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Fixed build if PCL is not built with OpenNI

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This commit is contained in:
matlabbe
2015-07-24 20:42:36 -04:00
parent f5dac46252
commit 911ab709af
5 changed files with 48 additions and 14 deletions
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5
corelib/include/rtabmap/core/CameraRGBD.h
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@@ -72,7 +72,7 @@ class RTABMAP_EXP CameraOpenni :
public Camera
{
public:
static bool available() {return true;}
static bool available();
public:
// default local transform z in, x right, y down));
@@ -80,11 +80,12 @@ public:
float imageRate = 0,
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraOpenni();
#ifdef HAVE_OPENNI
void image_cb (
const boost::shared_ptr<openni_wrapper::Image>& rgb,
const boost::shared_ptr<openni_wrapper::DepthImage>& depth,
float constant);
#endif
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
virtual bool isCalibrated() const;

47
corelib/src/CameraRGBD.cpp
View File

@@ -38,8 +38,10 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/utilite/UTimer.h>
#include <rtabmap/utilite/UMath.h>
#ifdef HAVE_OPENNI
#include <pcl/io/openni_grabber.h>
#include <pcl/io/oni_grabber.h>
#endif
#ifdef WITH_FREENECT
#include <libfreenect.h>
@@ -86,8 +88,18 @@ CameraOpenni::CameraOpenni(const std::string & deviceId, float imageRate, const
{
}
bool CameraOpenni::available()
{
#ifdef HAVE_OPENNI
return true;
#else
return false;
#endif
}
CameraOpenni::~CameraOpenni()
{
#ifdef HAVE_OPENNI
UDEBUG("");
if(connection_.connected())
{
@@ -101,8 +113,9 @@ CameraOpenni::~CameraOpenni()
delete interface_;
interface_ = 0;
}
#endif
}
#ifdef HAVE_OPENNI
void CameraOpenni::image_cb (
const boost::shared_ptr<openni_wrapper::Image>& rgb,
const boost::shared_ptr<openni_wrapper::DepthImage>& depth,
@@ -126,9 +139,11 @@ void CameraOpenni::image_cb (
dataReady_.release();
}
}
#endif
bool CameraOpenni::init(const std::string & calibrationFolder, const std::string & cameraName)
{
#ifdef HAVE_OPENNI
if(interface_)
{
interface_->stop();
@@ -167,25 +182,36 @@ bool CameraOpenni::init(const std::string & calibrationFolder, const std::string
return false;
}
return true;
#else
UERROR("PCL not built with OpenNI! Cannot initialize CameraOpenNI");
return false;
#endif
}
bool CameraOpenni::isCalibrated() const
{
#ifdef HAVE_OPENNI
return true;
#else
return false;
#endif
}
std::string CameraOpenni::getSerial() const
{
#ifdef HAVE_OPENNI
if(interface_)
{
return interface_->getName();
}
#endif
return "";
}
SensorData CameraOpenni::captureImage()
{
SensorData data;
#ifdef HAVE_OPENNI
if(interface_ && interface_->isRunning())
{
if(!dataReady_.acquire(1, 2000))
@@ -211,6 +237,9 @@ SensorData CameraOpenni::captureImage()
depthConstant_ = 0.0f;
}
}
#else
UERROR("CameraOpenNI: RTAB-Map is not built with PCL having OpenNI support!");
#endif
return data;
}
@@ -1289,7 +1318,7 @@ SensorData CameraFreenect2::captureImage()
float fx=0,fy=0,cx=0,cy=0;
if(irFrame && depthFrame)
{
cv::Mat irMat(irFrame->height, irFrame->width, CV_32FC1, irFrame->data);
cv::Mat irMat((int)irFrame->height, (int)irFrame->width, CV_32FC1, irFrame->data);
//convert to gray scaled
float maxIr_ = 0x7FFF;
float minIr_ = 0x0;
@@ -1303,7 +1332,7 @@ SensorData CameraFreenect2::captureImage()
}
}
cv::Mat(depthFrame->height, depthFrame->width, CV_32FC1, depthFrame->data).convertTo(depth, CV_16U, 1);
cv::Mat((int)depthFrame->height, (int)depthFrame->width, CV_32FC1, depthFrame->data).convertTo(depth, CV_16U, 1);
cv::flip(rgb, rgb, 1);
cv::flip(depth, depth, 1);
@@ -1331,7 +1360,7 @@ SensorData CameraFreenect2::captureImage()
{
//rgb + ir or rgb + depth
cv::Mat rgbMatC4(rgbFrame->height, rgbFrame->width, CV_8UC4, rgbFrame->data);
cv::Mat rgbMatC4((int)rgbFrame->height, (int)rgbFrame->width, CV_8UC4, rgbFrame->data);
cv::Mat rgbMat; // rtabmap uses 3 channels RGB
cv::cvtColor(rgbMatC4, rgbMat, CV_BGRA2BGR);
cv::flip(rgbMat, rgb, 1);
@@ -1343,14 +1372,14 @@ SensorData CameraFreenect2::captureImage()
if(irFrame)
{
//rectify IR
cv::Mat(irFrame->height, irFrame->width, CV_32FC1, irFrame->data).convertTo(depth, CV_16U, 1);
cv::Mat((int)irFrame->height, (int)irFrame->width, CV_32FC1, irFrame->data).convertTo(depth, CV_16U, 1);
cv::flip(depth, depth, 1);
depth = stereoModel_.left().rectifyImage(depth);
}
else
{
//rectify depth
cv::Mat(depthFrame->height, depthFrame->width, CV_32FC1, depthFrame->data).convertTo(depth, CV_16U, 1);
cv::Mat((int)depthFrame->height, (int)depthFrame->width, CV_32FC1, depthFrame->data).convertTo(depth, CV_16U, 1);
cv::flip(depth, depth, 1);
depth = stereoModel_.left().rectifyDepth(depth);
@@ -1382,11 +1411,11 @@ SensorData CameraFreenect2::captureImage()
//use data from libfreenect2
if(irFrame)
{
cv::Mat(irFrame->height, irFrame->width, CV_32FC1, irFrame->data).convertTo(depth, CV_16U, 1);
cv::Mat((int)irFrame->height, (int)irFrame->width, CV_32FC1, irFrame->data).convertTo(depth, CV_16U, 1);
}
else
{
cv::Mat(depthFrame->height, depthFrame->width, CV_32FC1, depthFrame->data).convertTo(depth, CV_16U, 1);
cv::Mat((int)depthFrame->height, (int)depthFrame->width, CV_32FC1, depthFrame->data).convertTo(depth, CV_16U, 1);
//registration of the depth
if(reg_)
@@ -1397,7 +1426,7 @@ SensorData CameraFreenect2::captureImage()
cv::resize(rgb, tmp, cv::Size(), 0.5, 0.5, cv::INTER_AREA);
rgb = tmp;
}
cv::Mat depthFrameMat = cv::Mat(depthFrame->height, depthFrame->width, CV_32FC1, depthFrame->data);
cv::Mat depthFrameMat = cv::Mat((int)depthFrame->height, (int)depthFrame->width, CV_32FC1, depthFrame->data);
depth = cv::Mat::zeros(rgb.rows, rgb.cols, CV_16U);
for(int dx=0; dx<depthFrameMat.cols-1; ++dx)
{