2::setIRFormat(bool enabled, bool useDepthInsteadOfRightImage)
{
#ifdef RTABMAP_REALSENSE2
ir_ = enabled;
irDepth_ = useDepthInsteadOfRightImage;
#endif
}
void CameraRealSense2::setResolution(int width, int height, int fps)
{
#ifdef RTABMAP_REALSENSE2
cameraWidth_ = width;
cameraHeight_ = height;
cameraFps_ = fps;
#endif
}