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Added multi-camera feature

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This commit is contained in:
Mathieu Labbe
2015-05-29 14:46:48 -04:00
parent e6923daf1c
commit c6d0d47b1c
51 changed files with 2833 additions and 2297 deletions
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corelib/src/CameraThread.cpp
+14 -3
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@@ -109,12 +109,12 @@ void CameraThread::mainLoop()
UDEBUG("");
cv::Mat rgb, depth;
float fx = 0.0f;
float fy = 0.0f;
float fyOrBaseline = 0.0f;
float cx = 0.0f;
float cy = 0.0f;
if(_cameraRGBD)
{
_cameraRGBD->takeImage(rgb, depth, fx, fy, cx, cy);
_cameraRGBD->takeImage(rgb, depth, fx, fyOrBaseline, cx, cy);
}
else
{
@@ -125,7 +125,18 @@ void CameraThread::mainLoop()
{
if(_cameraRGBD)
{
SensorData data(rgb, depth, fx, fy, cx, cy, _cameraRGBD->getLocalTransform(), Transform(), 1, 1, ++_seq, UTimer::now());
SensorData data;
if(dynamic_cast<CameraStereoDC1394*>(_cameraRGBD) || dynamic_cast<CameraStereoDC1394*>(_cameraRGBD))
{
//stereo
data = SensorData(rgb, depth, StereoCameraModel(fx, fx, cx, cy, fyOrBaseline, _cameraRGBD->getLocalTransform()), ++_seq, UTimer::now());
UASSERT(data.stereoCameraModel().isValid());
}
else
{
data = SensorData(rgb, depth, CameraModel(fx, fyOrBaseline, cx, cy, _cameraRGBD->getLocalTransform()), ++_seq, UTimer::now());
UASSERT(data.cameraModels().size() == 1 && data.cameraModels()[0].isValid());
}
this->post(new CameraEvent(data, _cameraRGBD->getSerial()));
}
else