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Merge branch 'master' of https://github.com/introlab/rtabmap into 0.11.0

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matlabbe
2015-12-11 17:44:36 -05:00
parent 9cc94ce1e6 c769f85523
commit 82d76f3e99
3 changed files with 36 additions and 35 deletions
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corelib/include/rtabmap/core/CameraRGBD.h
-1
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@@ -252,7 +252,6 @@ private:
StereoCameraModel stereoModel_; StereoCameraModel stereoModel_;
libfreenect2::Freenect2 * freenect2_; libfreenect2::Freenect2 * freenect2_;
libfreenect2::Freenect2Device *dev_; libfreenect2::Freenect2Device *dev_;
libfreenect2::PacketPipeline * pipeline_;
libfreenect2::SyncMultiFrameListener * listener_; libfreenect2::SyncMultiFrameListener * listener_;
libfreenect2::Registration * reg_; libfreenect2::Registration * reg_;
float minKinect2Depth_; float minKinect2Depth_;
corelib/src/CameraRGBD.cpp
+34 -32
View File
@@ -1097,7 +1097,6 @@ CameraFreenect2::CameraFreenect2(
type_(type), type_(type),
freenect2_(0), freenect2_(0),
dev_(0), dev_(0),
pipeline_(0),
listener_(0), listener_(0),
reg_(0), reg_(0),
minKinect2Depth_(minDepth), minKinect2Depth_(minDepth),
@@ -1124,38 +1123,18 @@ CameraFreenect2::CameraFreenect2(
listener_ = new libfreenect2::SyncMultiFrameListener(libfreenect2::Frame::Color | libfreenect2::Frame::Depth); listener_ = new libfreenect2::SyncMultiFrameListener(libfreenect2::Frame::Color | libfreenect2::Frame::Depth);
break; break;
} }
#ifdef LIBFREENECT2_WITH_OPENGL_SUPPORT
pipeline_ = new libfreenect2::OpenGLPacketPipeline();
#else
#ifdef LIBFREENECT2_WITH_OPENCL_SUPPORT
pipeline_ = new libfreenect2::OpenCLPacketPipeline();
#else
pipeline_ = new libfreenect2::CpuPacketPipeline();
#endif
#endif
//default
//MinDepth(0.5f),
//MaxDepth(4.5f),
//EnableBilateralFilter(true),
//EnableEdgeAwareFilter(true)
libfreenect2::DepthPacketProcessor::Config config;
config.EnableBilateralFilter = bilateralFiltering_;
config.EnableEdgeAwareFilter = edgeAwareFiltering_;
config.MinDepth = minKinect2Depth_;
config.MaxDepth = maxKinect2Depth_;
pipeline_->getDepthPacketProcessor()->setConfiguration(config);
#endif #endif
} }
CameraFreenect2::~CameraFreenect2() CameraFreenect2::~CameraFreenect2()
{ {
#ifdef WITH_FREENECT2 #ifdef WITH_FREENECT2
UDEBUG("");
if(dev_) if(dev_)
{ {
dev_->stop(); dev_->stop();
dev_->close(); dev_->close();
//deleted in freenect2_ destructor (Freeenect2Impl::clearDevices())
} }
if(listener_) if(listener_)
{ {
@@ -1167,11 +1146,6 @@ CameraFreenect2::~CameraFreenect2()
delete reg_; delete reg_;
reg_ = 0; reg_ = 0;
} }
// commented, it seems released in freenect2_
//if(pipeline_)
//{
// delete pipeline_;
//}
if(freenect2_) if(freenect2_)
{ {
@@ -1188,7 +1162,7 @@ bool CameraFreenect2::init(const std::string & calibrationFolder, const std::str
{ {
dev_->stop(); dev_->stop();
dev_->close(); dev_->close();
dev_ = 0; dev_ = 0; //deleted in freenect2_ destructor (Freeenect2Impl::clearDevices())
} }
if(reg_) if(reg_)
@@ -1197,17 +1171,44 @@ bool CameraFreenect2::init(const std::string & calibrationFolder, const std::str
reg_ = 0; reg_ = 0;
} }
libfreenect2::PacketPipeline * pipeline;
#ifdef LIBFREENECT2_WITH_OPENGL_SUPPORT
pipeline = new libfreenect2::OpenGLPacketPipeline();
#else
#ifdef LIBFREENECT2_WITH_OPENCL_SUPPORT
pipeline = new libfreenect2::OpenCLPacketPipeline();
#else
pipeline = new libfreenect2::CpuPacketPipeline();
#endif
#endif
if(deviceId_ <= 0) if(deviceId_ <= 0)
{ {
dev_ = freenect2_->openDefaultDevice(pipeline_); UDEBUG("Opening default device...");
dev_ = freenect2_->openDefaultDevice(pipeline);
pipeline = 0;// pipeline deleted in dev_ (Freenect2DeviceImpl::~Freenect2DeviceImpl())
} }
else else
{ {
dev_ = freenect2_->openDevice(deviceId_, pipeline_); UDEBUG("Opening device ID=%d...", deviceId_);
dev_ = freenect2_->openDevice(deviceId_, pipeline);
pipeline = 0;// pipeline deleted in dev_ (Freenect2DeviceImpl::~Freenect2DeviceImpl())
} }
if(dev_) if(dev_)
{ {
//default
//MinDepth(0.5f),
//MaxDepth(4.5f),
//EnableBilateralFilter(true),
//EnableEdgeAwareFilter(true)
libfreenect2::Freenect2Device::Config config;
config.EnableBilateralFilter = bilateralFiltering_;
config.EnableEdgeAwareFilter = edgeAwareFiltering_;
config.MinDepth = minKinect2Depth_;
config.MaxDepth = maxKinect2Depth_;
dev_->setConfiguration(config);
dev_->setColorFrameListener(listener_); dev_->setColorFrameListener(listener_);
dev_->setIrAndDepthFrameListener(listener_); dev_->setIrAndDepthFrameListener(listener_);
@@ -1278,7 +1279,8 @@ bool CameraFreenect2::init(const std::string & calibrationFolder, const std::str
} }
else else
{ {
UERROR("CameraFreenect2: no device connected or failure opening the default one!"); UERROR("CameraFreenect2: no device connected or failure opening the default one! Note that rtabmap should link on libusb of libfreenect2. "
"Tip, before starting rtabmap: \"$ export LD_LIBRARY_PATH=~/libfreenect2/depends/libusb/lib:$LD_LIBRARY_PATH\"");
} }
#else #else
UERROR("CameraFreenect2: RTAB-Map is not built with Freenect2 support!"); UERROR("CameraFreenect2: RTAB-Map is not built with Freenect2 support!");
corelib/src/Odometry.cpp
+2 -2
View File
@@ -125,13 +125,13 @@ void Odometry::reset(const Transform & initialPose)
if(_force2D) if(_force2D)
{ {
if(z != 0.0f || roll != 0.0f || yaw != 0.0f) if(z != 0.0f || roll != 0.0f || pitch != 0.0f)
{ {
UWARN("Force2D=true and the initial pose contains z, roll or pitch values (%s). They are set to null.", initialPose.prettyPrint().c_str()); UWARN("Force2D=true and the initial pose contains z, roll or pitch values (%s). They are set to null.", initialPose.prettyPrint().c_str());
} }
z = 0; z = 0;
roll = 0; roll = 0;
yaw = 0; pitch = 0;
Transform pose(x, y, z, roll, pitch, yaw); Transform pose(x, y, z, roll, pitch, yaw);
_pose = pose; _pose = pose;
} }