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CameraFreenect2: added pipelineName parameter

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This commit is contained in:
matlabbe
2017-10-11 12:50:57 -04:00
parent 8b3cff9f4c
commit f6315e48d0
6 changed files with 231 additions and 97 deletions
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87
corelib/src/CameraRGBD.cpp
View File

@@ -1343,7 +1343,8 @@ CameraFreenect2::CameraFreenect2(
float maxDepth,
bool bilateralFiltering,
bool edgeAwareFiltering,
bool noiseFiltering) :
bool noiseFiltering,
const std::string & pipelineName) :
Camera(imageRate, localTransform)
#ifdef RTABMAP_FREENECT2
,
@@ -1357,7 +1358,8 @@ CameraFreenect2::CameraFreenect2(
maxKinect2Depth_(maxDepth),
bilateralFiltering_(bilateralFiltering),
edgeAwareFiltering_(edgeAwareFiltering),
noiseFiltering_(noiseFiltering)
noiseFiltering_(noiseFiltering),
pipelineName_(pipelineName)
#endif
{
#ifdef RTABMAP_FREENECT2
@@ -1410,6 +1412,72 @@ CameraFreenect2::~CameraFreenect2()
#endif
}
libfreenect2::PacketPipeline *createPacketPipelineByName(const std::string & name)
{
std::string availablePipelines;
#if defined(LIBFREENECT2_WITH_OPENGL_SUPPORT)
availablePipelines += "gl ";
if (name == "gl")
{
UINFO("Using 'gl' pipeline.");
return new libfreenect2::OpenGLPacketPipeline();
}
#endif
#if defined(LIBFREENECT2_WITH_CUDA_SUPPORT)
availablePipelines += "cuda cudakde ";
if (name == "cuda")
{
UINFO("Using 'cuda' pipeline.");
return new libfreenect2::CudaPacketPipeline();
}
if (name == "cudakde")
{
UINFO("Using 'cudakde' pipeline.");
return new libfreenect2::CudaKdePacketPipeline();
}
#endif
#if defined(LIBFREENECT2_WITH_OPENCL_SUPPORT)
availablePipelines += "cl clkde ";
if (name == "cl")
{
UINFO("Using 'cl' pipeline.");
return new libfreenect2::OpenCLPacketPipeline();
}
if (name == "clkde")
{
UINFO("Using 'clkde' pipeline.");
return new libfreenect2::OpenCLKdePacketPipeline();
}
#endif
availablePipelines += "cpu";
if (name == "cpu")
{
UINFO("Using 'cpu' pipeline.");
return new libfreenect2::CpuPacketPipeline();
}
if (!name.empty())
{
UERROR("'%s' pipeline is not available. Available pipelines are: \"%s\". Default one is used instead (first one in the list).",
name.c_str(), availablePipelines.c_str());
}
// create default pipeline
#if defined(LIBFREENECT2_WITH_OPENGL_SUPPORT)
UINFO("Using 'gl' pipeline.");
return new libfreenect2::OpenGLPacketPipeline();
#elif defined(LIBFREENECT2_WITH_CUDA_SUPPORT)
UINFO("Using 'cuda' pipeline.");
return new libfreenect2::CudaPacketPipeline();
#elif defined(LIBFREENECT2_WITH_OPENCL_SUPPORT)
UINFO("Using 'cl' pipeline.");
return new libfreenect2::OpenCLPacketPipeline();
#else
UINFO("Using 'cpu' pipeline.");
return new libfreenect2::CpuPacketPipeline();
#endif
}
bool CameraFreenect2::init(const std::string & calibrationFolder, const std::string & cameraName)
{
#ifdef RTABMAP_FREENECT2
@@ -1426,20 +1494,7 @@ bool CameraFreenect2::init(const std::string & calibrationFolder, const std::str
reg_ = 0;
}
libfreenect2::PacketPipeline * pipeline;
#ifdef LIBFREENECT2_WITH_CUDA_SUPPORT
pipeline = new libfreenect2::CudaPacketPipeline();
#else
#ifdef LIBFREENECT2_WITH_OPENGL_SUPPORT
pipeline = new libfreenect2::OpenGLPacketPipeline();
#else
#ifdef LIBFREENECT2_WITH_OPENCL_SUPPORT
pipeline = new libfreenect2::OpenCLPacketPipeline();
#else
pipeline = new libfreenect2::CpuPacketPipeline();
#endif
#endif
#endif
libfreenect2::PacketPipeline * pipeline = createPacketPipelineByName(pipelineName_);
if(deviceId_ <= 0)
{

14
corelib/src/Rtabmap.cpp
View File

@@ -2820,15 +2820,13 @@ void Rtabmap::setWorkingDirectory(std::string path)
ULOGGER_DEBUG("Comparing new working directory path \"%s\" with \"%s\"", path.c_str(), _wDir.c_str());
if(path.compare(_wDir) != 0)
{
if (_foutFloat || _foutInt)
{
UWARN("Working directory has been changed from \"%s\" with \"%s\", new log files will be created.",
path.c_str(), _wDir.c_str());
}
_wDir = path;
if(_memory)
{
this->resetMemory();
}
else
{
setupLogFiles();
}
setupLogFiles();
}
}
else if(path.empty())