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Windows: Fixed stereoRectifyFisheye.h 'cannot convert from cv::Mat to CvMat' compilation error with opencv >=3.4.4. Fixed k4a/k4atypes.h not found on guilib compilation.

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This commit is contained in:
matlabbe
2020-06-30 23:18:31 -04:00
parent 4857d43146
commit 0809946c66
13 changed files with 190 additions and 34 deletions
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tools/DataRecorder/CMakeLists.txt
+8
View File
@@ -32,6 +32,14 @@ IF(realsense2_FOUND)
)
ENDIF(realsense2_FOUND)
# Hack as CameraK4A.h needs k4a include dir
IF(k4a_FOUND)
SET(INCLUDE_DIRS
${INCLUDE_DIRS}
${k4a_INCLUDE_DIRS}
)
ENDIF(k4a_FOUND)
INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
IF(MINGW)
tools/DataRecorder/main.cpp
+69 -10
View File
@@ -56,6 +56,12 @@ void showUsage()
" 5=Freenect2 (Kinect v2)\n"
" 6=DC1394 (Bumblebee2)\n"
" 7=FlyCapture2 (Bumblebee2)\n"
" 8=ZED stereo\n"
" 9=RealSense\n"
" 10=Kinect for Windows 2 SDK\n"
" 11=RealSense2\n"
" 12=Kinect for Azure SDK\n"
" 13=MYNT EYE S\n"
" -device "" Device ID (default \"\")\n");
exit(1);
}
@@ -127,7 +133,7 @@ int main (int argc, char * argv[])
if(i < argc)
{
driver = std::atoi(argv[i]);
if(driver < 0 || driver > 7)
if(driver < 0 || driver > 13)
{
showUsage();
}
@@ -176,10 +182,9 @@ int main (int argc, char * argv[])
signal(SIGINT, &sighandler);
rtabmap::Camera * camera = 0;
rtabmap::Transform t=rtabmap::Transform(0,0,1,0, -1,0,0,0, 0,-1,0,0);
if(driver == 0)
{
camera = new rtabmap::CameraOpenni(deviceId, rate, t);
camera = new rtabmap::CameraOpenni(deviceId, rate);
}
else if(driver == 1)
{
@@ -188,7 +193,7 @@ int main (int argc, char * argv[])
UERROR("Not built with OpenNI2 support...");
exit(-1);
}
camera = new rtabmap::CameraOpenNI2(deviceId, CameraOpenNI2::kTypeColorDepth, rate, t);
camera = new rtabmap::CameraOpenNI2(deviceId, CameraOpenNI2::kTypeColorDepth, rate);
}
else if(driver == 2)
{
@@ -197,7 +202,7 @@ int main (int argc, char * argv[])
UERROR("Not built with Freenect support...");
exit(-1);
}
camera = new rtabmap::CameraFreenect(deviceId.size()?atoi(deviceId.c_str()):0, CameraFreenect::kTypeColorDepth, rate, t);
camera = new rtabmap::CameraFreenect(deviceId.size()?atoi(deviceId.c_str()):0, CameraFreenect::kTypeColorDepth, rate);
}
else if(driver == 3)
{
@@ -206,7 +211,7 @@ int main (int argc, char * argv[])
UERROR("Not built with OpenNI from OpenCV support...");
exit(-1);
}
camera = new rtabmap::CameraOpenNICV(false, rate, t);
camera = new rtabmap::CameraOpenNICV(false, rate);
}
else if(driver == 4)
{
@@ -215,7 +220,7 @@ int main (int argc, char * argv[])
UERROR("Not built with OpenNI from OpenCV support...");
exit(-1);
}
camera = new rtabmap::CameraOpenNICV(true, rate, t);
camera = new rtabmap::CameraOpenNICV(true, rate);
}
else if(driver == 5)
{
@@ -224,7 +229,7 @@ int main (int argc, char * argv[])
UERROR("Not built with Freenect2 support...");
exit(-1);
}
camera = new rtabmap::CameraFreenect2(deviceId.size()?atoi(deviceId.c_str()):0, rtabmap::CameraFreenect2::kTypeColor2DepthSD, rate, t);
camera = new rtabmap::CameraFreenect2(deviceId.size()?atoi(deviceId.c_str()):0, rtabmap::CameraFreenect2::kTypeColor2DepthSD, rate);
}
else if(driver == 6)
{
@@ -233,7 +238,7 @@ int main (int argc, char * argv[])
UERROR("Not built with dc1394 support...");
exit(-1);
}
camera = new rtabmap::CameraStereoDC1394(rate, t);
camera = new rtabmap::CameraStereoDC1394(rate);
}
else if(driver == 7)
{
@@ -242,7 +247,61 @@ int main (int argc, char * argv[])
UERROR("Not built with FlyCapture2/Triclops support...");
exit(-1);
}
camera = new rtabmap::CameraStereoFlyCapture2(rate, t);
camera = new rtabmap::CameraStereoFlyCapture2(rate);
}
else if(driver == 8)
{
if(!rtabmap::CameraStereoZed::available())
{
UERROR("Not built with ZED sdk support...");
exit(-1);
}
camera = new rtabmap::CameraStereoZed(uStr2Int(deviceId));
}
else if (driver == 9)
{
if (!rtabmap::CameraRealSense::available())
{
UERROR("Not built with RealSense support...");
exit(-1);
}
camera = new rtabmap::CameraRealSense(uStr2Int(deviceId));
}
else if (driver == 10)
{
if (!rtabmap::CameraK4W2::available())
{
UERROR("Not built with Kinect for Windows 2 SDK support...");
exit(-1);
}
camera = new rtabmap::CameraK4W2(uStr2Int(deviceId));
}
else if (driver == 11)
{
if (!rtabmap::CameraRealSense2::available())
{
UERROR("Not built with RealSense2 SDK support...");
exit(-1);
}
camera = new rtabmap::CameraRealSense2(deviceId);
}
else if (driver == 12)
{
if (!rtabmap::CameraK4A::available())
{
UERROR("Not built with Kinect for Azure SDK support...");
exit(-1);
}
camera = new rtabmap::CameraK4A(1);
}
else if (driver == 13)
{
if (!rtabmap::CameraMyntEye::available())
{
UERROR("Not built with Mynt Eye S support...");
exit(-1);
}
camera = new rtabmap::CameraMyntEye(deviceId);
}
else
{