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Added stereo option for the CalibrationDialog class

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This commit is contained in:
Mathieu Labbe
2015-04-05 16:42:41 -04:00
parent 6a0e48a6fa
commit fee32c4e25
14 changed files with 1075 additions and 318 deletions
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82
tools/Calibration/main.cpp
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@@ -38,9 +38,17 @@ void showUsage()
printf("\nUsage:\n"
"rtabmap-calibration [options]\n"
"Options:\n"
" --driver # Driver number to use: 0=USB camera, 1=OpenNI-PCL, 2=OpenNI2,\n"
" 3=Freenect, 4=OpenNI-CV, 5=OpenNI-CV-ASUS\n"
" --device # Device id\n\n");
" --driver # Driver number to use:-1=USB camera\n"
" 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"
" --device # Device id\n"
" --debug Debug log\n"
" --stereo Stereo\n\n");
exit(1);
}
@@ -49,8 +57,9 @@ int main(int argc, char * argv[])
ULogger::setType(ULogger::kTypeConsole);
ULogger::setLevel(ULogger::kInfo);
int driver = 0;
int driver = -1;
int device = 0;
bool stereo = false;
for(int i=1; i<argc; ++i)
{
if(strcmp(argv[i], "--driver") == 0)
@@ -59,7 +68,7 @@ int main(int argc, char * argv[])
if(i < argc)
{
driver = std::atoi(argv[i]);
if(driver < 0)
if(driver < -1)
{
showUsage();
}
@@ -87,6 +96,16 @@ int main(int argc, char * argv[])
}
continue;
}
if(strcmp(argv[i], "--debug") == 0)
{
ULogger::setLevel(ULogger::kDebug);
continue;
}
if(strcmp(argv[i], "--stereo") == 0)
{
stereo=true;
continue;
}
if(strcmp(argv[i], "--help") == 0)
{
showUsage();
@@ -94,44 +113,52 @@ int main(int argc, char * argv[])
printf("Unrecognized option : %s\n", argv[i]);
showUsage();
}
driver = atoi(argv[argc-1]);
if(driver < 0 || driver > 5)
if(driver < -1 || driver > 6)
{
UERROR("driver should be between 0 and 5.");
UERROR("driver should be between -1 and 6.");
showUsage();
}
UINFO("Using driver %d", driver);
UINFO("Using device %d", device);
UINFO("Stereo: %s", stereo?"true":"false");
float imageRate = 1.0f;
rtabmap::Camera * cameraUsb = 0;
rtabmap::CameraRGBD * camera = 0;
if(driver == 0)
if(driver == -1)
{
cameraUsb = new rtabmap::CameraVideo(device, imageRate);
cameraUsb = new rtabmap::CameraVideo(device);
}
else if(driver == 0)
{
camera = new rtabmap::CameraOpenni();
}
else if(driver == 1)
{
camera = new rtabmap::CameraOpenni(uNumber2Str(device), imageRate);
}
else if(driver == 2)
{
if(!rtabmap::CameraOpenNI2::available())
{
UERROR("Not built with OpenNI2 support...");
exit(-1);
}
camera = new rtabmap::CameraOpenNI2(uNumber2Str(device), imageRate);
camera = new rtabmap::CameraOpenNI2();
}
else if(driver == 3)
else if(driver == 2)
{
if(!rtabmap::CameraFreenect::available())
{
UERROR("Not built with Freenect support...");
exit(-1);
}
camera = new rtabmap::CameraFreenect(device, imageRate);
camera = new rtabmap::CameraFreenect();
}
else if(driver == 3)
{
if(!rtabmap::CameraOpenNICV::available())
{
UERROR("Not built with OpenNI from OpenCV support...");
exit(-1);
}
camera = new rtabmap::CameraOpenNICV(false);
}
else if(driver == 4)
{
@@ -140,16 +167,25 @@ int main(int argc, char * argv[])
UERROR("Not built with OpenNI from OpenCV support...");
exit(-1);
}
camera = new rtabmap::CameraOpenNICV(false, imageRate);
camera = new rtabmap::CameraOpenNICV(true);
}
else if(driver == 5)
{
if(!rtabmap::CameraOpenNICV::available())
if(!rtabmap::CameraFreenect2::available())
{
UERROR("Not built with OpenNI from OpenCV support...");
UERROR("Not built with Freenect2 support...");
exit(-1);
}
camera = new rtabmap::CameraOpenNICV(true, imageRate);
camera = new rtabmap::CameraFreenect2();
}
else if(driver == 6)
{
if(!rtabmap::CameraDC1394::available())
{
UERROR("Not built with DC1394 support...");
exit(-1);
}
camera = new rtabmap::CameraDC1394();
}
else
{
@@ -180,7 +216,7 @@ int main(int argc, char * argv[])
}
QApplication app(argc, argv);
rtabmap::CalibrationDialog dialog;
rtabmap::CalibrationDialog dialog(stereo);
dialog.registerToEventsManager();
dialog.show();