From 04c01870b8e602609fa29147edfe303afa757555 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@f169173b-cf89-36c8-b27e-44dbe73f0c83>
Date: Sun, 15 Jun 2014 03:32:25 +0000
Subject: [PATCH] Refactoring CameraRGBD class (now including OpenNI, OpenNI2,
 OpenNI from OpenCV and Freenect) Added tool to test RGB-D camera:
 rtabmap-rgbd_camera Fixed Freenect corrupted depth image (after some time)

(missing files...)

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1367 f169173b-cf89-36c8-b27e-44dbe73f0c83
---
 examples/CameraRGBD/CMakeLists.txt |  21 +++++
 examples/CameraRGBD/main.cpp       | 133 +++++++++++++++++++++++++++++
 2 files changed, 154 insertions(+)
 create mode 100644 examples/CameraRGBD/CMakeLists.txt
 create mode 100644 examples/CameraRGBD/main.cpp

diff --git a/examples/CameraRGBD/CMakeLists.txt b/examples/CameraRGBD/CMakeLists.txt
new file mode 100644
index 00000000..7be5cd1e
--- /dev/null
+++ b/examples/CameraRGBD/CMakeLists.txt
@@ -0,0 +1,21 @@
+SET(INCLUDE_DIRS
+	${PROJECT_SOURCE_DIR}/corelib/include
+	${PROJECT_SOURCE_DIR}/utilite/include
+    ${OpenCV_INCLUDE_DIRS}
+    ${PCL_INCLUDE_DIRS}
+)
+
+SET(LIBRARIES
+	${OpenCV_LIBRARIES} 
+	${PCL_LIBRARIES}
+)
+
+add_definitions(${PCL_DEFINITIONS})
+
+INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
+
+ADD_EXECUTABLE(rgbd_camera main.cpp)
+TARGET_LINK_LIBRARIES(rgbd_camera rtabmap_core rtabmap_utilite ${LIBRARIES})
+
+SET_TARGET_PROPERTIES( rgbd_camera 
+  PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-rgbd_camera)
\ No newline at end of file
diff --git a/examples/CameraRGBD/main.cpp b/examples/CameraRGBD/main.cpp
new file mode 100644
index 00000000..fcb9b464
--- /dev/null
+++ b/examples/CameraRGBD/main.cpp
@@ -0,0 +1,133 @@
+/*
+ * 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;
+	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;
+}