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

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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/DataRecorder/main.cpp
+5 -13
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;