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CameraK4A: added finding lib on linux

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This commit is contained in:
matlabbe
2019-07-10 12:34:13 -04:00
parent 3c7719f6d8
commit 0973f48b2c
6 changed files with 65 additions and 29 deletions
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24
corelib/src/CMakeLists.txt
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@@ -21,7 +21,7 @@ SET(SRC_FILES
camera/CameraFreenect2.cpp
camera/CameraImages.cpp
camera/CameraK4W2.cpp
camera/CameraK4A.cpp
camera/CameraK4A.cpp
camera/CameraOpenni.cpp
camera/CameraOpenNI2.cpp
camera/CameraOpenNICV.cpp
@@ -219,16 +219,24 @@ IF(KinectSDK2_FOUND)
)
ENDIF(KinectSDK2_FOUND)
IF(K4A_FOUND)
IF(k4a_FOUND)
SET(INCLUDE_DIRS
${INCLUDE_DIRS}
${K4A_INCLUDE_DIRS}
${k4a_INCLUDE_DIRS}
)
SET(LIBRARIES
${LIBRARIES}
${K4A_LIBRARIES}
)
ENDIF(K4A_FOUND)
IF(WIN32)
SET(LIBRARIES
${LIBRARIES}
${k4a_LIBRARIES}
)
ELSE()
SET(LIBRARIES
${LIBRARIES}
k4a::k4a
k4a::k4arecord
)
ENDIF()
ENDIF(k4a_FOUND)
IF(RealSense_FOUND)
SET(INCLUDE_DIRS

29
corelib/src/camera/CameraK4A.cpp
View File

@@ -1,5 +1,5 @@
/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
Copyright (c) 2010-2019, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
@@ -52,26 +52,27 @@ CameraK4A::CameraK4A(
int deviceId,
float imageRate,
const Transform & localTransform) :
Camera(imageRate, localTransform),
deviceId_(deviceId)
Camera(imageRate, localTransform)
#ifdef RTABMAP_K4A
, playbackHandle_(NULL),
,playbackHandle_(NULL),
transformationHandle_(NULL),
deviceId_(deviceId),
ir_(false)
#endif
{
UERROR("CameraK4A: Live camera stream is not yet supported, only recorded mkv files are.");
}
CameraK4A::CameraK4A(
const std::string & fileName,
float imageRate,
const Transform & localTransform) :
Camera(imageRate, localTransform),
deviceId_(-1),
fileName_(fileName)
Camera(imageRate, localTransform)
#ifdef RTABMAP_K4A
, playbackHandle_(NULL),
,playbackHandle_(NULL),
transformationHandle_(NULL),
deviceId_(-1),
fileName_(fileName),
ir_(false)
#endif
{
@@ -84,6 +85,7 @@ CameraK4A::~CameraK4A()
void CameraK4A::close()
{
#ifdef RTABMAP_K4A
if (playbackHandle_ != NULL)
{
k4a_playback_close((k4a_playback_t)playbackHandle_);
@@ -97,7 +99,14 @@ void CameraK4A::close()
k4a_device_stop_cameras(device);
k4a_device_close(device);
*/
#endif
}
void CameraK4A::setIRDepthFormat(bool enabled)
{
#ifdef RTABMAP_K4A
ir_ = enabled;
#endif
}
bool CameraK4A::init(const std::string & calibrationFolder, const std::string & cameraName)
@@ -216,7 +225,11 @@ bool CameraK4A::isCalibrated() const
std::string CameraK4A::getSerial() const
{
#ifdef RTABMAP_K4A
return fileName_.empty()?"":fileName_;
#else
return "";
#endif
}
SensorData CameraK4A::captureImage(CameraInfo * info)