i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-04 00:37:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

Refactored Camera classes and Preferences->Source menu

Browse Source
This commit is contained in:
matlabbe
2015-06-26 18:21:32 -04:00
parent 6f1df94b18
commit 6df403ed42
39 changed files with 3543 additions and 3388 deletions
Download Patch File Download Diff File Expand all files Collapse all files
tools/Camera/main.cpp
+10 -12
View File
@@ -25,7 +25,7 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include "rtabmap/core/Camera.h"
#include "rtabmap/core/CameraRGB.h"
#include "rtabmap/core/DBReader.h"
#include "rtabmap/utilite/ULogger.h"
#include "rtabmap/utilite/UFile.h"
@@ -40,7 +40,7 @@ void showUsage()
"rtabmap-camera [option] \n"
" Options:\n"
" --device # USB camera device id (default 0).\n"
" --rate # Frame rate (default 30 Hz). 0 means as fast as possible.\n"
" --rate # Frame rate (default 0 Hz). 0 means as fast as possible.\n"
" --path "" Path to a directory of images or a video file.\n"
" --calibration "" Calibration file (*.yaml).\n\n");
exit(1);
@@ -53,7 +53,7 @@ int main(int argc, char * argv[])
int device = 0;
std::string path;
float rate = 30.0f;
float rate = 0.0f;
std::string calibrationFile;
for(int i=1; i<argc; ++i)
{
@@ -164,18 +164,16 @@ int main(int argc, char * argv[])
if(camera)
{
if(!camera->init())
if(!calibrationFile.empty())
{
UINFO("Set calibration: %s", calibrationFile.c_str());
}
if(!camera->init(UDirectory::getDir(calibrationFile), UFile::getName(calibrationFile)))
{
delete camera;
UERROR("Cannot initialize the camera.");
return -1;
}
if(!calibrationFile.empty())
{
UINFO("Set calibration: %s", calibrationFile.c_str());
camera->setCalibration(calibrationFile);
}
}
if(dbReader)
@@ -189,7 +187,7 @@ int main(int argc, char * argv[])
}
cv::Mat rgb;
rgb = camera?camera->takeImage():dbReader->getNextData().data().imageRaw();
rgb = camera?camera->takeImage().imageRaw():dbReader->getNextData().data().imageRaw();
cv::namedWindow("Video", CV_WINDOW_AUTOSIZE); // create window
while(!rgb.empty())
{
@@ -199,7 +197,7 @@ int main(int argc, char * argv[])
if(c == 27)
break; // if ESC, break and quit
rgb = camera?camera->takeImage():dbReader->getNextData().data().imageRaw();
rgb = camera?camera->takeImage().imageRaw():dbReader->getNextData().data().imageRaw();
}
cv::destroyWindow("Video");
if(camera)