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Cleanup the code and updated error message about device not found (when rtabmap is linked to wrong libusb library)

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This commit is contained in:
matlabbe
2015-12-08 14:28:26 -05:00
parent 8b2080df44
commit 21bd206af7
2 changed files with 34 additions and 34 deletions
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1
corelib/include/rtabmap/core/CameraRGBD.h
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@@ -252,7 +252,6 @@ private:
StereoCameraModel stereoModel_;
libfreenect2::Freenect2 * freenect2_;
libfreenect2::Freenect2Device *dev_;
libfreenect2::PacketPipeline * pipeline_;
libfreenect2::SyncMultiFrameListener * listener_;
libfreenect2::Registration * reg_;
float minKinect2Depth_;

67
corelib/src/CameraRGBD.cpp
View File

@@ -1097,7 +1097,6 @@ CameraFreenect2::CameraFreenect2(
type_(type),
freenect2_(0),
dev_(0),
pipeline_(0),
listener_(0),
reg_(0),
minKinect2Depth_(minDepth),
@@ -1124,32 +1123,18 @@ CameraFreenect2::CameraFreenect2(
listener_ = new libfreenect2::SyncMultiFrameListener(libfreenect2::Frame::Color | libfreenect2::Frame::Depth);
break;
}
#ifdef LIBFREENECT2_WITH_OPENGL_SUPPORT
pipeline_ = new libfreenect2::OpenGLPacketPipeline();
#else
#ifdef LIBFREENECT2_WITH_OPENCL_SUPPORT
pipeline_ = new libfreenect2::OpenCLPacketPipeline();
#else
pipeline_ = new libfreenect2::CpuPacketPipeline();
#endif
#endif
//default
//MinDepth(0.5f),
//MaxDepth(4.5f),
//EnableBilateralFilter(true),
//EnableEdgeAwareFilter(true)
#endif
}
CameraFreenect2::~CameraFreenect2()
{
#ifdef WITH_FREENECT2
UDEBUG("");
if(dev_)
{
dev_->stop();
dev_->close();
//deleted in freenect2_ destructor (Freeenect2Impl::clearDevices())
}
if(listener_)
{
@@ -1161,11 +1146,6 @@ CameraFreenect2::~CameraFreenect2()
delete reg_;
reg_ = 0;
}
// commented, it seems released in freenect2_
//if(pipeline_)
//{
// delete pipeline_;
//}
if(freenect2_)
{
@@ -1182,7 +1162,7 @@ bool CameraFreenect2::init(const std::string & calibrationFolder, const std::str
{
dev_->stop();
dev_->close();
dev_ = 0;
dev_ = 0; //deleted in freenect2_ destructor (Freeenect2Impl::clearDevices())
}
if(reg_)
@@ -1191,17 +1171,44 @@ bool CameraFreenect2::init(const std::string & calibrationFolder, const std::str
reg_ = 0;
}
libfreenect2::PacketPipeline * pipeline;
#ifdef LIBFREENECT2_WITH_OPENGL_SUPPORT
pipeline = new libfreenect2::OpenGLPacketPipeline();
#else
#ifdef LIBFREENECT2_WITH_OPENCL_SUPPORT
pipeline = new libfreenect2::OpenCLPacketPipeline();
#else
pipeline = new libfreenect2::CpuPacketPipeline();
#endif
#endif
if(deviceId_ <= 0)
{
dev_ = freenect2_->openDefaultDevice(pipeline_);
UDEBUG("Opening default device...");
dev_ = freenect2_->openDefaultDevice(pipeline);
pipeline = 0;// pipeline deleted in dev_ (Freenect2DeviceImpl::~Freenect2DeviceImpl())
}
else
{
dev_ = freenect2_->openDevice(deviceId_, pipeline_);
UDEBUG("Opening device ID=%d...", deviceId_);
dev_ = freenect2_->openDevice(deviceId_, pipeline);
pipeline = 0;// pipeline deleted in dev_ (Freenect2DeviceImpl::~Freenect2DeviceImpl())
}
if(dev_)
{
//default
//MinDepth(0.5f),
//MaxDepth(4.5f),
//EnableBilateralFilter(true),
//EnableEdgeAwareFilter(true)
libfreenect2::Freenect2Device::Config config;
config.EnableBilateralFilter = bilateralFiltering_;
config.EnableEdgeAwareFilter = edgeAwareFiltering_;
config.MinDepth = minKinect2Depth_;
config.MaxDepth = maxKinect2Depth_;
dev_->setConfiguration(config);
dev_->setColorFrameListener(listener_);
dev_->setIrAndDepthFrameListener(listener_);
@@ -1268,18 +1275,12 @@ bool CameraFreenect2::init(const std::string & calibrationFolder, const std::str
}
}
libfreenect2::Freenect2Device::Config config;
config.EnableBilateralFilter = bilateralFiltering_;
config.EnableEdgeAwareFilter = edgeAwareFiltering_;
config.MinDepth = minKinect2Depth_;
config.MaxDepth = maxKinect2Depth_;
dev_->setConfiguration(config);
return true;
}
else
{
UERROR("CameraFreenect2: no device connected or failure opening the default one!");
UERROR("CameraFreenect2: no device connected or failure opening the default one! Note that rtabmap should link on libusb of libfreenect2. "
"Tip, before starting rtabmap: \"$ export LD_LIBRARY_PATH=~/libfreenect2/depends/libusb/lib:$LD_LIBRARY_PATH\"");
}
#else
UERROR("CameraFreenect2: RTAB-Map is not built with Freenect2 support!");