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CameraStereoZed: handling initialization failures

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matlabbe
2017-07-31 14:11:32 -04:00
parent 0491125e92
commit b63f073d90
2 changed files with 12 additions and 2 deletions
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1
corelib/include/rtabmap/core/OccupancyGrid.h
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@@ -47,6 +47,7 @@ public:
float getMinMapSize() const {return minMapSize_;} float getMinMapSize() const {return minMapSize_;}
bool isGridFromDepth() const {return occupancyFromCloud_;} bool isGridFromDepth() const {return occupancyFromCloud_;}
bool isFullUpdate() const {return fullUpdate_;} bool isFullUpdate() const {return fullUpdate_;}
bool isMapFrameProjection() const {return projMapFrame_;}
const std::map<int, Transform> & addedNodes() const {return addedNodes_;} const std::map<int, Transform> & addedNodes() const {return addedNodes_;}
int cacheSize() const {return (int)cache_.size();} int cacheSize() const {return (int)cache_.size();}

13
corelib/src/CameraStereo.cpp
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@@ -860,18 +860,27 @@ bool CameraStereoZed::init(const std::string & calibrationFolder, const std::str
param.depth_minimum_distance=-1; param.depth_minimum_distance=-1;
param.camera_disable_self_calib=!selfCalibration_; param.camera_disable_self_calib=!selfCalibration_;
sl::ERROR_CODE r = sl::ERROR_CODE::SUCCESS;
if(src_ == CameraVideo::kVideoFile) if(src_ == CameraVideo::kVideoFile)
{ {
UINFO("svo file = %s", svoFilePath_.c_str()); UINFO("svo file = %s", svoFilePath_.c_str());
zed_ = new sl::Camera(); // Use in SVO playback mode zed_ = new sl::Camera(); // Use in SVO playback mode
param.svo_input_filename=svoFilePath_.c_str(); param.svo_input_filename=svoFilePath_.c_str();
zed_->open(param); r = zed_->open(param);
} }
else else
{ {
UINFO("Resolution=%d imagerate=%f device=%d", resolution_, getImageRate(), usbDevice_); UINFO("Resolution=%d imagerate=%f device=%d", resolution_, getImageRate(), usbDevice_);
zed_ = new sl::Camera(); // Use in Live Mode zed_ = new sl::Camera(); // Use in Live Mode
zed_->open(param); r = zed_->open(param);
}
if(r!=sl::ERROR_CODE::SUCCESS)
{
UERROR("Camera initialization failed: \"%s\"", errorCode2str(r).c_str());
delete zed_;
zed_ = 0;
return false;
} }