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CameraOrbbec: support explicit rate on non-TOF cameras. (#1627)

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* rtabmap-rgbd_camera: added width/height options, 
* using CameraViewer for visualization by default (use -pcl option for old visualization). 
* CameraViewer: added capture and render rate.
* Note that non-TOF orbbec cameras could not be tested.
This commit is contained in:
matlabbe
2025-12-21 11:52:38 -08:00
committed by GitHub
parent af10d6b778
commit 92aff2129f
6 changed files with 241 additions and 143 deletions
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guilib/src/CameraViewer.cpp
+7 -1
View File
@@ -54,7 +54,9 @@ CameraViewer::CameraViewer(QWidget * parent, const ParametersMap & parameters) :
cloudView_(new CloudViewer(this)),
processingImages_(false),
parameters_(parameters),
markerDetector_(0)
markerDetector_(0),
lastCapturePeriod_(0.0),
previousCaptureStamp_(0.0)
{
qRegisterMetaType<rtabmap::SensorData>("rtabmap::SensorData");
@@ -115,6 +117,7 @@ CameraViewer::CameraViewer(QWidget * parent, const ParametersMap & parameters) :
vlayout->addLayout(layout2);
this->setLayout(vlayout);
fpsTimer_.start();
}
CameraViewer::~CameraViewer()
@@ -180,6 +183,7 @@ void CameraViewer::showImage(const rtabmap::SensorData & data)
imageView_->setImageDepth(depthOrRight);
sizes.append(QString(" Depth=%1x%2").arg(depthOrRight.cols).arg(depthOrRight.rows));
}
sizes.append(QString(" FPS capture=%1 render=%2").arg(lastCapturePeriod_>0.0?(int)round(1.0/lastCapturePeriod_):0).arg((int)round(1.0/fpsTimer_.restart()*1000)));
imageSizeLabel_->setText(sizes);
if(!depthOrRight.empty() &&
@@ -308,6 +312,8 @@ bool CameraViewer::handleEvent(UEvent * event)
{
if(camEvent->data().isValid())
{
lastCapturePeriod_ = camEvent->data().stamp() - previousCaptureStamp_;
previousCaptureStamp_ = camEvent->data().stamp();
if(!processingImages_ && this->isVisible() && camEvent->data().isValid())
{
processingImages_ = true;