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Merge pull request #108 from lesterlo/nvidia_jetson_fix

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Improve Freenect2 performance
This commit is contained in:
matlabbe
2016-08-26 09:50:22 -04:00
committed by GitHub
parent a302a6334d f180beb3f9
commit 7161756cc9
1 changed files with 40 additions and 4 deletions
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corelib/src/CameraRGBD.cpp
+40 -4
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@@ -1179,6 +1179,9 @@ bool CameraFreenect2::init(const std::string & calibrationFolder, const std::str
} }
libfreenect2::PacketPipeline * pipeline; libfreenect2::PacketPipeline * pipeline;
#ifdef LIBFREENECT2_WITH_CUDA_SUPPORT
pipeline = new libfreenect2::CudaPacketPipeline();
#else
#ifdef LIBFREENECT2_WITH_OPENGL_SUPPORT #ifdef LIBFREENECT2_WITH_OPENGL_SUPPORT
pipeline = new libfreenect2::OpenGLPacketPipeline(); pipeline = new libfreenect2::OpenGLPacketPipeline();
#else #else
@@ -1187,6 +1190,7 @@ bool CameraFreenect2::init(const std::string & calibrationFolder, const std::str
#else #else
pipeline = new libfreenect2::CpuPacketPipeline(); pipeline = new libfreenect2::CpuPacketPipeline();
#endif #endif
#endif
#endif #endif
if(deviceId_ <= 0) if(deviceId_ <= 0)
@@ -1406,7 +1410,15 @@ SensorData CameraFreenect2::captureImage(CameraInfo * info)
{ {
cv::Mat rgbMatC4((int)rgbFrame->height, (int)rgbFrame->width, CV_8UC4, rgbFrame->data); cv::Mat rgbMatC4((int)rgbFrame->height, (int)rgbFrame->width, CV_8UC4, rgbFrame->data);
cv::Mat rgbMat; // rtabmap uses 3 channels RGB cv::Mat rgbMat; // rtabmap uses 3 channels RGB
cv::cvtColor(rgbMatC4, rgbMat, CV_BGRA2BGR); #ifdef LIBFREENECT2_WITH_TEGRAJPEG_SUPPORT
cv::cvtColor(rgbMatC4, rgbMat, CV_RGBA2BGR);
#else
cv::cvtColor(rgbMatC4, rgbMat, CV_BGRA2BGR);
#endif
cv::flip(rgbMat, rgb, 1); cv::flip(rgbMat, rgb, 1);
//rectify color //rectify color
@@ -1455,7 +1467,15 @@ SensorData CameraFreenect2::captureImage(CameraInfo * info)
{ {
cv::Mat rgbMatC4((int)rgbFrame->height, (int)rgbFrame->width, CV_8UC4, rgbFrame->data); cv::Mat rgbMatC4((int)rgbFrame->height, (int)rgbFrame->width, CV_8UC4, rgbFrame->data);
cv::Mat rgbMat; // rtabmap uses 3 channels RGB cv::Mat rgbMat; // rtabmap uses 3 channels RGB
cv::cvtColor(rgbMatC4, rgbMat, CV_BGRA2BGR); #ifdef LIBFREENECT2_WITH_TEGRAJPEG_SUPPORT
cv::cvtColor(rgbMatC4, rgbMat, CV_RGB2BGR);
#else
cv::cvtColor(rgbMatC4, rgbMat, CV_BGRA2BGR);
#endif
cv::flip(rgbMat, rgb, 1); cv::flip(rgbMat, rgb, 1);
cv::Mat((int)irFrame->height, (int)irFrame->width, CV_32FC1, irFrame->data).convertTo(depth, CV_16U, 1); cv::Mat((int)irFrame->height, (int)irFrame->width, CV_32FC1, irFrame->data).convertTo(depth, CV_16U, 1);
@@ -1564,7 +1584,15 @@ SensorData CameraFreenect2::captureImage(CameraInfo * info)
} }
// rtabmap uses 3 channels RGB // rtabmap uses 3 channels RGB
cv::cvtColor(rgbMatBGRA, rgb, CV_BGRA2BGR); #ifdef LIBFREENECT2_WITH_TEGRAJPEG_SUPPORT
cv::cvtColor(rgbMatBGRA, rgb, CV_RGBA2BGR);
#else
cv::cvtColor(rgbMatBGRA, rgb, CV_BGRA2BGR);
#endif
cv::flip(rgb, rgb, 1); cv::flip(rgb, rgb, 1);
} }
else //register depth to color (OLD WAY) else //register depth to color (OLD WAY)
@@ -1578,7 +1606,15 @@ SensorData CameraFreenect2::captureImage(CameraInfo * info)
rgbMatBGRA = tmp; rgbMatBGRA = tmp;
} }
// rtabmap uses 3 channels RGB // rtabmap uses 3 channels RGB
cv::cvtColor(rgbMatBGRA, rgb, CV_BGRA2BGR); #ifdef LIBFREENECT2_WITH_TEGRAJPEG_SUPPORT
cv::cvtColor(rgbMatBGRA, rgb, CV_RGBA2BGR);
#else
cv::cvtColor(rgbMatC4, rgb, CV_BGRA2BGR);
#endif
cv::flip(rgb, rgb, 1); cv::flip(rgb, rgb, 1);
cv::Mat depthFrameMat = cv::Mat((int)depthFrame->height, (int)depthFrame->width, CV_32FC1, depthFrame->data); cv::Mat depthFrameMat = cv::Mat((int)depthFrame->height, (int)depthFrame->width, CV_32FC1, depthFrame->data);