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Added Kinect for Azure menu option (#551)

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* Added Kinect for Azure menu option

* Reintegrated Kinect for Azure initialization code, fixed previous GUI commit

* Added ifdefs to fix build
This commit is contained in:
Thomas Kircher
2020-05-19 11:03:36 -08:00
committed by GitHub
parent c7b84c60bc
commit b542d6a0db
5 changed files with 71 additions and 25 deletions
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9
corelib/include/rtabmap/core/camera/CameraK4A.h
View File

@@ -34,6 +34,10 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/Version.h"
#include "rtabmap/utilite/UTimer.h"
#ifdef RTABMAP_K4A
#include <k4a/k4atypes.h>
#endif
namespace rtabmap
{
@@ -67,6 +71,11 @@ private:
private:
#ifdef RTABMAP_K4A
uint32_t device_count_;
k4a_device_t device_;
k4a_device_configuration_t config_;
std::string serial_number_;
void* playbackHandle_;
void* transformationHandle_;
CameraModel model_;

60
corelib/src/camera/CameraK4A.cpp
View File

@@ -61,7 +61,15 @@ CameraK4A::CameraK4A(
previousStamp_(0.0)
#endif
{
UERROR("CameraK4A: Live camera stream is not yet supported, only recorded mkv files are.");
#ifdef RTABMAP_K4A
device_ = NULL;
config_ = K4A_DEVICE_CONFIG_INIT_DISABLE_ALL;
config_.camera_fps = K4A_FRAMES_PER_SECOND_15;
config_.depth_mode = K4A_DEPTH_MODE_WFOV_2X2BINNED;
config_.color_format = K4A_IMAGE_FORMAT_COLOR_BGRA32;
config_.color_resolution = K4A_COLOR_RESOLUTION_720P;
#endif
}
CameraK4A::CameraK4A(
@@ -96,11 +104,13 @@ void CameraK4A::close()
{
k4a_transformation_destroy((k4a_transformation_t)transformationHandle_);
}
/*
// Shut down the camera when finished with application logic
k4a_device_stop_cameras(device);
k4a_device_close(device);
*/
if(device_ != NULL)
{
k4a_device_stop_cameras(device_);
k4a_device_close(device_);
}
#endif
}
@@ -170,19 +180,17 @@ bool CameraK4A::init(const std::string & calibrationFolder, const std::string &
}
else if (deviceId_ >= 0)
{
UERROR("CameraK4A: Live camera stream is not yet supported, only recorded mkv files are.");
return false;
/*uint32_t count = k4a_device_get_installed_count();
if (count == 0)
device_count_ = k4a_device_get_installed_count();
if (device_count_ == 0)
{
UERROR("No k4a devices attached!");
return false;
}
UINFO("CameraK4A found k4a device attached");
// Open the first plugged in Kinect device
k4a_device_t device = NULL;
if (K4A_FAILED(k4a_device_open(K4A_DEVICE_DEFAULT, &device)))
if (K4A_FAILED(k4a_device_open(K4A_DEVICE_DEFAULT, &device_)))
{
UERROR("Failed to open k4a device!");
return false;
@@ -190,27 +198,26 @@ bool CameraK4A::init(const std::string & calibrationFolder, const std::string &
// Get the size of the serial number
size_t serial_size = 0;
k4a_device_get_serialnum(device, NULL, &serial_size);
k4a_device_get_serialnum(device_, NULL, &serial_size);
// Allocate memory for the serial, then acquire it
char *serial = (char*)(malloc(serial_size));
k4a_device_get_serialnum(device, serial, &serial_size);
UINFO("Opened device: %s", serial);
k4a_device_get_serialnum(device_, serial, &serial_size);
serial_number_.assign(serial, serial_size);
free(serial);
// Configure a stream of 4096x3072 BRGA color data at 15 frames per second
k4a_device_configuration_t config = K4A_DEVICE_CONFIG_INIT_DISABLE_ALL;
config.camera_fps = K4A_FRAMES_PER_SECOND_15;
config.color_format = K4A_IMAGE_FORMAT_COLOR_BGRA32;
config.color_resolution = K4A_COLOR_RESOLUTION_3072P;
UINFO("Opened device: %s", serial_number_.c_str());
// Start the camera with the given configuration
if (K4A_FAILED(k4a_device_start_cameras(device, &config)))
if (K4A_FAILED(k4a_device_start_cameras(device_, &config_)))
{
UERROR("Failed to start cameras!");
k4a_device_close(device);
k4a_device_close(device_);
return false;
}*/
}
UINFO("Camera started successfully");
return false;
}
return true;
@@ -228,7 +235,10 @@ bool CameraK4A::isCalibrated() const
std::string CameraK4A::getSerial() const
{
#ifdef RTABMAP_K4A
return fileName_.empty()?"":fileName_;
if(device_ != NULL)
return(serial_number_);
else
return fileName_.empty()?"":fileName_;
#else
return "";
#endif
@@ -443,7 +453,7 @@ SensorData CameraK4A::captureImage(CameraInfo * info)
}
else
{
UERROR("CameraK4A: Live camera stream is not yet supported, only recorded mkv files are.");
// Camera stream things here
}
#else