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Added *.oni reading support with openni-pcl driver (just set device_id the path of the oni file)

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matlabbe
2015-04-23 07:56:11 -04:00
parent 5700c14bcb
commit 7837b04e34
1 changed files with 10 additions and 2 deletions
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12
corelib/src/CameraRGBD.cpp
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@@ -38,6 +38,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/utilite/UMath.h>
#include <pcl/io/openni_grabber.h>
#include <pcl/io/oni_grabber.h>
#ifdef WITH_FREENECT
#include <libfreenect.h>
@@ -203,7 +204,14 @@ bool CameraOpenni::init(const std::string & calibrationFolder)
try
{
interface_ = new pcl::OpenNIGrabber(deviceId_);
if(UFile::getExtension(deviceId_).compare("oni") == 0)
{
interface_ = new pcl::ONIGrabber(deviceId_, false, true);
}
else
{
interface_ = new pcl::OpenNIGrabber(deviceId_);
}
boost::function<void (
const boost::shared_ptr<openni_wrapper::Image>&,
@@ -228,7 +236,7 @@ bool CameraOpenni::init(const std::string & calibrationFolder)
bool CameraOpenni::isCalibrated() const
{
return depthConstant_ > 0.0f;
return true;
}
std::string CameraOpenni::getSerial() const