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fixed build realsense on Windows

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This commit is contained in:
matlabbe
2017-04-21 21:59:53 -04:00
parent 07d6763e69
commit b93ca148a8
2 changed files with 46 additions and 23 deletions
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55
corelib/src/CameraRGBD.cpp
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@@ -14,7 +14,6 @@ modification, are permitted provided that the following conditions are met:
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
@@ -66,9 +65,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#ifdef RTABMAP_REALSENSE
#include <librealsense/rs.hpp>
#ifdef RTABMAP_REALSENSE_SLAM
#include <rs_core.h>
#include <rs_utils.h>
#ifdef RTABMAP_REALSENSE_SLAM
#include <librealsense/slam/slam.h>
#endif
#endif
@@ -2112,8 +2111,8 @@ bool CameraRealSense::init(const std::string & calibrationFolder, const std::str
UINFO(" Preset RGB: %d", presetRGB_);
UINFO(" Preset Depth: %d", presetDepth_);
#ifdef RTABMAP_REALSENSE_SLAM
bool computeOdometry = false;
#ifdef RTABMAP_REALSENSE_SLAM
if (name.find("ZR300") != std::string::npos && computeOdometry_)
{
// Only enable ZR300 functionality if fisheye stream is enabled.
@@ -2136,11 +2135,11 @@ bool CameraRealSense::init(const std::string & calibrationFolder, const std::str
UINFO(" RGB: %dx%d", color_intrin.width, color_intrin.height);
UINFO(" Depth: %dx%d", depth_intrin.width, depth_intrin.height);
#ifdef RTABMAP_REALSENSE_SLAM
UDEBUG("Setup frame callback");
// Define lambda callback for receiving stream data
std::function<void(rs::frame)> frameCallback = [this](rs::frame frame)
{
#ifdef RTABMAP_REALSENSE_SLAM
if(slam_ != 0)
{
const auto timestampDomain = frame.get_frame_timestamp_domain();
@@ -2151,7 +2150,6 @@ bool CameraRealSense::init(const std::string & calibrationFolder, const std::str
return ;
}
}
#endif
int width = frame.get_width();
int height = frame.get_height();
@@ -2224,7 +2222,7 @@ bool CameraRealSense::init(const std::string & calibrationFolder, const std::str
{
return;
}
#ifdef RTABMAP_REALSENSE_SLAM
if(slam_ != 0)
{
rs::core::stream_type stream = rs::utils::convert_stream_type(frame.get_stream_type());
@@ -2244,7 +2242,6 @@ bool CameraRealSense::init(const std::string & calibrationFolder, const std::str
}
sample_set[stream]->release();
}
#endif
};
// Setup stream callback for stream
@@ -2255,8 +2252,6 @@ bool CameraRealSense::init(const std::string & calibrationFolder, const std::str
dev_->set_frame_callback(rs::stream::depth, frameCallback);
dev_->set_frame_callback(rs::stream::color, frameCallback);
#ifdef RTABMAP_REALSENSE_SLAM
if (computeOdometry)
{
dev_->enable_stream(rs::stream::fisheye, 640, 480, rs::format::raw8, 30);
@@ -2379,10 +2374,19 @@ bool CameraRealSense::init(const std::string & calibrationFolder, const std::str
dev_->start(rs::source::all_sources);
}
else
#endif
{
dev_->start();
}
#else
dev_->start();
try {
dev_->wait_for_frames();
}
catch (const rs::error & e)
{
UERROR("Exception: %s", e.what());
}
#endif
uSleep(1000); // ignore the first frames
UINFO("Enabling streams...done!");
@@ -2440,15 +2444,20 @@ SensorData CameraRealSense::captureImage(CameraInfo * info)
#ifdef RTABMAP_REALSENSE
if (dev_)
{
cv::Mat rgb;
cv::Mat depthIn;
// Retrieve camera parameters for mapping between depth and color
rs::intrinsics depth_intrin = dev_->get_stream_intrinsics(rs::stream::depth);
rs::extrinsics depth_to_color = dev_->get_extrinsics(rs::stream::depth, rs::stream::color);
rs::intrinsics color_intrin = dev_->get_stream_intrinsics(rs::stream::color);
#ifdef RTABMAP_REALSENSE_SLAM
if(!dataReady_.acquire(1, 5000))
{
UWARN("Not received new frames since 5 seconds, end of stream reached!");
return data;
}
cv::Mat rgb;
cv::Mat depthIn;
{
UScopeMutex lock(dataMutex_);
rgb = lastSyncFrames_.first;
@@ -2461,11 +2470,21 @@ SensorData CameraRealSense::captureImage(CameraInfo * info)
{
return data;
}
#else
try {
dev_->wait_for_frames();
}
catch (const rs::error & e)
{
UERROR("Exception: %s", e.what());
return data;
}
// Retrieve our images
depthIn = cv::Mat(depth_intrin.height, depth_intrin.width, CV_16UC1, (unsigned char*)dev_->get_frame_data(rs::stream::depth));
rgb = cv::Mat(color_intrin.height, color_intrin.width, CV_8UC3, (unsigned char*)dev_->get_frame_data(rs::stream::color));
#endif
// Retrieve camera parameters for mapping between depth and color
rs::intrinsics depth_intrin = dev_->get_stream_intrinsics(rs::stream::depth);
rs::extrinsics depth_to_color = dev_->get_extrinsics(rs::stream::depth, rs::stream::color);
rs::intrinsics color_intrin = dev_->get_stream_intrinsics(rs::stream::color);
float scale = dev_->get_depth_scale();
// factory registration...