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Fixed build of camera node with latest rtabmap libraries

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This commit is contained in:
matlabbe
2015-06-27 01:53:58 -04:00
parent 0a40895830
commit b98f34db7b
1 changed files with 15 additions and 27 deletions
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src/CameraNode.cpp
+15 -27
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@@ -33,7 +33,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <image_transport/image_transport.h>
#include <std_srvs/Empty.h>
#include <rtabmap/core/Camera.h>
#include <rtabmap/core/CameraRGB.h>
#include <rtabmap/core/CameraThread.h>
#include <rtabmap/core/CameraEvent.h>
@@ -55,6 +55,7 @@ public:
unsigned int imageWidth = 0,
unsigned int imageHeight = 0) :
cameraThread_(0),
camera_(0),
frameId_("camera")
{
ros::NodeHandle nh;
@@ -80,7 +81,7 @@ public:
{
if(cameraThread_)
{
return cameraThread_->init();
return cameraThread_->camera()->init();
}
return false;
}
@@ -113,10 +114,10 @@ public:
return true;
}
void setParameters(int deviceId, double frameRate, int width, int height, const std::string & path, bool pause)
void setParameters(int deviceId, double frameRate, const std::string & path, bool pause)
{
ROS_INFO("Parameters changed: deviceId=%d, path=%s frameRate=%f w/h=%d/%d pause=%s",
deviceId, path.c_str(), frameRate, width, height, pause?"true":"false");
ROS_INFO("Parameters changed: deviceId=%d, path=%s frameRate=%f pause=%s",
deviceId, path.c_str(), frameRate, pause?"true":"false");
if(cameraThread_)
{
rtabmap::CameraVideo * videoCam = dynamic_cast<rtabmap::CameraVideo *>(camera_);
@@ -128,7 +129,6 @@ public:
if(!path.empty() && UDirectory::getDir(path+"/").compare(UDirectory::getDir(imagesCam->getPath())) == 0)
{
imagesCam->setImageRate(frameRate);
imagesCam->setImageSize(width, height);
if(pause && !cameraThread_->isPaused())
{
cameraThread_->join(true);
@@ -150,7 +150,6 @@ public:
{
// video
videoCam->setImageRate(frameRate);
videoCam->setImageSize(width, height);
if(pause && !cameraThread_->isPaused())
{
cameraThread_->join(true);
@@ -165,25 +164,14 @@ public:
videoCam->getUsbDevice() == deviceId)
{
// usb device
unsigned int w;
unsigned int h;
videoCam->getImageSize(w, h);
if((int)w == width && (int)h == height)
videoCam->setImageRate(frameRate);
if(pause && !cameraThread_->isPaused())
{
videoCam->setImageRate(frameRate);
if(pause && !cameraThread_->isPaused())
{
cameraThread_->join(true);
}
else if(!pause && cameraThread_->isPaused())
{
cameraThread_->start();
}
cameraThread_->join(true);
}
else
else if(!pause && cameraThread_->isPaused())
{
delete cameraThread_;
cameraThread_ = 0;
cameraThread_->start();
}
}
else
@@ -205,12 +193,12 @@ public:
if(!path.empty() && UDirectory::exists(path))
{
//images
camera_ = new rtabmap::CameraImages(path, 1, false, frameRate, width, height);
camera_ = new rtabmap::CameraImages(path, 1, false, frameRate);
}
else if(!path.empty() && UFile::exists(path))
{
//video
camera_ = new rtabmap::CameraVideo(path, frameRate, width, height);
camera_ = new rtabmap::CameraVideo(path, frameRate);
}
else
{
@@ -219,7 +207,7 @@ public:
ROS_ERROR("Path \"%s\" does not exist (or you don't have the permissions to read)... falling back to usb device...", path.c_str());
}
//usb device
camera_ = new rtabmap::CameraVideo(deviceId, frameRate, width, height);
camera_ = new rtabmap::CameraVideo(deviceId, frameRate);
}
cameraThread_ = new rtabmap::CameraThread(camera_);
init();
@@ -271,7 +259,7 @@ void callback(rtabmap_ros::CameraConfig &config, uint32_t level)
{
if(camera)
{
camera->setParameters(config.device_id, config.frame_rate, config.width, config.height, config.video_or_images_path, config.pause);
camera->setParameters(config.device_id, config.frame_rate, config.video_or_images_path, config.pause);
}
}