Go to the documentation of this file.
45 <<
" ==> Run with default camera parameters (from rawlog file)\n"
47 <<
"[params.cfg] ==> Load stereo camera parameters from cfg file\n";
51 const string sCfgFile =
argv[1];
60 timlog.
enter(
"rectifyMap.setFromCamParams");
62 timlog.
leave(
"rectifyMap.setFromCamParams");
67 cout <<
"Please, select the input stereo camera or rawlog file (with "
68 "stereo images)...\n";
74 cout <<
"Video stream open OK\n";
80 std::vector<COpenGLViewport::Ptr> gl_views(2);
83 gl_views[0] = theScene->getViewport(
"main");
85 gl_views[1] = theScene->createViewport(
"right_image");
88 gl_views[0]->setViewportPosition(0, 0, .5, 1.);
89 gl_views[1]->setViewportPosition(.5, 0, .5, 1.);
92 win.unlockAccess3DScene();
98 bool enable_rectify =
true;
99 bool enable_draw_epipolar_lines =
true;
104 cout <<
"Close the window to end.\n";
107 win.addTextMessage(5, 5,
format(
"%.02fFPS",
win.getRenderingFPS()), 0);
111 "'r': Switch rectify (Now is: %s) | '+'/'-': Modify "
112 "alpha (Now is: %.02f)",
113 enable_rectify ?
"ON" :
"OFF", rectifyMap.
getAlpha()),
118 "'s': Switch resize output to 320x240 (Now is: %s) | 'c': "
119 "Switch no-disparity (Now is: %s) | 'e': Switch epipolar lines",
124 std::this_thread::sleep_for(1ms);
134 std::dynamic_pointer_cast<CObservationStereoImages>(obs);
140 timlog.
enter(
"rectifyMap.setFromCamParams");
142 timlog.
leave(
"rectifyMap.setFromCamParams");
149 win.get3DSceneAndLock();
154 timlog.
enter(
"rectifyMap.rectify()");
157 o->imageLeft, o->imageRight, img_left_rectified,
158 img_right_rectified);
160 timlog.
leave(
"rectifyMap.rectify()");
165 img_left_rectified = o->imageLeft;
166 img_right_rectified = o->imageRight;
170 if (enable_draw_epipolar_lines)
172 const unsigned int LINES_SEP = 40;
173 const unsigned int w = img_left_rectified.
getWidth();
174 const unsigned int h = img_left_rectified.
getHeight();
175 for (
unsigned int y = 0; y < h; y += LINES_SEP)
177 img_left_rectified.
line(
179 img_right_rectified.line(
184 gl_views[0]->setImageView(img_left_rectified);
185 gl_views[1]->setImageView(img_right_rectified);
190 win.unlockAccess3DScene();
197 int key =
win.getPushedKey(&kmods);
200 if (key ==
'r' || key ==
'R') enable_rectify = !enable_rectify;
201 if (key ==
'e' || key ==
'E')
202 enable_draw_epipolar_lines = !enable_draw_epipolar_lines;
203 if (key ==
'+' || key ==
'-')
206 rectifyMap.
getAlpha() + (key ==
'-' ? -0.1 : 0.1);
207 alpha = std::min(1., std::max(0., alpha));
210 if (key ==
's' || key ==
'S')
215 if (key ==
'c' || key ==
'C')
235 catch (
const std::exception& e)
242 printf(
"Untyped exception!!");
std::shared_ptr< CObservation > Ptr
void TestStereoRectify(int argc, char **argv)
size_t getWidth() const override
Returns the width of the image in pixels.
static constexpr TColor red()
Predefined colors.
A versatile "profiler" that logs the time spent within each pair of calls to enter(X)-leave(X),...
void setAlpha(double alpha)
Sets the alpha parameter which controls the zoom in/out of the rectified images, such that:
double getAlpha() const
Return the alpha parameter.
Copyright (C) 2010 Hauke Strasdat Imperial College London Copyright (c) 2005-2020,...
#define IS_CLASS(obj, class_name)
True if the given reference to object (derived from mrpt::rtti::CObject) is of the given class.
std::string timeToString(const mrpt::system::TTimeStamp t)
Convert a timestamp into this textual form (UTC): HH:MM:SS.MMMMMM.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
#define ASSERT_(f)
Defines an assertion mechanism.
Use this class to rectify stereo images if the same distortion maps are reused over and over again.
This namespace contains representation of robot actions and observations.
CCameraSensor::Ptr prepareVideoSourceFromUserSelection()
Show to the user a list of possible camera drivers and creates and open the selected camera.
bool isEnabledResizeOutput() const
Returns whether resizing is enabled (default=false)
double leave(const std::string_view &func_name) noexcept
End of a named section.
Structure to hold the parameters of a pinhole stereo camera model.
mrpt::gui::CDisplayWindow3D::Ptr win
void line(int x0, int y0, int x1, int y1, const mrpt::img::TColor color, unsigned int width=1, TPenStyle penStyle=psSolid) override
Draws a line.
void enter(const std::string_view &func_name) noexcept
Start of a named section.
bool isEnabledBothCentersCoincide() const
void enableResizeOutput(bool enable, unsigned int target_width=0, unsigned int target_height=0)
If enabled, the computed maps will rectify images to a size different than their original size.
mrpt::vision::TStereoCalibParams params
Classes for creating GUI windows for 2D and 3D visualization.
A class for storing images as grayscale or RGB bitmaps.
std::shared_ptr< mrpt::opengl ::COpenGLScene > Ptr
void setFromCamParams(const mrpt::img::TStereoCamera ¶ms)
Prepares the mapping from the intrinsic, distortion and relative pose parameters of a stereo camera.
size_t getHeight() const override
Returns the height of the image in pixels.
void rectify(const mrpt::img::CImage &in_left_image, const mrpt::img::CImage &in_right_image, mrpt::img::CImage &out_left_image, mrpt::img::CImage &out_right_image) const
Rectify the input image pair and save the result in a different output images - setFromCamParams() mu...
This class allows loading and storing values and vectors of different types from "....
bool isSet() const
Returns true if setFromCamParams() has been already called, false otherwise.
std::shared_ptr< CCameraSensor > Ptr
void enableBothCentersCoincide(bool enable=true)
If enabled (default=false), the principal points in both output images will coincide.
std::shared_ptr< mrpt::obs ::CObservationStereoImages > Ptr
std::string exception_to_str(const std::exception &e)
Builds a nice textual representation of a nested exception, which if generated using MRPT macros (THR...
#define ASSERT_FILE_EXISTS_(FIL)
The namespace for 3D scene representation and rendering.
A graphical user interface (GUI) for efficiently rendering 3D scenes in real-time.
Observation class for either a pair of left+right or left+disparity images from a stereo camera.
std::string std::string format(std::string_view fmt, ARGS &&... args)
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