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Version 0.8.9: added FlyCapture2 driver for bumblebee2 (tested only on Windows)

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This commit is contained in:
Mathieu Labbé
2015-04-07 12:00:10 -04:00
parent 71be7921aa
commit 3ed6a1b2f0
18 changed files with 544 additions and 65 deletions
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tools/Calibration/main.cpp
+17 -3
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@@ -46,6 +46,7 @@ void showUsage()
" 4=OpenNI-CV-ASUS (Xtion PRO Live)\n"
" 5=Freenect2 (Kinect v2)\n"
" 6=DC1394 (Bumblebee2)\n"
" 7=FlyCapture2 (Bumblebee2)\n"
" --device # Device id\n"
" --debug Debug log\n"
" --stereo Stereo\n\n");
@@ -56,6 +57,8 @@ int main(int argc, char * argv[])
{
ULogger::setType(ULogger::kTypeConsole);
ULogger::setLevel(ULogger::kInfo);
ULogger::setPrintTime(false);
ULogger::setPrintWhere(false);
int driver = -1;
int device = 0;
@@ -99,6 +102,8 @@ int main(int argc, char * argv[])
if(strcmp(argv[i], "--debug") == 0)
{
ULogger::setLevel(ULogger::kDebug);
ULogger::setPrintTime(true);
ULogger::setPrintWhere(true);
continue;
}
if(strcmp(argv[i], "--stereo") == 0)
@@ -113,9 +118,9 @@ int main(int argc, char * argv[])
printf("Unrecognized option : %s\n", argv[i]);
showUsage();
}
if(driver < -1 || driver > 6)
if(driver < -1 || driver > 7)
{
UERROR("driver should be between -1 and 6.");
UERROR("driver should be between -1 and 7.");
showUsage();
}
@@ -187,6 +192,15 @@ int main(int argc, char * argv[])
}
camera = new rtabmap::CameraStereoDC1394();
}
else if(driver == 7)
{
if(!rtabmap::CameraStereoFlyCapture2::available())
{
UERROR("Not built with FlyCapture2/Triclops support...");
exit(-1);
}
camera = new rtabmap::CameraStereoFlyCapture2();
}
else
{
UFATAL("");
@@ -206,7 +220,7 @@ int main(int argc, char * argv[])
}
else if(camera)
{
if(!camera->init())
if(!camera->init(""))
{
printf("Camera init failed!\n");
delete camera;