i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-01 17:10:26 +08:00
Code Issues Packages Projects Releases Wiki Activity

1. Add freenect2 cuda pipeline

Browse Source 
2. Fix TegraJPEG Color problem, convert from RGB to BGR
This commit is contained in:
lesterlo
2016-08-26 15:40:10 +08:00
parent a302a6334d
commit f180beb3f9
1 changed files with 40 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files

44
corelib/src/CameraRGBD.cpp
View File

@@ -1179,6 +1179,9 @@ bool CameraFreenect2::init(const std::string & calibrationFolder, const std::str
}
libfreenect2::PacketPipeline * pipeline;
#ifdef LIBFREENECT2_WITH_CUDA_SUPPORT
pipeline = new libfreenect2::CudaPacketPipeline();
#else
#ifdef LIBFREENECT2_WITH_OPENGL_SUPPORT
pipeline = new libfreenect2::OpenGLPacketPipeline();
#else
@@ -1187,6 +1190,7 @@ bool CameraFreenect2::init(const std::string & calibrationFolder, const std::str
#else
pipeline = new libfreenect2::CpuPacketPipeline();
#endif
#endif
#endif
if(deviceId_ <= 0)
@@ -1406,7 +1410,15 @@ SensorData CameraFreenect2::captureImage(CameraInfo * info)
{
cv::Mat rgbMatC4((int)rgbFrame->height, (int)rgbFrame->width, CV_8UC4, rgbFrame->data);
cv::Mat rgbMat; // rtabmap uses 3 channels RGB
cv::cvtColor(rgbMatC4, rgbMat, CV_BGRA2BGR);
#ifdef LIBFREENECT2_WITH_TEGRAJPEG_SUPPORT
cv::cvtColor(rgbMatC4, rgbMat, CV_RGBA2BGR);
#else
cv::cvtColor(rgbMatC4, rgbMat, CV_BGRA2BGR);
#endif
cv::flip(rgbMat, rgb, 1);
//rectify color
@@ -1455,7 +1467,15 @@ SensorData CameraFreenect2::captureImage(CameraInfo * info)
{
cv::Mat rgbMatC4((int)rgbFrame->height, (int)rgbFrame->width, CV_8UC4, rgbFrame->data);
cv::Mat rgbMat; // rtabmap uses 3 channels RGB
cv::cvtColor(rgbMatC4, rgbMat, CV_BGRA2BGR);
#ifdef LIBFREENECT2_WITH_TEGRAJPEG_SUPPORT
cv::cvtColor(rgbMatC4, rgbMat, CV_RGB2BGR);
#else
cv::cvtColor(rgbMatC4, rgbMat, CV_BGRA2BGR);
#endif
cv::flip(rgbMat, rgb, 1);
cv::Mat((int)irFrame->height, (int)irFrame->width, CV_32FC1, irFrame->data).convertTo(depth, CV_16U, 1);
@@ -1564,7 +1584,15 @@ SensorData CameraFreenect2::captureImage(CameraInfo * info)
}
// rtabmap uses 3 channels RGB
cv::cvtColor(rgbMatBGRA, rgb, CV_BGRA2BGR);
#ifdef LIBFREENECT2_WITH_TEGRAJPEG_SUPPORT
cv::cvtColor(rgbMatBGRA, rgb, CV_RGBA2BGR);
#else
cv::cvtColor(rgbMatBGRA, rgb, CV_BGRA2BGR);
#endif
cv::flip(rgb, rgb, 1);
}
else //register depth to color (OLD WAY)
@@ -1578,7 +1606,15 @@ SensorData CameraFreenect2::captureImage(CameraInfo * info)
rgbMatBGRA = tmp;
}
// rtabmap uses 3 channels RGB
cv::cvtColor(rgbMatBGRA, rgb, CV_BGRA2BGR);
#ifdef LIBFREENECT2_WITH_TEGRAJPEG_SUPPORT
cv::cvtColor(rgbMatBGRA, rgb, CV_RGBA2BGR);
#else
cv::cvtColor(rgbMatC4, rgb, CV_BGRA2BGR);
#endif
cv::flip(rgb, rgb, 1);
cv::Mat depthFrameMat = cv::Mat((int)depthFrame->height, (int)depthFrame->width, CV_32FC1, depthFrame->data);