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

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matlabbe
2015-06-17 23:38:49 -04:00
parent 6a7a9fb9b0 aa4005b266
commit a765e2efa7
1 changed files with 18 additions and 9 deletions
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corelib/src/CameraRGBD.cpp
+18 -9
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@@ -1238,7 +1238,7 @@ bool CameraFreenect2::init(const std::string & calibrationFolder)
//default registration params //default registration params
libfreenect2::Freenect2Device::IrCameraParams depthParams = dev_->getIrCameraParams(); libfreenect2::Freenect2Device::IrCameraParams depthParams = dev_->getIrCameraParams();
libfreenect2::Freenect2Device::ColorCameraParams colorParams = dev_->getColorCameraParams(); libfreenect2::Freenect2Device::ColorCameraParams colorParams = dev_->getColorCameraParams();
reg_ = new libfreenect2::Registration(&depthParams, &colorParams); reg_ = new libfreenect2::Registration(depthParams, colorParams);
// look for calibration files // look for calibration files
if(!calibrationFolder.empty()) if(!calibrationFolder.empty())
@@ -1322,7 +1322,20 @@ void CameraFreenect2::captureImage(cv::Mat & rgb, cv::Mat & depth, float & fx, f
if(dev_ && listener_) if(dev_ && listener_)
{ {
libfreenect2::FrameMap frames; libfreenect2::FrameMap frames;
if(listener_->waitForNewFrame(frames, 1000)) #ifndef LIBFREENECT2_THREADING_STDLIB
UDEBUG("Waiting for new frames... If it is stalled here, rtabmap should link on libusb of "
"libfreenect2, this can be done by setting LD_LIBRARY_PATH to "
"\"libfreenect2/depends/libusb/lib\"");
listener_->waitForNewFrame(frames);
#else
if(!listener_->waitForNewFrame(frames, 1000))
{
UWARN("CameraFreenect2: Failed to get frames! rtabmap should link on libusb of "
"libfreenect2, this can be done by setting LD_LIBRARY_PATH to "
"\"libfreenect2/depends/libusb/lib\"");
}
else
#endif
{ {
stamp = UTimer::now(); stamp = UTimer::now();
libfreenect2::Frame *rgbFrame = 0; libfreenect2::Frame *rgbFrame = 0;
@@ -1389,7 +1402,9 @@ void CameraFreenect2::captureImage(cv::Mat & rgb, cv::Mat & depth, float & fx, f
{ {
//rgb + ir or rgb + depth //rgb + ir or rgb + depth
cv::Mat rgbMat(rgbFrame->height, rgbFrame->width, CV_8UC3, rgbFrame->data); cv::Mat rgbMatC4(rgbFrame->height, rgbFrame->width, CV_8UC4, rgbFrame->data);
cv::Mat rgbMat; // rtabmap uses 3 channels RGB
cv::cvtColor(rgbMatC4, rgbMat, CV_BGRA2BGR);
cv::flip(rgbMat, rgb, 1); cv::flip(rgbMat, rgb, 1);
if(stereoModel_.isValid()) if(stereoModel_.isValid())
@@ -1515,12 +1530,6 @@ void CameraFreenect2::captureImage(cv::Mat & rgb, cv::Mat & depth, float & fx, f
} }
listener_->release(frames); listener_->release(frames);
} }
else
{
UWARN("CameraFreenect2: Failed to get frames! rtabmap should link on libusb of "
"libfreenect2, this can be done by setting LD_LIBRARY_PATH to "
"\"libfreenect2/depends/libusb/lib\"");
}
} }
#else #else
UERROR("CameraFreenect2: RTAB-Map is not built with Freenect2 support!"); UERROR("CameraFreenect2: RTAB-Map is not built with Freenect2 support!");