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Added librealsense support #100

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This commit is contained in:
matlabbe
2016-07-26 18:39:34 -04:00
parent dbb29c7661
commit 9d09c509ab
17 changed files with 821 additions and 155 deletions
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18
tools/CameraRGBD/main.cpp
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@@ -54,6 +54,7 @@ void showUsage()
" 6=DC1394 (Bumblebee2)\n"
" 7=FlyCapture2 (Bumblebee2)\n"
" 8=ZED stereo\n"
" 9=RealSense\n"
" Options:\n"
" -rate #.# Input rate Hz (default 0=inf)\n"
" -save_stereo \"path\" Save stereo images in a folder or a video file (side by side *.avi).\n"
@@ -150,9 +151,9 @@ int main(int argc, char * argv[])
// last
driver = atoi(argv[i]);
if(driver < 0 || driver > 8)
if(driver < 0 || driver > 9)
{
UERROR("driver should be between 0 and 8.");
UERROR("driver should be between 0 and 9.");
showUsage();
}
}
@@ -245,6 +246,15 @@ int main(int argc, char * argv[])
}
camera = new rtabmap::CameraStereoZed(0);
}
else if (driver == 9)
{
if (!rtabmap::CameraRealSense::available())
{
UERROR("Not built with RealSense support...");
exit(-1);
}
camera = new rtabmap::CameraRealSense(0);
}
else
{
UFATAL("");
@@ -258,7 +268,7 @@ int main(int argc, char * argv[])
}
rtabmap::SensorData data = camera->takeImage();
if(data.imageRaw().cols != data.depthOrRightRaw().cols || data.imageRaw().rows != data.depthOrRightRaw().rows)
if(data.imageRaw().cols % data.depthOrRightRaw().cols != 0 || data.imageRaw().rows % data.depthOrRightRaw().rows != 0)
{
UWARN("RGB (%d/%d) and depth (%d/%d) frames are not the same size! The registered cloud cannot be shown.",
data.imageRaw().cols, data.imageRaw().rows, data.depthOrRightRaw().cols, data.depthOrRightRaw().rows);
@@ -336,7 +346,7 @@ int main(int argc, char * argv[])
depth = rtabmap::util2d::cvtDepthFromFloat(depth);
}
if(rgb.cols == depth.cols && rgb.rows == depth.rows &&
if(!rgb.empty() && rgb.cols % depth.cols == 0 && rgb.rows % depth.rows == 0 &&
data.cameraModels().size() &&
data.cameraModels()[0].isValidForProjection())
{

2
tools/ImagesJoiner/CMakeLists.txt
View File

@@ -9,8 +9,6 @@ SET(INCLUDE_DIRS
${OpenCV_INCLUDE_DIRS}
)
MESSAGE(STATUS "OpenCV_INCLUDE_DIRS=${OpenCV_INCLUDE_DIRS}")
SET(LIBRARIES
${OpenCV_LIBRARIES}
)