mirror of
https://github.com/introlab/rtabmap.git
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3615ea1e21
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1588 f169173b-cf89-36c8-b27e-44dbe73f0c83
120 lines
2.8 KiB
C++
120 lines
2.8 KiB
C++
/*
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* Copyright (C) 2010-2011, Mathieu Labbe and IntRoLab - Universite de Sherbrooke
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*
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* This file is part of RTAB-Map.
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*
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* RTAB-Map is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* RTAB-Map is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with RTAB-Map. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "rtabmap/core/CameraRGBD.h"
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#include "rtabmap/core/CameraThread.h"
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#include "rtabmap/utilite/ULogger.h"
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#include "rtabmap/gui/CalibrationDialog.h"
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#include <QtGui/QApplication>
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void showUsage()
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{
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printf("\nUsage:\n"
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"rtabmap-calibration driver\n"
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" driver Driver number to use: 0=OpenNI-PCL, 1=OpenNI2, 2=Freenect, 3=OpenNI-CV, 4=OpenNI-CV-ASUS\n\n");
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exit(1);
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}
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int main(int argc, char * argv[])
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{
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ULogger::setType(ULogger::kTypeConsole);
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ULogger::setLevel(ULogger::kInfo);
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int driver = 0;
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if(argc < 2)
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{
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showUsage();
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}
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else
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{
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driver = atoi(argv[argc-1]);
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if(driver < 0 || driver > 4)
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{
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UERROR("driver should be between 0 and 4.");
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showUsage();
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}
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}
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UINFO("Using driver %d", driver);
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float imageRate = 1.0f;
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rtabmap::CameraRGBD * camera = 0;
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if(driver == 0)
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{
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camera = new rtabmap::CameraOpenni("", imageRate);
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}
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else if(driver == 1)
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{
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if(!rtabmap::CameraOpenNI2::available())
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{
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UERROR("Not built with OpenNI2 support...");
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exit(-1);
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}
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camera = new rtabmap::CameraOpenNI2(imageRate);
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}
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else if(driver == 2)
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{
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if(!rtabmap::CameraFreenect::available())
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{
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UERROR("Not built with Freenect support...");
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exit(-1);
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}
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camera = new rtabmap::CameraFreenect(0, imageRate);
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}
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else if(driver == 3)
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{
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if(!rtabmap::CameraOpenNICV::available())
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{
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UERROR("Not built with OpenNI from OpenCV support...");
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exit(-1);
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}
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camera = new rtabmap::CameraOpenNICV(false, imageRate);
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}
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else if(driver == 4)
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{
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if(!rtabmap::CameraOpenNICV::available())
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{
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UERROR("Not built with OpenNI from OpenCV support...");
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exit(-1);
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}
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camera = new rtabmap::CameraOpenNICV(true, imageRate);
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}
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else
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{
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UFATAL("");
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}
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if(!camera->init())
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{
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printf("Camera init failed!\n");
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delete camera;
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exit(1);
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}
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rtabmap::CameraThread cameraThread(camera);
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QApplication app(argc, argv);
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rtabmap::CalibrationDialog dialog;
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dialog.registerToEventsManager();
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dialog.show();
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cameraThread.start();
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app.exec();
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cameraThread.join(true);
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}
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