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Fixed camera openni-PCL stopping after only one grab

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1390 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-06-16 18:07:51 +00:00
parent 9c20c20300
commit f6ce17012a
3 changed files with 18 additions and 8 deletions
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9
corelib/src/CameraRGBD.cpp
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@@ -94,7 +94,8 @@ void CameraRGBD::takeImage(cv::Mat & rgb, cv::Mat & depth, float & depthConstant
CameraOpenni::CameraOpenni(const std::string & deviceId, float imageRate, const Transform & localTransform) :
CameraRGBD(imageRate, localTransform),
interface_(0),
deviceId_(deviceId)
deviceId_(deviceId),
depthConstant_(0.0f)
{
}
@@ -122,6 +123,8 @@ void CameraOpenni::image_cb (
{
UScopeMutex s(dataMutex_);
bool notify = rgb_.empty();
cv::Mat rgbFrame(rgb->getHeight(), rgb->getWidth(), CV_8UC3);
rgb->fillRGB(rgb->getWidth(), rgb->getHeight(), rgbFrame.data);
cv::cvtColor(rgbFrame, rgb_, CV_RGB2BGR);
@@ -131,7 +134,7 @@ void CameraOpenni::image_cb (
depthConstant_ = constant;
if(dataReady_.value() <= 0)
if(notify)
{
dataReady_.release();
}
@@ -184,7 +187,7 @@ void CameraOpenni::captureImage(cv::Mat & rgb, cv::Mat & depth, float & depthCon
depth_ = cv::Mat();
rgb_ = cv::Mat();
depthConstant_ = 0;
depthConstant_ = 0.0f;
}
}

9
corelib/src/CameraThread.cpp
View File

@@ -122,7 +122,14 @@ void CameraThread::mainLoop()
}
else if(!this->isKilled())
{
UDEBUG("no more images...");
if(_cameraRGBD)
{
UERROR("Retrieved data is empty! Stopping the camera...");
}
else
{
UWARN("no more images...");
}
this->kill();
this->post(new CameraEvent());
}