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CameraK4A: refactored to unify playback and real device code. Fixed ir option (with rectification).

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This commit is contained in:
matlabbe
2020-09-04 12:48:18 -04:00
parent d2784095a3
commit 49cb470b8d
6 changed files with 309 additions and 402 deletions
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4
corelib/include/rtabmap/core/CameraModel.h
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@@ -146,6 +146,8 @@ public:
void reproject(float x, float y, float z, int & u, int & v) const;
bool inFrame(int u, int v) const;
friend std::ostream& operator<<(std::ostream& os, const CameraModel& model);
private:
std::string name_;
cv::Size imageSize_;
@@ -158,5 +160,7 @@ private:
Transform localTransform_;
};
RTABMAP_EXP std::ostream& operator<<(std::ostream& os, const CameraModel& model);
} /* namespace rtabmap */
#endif /* CAMERAMODEL_H_ */

12
corelib/include/rtabmap/core/camera/CameraK4A.h
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@@ -35,7 +35,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/utilite/UTimer.h"
#ifdef RTABMAP_K4A
#include <k4a/k4atypes.h>
#include <k4a/k4atypes.h>
#include <k4arecord/playback.h>
#endif
namespace rtabmap
@@ -72,15 +73,14 @@ private:
private:
#ifdef RTABMAP_K4A
k4a_device_t device_;
k4a_device_t deviceHandle_;
k4a_device_configuration_t config_;
k4a_calibration_t calibration_;
k4a_transformation_t transformation_;
k4a_capture_t capture_;
k4a_transformation_t transformationHandle_;
k4a_capture_t captureHandle_;
k4a_playback_t playbackHandle_;
std::string serial_number_;
void* playbackHandle_;
void* transformationHandle_;
CameraModel model_;
int deviceId_;
std::string fileName_;