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merged multicamera branch into devel branch

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Mathieu Labbe
2015-06-16 17:41:51 -04:00
parent 6a7a9fb9b0 039ae45d57
commit 50eeda5b95
61 changed files with 3383 additions and 2918 deletions
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corelib/src/CameraThread.cpp
+15 -4
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@@ -109,13 +109,13 @@ void CameraThread::mainLoop()
UDEBUG("");
cv::Mat rgb, depth;
float fx = 0.0f;
float fy = 0.0f;
float fyOrBaseline = 0.0f;
float cx = 0.0f;
float cy = 0.0f;
double stamp = UTimer::now();
if(_cameraRGBD)
{
_cameraRGBD->takeImage(rgb, depth, fx, fy, cx, cy, stamp);
_cameraRGBD->takeImage(rgb, depth, fx, fyOrBaseline, cx, cy, stamp);
}
else
{
@@ -125,8 +125,19 @@ void CameraThread::mainLoop()
if(!rgb.empty())
{
if(_cameraRGBD)
{
SensorData data(rgb, depth, fx, fy, cx, cy, _cameraRGBD->getLocalTransform(), Transform(), 1, 1, ++_seq, stamp);
{
SensorData data;
if(dynamic_cast<CameraStereoDC1394*>(_cameraRGBD) || dynamic_cast<CameraStereoDC1394*>(_cameraRGBD))
{
//stereo
data = SensorData(rgb, depth, StereoCameraModel(fx, fx, cx, cy, fyOrBaseline, _cameraRGBD->getLocalTransform()), ++_seq, stamp);
UASSERT(data.stereoCameraModel().isValid());
}
else
{
data = SensorData(rgb, depth, CameraModel(fx, fyOrBaseline, cx, cy, _cameraRGBD->getLocalTransform()), ++_seq, stamp);
UASSERT(data.cameraModels().size() == 1 && data.cameraModels()[0].isValid());
}
this->post(new CameraEvent(data, _cameraRGBD->getSerial()));
}
else