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feat(ros): publish camera info with kannala_brandt model

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This commit is contained in:
John Zhao 2019-01-06 15:03:29 +08:00
parent 19e5f60566
commit e91c5d53fd
2 changed files with 77 additions and 38 deletions
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5
samples/tutorials/data/get_img_params.cc
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@ -26,8 +26,9 @@ int main(int argc, char *argv[]) {
if (!ok) return 1; if (!ok) return 1;
api->ConfigStreamRequest(request); api->ConfigStreamRequest(request);
LOG(INFO) << "Intrinsics left: {" << api->GetIntrinsics(Stream::LEFT) << "}"; LOG(INFO) << "Intrinsics left: {" << *api->GetIntrinsicsBase(Stream::LEFT)
LOG(INFO) << "Intrinsics right: {" << api->GetIntrinsics(Stream::RIGHT) << "}";
LOG(INFO) << "Intrinsics right: {" << *api->GetIntrinsicsBase(Stream::RIGHT)
<< "}"; << "}";
LOG(INFO) << "Extrinsics right to left: {" LOG(INFO) << "Extrinsics right to left: {"
<< api->GetExtrinsics(Stream::RIGHT, Stream::LEFT) << "}"; << api->GetExtrinsics(Stream::RIGHT, Stream::LEFT) << "}";

110
wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
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@ -674,14 +674,14 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
// if (points_publisher_.getNumSubscribers() == 0) // if (points_publisher_.getNumSubscribers() == 0)
// return; // return;
auto &&in = api_->GetIntrinsics(Stream::LEFT); auto &&in = api_->GetIntrinsicsBase(Stream::LEFT);
sensor_msgs::PointCloud2 msg; sensor_msgs::PointCloud2 msg;
msg.header.seq = seq; msg.header.seq = seq;
msg.header.stamp = stamp; msg.header.stamp = stamp;
msg.header.frame_id = frame_ids_[Stream::POINTS]; msg.header.frame_id = frame_ids_[Stream::POINTS];
msg.width = in.width; msg.width = in->width;
msg.height = in.height; msg.height = in->height;
msg.is_dense = true; msg.is_dense = true;
sensor_msgs::PointCloud2Modifier modifier(msg); sensor_msgs::PointCloud2Modifier modifier(msg);
@ -702,8 +702,8 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
sensor_msgs::PointCloud2Iterator<uint8_t> iter_g(msg, "g"); sensor_msgs::PointCloud2Iterator<uint8_t> iter_g(msg, "g");
sensor_msgs::PointCloud2Iterator<uint8_t> iter_b(msg, "b"); sensor_msgs::PointCloud2Iterator<uint8_t> iter_b(msg, "b");
for (std::size_t y = 0; y < in.height; ++y) { for (std::size_t y = 0; y < in->height; ++y) {
for (std::size_t x = 0; x < in.width; ++x) { for (std::size_t x = 0; x < in->width; ++x) {
auto &&point = data.frame.at<cv::Vec3f>(y, x); auto &&point = data.frame.at<cv::Vec3f>(y, x);
*iter_x = point[0] * 0.001; *iter_x = point[0] * 0.001;
@ -923,9 +923,16 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
void computeRectTransforms() { void computeRectTransforms() {
ROS_ASSERT(api_); ROS_ASSERT(api_);
auto &&in_left = api_->GetIntrinsics(Stream::LEFT); auto in_left_base = api_->GetIntrinsicsBase(Stream::LEFT);
auto &&in_right = api_->GetIntrinsics(Stream::RIGHT); auto in_right_base = api_->GetIntrinsicsBase(Stream::RIGHT);
auto &&ex_right_to_left = api_->GetExtrinsics(Stream::RIGHT, Stream::LEFT); if (in_left_base->calib_model() != CalibrationModel::PINHOLE ||
in_right_base->calib_model() != CalibrationModel::PINHOLE) {
return;
}
auto in_left = *std::dynamic_pointer_cast<IntrinsicsPinhole>(in_left_base);
auto in_right = *std::dynamic_pointer_cast<IntrinsicsPinhole>(
in_right_base);
auto ex_right_to_left = api_->GetExtrinsics(Stream::RIGHT, Stream::LEFT);
cv::Size size{in_left.width, in_left.height}; cv::Size size{in_left.width, in_left.height};
cv::Mat M1 = cv::Mat M1 =
@ -964,44 +971,75 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
sensor_msgs::CameraInfo *camera_info = new sensor_msgs::CameraInfo(); sensor_msgs::CameraInfo *camera_info = new sensor_msgs::CameraInfo();
camera_info_ptrs_[stream] = sensor_msgs::CameraInfoPtr(camera_info); camera_info_ptrs_[stream] = sensor_msgs::CameraInfoPtr(camera_info);
Intrinsics in; std::shared_ptr<IntrinsicsBase> in_base;
if (stream == Stream::RIGHT || stream == Stream::RIGHT_RECTIFIED) { if (stream == Stream::RIGHT || stream == Stream::RIGHT_RECTIFIED) {
in = api_->GetIntrinsics(Stream::RIGHT); in_base = api_->GetIntrinsicsBase(Stream::RIGHT);
} else { } else {
in = api_->GetIntrinsics(Stream::LEFT); in_base = api_->GetIntrinsicsBase(Stream::LEFT);
} }
camera_info->header.frame_id = frame_ids_[stream]; camera_info->header.frame_id = frame_ids_[stream];
camera_info->width = in.width; camera_info->width = in_base->width;
camera_info->height = in.height; camera_info->height = in_base->height;
// [fx 0 cx] if (in_base->calib_model() == CalibrationModel::PINHOLE) {
// K = [ 0 fy cy] auto in = std::dynamic_pointer_cast<IntrinsicsPinhole>(in_base);
// [ 0 0 1] // [fx 0 cx]
camera_info->K.at(0) = in.fx; // K = [ 0 fy cy]
camera_info->K.at(2) = in.cx; // [ 0 0 1]
camera_info->K.at(4) = in.fy; camera_info->K.at(0) = in->fx;
camera_info->K.at(5) = in.cy; camera_info->K.at(2) = in->cx;
camera_info->K.at(8) = 1; camera_info->K.at(4) = in->fy;
camera_info->K.at(5) = in->cy;
camera_info->K.at(8) = 1;
// [fx' 0 cx' Tx] // [fx' 0 cx' Tx]
// P = [ 0 fy' cy' Ty] // P = [ 0 fy' cy' Ty]
// [ 0 0 1 0] // [ 0 0 1 0]
cv::Mat p = left_p_; cv::Mat p = left_p_;
if (stream == Stream::RIGHT || stream == Stream::RIGHT_RECTIFIED) { if (stream == Stream::RIGHT || stream == Stream::RIGHT_RECTIFIED) {
p = right_p_; p = right_p_;
} }
for (int i = 0; i < p.rows; i++) { for (int i = 0; i < p.rows; i++) {
for (int j = 0; j < p.cols; j++) { for (int j = 0; j < p.cols; j++) {
camera_info->P.at(i * p.cols + j) = p.at<double>(i, j); camera_info->P.at(i * p.cols + j) = p.at<double>(i, j);
}
} }
}
camera_info->distortion_model = "plumb_bob"; camera_info->distortion_model = "plumb_bob";
// D of plumb_bob: (k1, k2, t1, t2, k3) // D of plumb_bob: (k1, k2, t1, t2, k3)
for (int i = 0; i < 5; i++) { for (int i = 0; i < 5; i++) {
camera_info->D.push_back(in.coeffs[i]); camera_info->D.push_back(in->coeffs[i]);
}
} else if (in_base->calib_model() == CalibrationModel::KANNALA_BRANDT) {
auto in = std::dynamic_pointer_cast<IntrinsicsEquidistant>(in_base);
camera_info->distortion_model = "kannala_brandt";
// coeffs: k2,k3,k4,k5,mu,mv,u0,v0
camera_info->D.push_back(in->coeffs[0]); // k2
camera_info->D.push_back(in->coeffs[1]); // k3
camera_info->D.push_back(in->coeffs[2]); // k4
camera_info->D.push_back(in->coeffs[3]); // k5
camera_info->K[0] = in->coeffs[4]; // mu
camera_info->K[4] = in->coeffs[5]; // mv
camera_info->K[2] = in->coeffs[6]; // u0
camera_info->K[5] = in->coeffs[7]; // v0
camera_info->K[8] = 1;
// auto baseline = api_->GetInfo(Info::NOMINAL_BASELINE);
// Eigen::Matrix3d K = Eigen::Matrix3d::Identity();
// K(0, 0) = camera_info->K[0];
// K(0, 2) = camera_info->K[2];
// K(1, 1) = camera_info->K[4];
// K(1, 2) = camera_info->K[5];
// Eigen::Map<Eigen::Matrix<double, 3, 4, Eigen::RowMajor>>(
// camera_info->P.data()) = (Eigen::Matrix<double, 3, 4>() <<
// K, Eigen::Vector3d(baseline * K(0, 0), 0, 0)).finished();
} else {
NODELET_FATAL_STREAM("Unknown calib model, please use latest SDK.");
} }
// R to identity matrix // R to identity matrix