i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 01:20:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

💄

Browse Source
This commit is contained in:
matlabbe
2015-04-23 08:23:10 -04:00
parent e2d71c5999
commit a72ea25eac
1 changed files with 12 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files

21
corelib/src/CameraRGBD.cpp
View File

@@ -519,21 +519,24 @@ bool CameraOpenNI2::init(const std::string & calibrationFolder)
return false;
}
if(UFile::getExtension(_deviceId).compare("oni")!=0 &&
!_device->isImageRegistrationModeSupported(openni::IMAGE_REGISTRATION_DEPTH_TO_COLOR))
if(UFile::getExtension(_deviceId).compare("oni")==0)
{
if(_device->getPlaybackControl() &&
_device->getPlaybackControl()->setRepeatEnabled(false) != openni::STATUS_OK)
{
UERROR("CameraOpenNI2: Cannot set repeat mode to false.");
_device->close();
openni::OpenNI::shutdown();
return false;
}
}
else if(!_device->isImageRegistrationModeSupported(openni::IMAGE_REGISTRATION_DEPTH_TO_COLOR))
{
UERROR("CameraOpenNI2: Device doesn't support depth/color registration.");
_device->close();
openni::OpenNI::shutdown();
return false;
}
else if(_device->getPlaybackControl() && _device->getPlaybackControl()->setRepeatEnabled(false) != openni::STATUS_OK)
{
UERROR("CameraOpenNI2: Cannot set repeat mode to false.");
_device->close();
openni::OpenNI::shutdown();
return false;
}
if(_device->getSensorInfo(openni::SENSOR_DEPTH) == NULL ||
_device->getSensorInfo(openni::SENSOR_COLOR) == NULL)