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Refactoring CameraRGBD class (now including OpenNI, OpenNI2, OpenNI from OpenCV and Freenect)

Browse Source 
Added tool to test RGB-D camera: rtabmap-rgbd_camera
Fixed Freenect corrupted depth image (after some time)

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1366 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-06-15 03:31:35 +00:00
parent 81b3b49f97
commit c18f1501d4
25 changed files with 1248 additions and 1579 deletions
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24
tools/ConsoleApp/main.cpp
View File

@@ -50,7 +50,6 @@ void showUsage()
" The height must be also specified if changed.\n"
" -image_height # Force an image height (Default 0: original size used)\n"
" The height must be also specified if changed.\n"
" -frames_dropped # Frames dropped from source (Default 0: no frames dropped)\n"
" -start_at # When \"path\" is a directory of images, set this parameter\n"
" to start processing at image # (default 1)."
" -\"parameter name\" \"value\" Overwrite a specific RTAB-Map's parameter :\n"
@@ -114,7 +113,6 @@ int main(int argc, char * argv[])
int imageWidth = 0;
int imageHeight = 0;
int startAt = 1;
int framesDropped = 0;
ParametersMap pm;
ULogger::Level logLevel = ULogger::kError;
ULogger::Level exitLevel = ULogger::kFatal;
@@ -239,23 +237,6 @@ int main(int argc, char * argv[])
}
continue;
}
if(strcmp(argv[i], "-frames_dropped") == 0)
{
++i;
if(i < argc)
{
framesDropped = std::atoi(argv[i]);
if(framesDropped < 0)
{
showUsage();
}
}
else
{
showUsage();
}
continue;
}
if(strcmp(argv[i], "-start_at") == 0)
{
++i;
@@ -357,11 +338,11 @@ int main(int argc, char * argv[])
Camera * camera = 0;
if(UDirectory::exists(path))
{
camera = new CameraImages(path, startAt, false, 1/rate, imageWidth, imageHeight, framesDropped);
camera = new CameraImages(path, startAt, false, 1/rate, imageWidth, imageHeight);
}
else
{
camera = new CameraVideo(path, 1/rate, imageWidth, imageHeight, framesDropped);
camera = new CameraVideo(path, 1/rate, imageWidth, imageHeight);
}
if(!camera || !camera->init())
@@ -402,7 +383,6 @@ int main(int argc, char * argv[])
printf(" Repeating data set = %s\n", repeat?"true":"false");
printf(" Camera width=%d, height=%d (0 is default)\n", imageWidth, imageHeight);
printf(" Camera starts at image %d (default 1)\n", startAt);
printf(" Camera frames dropped %d (default 0)\n", framesDropped);
if(createGT)
{
printf(" Creating the ground truth matrix.\n");

18
tools/DataRecorder/main.cpp
View File

@@ -1,7 +1,8 @@
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UFile.h>
#include <rtabmap/core/CameraOpenni.h>
#include <rtabmap/core/CameraThread.h>
#include <rtabmap/core/CameraRGBD.h>
#include <rtabmap/core/Camera.h>
#include <rtabmap/core/CameraThread.h>
#include <rtabmap/gui/DataRecorder.h>
@@ -22,17 +23,12 @@ void showUsage()
exit(1);
}
rtabmap::CameraOpenni * openniCamera = 0;
rtabmap::CameraThread * cam = 0;
QApplication * app = 0;
// catch ctrl-c
void sighandler(int sig)
{
printf("\nSignal %d caught...\n", sig);
if(openniCamera)
{
openniCamera->kill();
}
if(cam)
{
cam->join(true);
@@ -119,7 +115,7 @@ int main (int argc, char * argv[])
if(openni)
{
openniCamera = new rtabmap::CameraOpenni("", rate, rtabmap::Transform(0,0,1,0, -1,0,0,0, 0,-1,0,0));
cam = new rtabmap::CameraThread(new rtabmap::CameraOpenni("", rate, rtabmap::Transform(0,0,1,0, -1,0,0,0, 0,-1,0,0)));
}
else
{
@@ -140,9 +136,9 @@ int main (int argc, char * argv[])
app->processEvents();
}
if(openni?openniCamera->init():cam->init())
if(cam->init())
{
openni?openniCamera->start():cam->start();
cam->start();
app->exec();
@@ -160,10 +156,6 @@ int main (int argc, char * argv[])
UERROR("Cannot initialize the recorder! Maybe the path is wrong: \"%s\"", fileName.toStdString().c_str());
}
if(openniCamera)
{
delete openniCamera;
}
if(cam)
{
delete cam;

5
tools/OdometryViewer/main.cpp
View File

@@ -4,7 +4,8 @@
#include <rtabmap/utilite/UFile.h>
#include <rtabmap/core/Odometry.h>
#include <rtabmap/gui/OdometryViewer.h>
#include <rtabmap/core/CameraOpenni.h>
#include <rtabmap/core/CameraThread.h>
#include <rtabmap/core/CameraRGBD.h>
#include <rtabmap/core/DBReader.h>
#include <QtGui/QApplication>
@@ -555,7 +556,7 @@ int main (int argc, char * argv[])
}
else
{
rtabmap::CameraOpenni camera("", rate, rtabmap::Transform(0,0,1,0, -1,0,0,0, 0,-1,0,0));
rtabmap::CameraThread camera(new rtabmap::CameraOpenni("", rate, rtabmap::Transform(0,0,1,0, -1,0,0,0, 0,-1,0,0)));
if(camera.init())
{
odomThread.start();