i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-06 09:47:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

Refactoring CameraRGBD class (now including OpenNI, OpenNI2, OpenNI from OpenCV and Freenect)

Browse Source 
Added tool to test RGB-D camera: rtabmap-rgbd_camera
Fixed Freenect corrupted depth image (after some time)

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1366 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-06-15 03:31:35 +00:00
parent 81b3b49f97
commit c18f1501d4
25 changed files with 1248 additions and 1579 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/CameraThread.cpp
+56 -20
View File
@@ -19,42 +19,70 @@
#include "rtabmap/core/CameraThread.h"
#include "rtabmap/core/Camera.h"
#include "rtabmap/core/CameraRGBD.h"
#include "rtabmap/core/CameraEvent.h"
#include "rtabmap/core/ParamEvent.h"
#include <rtabmap/utilite/UEventsManager.h>
#include <rtabmap/utilite/UTimer.h>
#include <rtabmap/utilite/ULogger.h>
namespace rtabmap
{
// ownership transferred
CameraThread::CameraThread(Camera * camera, bool autoRestart) :
CameraThread::CameraThread(Camera * camera) :
_camera(camera),
_autoRestart(autoRestart),
_cameraRGBD(0),
_seq(0)
{
UASSERT(_camera != 0);
}
// ownership transferred
CameraThread::CameraThread(CameraRGBD * camera) :
_camera(0),
_cameraRGBD(camera),
_seq(0)
{
UASSERT(_cameraRGBD != 0);
}
CameraThread::~CameraThread()
{
join(true);
delete _camera;
if(_camera)
{
delete _camera;
}
if(_cameraRGBD)
{
delete _cameraRGBD;
}
}
void CameraThread::setImageRate(float imageRate)
{
if(_camera)
{
_camera->setImageRate(imageRate);
}
if(_cameraRGBD)
{
_cameraRGBD->setImageRate(imageRate);
}
}
bool CameraThread::init()
{
if(!this->isRunning())
{
if(_camera)
_seq = 0;
if(_cameraRGBD)
{
_seq = 0;
return _camera->init();
return _cameraRGBD->init();
}
else
{
UERROR("Cannot initialize the camera because the camera object is null...");
return _camera->init();
}
}
else
@@ -67,29 +95,37 @@ bool CameraThread::init()
void CameraThread::mainLoop()
{
UTimer timer;
ULOGGER_DEBUG("Camera::process()");
UDEBUG("");
cv::Mat descriptors;
std::vector<cv::KeyPoint> keypoints;
cv::Mat rgb, depth;
float depthConstant = 0.0f;
_camera->takeImage(rgb, depth, depthConstant);
if(_cameraRGBD)
{
_cameraRGBD->takeImage(rgb, depth, depthConstant);
}
else
{
rgb = _camera->takeImage();
}
if(!rgb.empty() && !this->isKilled())
{
this->post(new CameraEvent(rgb, depth, depthConstant, _camera->getLocalTransform(), ++_seq));
}
else if(!this->isKilled())
{
if(_autoRestart)
if(_cameraRGBD)
{
_camera->init();
this->post(new CameraEvent(rgb, depth, depthConstant, _cameraRGBD->getLocalTransform(), ++_seq));
}
else
{
ULOGGER_DEBUG("Camera::process() : no more images...");
this->kill();
this->post(new CameraEvent());
this->post(new CameraEvent(rgb, ++_seq));
}
}
else if(!this->isKilled())
{
UDEBUG("no more images...");
this->kill();
this->post(new CameraEvent());
}
}
} // namespace rtabmap