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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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tools/ConsoleApp/main.cpp
+2 -22
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@@ -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");