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Fixed list not defined error in util3d_surface.h. Updated rgbd_mapping example with Freenect2, zed and realsense options

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matlabbe
2016-09-09 18:35:56 -04:00
parent 2eb2362da8
commit d6f9f29835
2 changed files with 32 additions and 3 deletions
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examples/RGBDMapping/main.cpp
+31 -3
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@@ -29,6 +29,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/Rtabmap.h"
#include "rtabmap/core/RtabmapThread.h"
#include "rtabmap/core/CameraRGBD.h"
#include "rtabmap/core/CameraStereo.h"
#include "rtabmap/core/CameraThread.h"
#include "rtabmap/core/OdometryThread.h"
#include "rtabmap/core/Graph.h"
@@ -44,7 +45,7 @@ void showUsage()
{
printf("\nUsage:\n"
"rtabmap-rgbd_mapping driver\n"
" driver Driver number to use: 0=OpenNI-PCL, 1=OpenNI2, 2=Freenect, 3=OpenNI-CV, 4=OpenNI-CV-ASUS\n\n");
" driver Driver number to use: 0=OpenNI-PCL, 1=OpenNI2, 2=Freenect, 3=OpenNI-CV, 4=OpenNI-CV-ASUS, 5=Freenect2, 6=ZED SDK, 7=RealSense\n\n");
exit(1);
}
@@ -62,9 +63,9 @@ int main(int argc, char * argv[])
else
{
driver = atoi(argv[argc-1]);
if(driver < 0 || driver > 4)
if(driver < 0 || driver > 7)
{
UERROR("driver should be between 0 and 4.");
UERROR("driver should be between 0 and 7.");
showUsage();
}
}
@@ -112,6 +113,33 @@ int main(int argc, char * argv[])
}
camera = new CameraOpenNICV(true, 0, opticalRotation);
}
else if (driver == 5)
{
if (!CameraFreenect2::available())
{
UERROR("Not built with Freenect2 support...");
exit(-1);
}
camera = new CameraFreenect2(0, CameraFreenect2::kTypeColor2DepthSD, 0, opticalRotation);
}
else if (driver == 6)
{
if (!CameraStereoZed::available())
{
UERROR("Not built with ZED SDK support...");
exit(-1);
}
camera = new CameraStereoZed(0, 2, 1, 1, 100, false, 0, opticalRotation);
}
else if (driver == 7)
{
if (!CameraRealSense::available())
{
UERROR("Not built with RealSense support...");
exit(-1);
}
camera = new CameraRealSense(0, 0, 0, 0, opticalRotation);
}
else
{
camera = new rtabmap::CameraOpenni("", 0, opticalRotation);