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Added CameraK4A driver (only MKV playback supported yet). Fixed build with realsense2 support on Windows. Preferences: added imu filtering parameters to ini file.

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This commit is contained in:
matlabbe
2019-07-09 20:48:09 -04:00
parent 63be7c85fc
commit 3c7719f6d8
22 changed files with 1426 additions and 508 deletions
Download Patch File Download Diff File Expand all files Collapse all files
CMakeLists.txt
+21
View File
@@ -166,6 +166,7 @@ option(WITH_ORB_OCTREE "Include ORB Octree feature support" ON)
option(WITH_FREENECT "Include Freenect support" ON)
option(WITH_FREENECT2 "Include Freenect2 support" ON)
option(WITH_K4W2 "Include Kinect for Windows v2 support" ON)
option(WITH_K4A "Include Kinect for Azure support" ON)
option(WITH_OPENNI2 "Include OpenNI2 support" ON)
option(WITH_DC1394 "Include dc1394 support" ON)
option(WITH_G2O "Include g2o support" ON)
@@ -323,6 +324,13 @@ IF(WITH_K4W2 AND WIN32)
ENDIF(KinectSDK2_FOUND)
ENDIF(WITH_K4W2 AND WIN32)
IF(WITH_K4A)
FIND_PACKAGE(K4A QUIET)
IF(K4A_FOUND)
MESSAGE(STATUS "Found Kinect for Azure: ${K4A_INCLUDE_DIRS}")
ENDIF(K4A_FOUND)
ENDIF(WITH_K4A)
# IF PCL depends on OpenNI2 (already found), ignore WITH_OPENNI2
IF(WITH_OPENNI2 OR OpenNI2_FOUND)
FIND_PACKAGE(OpenNI2 QUIET)
@@ -640,6 +648,11 @@ IF(NOT KinectSDK2_FOUND)
ELSE()
SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${KinectSDK2_LIBRARIES})
ENDIF()
IF(NOT K4A_FOUND)
SET(K4A "//")
ELSE()
SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${K4A_LIBRARIES})
ENDIF()
IF(NOT OpenNI2_FOUND)
SET(OPENNI2 "//")
ELSE()
@@ -999,6 +1012,14 @@ ELSE()
MESSAGE(STATUS " With Kinect for Windows 2 = NO (Kinect for Windows 2 SDK not found)")
ENDIF()
IF(K4A_FOUND)
MESSAGE(STATUS " With Kinect for Azure = YES (License: MIT)")
ELSEIF(NOT WITH_K4A)
MESSAGE(STATUS " With Kinect for Azure = NO (WITH_K4A=OFF)")
ELSE()
MESSAGE(STATUS " With Kinect for Azure = NO (Kinect for Azure SDK not found)")
ENDIF()
IF(DC1394_FOUND)
MESSAGE(STATUS " With dc1394 = YES (License: LGPL)")
ELSEIF(NOT WITH_DC1394)
Version.h.in
+1
View File
@@ -48,6 +48,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
@FREENECT@#define RTABMAP_FREENECT
@FREENECT2@#define RTABMAP_FREENECT2
@K4W2@#define RTABMAP_K4W2
@K4A@#define RTABMAP_K4A
@CVSBA@#define RTABMAP_CVSBA
@POINTMATCHER@#define RTABMAP_POINTMATCHER
@LOAM@#define RTABMAP_LOAM
cmake_modules/FindK4A.cmake
+29
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@@ -0,0 +1,29 @@
# - Find K4A
# This module finds an kinect 4 azure SDK
#
# It sets the following variables:
# K4A_FOUND - Set to false, or undefined, if FlyCapture2 isn't found.
# K4A_INCLUDE_DIRS - The FlyCapture2 include directory.
# K4A_LIBRARIES - The FlyCapture2 library to link against.
find_library(K4A_LIBRARY NAMES k4a NO_DEFAULT_PATH PATHS $ENV{K4A_ROOT_DIR}/sdk/windows-desktop/amd64/release/lib)
find_library(K4ARECORD_LIBRARY NAMES k4arecord NO_DEFAULT_PATH PATHS $ENV{K4A_ROOT_DIR}/sdk/windows-desktop/amd64/release/lib)
find_path(K4A_INCLUDE_DIR NAMES k4a/k4a.h PATHS $ENV{K4A_ROOT_DIR}/sdk/include)
IF (K4A_INCLUDE_DIR AND K4A_LIBRARY AND K4ARECORD_LIBRARY)
SET(K4A_FOUND TRUE)
SET(K4A_INCLUDE_DIRS ${K4A_INCLUDE_DIR})
SET(K4A_LIBRARIES ${K4A_LIBRARY} ${K4ARECORD_LIBRARY})
ENDIF (K4A_INCLUDE_DIR AND K4A_LIBRARY AND K4ARECORD_LIBRARY)
IF (K4A_FOUND)
# show which K4A was found only if not quiet
IF (NOT K4A_FIND_QUIETLY)
MESSAGE(STATUS "Found K4A: ${K4A_LIBRARIES}")
ENDIF (NOT K4A_FIND_QUIETLY)
ELSE (K4A_FOUND)
# fatal error if K4A is required but not found
IF (K4A_FIND_REQUIRED)
MESSAGE(FATAL_ERROR "Could not find K4A (Kinect for Azure SDK)")
ENDIF (K4A_FIND_REQUIRED)
ENDIF (K4A_FOUND)
corelib/include/rtabmap/core/CameraRGBD.h
+1
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@@ -36,4 +36,5 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/core/camera/CameraRealSense.h>
#include <rtabmap/core/camera/CameraRealSense2.h>
#include <rtabmap/core/camera/CameraRGBDImages.h>
#include <rtabmap/core/camera/CameraK4A.h>
corelib/include/rtabmap/core/camera/CameraK4A.h
+80
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@@ -0,0 +1,80 @@
/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#pragma once
#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
#include "rtabmap/core/CameraModel.h"
#include "rtabmap/core/Camera.h"
#include "rtabmap/core/Version.h"
namespace rtabmap
{
class RTABMAP_EXP CameraK4A :
public Camera
{
public:
static bool available();
public:
CameraK4A(int deviceId = 0,
float imageRate = 0.0f,
const Transform & localTransform = Transform::getIdentity());
CameraK4A(const std::string & fileName,
float imageRate = 0.0f,
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraK4A();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
virtual bool isCalibrated() const;
virtual std::string getSerial() const;
void setIRDepthFormat(bool enabled) {ir_ = enabled;}
protected:
virtual SensorData captureImage(CameraInfo * info = 0);
private:
void close();
private:
int deviceId_;
std::string fileName_;
#ifdef RTABMAP_K4A
void* playbackHandle_;
void* transformationHandle_;
CameraModel model_;
bool ir_;
#endif
};
} // namespace rtabmap
corelib/src/CMakeLists.txt
+12
View File
@@ -21,6 +21,7 @@ SET(SRC_FILES
camera/CameraFreenect2.cpp
camera/CameraImages.cpp
camera/CameraK4W2.cpp
camera/CameraK4A.cpp
camera/CameraOpenni.cpp
camera/CameraOpenNI2.cpp
camera/CameraOpenNICV.cpp
@@ -218,6 +219,17 @@ IF(KinectSDK2_FOUND)
)
ENDIF(KinectSDK2_FOUND)
IF(K4A_FOUND)
SET(INCLUDE_DIRS
${INCLUDE_DIRS}
${K4A_INCLUDE_DIRS}
)
SET(LIBRARIES
${LIBRARIES}
${K4A_LIBRARIES}
)
ENDIF(K4A_FOUND)
IF(RealSense_FOUND)
SET(INCLUDE_DIRS
${INCLUDE_DIRS}
corelib/src/Odometry.cpp
+1 -1
View File
@@ -622,7 +622,7 @@ Transform Odometry::process(SensorData & data, const Transform & guessIn, Odomet
if(dt)
{
if(dt >=guessSmoothingDelay_/2.0 || particleFilters_.size() || _filteringStrategy==1)
if(dt >= (guessSmoothingDelay_/2.0) || particleFilters_.size() || _filteringStrategy==1)
{
velocityGuess_ = Transform(vx, vy, vz, vroll, vpitch, vyaw);
previousVelocities_.clear();
corelib/src/camera/CameraK4A.cpp
+404
View File
@@ -0,0 +1,404 @@
/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include <rtabmap/core/camera/CameraK4A.h>
#include <rtabmap/utilite/UTimer.h>
#include <rtabmap/utilite/UThreadC.h>
#include <rtabmap/core/util2d.h>
#include <rtabmap/core/Compression.h>
#include <opencv2/imgproc/types_c.h>
#ifdef RTABMAP_K4A
#include <k4a/k4a.h>
#include <k4arecord/playback.h>
#endif
namespace rtabmap
{
bool CameraK4A::available()
{
#ifdef RTABMAP_K4A
return true;
#else
return false;
#endif
}
CameraK4A::CameraK4A(
int deviceId,
float imageRate,
const Transform & localTransform) :
Camera(imageRate, localTransform),
deviceId_(deviceId)
#ifdef RTABMAP_K4A
, playbackHandle_(NULL),
transformationHandle_(NULL),
ir_(false)
#endif
{
}
CameraK4A::CameraK4A(
const std::string & fileName,
float imageRate,
const Transform & localTransform) :
Camera(imageRate, localTransform),
deviceId_(-1),
fileName_(fileName)
#ifdef RTABMAP_K4A
, playbackHandle_(NULL),
transformationHandle_(NULL),
ir_(false)
#endif
{
}
CameraK4A::~CameraK4A()
{
close();
}
void CameraK4A::close()
{
if (playbackHandle_ != NULL)
{
k4a_playback_close((k4a_playback_t)playbackHandle_);
}
if (transformationHandle_ != NULL)
{
k4a_transformation_destroy((k4a_transformation_t)transformationHandle_);
}
/*
// Shut down the camera when finished with application logic
k4a_device_stop_cameras(device);
k4a_device_close(device);
*/
}
bool CameraK4A::init(const std::string & calibrationFolder, const std::string & cameraName)
{
#ifdef RTABMAP_K4A
close();
if (!fileName_.empty())
{
if (k4a_playback_open(fileName_.c_str(), (k4a_playback_t*)&playbackHandle_) != K4A_RESULT_SUCCEEDED)
{
UERROR("Failed to open recording \"%s\"", fileName_.c_str());
return false;
}
uint64_t recording_length = k4a_playback_get_last_timestamp_usec((k4a_playback_t)playbackHandle_);
UINFO("Recording is %lld seconds long", recording_length / 1000000);
k4a_calibration_t calibration;
if (k4a_playback_get_calibration((k4a_playback_t)playbackHandle_, &calibration))
{
UERROR("Failed to get calibration");
close();
return false;
}
if (ir_)
{
model_ = CameraModel(
calibration.depth_camera_calibration.intrinsics.parameters.param.fx,
calibration.depth_camera_calibration.intrinsics.parameters.param.fy,
calibration.depth_camera_calibration.intrinsics.parameters.param.cx,
calibration.depth_camera_calibration.intrinsics.parameters.param.cy,
this->getLocalTransform(),
0,
cv::Size(calibration.depth_camera_calibration.resolution_width, calibration.depth_camera_calibration.resolution_height));
}
else
{
model_ = CameraModel(
calibration.color_camera_calibration.intrinsics.parameters.param.fx,
calibration.color_camera_calibration.intrinsics.parameters.param.fy,
calibration.color_camera_calibration.intrinsics.parameters.param.cx,
calibration.color_camera_calibration.intrinsics.parameters.param.cy,
this->getLocalTransform(),
0,
cv::Size(calibration.color_camera_calibration.resolution_width, calibration.color_camera_calibration.resolution_height));
transformationHandle_ = k4a_transformation_create(&calibration);
}
k4a_record_configuration_t config;
if (k4a_playback_get_record_configuration((k4a_playback_t)playbackHandle_, &config))
{
UERROR("Failed to getting recording configuration");
close();
return false;
}
}
else if (deviceId_ >= 0)
{
UERROR("CameraK4A: Live camera stream is not yet supported, only recorded mkv files are.");
return false;
/*uint32_t count = k4a_device_get_installed_count();
if (count == 0)
{
UERROR("No k4a devices attached!");
return false;
}
// Open the first plugged in Kinect device
k4a_device_t device = NULL;
if (K4A_FAILED(k4a_device_open(K4A_DEVICE_DEFAULT, &device)))
{
UERROR("Failed to open k4a device!");
return false;
}
// Get the size of the serial number
size_t serial_size = 0;
k4a_device_get_serialnum(device, NULL, &serial_size);
// Allocate memory for the serial, then acquire it
char *serial = (char*)(malloc(serial_size));
k4a_device_get_serialnum(device, serial, &serial_size);
UINFO("Opened device: %s", serial);
free(serial);
// Configure a stream of 4096x3072 BRGA color data at 15 frames per second
k4a_device_configuration_t config = K4A_DEVICE_CONFIG_INIT_DISABLE_ALL;
config.camera_fps = K4A_FRAMES_PER_SECOND_15;
config.color_format = K4A_IMAGE_FORMAT_COLOR_BGRA32;
config.color_resolution = K4A_COLOR_RESOLUTION_3072P;
// Start the camera with the given configuration
if (K4A_FAILED(k4a_device_start_cameras(device, &config)))
{
UERROR("Failed to start cameras!");
k4a_device_close(device);
return false;
}*/
}
return true;
#else
UERROR("CameraK4A: RTAB-Map is not built with Kinect for Azure SDK support!");
return false;
#endif
}
bool CameraK4A::isCalibrated() const
{
return true;
}
std::string CameraK4A::getSerial() const
{
return fileName_.empty()?"":fileName_;
}
SensorData CameraK4A::captureImage(CameraInfo * info)
{
SensorData data;
#ifdef RTABMAP_K4A
if (playbackHandle_ != NULL)
{
k4a_capture_t capture = NULL;
k4a_stream_result_t result = K4A_STREAM_RESULT_SUCCEEDED;
// wait to get all frames
UTimer time;
while (result == K4A_STREAM_RESULT_SUCCEEDED && time.elapsed() < 5.0)
{
result = k4a_playback_get_next_capture((k4a_playback_t)playbackHandle_, &capture);
if (result == K4A_STREAM_RESULT_SUCCEEDED)
{
cv::Mat bgrCV;
cv::Mat depthCV;
double stamp = 0;
// Process capture here
if (ir_)
{
k4a_image_t ir = k4a_capture_get_ir_image(capture);
if (ir != NULL)
{
/*UDEBUG("ir res:%4dx%4d stride:%5d format:%d stamp=%f",
k4a_image_get_height_pixels(ir),
k4a_image_get_width_pixels(ir),
k4a_image_get_stride_bytes(ir),
k4a_image_get_format(ir),
double(k4a_image_get_timestamp_usec(ir)) / 1000000.0);*/
UASSERT(k4a_image_get_format(ir) == K4A_IMAGE_FORMAT_IR16);
cv::Mat bgrCV16(k4a_image_get_height_pixels(ir), k4a_image_get_width_pixels(ir), CV_16UC1, (void*)k4a_image_get_buffer(ir));
bgrCV16.convertTo(bgrCV, CV_8U);
// Release the image
k4a_image_release(ir);
}
}
else
{
k4a_image_t color = k4a_capture_get_color_image(capture);
if (color != NULL)
{
/*UDEBUG("Color res:%4dx%4d stride:%5d format:%d stamp=%f",
k4a_image_get_height_pixels(color),
k4a_image_get_width_pixels(color),
k4a_image_get_stride_bytes(color),
k4a_image_get_format(color),
double(k4a_image_get_timestamp_usec(color)) / 1000000.0);*/
UASSERT(k4a_image_get_format(color) == K4A_IMAGE_FORMAT_COLOR_MJPG || k4a_image_get_format(color) == K4A_IMAGE_FORMAT_COLOR_BGRA32);
if (k4a_image_get_format(color) == K4A_IMAGE_FORMAT_COLOR_MJPG)
{
bgrCV = uncompressImage(cv::Mat(1, (int)k4a_image_get_size(color), CV_8UC1, (void*)k4a_image_get_buffer(color)));
//UDEBUG("Uncompressed = %d %d %d", bgrCV.rows, bgrCV.cols, bgrCV.channels());
}
else
{
cv::Mat bgra(k4a_image_get_height_pixels(color), k4a_image_get_width_pixels(color), CV_8UC4, (void*)k4a_image_get_buffer(color));
cv::cvtColor(bgra, bgrCV, CV_BGRA2BGR);
}
// Release the image
k4a_image_release(color);
}
}
if (!bgrCV.empty())
{
k4a_image_t depth = k4a_capture_get_depth_image(capture);
if (depth != NULL)
{
/*UDEBUG("Depth16 res:%4dx%4d stride:%5d format:%d stamp=%f",
k4a_image_get_height_pixels(depth),
k4a_image_get_width_pixels(depth),
k4a_image_get_stride_bytes(depth),
k4a_image_get_format(depth),
double(k4a_image_get_timestamp_usec(depth)) / 1000000.0);*/
UASSERT(k4a_image_get_format(depth) == K4A_IMAGE_FORMAT_DEPTH16);
stamp = ((double)k4a_image_get_timestamp_usec(depth)) / 1000000;
if (ir_)
{
depthCV = cv::Mat(k4a_image_get_height_pixels(depth), k4a_image_get_width_pixels(depth), CV_16UC1, (void*)k4a_image_get_buffer(depth)).clone();
}
else
{
k4a_image_t transformedDepth;
if (k4a_image_create(k4a_image_get_format(depth), bgrCV.cols, bgrCV.rows, bgrCV.cols * 2, &transformedDepth) == K4A_RESULT_SUCCEEDED)
{
if (k4a_transformation_depth_image_to_color_camera((k4a_transformation_t)transformationHandle_, depth, transformedDepth) == K4A_RESULT_SUCCEEDED)
{
depthCV = cv::Mat(k4a_image_get_height_pixels(transformedDepth), k4a_image_get_width_pixels(transformedDepth), CV_16UC1, (void*)k4a_image_get_buffer(transformedDepth)).clone();
}
else
{
UERROR("Failed registration!");
}
k4a_image_release(transformedDepth);
}
else
{
UERROR("Failed allocating depth registered! (%d %d %d)", bgrCV.cols, bgrCV.rows, bgrCV.cols * 2);
}
}
// Release the image
k4a_image_release(depth);
}
}
k4a_capture_release(capture);
IMU imu;
// FIXME: local imu transform missing
/*k4a_imu_sample_t imuSample;
if (k4a_playback_get_next_imu_sample((k4a_playback_t)playbackHandle_, &imuSample) == K4A_STREAM_RESULT_SUCCEEDED)
{
// K4A IMU Co-ordinates
// x+ = "backwards"
// y+ = "left"
// z+ = "down"
//
// ROS Standard co-ordinates:
// x+ = "forward"
// y+ = "left"
// z+ = "up"
//
// Remap K4A IMU to ROS co-ordinate system:
// ROS_X+ = K4A_X-
// ROS_Y+ = K4A_Y+
// ROS_Z+ = K4A_Z-
imu = IMU(
cv::Vec3d(-1*imuSample.gyro_sample.xyz.x, imuSample.gyro_sample.xyz.y, -1 * imuSample.gyro_sample.xyz.z),
cv::Mat::eye(3, 3, CV_64FC1),
cv::Vec3d(-1 * imuSample.acc_sample.xyz.x, imuSample.acc_sample.xyz.y, -1 * imuSample.acc_sample.xyz.z),
cv::Mat::eye(3, 3, CV_64FC1),
Transform::getIdentity());
}*/
if (!bgrCV.empty() && !depthCV.empty())
{
data = SensorData(bgrCV, depthCV, model_, this->getNextSeqID(), stamp);
data.setIMU(imu);
break;
}
}
}
if (result == K4A_STREAM_RESULT_EOF)
{
// End of file reached
UINFO("End of file reached");
}
else if (result == K4A_STREAM_RESULT_FAILED)
{
UERROR("Failed to read entire recording");
}
}
else
{
UERROR("CameraK4A: Live camera stream is not yet supported, only recorded mkv files are.");
}
#else
UERROR("CameraK4A: RTAB-Map is not built with Kinect for Azure SDK support!");
#endif
return data;
}
} // namespace rtabmap
examples/RGBDMapping/CMakeLists.txt
+8
View File
@@ -58,6 +58,14 @@ SET(LIBRARIES
${PCL_LIBRARIES}
)
# Hack as CameraRealsense2.h needs realsense2 include dir
IF(realsense2_FOUND)
SET(INCLUDE_DIRS
${INCLUDE_DIRS}
${realsense2_INCLUDE_DIRS}
)
ENDIF(realsense2_FOUND)
INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
IF(QT4_FOUND)
examples/WifiMapping/CMakeLists.txt
+8
View File
@@ -52,6 +52,14 @@ SET(LIBRARIES
${PCL_LIBRARIES}
)
# Hack as CameraRealsense2.h needs realsense2 include dir
IF(realsense2_FOUND)
SET(INCLUDE_DIRS
${INCLUDE_DIRS}
${realsense2_INCLUDE_DIRS}
)
ENDIF(realsense2_FOUND)
INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
IF(QT4_FOUND)
guilib/include/rtabmap/gui/PreferencesDialog.h
+2
View File
@@ -93,6 +93,7 @@ public:
kSrcRGBDImages = 7,
kSrcK4W2 = 8,
kSrcRealSense2 = 9,
kSrcK4A = 10,
kSrcStereo = 100,
kSrcDC1394 = 100,
@@ -353,6 +354,7 @@ private Q_SLOTS:
void selectSourceDistortionModel();
void selectSourceOniPath();
void selectSourceOni2Path();
void selectSourceMKVPath();
void selectSourceSvoPath();
void updateSourceGrpVisibility();
void testOdometry();
guilib/src/AboutDialog.cpp
+2
View File
@@ -100,6 +100,8 @@ AboutDialog::AboutDialog(QWidget * parent) :
_ui->label_dc1394_license->setEnabled(CameraStereoDC1394::available());
_ui->label_flycapture2->setText(CameraStereoFlyCapture2::available()?"Yes":"No");
_ui->label_zed->setText(CameraStereoZed::available()?"Yes":"No");
_ui->label_k4w2->setText(CameraK4W2::available() ? "Yes" : "No");
_ui->label_k4a->setText(CameraK4A::available() ? "Yes" : "No");
_ui->label_toro->setText(Optimizer::isAvailable(Optimizer::kTypeTORO)?"Yes":"No");
_ui->label_toro_license->setEnabled(Optimizer::isAvailable(Optimizer::kTypeTORO)?true:false);
guilib/src/CMakeLists.txt
+8
View File
@@ -129,6 +129,14 @@ SET(INCLUDE_DIRS
${PCL_INCLUDE_DIRS}
)
# Hack as CameraRealsense2.h needs realsense2 include dir
IF(realsense2_FOUND)
SET(INCLUDE_DIRS
${INCLUDE_DIRS}
${realsense2_INCLUDE_DIRS}
)
ENDIF(realsense2_FOUND)
IF(QT4_FOUND)
INCLUDE(${QT_USE_FILE})
ENDIF(QT4_FOUND)
guilib/src/PreferencesDialog.cpp
+80 -1
View File
@@ -296,6 +296,10 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
{
_ui->comboBox_cameraRGBD->setItemData(kSrcK4W2 - kSrcRGBD, 0, Qt::UserRole - 1);
}
if (!CameraK4A::available())
{
_ui->comboBox_cameraRGBD->setItemData(kSrcK4A - kSrcRGBD, 0, Qt::UserRole - 1);
}
if (!CameraRealSense::available())
{
_ui->comboBox_cameraRGBD->setItemData(kSrcRealSense - kSrcRGBD, 0, Qt::UserRole - 1);
@@ -689,10 +693,12 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->pushButton_calibrate_simple, SIGNAL(clicked()), this, SLOT(calibrateSimple()));
connect(_ui->toolButton_openniOniPath, SIGNAL(clicked()), this, SLOT(selectSourceOniPath()));
connect(_ui->toolButton_openni2OniPath, SIGNAL(clicked()), this, SLOT(selectSourceOni2Path()));
connect(_ui->toolButton_k4a_mkv, SIGNAL(clicked()), this, SLOT(selectSourceMKVPath()));
connect(_ui->toolButton_source_distortionModel, SIGNAL(clicked()), this, SLOT(selectSourceDistortionModel()));
connect(_ui->toolButton_distortionModel, SIGNAL(clicked()), this, SLOT(visualizeDistortionModel()));
connect(_ui->lineEdit_openniOniPath, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->lineEdit_openni2OniPath, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->lineEdit_k4a_mkv, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->lineEdit_source_distortionModel, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->groupBox_bilateral, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->doubleSpinBox_bilateral_sigmaS, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
@@ -1780,6 +1786,8 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->spinBox_rs2_rate->setValue(60);
_ui->lineEdit_openniOniPath->clear();
_ui->lineEdit_openni2OniPath->clear();
_ui->checkbox_k4a_irDepth->setChecked(false);
_ui->lineEdit_k4a_mkv->clear();
_ui->lineEdit_cameraRGBDImages_path_rgb->setText("");
_ui->lineEdit_cameraRGBDImages_path_depth->setText("");
_ui->doubleSpinBox_cameraRGBDImages_scale->setValue(1.0);
@@ -2174,6 +2182,11 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
_ui->comboBox_k4w2Format->setCurrentIndex(settings.value("format", _ui->comboBox_k4w2Format->currentIndex()).toInt());
settings.endGroup(); // K4W2
settings.beginGroup("K4A");
_ui->checkbox_k4a_irDepth->setChecked(settings.value("ir", _ui->checkbox_k4a_irDepth->isChecked()).toBool());
_ui->lineEdit_k4a_mkv->setText(settings.value("mkvPath", _ui->lineEdit_k4a_mkv->text()).toString());
settings.endGroup(); // K4A
settings.beginGroup("RealSense");
_ui->comboBox_realsensePresetRGB->setCurrentIndex(settings.value("presetRGB", _ui->comboBox_realsensePresetRGB->currentIndex()).toInt());
_ui->comboBox_realsensePresetDepth->setCurrentIndex(settings.value("presetDepth", _ui->comboBox_realsensePresetDepth->currentIndex()).toInt());
@@ -2258,6 +2271,16 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
_ui->source_video_lineEdit_path->setText(settings.value("path", _ui->source_video_lineEdit_path->text()).toString());
settings.endGroup(); // video
settings.beginGroup("IMU");
_ui->comboBox_imuFilter_strategy->setCurrentIndex(settings.value("strategy", _ui->comboBox_imuFilter_strategy->currentIndex()).toInt());
_ui->doubleSpinBox_imuFilterMadgwickGain->setValue(settings.value("madgwick_gain", _ui->doubleSpinBox_imuFilterMadgwickGain->value()).toDouble());
_ui->doubleSpinBox_imuFilterMadgwickZeta->setValue(settings.value("madgwick_zeta", _ui->doubleSpinBox_imuFilterMadgwickZeta->value()).toDouble());
_ui->doubleSpinBox_imuFilterComplementaryGainAcc->setValue(settings.value("complementary_gain_acc", _ui->doubleSpinBox_imuFilterComplementaryGainAcc->value()).toDouble());
_ui->doubleSpinBox_imuFilterComplementaryBiasAlpha->setValue(settings.value("complementary_bias_alpha", _ui->doubleSpinBox_imuFilterComplementaryBiasAlpha->value()).toDouble());
_ui->checkBox_imuFilterComplementaryDoAdaptiveGain->setChecked(settings.value("complementary_adaptive_gain", _ui->checkBox_imuFilterComplementaryDoAdaptiveGain->isChecked()).toBool());
_ui->checkBox_imuFilterComplementaryDoBiasEstimation->setChecked(settings.value("complementary_biais_estimation", _ui->checkBox_imuFilterComplementaryDoBiasEstimation->isChecked()).toBool());
settings.endGroup();//IMU
settings.beginGroup("Scan");
_ui->checkBox_source_scanFromDepth->setChecked(settings.value("fromDepth", _ui->checkBox_source_scanFromDepth->isChecked()).toBool());
_ui->spinBox_source_scanDownsampleStep->setValue(settings.value("downsampleStep", _ui->spinBox_source_scanDownsampleStep->value()).toInt());
@@ -2614,6 +2637,11 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.setValue("format", _ui->comboBox_k4w2Format->currentIndex());
settings.endGroup(); // K4W2
settings.beginGroup("K4A");
settings.setValue("ir", _ui->checkbox_k4a_irDepth->isChecked());
settings.setValue("mkvPath", _ui->lineEdit_k4a_mkv->text());
settings.endGroup(); // K4A
settings.beginGroup("RealSense");
settings.setValue("presetRGB", _ui->comboBox_realsensePresetRGB->currentIndex());
settings.setValue("presetDepth", _ui->comboBox_realsensePresetDepth->currentIndex());
@@ -2696,6 +2724,16 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.setValue("path", _ui->source_video_lineEdit_path->text());
settings.endGroup(); // video
settings.beginGroup("IMU");
settings.setValue("strategy", _ui->comboBox_imuFilter_strategy->currentIndex());
settings.setValue("madgwick_gain", _ui->doubleSpinBox_imuFilterMadgwickGain->value());
settings.setValue("madgwick_zeta", _ui->doubleSpinBox_imuFilterMadgwickZeta->value());
settings.setValue("complementary_gain_acc", _ui->doubleSpinBox_imuFilterComplementaryGainAcc->value());
settings.setValue("complementary_bias_alpha", _ui->doubleSpinBox_imuFilterComplementaryBiasAlpha->value());
settings.setValue("complementary_adaptive_gain", _ui->checkBox_imuFilterComplementaryDoAdaptiveGain->isChecked());
settings.setValue("complementary_biais_estimation", _ui->checkBox_imuFilterComplementaryDoBiasEstimation->isChecked());
settings.endGroup();//IMU
settings.beginGroup("Scan");
settings.setValue("fromDepth", _ui->checkBox_source_scanFromDepth->isChecked());
settings.setValue("downsampleStep", _ui->spinBox_source_scanDownsampleStep->value());
@@ -3444,6 +3482,10 @@ void PreferencesDialog::selectSourceDriver(Src src)
{
_ui->lineEdit_openni2OniPath->clear();
}
else if (src == kSrcK4A)
{
_ui->lineEdit_k4a_mkv->clear();
}
}
else if(src >= kSrcStereo && src<kSrcRGB)
{
@@ -3835,6 +3877,20 @@ void PreferencesDialog::selectSourceOni2Path()
}
}
void PreferencesDialog::selectSourceMKVPath()
{
QString dir = _ui->lineEdit_k4a_mkv->text();
if (dir.isEmpty())
{
dir = getWorkingDirectory();
}
QString path = QFileDialog::getOpenFileName(this, tr("Select file"), _ui->lineEdit_k4a_mkv->text(), tr("K4A recording (*.mkv)"));
if (!path.isEmpty())
{
_ui->lineEdit_k4a_mkv->setText(path);
}
}
void PreferencesDialog::selectSourceSvoPath()
{
QString dir = _ui->lineEdit_zedSvoPath->text();
@@ -4530,6 +4586,7 @@ void PreferencesDialog::updateSourceGrpVisibility()
(_ui->comboBox_cameraRGBD->currentIndex() == kSrcOpenNI2-kSrcRGBD ||
_ui->comboBox_cameraRGBD->currentIndex() == kSrcFreenect2-kSrcRGBD ||
_ui->comboBox_cameraRGBD->currentIndex() == kSrcK4W2 - kSrcRGBD ||
_ui->comboBox_cameraRGBD->currentIndex() == kSrcK4A - kSrcRGBD ||
_ui->comboBox_cameraRGBD->currentIndex() == kSrcRealSense - kSrcRGBD ||
_ui->comboBox_cameraRGBD->currentIndex() == kSrcRGBDImages-kSrcRGBD ||
_ui->comboBox_cameraRGBD->currentIndex() == kSrcOpenNI_PCL-kSrcRGBD ||
@@ -4537,10 +4594,11 @@ void PreferencesDialog::updateSourceGrpVisibility()
_ui->groupBox_openni2->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcOpenNI2-kSrcRGBD);
_ui->groupBox_freenect2->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcFreenect2-kSrcRGBD);
_ui->groupBox_k4w2->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcK4W2 - kSrcRGBD);
_ui->groupBox_k4a->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcK4A - kSrcRGBD);
_ui->groupBox_realsense->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcRealSense - kSrcRGBD);
_ui->groupBox_realsense2->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcRealSense2 - kSrcRGBD);
_ui->groupBox_cameraRGBDImages->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcRGBDImages-kSrcRGBD);
_ui->groupBox_openni->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcOpenNI_PCL-kSrcRGBD);
_ui->groupBox_openni->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcOpenNI_PCL - kSrcRGBD);
_ui->stackedWidget_stereo->setVisible(_ui->comboBox_sourceType->currentIndex() == 1 &&
(_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoVideo-kSrcStereo ||
@@ -4576,6 +4634,7 @@ void PreferencesDialog::updateSourceGrpVisibility()
(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcRGBDImages-kSrcRGBD) ||
(_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoImages-kSrcStereo) ||
(_ui->comboBox_sourceType->currentIndex() == 2 && _ui->source_comboBox_image_type->currentIndex() == kSrcImages-kSrcRGB) ||
(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcK4A - kSrcRGBD) || //K4A
(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcRealSense2 - kSrcRGBD) || //D435i
(_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoRealSense2 - kSrcStereo) || //T265
(_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoZed - kSrcStereo)); // ZEDm
@@ -5259,6 +5318,26 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
this->getGeneralInputRate(),
this->getSourceLocalTransform());
}
else if (driver == kSrcK4A)
{
if (!_ui->lineEdit_k4a_mkv->text().isEmpty())
{
// playback
camera = new CameraK4A(
_ui->lineEdit_k4a_mkv->text().toStdString().c_str(),
this->getGeneralInputRate(),
this->getSourceLocalTransform());
}
else
{
camera = new CameraK4A(
this->getSourceDevice().isEmpty() ? 0 : atoi(this->getSourceDevice().toStdString().c_str()),
this->getGeneralInputRate(),
this->getSourceLocalTransform());
}
((CameraK4A*)camera)->setIRDepthFormat(_ui->checkbox_k4a_irDepth->isChecked());
}
else if (driver == kSrcRealSense)
{
if(useRawImages && _ui->comboBox_realsenseRGBSource->currentIndex()!=2)
guilib/src/ui/aboutDialog.ui
+542 -486
View File
File diff suppressed because it is too large Load Diff
guilib/src/ui/preferencesDialog.ui
+151 -9
View File
@@ -64,15 +64,24 @@
<rect>
<x>0</x>
<y>0</y>
<width>673</width>
<height>3038</height>
<width>677</width>
<height>2974</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -86,7 +95,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>21</number>
<number>5</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -3039,6 +3048,11 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<string>RealSense2</string>
</property>
</item>
<item>
<property name="text">
<string>Kinect for Azure</string>
</property>
</item>
</widget>
</item>
<item row="0" column="1">
@@ -3082,7 +3096,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<item>
<widget class="QStackedWidget" name="stackedWidget_rgbd">
<property name="currentIndex">
<number>9</number>
<number>10</number>
</property>
<widget class="QWidget" name="page_32">
<layout class="QVBoxLayout" name="verticalLayout_63">
@@ -4179,6 +4193,98 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</item>
</layout>
</widget>
<widget class="QWidget" name="page_84">
<layout class="QVBoxLayout" name="verticalLayout_145" stretch="0,1">
<item>
<widget class="QGroupBox" name="groupBox_k4a">
<property name="sizePolicy">
<sizepolicy hsizetype="Ignored" vsizetype="Ignored">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="title">
<string>Kinect for Azure</string>
</property>
<layout class="QGridLayout" name="gridLayout_113">
<item row="0" column="0">
<widget class="QCheckBox" name="checkbox_k4a_irDepth">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_558">
<property name="text">
<string>Use IR for RGB image </string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QToolButton" name="toolButton_k4a_mkv">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLineEdit" name="lineEdit_k4a_mkv">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QLabel" name="label_556">
<property name="text">
<string>Path to a *.MKV file.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="1">
<spacer name="verticalSpacer_83">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_82">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>168</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</widget>
</item>
</layout>
@@ -5435,7 +5541,16 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<string>Directory of images (optional settings)</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_93">
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -16663,7 +16778,16 @@ Lower the ratio -&gt; higher the precision.</string>
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -16743,7 +16867,16 @@ Lower the ratio -&gt; higher the precision.</string>
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -16855,7 +16988,16 @@ Lower the ratio -&gt; higher the precision.</string>
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
tools/Calibration/CMakeLists.txt
+8
View File
@@ -18,6 +18,14 @@ SET(LIBRARIES
add_definitions(${PCL_DEFINITIONS})
# Hack as CameraRealsense2.h needs realsense2 include dir
IF(realsense2_FOUND)
SET(INCLUDE_DIRS
${INCLUDE_DIRS}
${realsense2_INCLUDE_DIRS}
)
ENDIF(realsense2_FOUND)
INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
ADD_EXECUTABLE(calibration main.cpp)
tools/CameraRGBD/CMakeLists.txt
+8
View File
@@ -18,6 +18,14 @@ SET(LIBRARIES
add_definitions(${PCL_DEFINITIONS})
# Hack as CameraRealsense2.h needs realsense2 include dir
IF(realsense2_FOUND)
SET(INCLUDE_DIRS
${INCLUDE_DIRS}
${realsense2_INCLUDE_DIRS}
)
ENDIF(realsense2_FOUND)
INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
ADD_EXECUTABLE(rgbd_camera main.cpp)
tools/CameraRGBD/main.cpp
+36 -11
View File
@@ -61,8 +61,10 @@ void showUsage()
" 9=RealSense\n"
" 10=Kinect for Windows 2 SDK\n"
" 11=RealSense2\n"
" 12=Kinect for Azure SDK\n"
" Options:\n"
" -rate #.# Input rate Hz (default 0=inf)\n"
" -device # Device ID (number or string)\n"
" -save_stereo \"path\" Save stereo images in a folder or a video file (side by side *.avi).\n"
" -fourcc \"XXXX\" Four characters FourCC code (default is \"MJPG\") used\n"
" when saving stereo images to a video file.\n"
@@ -89,6 +91,7 @@ int main(int argc, char * argv[])
std::string stereoSavePath;
float rate = 0.0f;
std::string fourcc = "MJPG";
std::string deviceId;
if(argc < 2)
{
showUsage();
@@ -114,6 +117,19 @@ int main(int argc, char * argv[])
}
continue;
}
if (strcmp(argv[i], "-device") == 0)
{
++i;
if (i < argc)
{
deviceId = argv[i];
}
else
{
showUsage();
}
continue;
}
if(strcmp(argv[i], "-save_stereo") == 0)
{
++i;
@@ -157,14 +173,14 @@ int main(int argc, char * argv[])
// last
driver = atoi(argv[i]);
if(driver < 0 || driver > 11)
if(driver < 0 || driver > 12)
{
UERROR("driver should be between 0 and 11.");
UERROR("driver should be between 0 and 12.");
showUsage();
}
}
}
UINFO("Using driver %d", driver);
UINFO("Using driver %d (device=%s)", driver, deviceId.empty()?"0": deviceId.c_str());
rtabmap::Camera * camera = 0;
if(driver < 6)
@@ -177,7 +193,7 @@ int main(int argc, char * argv[])
if(driver == 0)
{
camera = new rtabmap::CameraOpenni();
camera = new rtabmap::CameraOpenni(deviceId);
}
else if(driver == 1)
{
@@ -186,7 +202,7 @@ int main(int argc, char * argv[])
UERROR("Not built with OpenNI2 support...");
exit(-1);
}
camera = new rtabmap::CameraOpenNI2();
camera = new rtabmap::CameraOpenNI2(deviceId);
}
else if(driver == 2)
{
@@ -195,7 +211,7 @@ int main(int argc, char * argv[])
UERROR("Not built with Freenect support...");
exit(-1);
}
camera = new rtabmap::CameraFreenect();
camera = new rtabmap::CameraFreenect(uStr2Int(deviceId));
}
else if(driver == 3)
{
@@ -222,7 +238,7 @@ int main(int argc, char * argv[])
UERROR("Not built with Freenect2 support...");
exit(-1);
}
camera = new rtabmap::CameraFreenect2(0, rtabmap::CameraFreenect2::kTypeColor2DepthSD);
camera = new rtabmap::CameraFreenect2(uStr2Int(deviceId), rtabmap::CameraFreenect2::kTypeColor2DepthSD);
}
}
else if(driver == 6)
@@ -250,7 +266,7 @@ int main(int argc, char * argv[])
UERROR("Not built with ZED sdk support...");
exit(-1);
}
camera = new rtabmap::CameraStereoZed(0);
camera = new rtabmap::CameraStereoZed(uStr2Int(deviceId));
}
else if (driver == 9)
{
@@ -259,7 +275,7 @@ int main(int argc, char * argv[])
UERROR("Not built with RealSense support...");
exit(-1);
}
camera = new rtabmap::CameraRealSense(0);
camera = new rtabmap::CameraRealSense(uStr2Int(deviceId));
}
else if (driver == 10)
{
@@ -268,7 +284,7 @@ int main(int argc, char * argv[])
UERROR("Not built with Kinect for Windows 2 SDK support...");
exit(-1);
}
camera = new rtabmap::CameraK4W2(0);
camera = new rtabmap::CameraK4W2(uStr2Int(deviceId));
}
else if (driver == 11)
{
@@ -277,7 +293,16 @@ int main(int argc, char * argv[])
UERROR("Not built with RealSense2 SDK support...");
exit(-1);
}
camera = new rtabmap::CameraRealSense2();
camera = new rtabmap::CameraRealSense2(deviceId);
}
else if (driver == 12)
{
if (!rtabmap::CameraK4A::available())
{
UERROR("Not built with Kienct for Azure SDK support...");
exit(-1);
}
camera = new rtabmap::CameraK4A(deviceId);
}
else
{
tools/DataRecorder/CMakeLists.txt
+8
View File
@@ -24,6 +24,14 @@ SET(LIBRARIES
add_definitions(${PCL_DEFINITIONS})
# Hack as CameraRealsense2.h needs realsense2 include dir
IF(realsense2_FOUND)
SET(INCLUDE_DIRS
${INCLUDE_DIRS}
${realsense2_INCLUDE_DIRS}
)
ENDIF(realsense2_FOUND)
INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
IF(MINGW)
tools/OdometryViewer/CMakeLists.txt
+8
View File
@@ -24,6 +24,14 @@ SET(SRC_FILES
add_definitions(${PCL_DEFINITIONS})
# Hack as CameraRealsense2.h needs realsense2 include dir
IF(realsense2_FOUND)
SET(INCLUDE_DIRS
${INCLUDE_DIRS}
${realsense2_INCLUDE_DIRS}
)
ENDIF(realsense2_FOUND)
INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
IF(MINGW)
tools/RgbdDataset/CMakeLists.txt
+8
View File
@@ -26,6 +26,14 @@ SET(LIBRARIES
${PCL_LIBRARIES}
)
# Hack as CameraRealsense2.h needs realsense2 include dir
IF(realsense2_FOUND)
SET(INCLUDE_DIRS
${INCLUDE_DIRS}
${realsense2_INCLUDE_DIRS}
)
ENDIF(realsense2_FOUND)
INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
ADD_EXECUTABLE(rgbd_dataset main.cpp)