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Added *.oni reading support with openni-pcl driver (just set device_id the path of the oni file)

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matlabbe
2015-04-23 07:56:11 -04:00
parent 5700c14bcb
commit 7837b04e34
1 changed files with 10 additions and 2 deletions
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corelib/src/CameraRGBD.cpp
+9 -1
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@@ -38,6 +38,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/utilite/UMath.h> #include <rtabmap/utilite/UMath.h>
#include <pcl/io/openni_grabber.h> #include <pcl/io/openni_grabber.h>
#include <pcl/io/oni_grabber.h>
#ifdef WITH_FREENECT #ifdef WITH_FREENECT
#include <libfreenect.h> #include <libfreenect.h>
@@ -202,8 +203,15 @@ bool CameraOpenni::init(const std::string & calibrationFolder)
} }
try try
{
if(UFile::getExtension(deviceId_).compare("oni") == 0)
{
interface_ = new pcl::ONIGrabber(deviceId_, false, true);
}
else
{ {
interface_ = new pcl::OpenNIGrabber(deviceId_); interface_ = new pcl::OpenNIGrabber(deviceId_);
}
boost::function<void ( boost::function<void (
const boost::shared_ptr<openni_wrapper::Image>&, const boost::shared_ptr<openni_wrapper::Image>&,
@@ -228,7 +236,7 @@ bool CameraOpenni::init(const std::string & calibrationFolder)
bool CameraOpenni::isCalibrated() const bool CameraOpenni::isCalibrated() const
{ {
return depthConstant_ > 0.0f; return true;
} }
std::string CameraOpenni::getSerial() const std::string CameraOpenni::getSerial() const