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updated dataRecorder app to use all drivers, fixed OpenNI2 intermittent deadlock on end of *.oni reading

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This commit is contained in:
matlabbe
2015-04-23 11:08:50 -04:00
parent c1e15c0f2f
commit 39dce825d6
3 changed files with 103 additions and 51 deletions
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150
tools/DataRecorder/main.cpp
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@@ -46,9 +46,16 @@ void showUsage()
" -hide Don't display the current cloud recorded.\n"
" -debug Set debug level for the logger.\n"
" -rate #.# Input rate Hz (default 0=inf)\n"
" -openni Use openni camera instead of the usb camera.\n"
" -openni2 Use openni2 camera instead of the usb camera.\n"
" -freenect Use freenect camera instead of the usb camera.\n");
" -driver Driver number to use:\n"
" 0=OpenNI-PCL (Kinect)\n"
" 1=OpenNI2 (Kinect and Xtion PRO Live)\n"
" 2=Freenect (Kinect)\n"
" 3=OpenNI-CV (Kinect)\n"
" 4=OpenNI-CV-ASUS (Xtion PRO Live)\n"
" 5=Freenect2 (Kinect v2)\n"
" 6=DC1394 (Bumblebee2)\n"
" 7=FlyCapture2 (Bumblebee2)\n"
" -device "" Device ID (default \"\")\n");
exit(1);
}
@@ -76,9 +83,8 @@ int main (int argc, char * argv[])
// parse arguments
QString fileName;
bool show = true;
bool openni = false;
bool openni2 = false;
bool freenect = false;
int driver = 0;
std::string deviceId;
float rate = 0.0f;
if(argc < 2)
@@ -114,19 +120,34 @@ int main (int argc, char * argv[])
show = false;
continue;
}
if(strcmp(argv[i], "-openni") == 0)
if(strcmp(argv[i], "-driver") == 0)
{
openni = true;
++i;
if(i < argc)
{
driver = std::atoi(argv[i]);
if(driver < 0 || driver > 7)
{
showUsage();
}
}
else
{
showUsage();
}
continue;
}
if(strcmp(argv[i], "-openni2") == 0)
if(strcmp(argv[i], "-device") == 0)
{
openni2 = true;
continue;
}
if(strcmp(argv[i], "-freenect") == 0)
{
freenect = true;
++i;
if(i < argc)
{
deviceId = argv[i];
}
else
{
showUsage();
}
continue;
}
@@ -143,33 +164,6 @@ int main (int argc, char * argv[])
UINFO("Output = %s", fileName.toStdString().c_str());
UINFO("Show = %s", show?"true":"false");
if(openni)
{
UINFO("Openni = true");
if(!CameraOpenni::available())
{
UERROR("Openni is not available. Please select another driver.");
return -1;
}
}
else if(openni2)
{
UINFO("Openni2 = true");
if(!CameraOpenNI2::available())
{
UERROR("Openni2 is not available. Please select another driver.");
return -1;
}
}
else if(freenect)
{
UINFO("Freenect = true");
if(!CameraFreenect::available())
{
UERROR("Freenect is not available. Please select another driver.");
return -1;
}
}
UINFO("Rate =%f Hz", rate);
app = new QApplication(argc, argv);
@@ -180,22 +174,80 @@ int main (int argc, char * argv[])
signal(SIGTERM, &sighandler);
signal(SIGINT, &sighandler);
if(openni2)
rtabmap::CameraRGBD * camera = 0;
rtabmap::Transform t=rtabmap::Transform(0,0,1,0, -1,0,0,0, 0,-1,0,0);
if(driver == 0)
{
cam = new rtabmap::CameraThread(new rtabmap::CameraOpenNI2("", rate, rtabmap::Transform(0,0,1,0, -1,0,0,0, 0,-1,0,0)));
camera = new rtabmap::CameraOpenni(deviceId, rate, t);
}
else if(openni)
else if(driver == 1)
{
cam = new rtabmap::CameraThread(new rtabmap::CameraOpenni("", rate, rtabmap::Transform(0,0,1,0, -1,0,0,0, 0,-1,0,0)));
if(!rtabmap::CameraOpenNI2::available())
{
UERROR("Not built with OpenNI2 support...");
exit(-1);
}
camera = new rtabmap::CameraOpenNI2(deviceId, rate, t);
}
else if(freenect)
else if(driver == 2)
{
cam = new rtabmap::CameraThread(new rtabmap::CameraFreenect(0, rate, rtabmap::Transform(0,0,1,0, -1,0,0,0, 0,-1,0,0)));
if(!rtabmap::CameraFreenect::available())
{
UERROR("Not built with Freenect support...");
exit(-1);
}
camera = new rtabmap::CameraFreenect(deviceId.size()?atoi(deviceId.c_str()):0, rate, t);
}
else if(driver == 3)
{
if(!rtabmap::CameraOpenNICV::available())
{
UERROR("Not built with OpenNI from OpenCV support...");
exit(-1);
}
camera = new rtabmap::CameraOpenNICV(false, rate, t);
}
else if(driver == 4)
{
if(!rtabmap::CameraOpenNICV::available())
{
UERROR("Not built with OpenNI from OpenCV support...");
exit(-1);
}
camera = new rtabmap::CameraOpenNICV(true, rate, t);
}
else if(driver == 5)
{
if(!rtabmap::CameraFreenect2::available())
{
UERROR("Not built with Freenect2 support...");
exit(-1);
}
camera = new rtabmap::CameraFreenect2(deviceId.size()?atoi(deviceId.c_str()):0, rtabmap::CameraFreenect2::kTypeRGBDepthSD, rate, t);
}
else if(driver == 6)
{
if(!rtabmap::CameraStereoDC1394::available())
{
UERROR("Not built with dc1394 support...");
exit(-1);
}
camera = new rtabmap::CameraStereoDC1394(rate, t);
}
else if(driver == 7)
{
if(!rtabmap::CameraStereoFlyCapture2::available())
{
UERROR("Not built with FlyCapture2/Triclops support...");
exit(-1);
}
camera = new rtabmap::CameraStereoFlyCapture2(rate, t);
}
else
{
cam = new rtabmap::CameraThread(new rtabmap::CameraVideo(0, rate));
UFATAL("Camera driver (%d) not found!", driver);
}
cam = new CameraThread(camera);
DataRecorder recorder;