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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/CameraRGBD/main.cpp
+14 -2
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@@ -43,7 +43,8 @@ void showUsage()
" 3=OpenNI-CV (Kinect)\n"
" 4=OpenNI-CV-ASUS (Xtion PRO Live)\n"
" 5=Freenect2 (Kinect v2)\n"
" 6=DC1394 (Bumblebee2)\n\n");
" 6=DC1394 (Bumblebee2)\n"
" 7=FlyCapture2 (Bumblebee2)\n");
exit(1);
}
@@ -51,6 +52,8 @@ int main(int argc, char * argv[])
{
ULogger::setType(ULogger::kTypeConsole);
ULogger::setLevel(ULogger::kInfo);
ULogger::setPrintTime(false);
ULogger::setPrintWhere(false);
int driver = 0;
if(argc < 2)
@@ -64,7 +67,7 @@ int main(int argc, char * argv[])
showUsage();
}
driver = atoi(argv[argc-1]);
if(driver < 0 || driver > 6)
if(driver < 0 || driver > 7)
{
UERROR("driver should be between 0 and 6.");
showUsage();
@@ -131,6 +134,15 @@ 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("");