mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 17:40:23 +08:00
ad04fed7e6
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1433 f169173b-cf89-36c8-b27e-44dbe73f0c83
134 lines
3.3 KiB
C++
134 lines
3.3 KiB
C++
/*
|
|
* Copyright (C) 2010-2011, Mathieu Labbe and IntRoLab - Universite de Sherbrooke
|
|
*
|
|
* This file is part of RTAB-Map.
|
|
*
|
|
* RTAB-Map is free software: you can redistribute it and/or modify
|
|
* it under the terms of the GNU General Public License as published by
|
|
* the Free Software Foundation, either version 3 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* RTAB-Map is distributed in the hope that it will be useful,
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
* GNU General Public License for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License
|
|
* along with RTAB-Map. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
#include "rtabmap/core/CameraRGBD.h"
|
|
#include "rtabmap/core/util3d.h"
|
|
#include "rtabmap/utilite/ULogger.h"
|
|
#include <opencv2/highgui/highgui.hpp>
|
|
#include <pcl/visualization/cloud_viewer.h>
|
|
#include <stdio.h>
|
|
|
|
void showUsage()
|
|
{
|
|
printf("\nUsage:\n"
|
|
"rtabmap-rgbd_camera driver\n"
|
|
" driver Driver number to use: 0=OpenNI-PCL, 1=OpenNI2, 2=Freenect, 3=OpenNI-CV, 4=OpenNI-CV-ASUS\n\n");
|
|
exit(1);
|
|
}
|
|
|
|
int main(int argc, char * argv[])
|
|
{
|
|
ULogger::setType(ULogger::kTypeConsole);
|
|
ULogger::setLevel(ULogger::kInfo);
|
|
|
|
int driver = 0;
|
|
if(argc > 1)
|
|
{
|
|
driver = atoi(argv[1]);
|
|
if(driver < 0 || driver > 4)
|
|
{
|
|
UERROR("driver should be between 0 and 4.");
|
|
showUsage();
|
|
}
|
|
}
|
|
UINFO("Using driver %d", driver);
|
|
|
|
rtabmap::CameraRGBD * camera = 0;
|
|
if(driver == 0)
|
|
{
|
|
camera = new rtabmap::CameraOpenni("", 0);
|
|
}
|
|
else if(driver == 1)
|
|
{
|
|
if(!rtabmap::CameraOpenNI2::available())
|
|
{
|
|
UERROR("Not built with OpenNI2 support...");
|
|
exit(-1);
|
|
}
|
|
camera = new rtabmap::CameraOpenNI2(0);
|
|
}
|
|
else if(driver == 2)
|
|
{
|
|
if(!rtabmap::CameraFreenect::available())
|
|
{
|
|
UERROR("Not built with Freenect support...");
|
|
exit(-1);
|
|
}
|
|
camera = new rtabmap::CameraFreenect(0, 0);
|
|
}
|
|
else if(driver == 3)
|
|
{
|
|
if(!rtabmap::CameraOpenNICV::available())
|
|
{
|
|
UERROR("Not built with OpenNI from OpenCV support...");
|
|
exit(-1);
|
|
}
|
|
camera = new rtabmap::CameraOpenNICV(false, 0);
|
|
}
|
|
else if(driver == 4)
|
|
{
|
|
if(!rtabmap::CameraOpenNICV::available())
|
|
{
|
|
UERROR("Not built with OpenNI from OpenCV support...");
|
|
exit(-1);
|
|
}
|
|
camera = new rtabmap::CameraOpenNICV(true, 0);
|
|
}
|
|
else
|
|
{
|
|
UFATAL("");
|
|
}
|
|
|
|
if(!camera->init())
|
|
{
|
|
printf("Camera init failed!\n");
|
|
delete camera;
|
|
exit(1);
|
|
}
|
|
|
|
cv::Mat rgb, depth;
|
|
float constant;
|
|
camera->takeImage(rgb, depth, constant);
|
|
cv::namedWindow("Video", CV_WINDOW_AUTOSIZE); // create window
|
|
cv::namedWindow("Depth", CV_WINDOW_AUTOSIZE); // create window
|
|
pcl::visualization::CloudViewer viewer("cloud");
|
|
while(!rgb.empty() && !viewer.wasStopped())
|
|
{
|
|
cv::Mat tmp;
|
|
depth.convertTo(tmp, CV_8UC1, 255.0/2048.0);
|
|
|
|
cv::imshow("Video", rgb); // show frame
|
|
cv::imshow("Depth",tmp);
|
|
|
|
viewer.showCloud(rtabmap::util3d::cloudFromDepthRGB(rgb, depth, constant), "cloud");
|
|
|
|
int c = cv::waitKey(10); // wait 10 ms or for key stroke
|
|
if(c == 27)
|
|
break; // if ESC, break and quit
|
|
|
|
rgb = cv::Mat();
|
|
depth = cv::Mat();
|
|
camera->takeImage(rgb, depth, constant);
|
|
}
|
|
cv::destroyWindow("Video");
|
|
cv::destroyWindow("Depth");
|
|
delete camera;
|
|
return 0;
|
|
}
|