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This commit is contained in:
matlabbe
2020-05-19 15:33:32 -04:00
parent b542d6a0db
commit 609d45ac9b
6 changed files with 13 additions and 8 deletions
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1
corelib/include/rtabmap/core/camera/CameraK4A.h
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@@ -71,7 +71,6 @@ private:
private:
#ifdef RTABMAP_K4A
uint32_t device_count_;
k4a_device_t device_;
k4a_device_configuration_t config_;
std::string serial_number_;

15
corelib/src/camera/CameraK4A.cpp
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@@ -78,7 +78,9 @@ CameraK4A::CameraK4A(
const Transform & localTransform) :
Camera(imageRate, localTransform)
#ifdef RTABMAP_K4A
,playbackHandle_(NULL),
,
device_(NULL),
playbackHandle_(NULL),
transformationHandle_(NULL),
deviceId_(-1),
fileName_(fileName),
@@ -99,17 +101,20 @@ void CameraK4A::close()
if (playbackHandle_ != NULL)
{
k4a_playback_close((k4a_playback_t)playbackHandle_);
playbackHandle_ = NULL;
}
if (transformationHandle_ != NULL)
{
k4a_transformation_destroy((k4a_transformation_t)transformationHandle_);
transformationHandle_ = NULL;
}
// Shut down the camera when finished with application logic
if(device_ != NULL)
if(device_ != NULL)
{
k4a_device_stop_cameras(device_);
k4a_device_close(device_);
device_ = NULL;
}
#endif
}
@@ -180,14 +185,14 @@ bool CameraK4A::init(const std::string & calibrationFolder, const std::string &
}
else if (deviceId_ >= 0)
{
device_count_ = k4a_device_get_installed_count();
if (device_count_ == 0)
int device_count = k4a_device_get_installed_count();
if (device_count == 0)
{
UERROR("No k4a devices attached!");
return false;
}
UINFO("CameraK4A found k4a device attached");
UINFO("CameraK4A found k4a device attached");
// Open the first plugged in Kinect device
if (K4A_FAILED(k4a_device_open(K4A_DEVICE_DEFAULT, &device_)))