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Added CameraRGBD with openni from OpenCV, removed feature2D stuff from Camera

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1358 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-06-13 03:47:39 +00:00
parent f423b1b743
commit 0bba363f5f
11 changed files with 345 additions and 309 deletions
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corelib/src/CameraThread.cpp
+5 -68
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@@ -39,7 +39,6 @@ CameraThread::CameraThread(Camera * camera, bool autoRestart) :
CameraThread::~CameraThread()
{
UEventsManager::removeHandler(this);
join(true);
delete _camera;
}
@@ -66,79 +65,17 @@ bool CameraThread::init()
}
void CameraThread::mainLoop()
{
State state = kStateCapturing;
ParametersMap parameters;
_stateMutex.lock();
{
if(!_state.empty() && !_stateParam.empty())
{
state = _state.top();
_state.pop();
parameters = _stateParam.top();
_stateParam.pop();
}
}
_stateMutex.unlock();
if(state == kStateCapturing)
{
process();
}
else if(state == kStateChangingParameters)
{
_camera->parseParameters(parameters);
}
}
void CameraThread::pushNewState(State newState, const ParametersMap & parameters)
{
ULOGGER_DEBUG("to %d", newState);
_stateMutex.lock();
{
_state.push(newState);
_stateParam.push(parameters);
}
_stateMutex.unlock();
}
void CameraThread::handleEvent(UEvent* anEvent)
{
if(anEvent->getClassName().compare("ParamEvent") == 0)
{
if(this->isIdle())
{
_stateMutex.lock();
_camera->parseParameters(((ParamEvent*)anEvent)->getParameters());
_stateMutex.unlock();
}
else
{
ULOGGER_DEBUG("changing parameters");
pushNewState(kStateChangingParameters, ((ParamEvent*)anEvent)->getParameters());
}
}
}
void CameraThread::process()
{
UTimer timer;
ULOGGER_DEBUG("Camera::process()");
cv::Mat descriptors;
std::vector<cv::KeyPoint> keypoints;
cv::Mat img = _camera->takeImage(descriptors, keypoints);
if(!img.empty() && !this->isKilled())
cv::Mat rgb, depth;
float depthConstant = 0.0f;
_camera->takeImage(rgb, depth, depthConstant);
if(!rgb.empty() && !this->isKilled())
{
if(_camera->isFeaturesExtracted())
{
this->post(new CameraEvent(descriptors, keypoints, img, ++_seq));
}
else
{
this->post(new CameraEvent(img, ++_seq));
}
this->post(new CameraEvent(rgb, depth, depthConstant, _camera->getLocalTransform(), ++_seq));
}
else if(!this->isKilled())
{