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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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matlabbe
2019-07-09 20:48:09 -04:00
parent 63be7c85fc
commit 3c7719f6d8
22 changed files with 1426 additions and 508 deletions
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1
corelib/include/rtabmap/core/CameraRGBD.h
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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>

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corelib/include/rtabmap/core/camera/CameraK4A.h Normal file
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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