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Refactored and integrated pull request https://github.com/introlab/rtabmap/pull/285

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This commit is contained in:
matlabbe
2018-05-29 13:59:43 -04:00
parent 0fc97c28c6
commit b6b0b9a984
3 changed files with 75 additions and 11 deletions
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7
corelib/include/rtabmap/core/CameraStereo.h
View File

@@ -226,6 +226,12 @@ public:
bool rectifyImages = false,
float imageRate = 0.0f,
const Transform & localTransform = Transform::getIdentity());
CameraStereoVideo(
int deviceLeft,
int deviceRight,
bool rectifyImages = false,
float imageRate = 0.0f,
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraStereoVideo();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
@@ -245,6 +251,7 @@ private:
std::string cameraName_;
CameraVideo::Source src_;
int usbDevice_;
int usbDevice2_;
};
} // namespace rtabmap

42
corelib/src/CameraStereo.cpp
View File

@@ -1279,7 +1279,8 @@ CameraStereoVideo::CameraStereoVideo(
path_(path),
rectifyImages_(rectifyImages),
src_(CameraVideo::kVideoFile),
usbDevice_(0)
usbDevice_(0),
usbDevice2_(-1)
{
}
@@ -1294,7 +1295,8 @@ CameraStereoVideo::CameraStereoVideo(
path2_(pathRight),
rectifyImages_(rectifyImages),
src_(CameraVideo::kVideoFile),
usbDevice_(0)
usbDevice_(0),
usbDevice2_(-1)
{
}
@@ -1306,7 +1308,22 @@ CameraStereoVideo::CameraStereoVideo(
Camera(imageRate, localTransform),
rectifyImages_(rectifyImages),
src_(CameraVideo::kUsbDevice),
usbDevice_(device)
usbDevice_(device),
usbDevice2_(-1)
{
}
CameraStereoVideo::CameraStereoVideo(
int deviceLeft,
int deviceRight,
bool rectifyImages,
float imageRate,
const Transform & localTransform) :
Camera(imageRate, localTransform),
rectifyImages_(rectifyImages),
src_(CameraVideo::kUsbDevice),
usbDevice_(deviceLeft),
usbDevice2_(deviceRight)
{
}
@@ -1330,20 +1347,27 @@ bool CameraStereoVideo::init(const std::string & calibrationFolder, const std::s
if (src_ == CameraVideo::kUsbDevice)
{
ULOGGER_DEBUG("CameraStereoVideo: Usb device initialization on device %d", usbDevice_);
capture_.open(usbDevice_);
if(usbDevice2_ < 0)
{
ULOGGER_DEBUG("CameraStereoVideo: Usb device initialization on device %d", usbDevice_);
}
else
{
ULOGGER_DEBUG("CameraStereoVideo: Usb device initialization on devices %d and %d", usbDevice_, usbDevice2_);
capture2_.open(usbDevice2_);
}
}
else if (src_ == CameraVideo::kVideoFile)
{
capture_.open(path_.c_str());
if(path2_.empty())
{
ULOGGER_DEBUG("CameraStereoVideo: filename=\"%s\"", path_.c_str());
capture_.open(path_.c_str());
}
else
{
ULOGGER_DEBUG("CameraStereoVideo: filenames=\"%s\" and \"%s\"", path_.c_str(), path2_.c_str());
capture_.open(path_.c_str());
capture2_.open(path2_.c_str());
}
}
@@ -1352,7 +1376,7 @@ bool CameraStereoVideo::init(const std::string & calibrationFolder, const std::s
ULOGGER_ERROR("CameraStereoVideo: Unknown source...");
}
if(!capture_.isOpened() || (!path2_.empty() && !capture2_.isOpened()))
if(!capture_.isOpened() || ((!path2_.empty() || usbDevice2_>=0) && !capture2_.isOpened()))
{
ULOGGER_ERROR("CameraStereoVideo: Failed to create a capture object!");
capture_.release();
@@ -1411,11 +1435,11 @@ SensorData CameraStereoVideo::captureImage(CameraInfo * info)
SensorData data;
cv::Mat img;
if(capture_.isOpened() && (path2_.empty() || capture2_.isOpened()))
if(capture_.isOpened() && ((path2_.empty() && usbDevice2_ < 0) || capture2_.isOpened()))
{
cv::Mat leftImage;
cv::Mat rightImage;
if(path2_.empty())
if(path2_.empty() && usbDevice2_ < 0)
{
if(!capture_.read(img))
{