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Orbbec SDK v2 integration (new CameraOrbbecSDK class) (#1590)

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* Orbbec SDK 2 integration (new CameraOrbbecSDK class)

* Added rectification option, fixed the build without orbbec sdk

* Fixed timestamp issue on Windows

* Removed WITH_ORBBEC_SDK=ON by default in case v1 is installed. Enabled inter imu when selecting orbbec sdk.

* requiring orbbec version=2 to avoid confusion

* Finalizing options
This commit is contained in:
matlabbe
2025-10-07 10:22:16 -07:00
committed by GitHub
parent 5aec9bacec
commit f0dab18005
22 changed files with 3078 additions and 1816 deletions
Download Patch File Download Diff File Expand all files Collapse all files

147
examples/RGBDMapping/main.cpp
View File

@@ -50,7 +50,24 @@ 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, 5=Freenect2, 6=ZED SDK, 7=RealSense, 8=RealSense2 9=Kinect for Azure SDK 10=MYNT EYE S\n\n");
" driver Driver number to use: 0=OpenNI-PCL (Kinect)\n"
" 1=OpenNI2 (Kinect and Xtion PRO Live)\n"
" 2=Freenect (Kinect)\n"
" 3=OpenNI-CV (Kinect)\n"
" 4=OpenNI-CV-ASUS (Xtion PRO Live)\n"
" 5=Freenect2 (Kinect v2)\n"
" 6=DC1394 (Bumblebee2)\n"
" 7=FlyCapture2 (Bumblebee2)\n"
" 8=ZED stereo\n"
" 9=RealSense\n"
" 10=Kinect for Windows 2 SDK\n"
" 11=RealSense2\n"
" 12=Kinect for Azure SDK\n"
" 13=MYNT EYE S\n"
" 14=ZED Open Capture\n"
" 15=depthai-core\n"
" 16=XVSDK (SeerSense)\n"
" 17=Orbbec SDK\n\n");
exit(1);
}
@@ -58,7 +75,7 @@ using namespace rtabmap;
int main(int argc, char * argv[])
{
ULogger::setType(ULogger::kTypeConsole);
ULogger::setLevel(ULogger::kWarning);
ULogger::setLevel(ULogger::kInfo);
#ifdef RTABMAP_PYTHON
PythonInterface python; // Make sure we initialize python in main thread
@@ -72,92 +89,120 @@ int main(int argc, char * argv[])
else
{
driver = atoi(argv[argc-1]);
if(driver < 0 || driver > 10)
if(driver < 0 || driver > 17)
{
UERROR("driver should be between 0 and 10.");
UERROR("driver should be between 0 and 17.");
showUsage();
}
}
// Here is the pipeline that we will use:
// CameraOpenni -> "SensorEvent" -> OdometryThread -> "OdometryEvent" -> RtabmapThread -> "RtabmapEvent"
// Create the OpenNI camera, it will send a SensorEvent at the rate specified.
// Set transform to camera so z is up, y is left and x going forward
Camera * camera = 0;
if(driver == 1)
if (driver == 0)
{
if(!CameraOpenNI2::available())
camera = new rtabmap::CameraOpenni();
}
else if (driver == 1)
{
if (!rtabmap::CameraOpenNI2::available())
{
UERROR("Not built with OpenNI2 support...");
exit(-1);
}
camera = new CameraOpenNI2();
camera = new rtabmap::CameraOpenNI2();
}
else if(driver == 2)
else if (driver == 2)
{
if(!CameraFreenect::available())
if (!rtabmap::CameraFreenect::available())
{
UERROR("Not built with Freenect support...");
exit(-1);
}
camera = new CameraFreenect();
camera = new rtabmap::CameraFreenect();
}
else if(driver == 3)
else if (driver == 3)
{
if(!CameraOpenNICV::available())
if (!rtabmap::CameraOpenNICV::available())
{
UERROR("Not built with OpenNI from OpenCV support...");
exit(-1);
}
camera = new CameraOpenNICV();
camera = new rtabmap::CameraOpenNICV(false);
}
else if(driver == 4)
else if (driver == 4)
{
if(!CameraOpenNICV::available())
if (!rtabmap::CameraOpenNICV::available())
{
UERROR("Not built with OpenNI from OpenCV support...");
exit(-1);
}
camera = new CameraOpenNICV(true);
camera = new rtabmap::CameraOpenNICV(true);
}
else if (driver == 5)
{
if (!CameraFreenect2::available())
if (!rtabmap::CameraFreenect2::available())
{
UERROR("Not built with Freenect2 support...");
exit(-1);
}
camera = new CameraFreenect2(0, CameraFreenect2::kTypeColor2DepthSD);
camera = new rtabmap::CameraFreenect2(0, rtabmap::CameraFreenect2::kTypeColor2DepthSD);
}
else if (driver == 6)
{
if (!CameraStereoZed::available())
if (!rtabmap::CameraStereoDC1394::available())
{
UERROR("Not built with ZED SDK support...");
UERROR("Not built with DC1394 support...");
exit(-1);
}
camera = new CameraStereoZed(0, -1, 1, 1, 100, false);
camera = new rtabmap::CameraStereoDC1394();
}
else if (driver == 7)
{
if (!CameraRealSense::available())
if (!rtabmap::CameraStereoFlyCapture2::available())
{
UERROR("Not built with FlyCapture2/Triclops support...");
exit(-1);
}
camera = new rtabmap::CameraStereoFlyCapture2();
}
else if (driver == 8)
{
if (!rtabmap::CameraStereoZed::available())
{
UERROR("Not built with ZED sdk support...");
exit(-1);
}
camera = new rtabmap::CameraStereoZed(0);
}
else if (driver == 9)
{
if (!rtabmap::CameraRealSense::available())
{
UERROR("Not built with RealSense support...");
exit(-1);
}
camera = new CameraRealSense();
camera = new rtabmap::CameraRealSense();
}
else if (driver == 8)
else if (driver == 10)
{
if (!CameraRealSense2::available())
if (!rtabmap::CameraK4W2::available())
{
UERROR("Not built with RealSense2 support...");
UERROR("Not built with Kinect for Windows 2 SDK support...");
exit(-1);
}
camera = new CameraRealSense2();
camera = new rtabmap::CameraK4W2();
}
else if (driver == 9)
else if (driver == 11)
{
if (!rtabmap::CameraRealSense2::available())
{
UERROR("Not built with RealSense2 SDK support...");
exit(-1);
}
camera = new rtabmap::CameraRealSense2();
}
else if (driver == 12)
{
if (!rtabmap::CameraK4A::available())
{
@@ -166,7 +211,7 @@ int main(int argc, char * argv[])
}
camera = new rtabmap::CameraK4A(1);
}
else if (driver == 10)
else if (driver == 13)
{
if (!rtabmap::CameraMyntEye::available())
{
@@ -175,9 +220,45 @@ int main(int argc, char * argv[])
}
camera = new rtabmap::CameraMyntEye();
}
else if (driver == 14)
{
if (!rtabmap::CameraStereoZedOC::available())
{
UERROR("Not built with Zed Open Capture support...");
exit(-1);
}
camera = new rtabmap::CameraStereoZedOC(0);
}
else if (driver == 15)
{
if (!rtabmap::CameraDepthAI::available())
{
UERROR("Not built with depthai-core support...");
exit(-1);
}
camera = new rtabmap::CameraDepthAI();
}
else if (driver == 16)
{
if (!rtabmap::CameraSeerSense::available())
{
UERROR("Not built with XVisio SDK support...");
exit(-1);
}
camera = new rtabmap::CameraSeerSense();
}
else if (driver == 17)
{
if (!rtabmap::CameraOrbbecSDK::available())
{
UERROR("Not built with Orbbec SDK support...");
exit(-1);
}
camera = new rtabmap::CameraOrbbecSDK();
}
else
{
camera = new rtabmap::CameraOpenni();
UFATAL("");
}
if(!camera->init())