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0.17.1: Fixed issue #282 and https://github.com/introlab/rtabmap_ros/issues/243

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matlabbe
2018-05-14 20:50:21 +00:00
parent 5cdede1482
commit 9c91fb8cd8
4 changed files with 16 additions and 11 deletions
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7
corelib/include/rtabmap/core/CameraRGBD.h
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@@ -39,9 +39,14 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <pcl/pcl_config.h>
#ifdef HAVE_OPENNI
#if __linux__ && __i386__ && __cplusplus >= 201103L
#warning "Openni driver is not available on i386 when building with c++11 support"
#else
#define RTABMAP_OPENNI
#include <pcl/io/openni_camera/openni_depth_image.h>
#include <pcl/io/openni_camera/openni_image.h>
#endif
#endif
#include <boost/signals2/connection.hpp>
@@ -102,7 +107,7 @@ public:
float imageRate = 0,
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraOpenni();
#ifdef HAVE_OPENNI
#ifdef RTABMAP_OPENNI
void image_cb (
const boost::shared_ptr<openni_wrapper::Image>& rgb,
const boost::shared_ptr<openni_wrapper::DepthImage>& depth,

16
corelib/src/CameraRGBD.cpp
View File

@@ -39,7 +39,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/utilite/UTimer.h>
#include <rtabmap/utilite/UMath.h>
#ifdef HAVE_OPENNI
#ifdef RTABMAP_OPENNI
#include <pcl/io/openni_grabber.h>
#include <pcl/io/oni_grabber.h>
#include <pcl/io/openni_camera/openni_depth_image.h>
@@ -97,7 +97,7 @@ CameraOpenni::CameraOpenni(const std::string & deviceId, float imageRate, const
bool CameraOpenni::available()
{
#ifdef HAVE_OPENNI
#ifdef RTABMAP_OPENNI
return true;
#else
return false;
@@ -106,7 +106,7 @@ bool CameraOpenni::available()
CameraOpenni::~CameraOpenni()
{
#ifdef HAVE_OPENNI
#ifdef RTABMAP_OPENNI
UDEBUG("");
if(connection_.connected())
{
@@ -122,7 +122,7 @@ CameraOpenni::~CameraOpenni()
}
#endif
}
#ifdef HAVE_OPENNI
#ifdef RTABMAP_OPENNI
void CameraOpenni::image_cb (
const boost::shared_ptr<openni_wrapper::Image>& rgb,
const boost::shared_ptr<openni_wrapper::DepthImage>& depth,
@@ -150,7 +150,7 @@ void CameraOpenni::image_cb (
bool CameraOpenni::init(const std::string & calibrationFolder, const std::string & cameraName)
{
#ifdef HAVE_OPENNI
#ifdef RTABMAP_OPENNI
if(interface_)
{
interface_->stop();
@@ -197,7 +197,7 @@ bool CameraOpenni::init(const std::string & calibrationFolder, const std::string
bool CameraOpenni::isCalibrated() const
{
#ifdef HAVE_OPENNI
#ifdef RTABMAP_OPENNI
return true;
#else
return false;
@@ -206,7 +206,7 @@ bool CameraOpenni::isCalibrated() const
std::string CameraOpenni::getSerial() const
{
#ifdef HAVE_OPENNI
#ifdef RTABMAP_OPENNI
if(interface_)
{
return interface_->getName();
@@ -218,7 +218,7 @@ std::string CameraOpenni::getSerial() const
SensorData CameraOpenni::captureImage(CameraInfo * info)
{
SensorData data;
#ifdef HAVE_OPENNI
#ifdef RTABMAP_OPENNI
if(interface_ && interface_->isRunning())
{
if(!dataReady_.acquire(1, 5000))