From 0d8a9e37c7a1174e2624259051a6e7034a194cfd Mon Sep 17 00:00:00 2001 From: matlabbe Date: Fri, 13 Jun 2014 03:57:17 +0000 Subject: [PATCH] Added error msg when registration is not activated on device (openni from opencv) git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1359 f169173b-cf89-36c8-b27e-44dbe73f0c83 --- corelib/src/Camera.cpp | 20 ++++++++++++-------- 1 file changed, 12 insertions(+), 8 deletions(-) diff --git a/corelib/src/Camera.cpp b/corelib/src/Camera.cpp index c2739120..29dd1db0 100644 --- a/corelib/src/Camera.cpp +++ b/corelib/src/Camera.cpp @@ -408,17 +408,21 @@ bool CameraRGBD::init() _capture.set( CV_CAP_OPENNI_IMAGE_GENERATOR_OUTPUT_MODE, CV_CAP_OPENNI_VGA_30HZ ); // Print some avalible device settings. UINFO("Depth generator output mode:"); - UINFO("FRAME_WIDTH %d", _capture.get( CV_CAP_PROP_FRAME_WIDTH )); - UINFO("FRAME_HEIGHT %d", _capture.get( CV_CAP_PROP_FRAME_HEIGHT )); - UINFO("FRAME_MAX_DEPTH %d mm", _capture.get( CV_CAP_PROP_OPENNI_FRAME_MAX_DEPTH )); - UINFO("FPS %d", _capture.get( CV_CAP_PROP_FPS )); - UINFO("REGISTRATION %d", _capture.get( CV_CAP_PROP_OPENNI_REGISTRATION )); + UINFO("FRAME_WIDTH %f", _capture.get( CV_CAP_PROP_FRAME_WIDTH )); + UINFO("FRAME_HEIGHT %f", _capture.get( CV_CAP_PROP_FRAME_HEIGHT )); + UINFO("FRAME_MAX_DEPTH %f mm", _capture.get( CV_CAP_PROP_OPENNI_FRAME_MAX_DEPTH )); + UINFO("FPS %f", _capture.get( CV_CAP_PROP_FPS )); + UINFO("REGISTRATION %f", _capture.get( CV_CAP_PROP_OPENNI_REGISTRATION )); + if(_capture.get( CV_CAP_PROP_OPENNI_REGISTRATION ) == 0.0) + { + UERROR("Depth registration is not activated on this device!"); + } if( _capture.get( CV_CAP_OPENNI_IMAGE_GENERATOR_PRESENT ) ) { UINFO("Image generator output mode:"); - UINFO("FRAME_WIDTH %d", _capture.get( CV_CAP_OPENNI_IMAGE_GENERATOR+CV_CAP_PROP_FRAME_WIDTH )); - UINFO("FRAME_HEIGHT %d", _capture.get( CV_CAP_OPENNI_IMAGE_GENERATOR+CV_CAP_PROP_FRAME_HEIGHT )); - UINFO("FPS %d", _capture.get( CV_CAP_OPENNI_IMAGE_GENERATOR+CV_CAP_PROP_FPS )); + UINFO("FRAME_WIDTH %f", _capture.get( CV_CAP_OPENNI_IMAGE_GENERATOR+CV_CAP_PROP_FRAME_WIDTH )); + UINFO("FRAME_HEIGHT %f", _capture.get( CV_CAP_OPENNI_IMAGE_GENERATOR+CV_CAP_PROP_FRAME_HEIGHT )); + UINFO("FPS %f", _capture.get( CV_CAP_OPENNI_IMAGE_GENERATOR+CV_CAP_PROP_FPS )); } else {