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

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

examples/BOWMapping/CMakeLists.txt

@@ -7,8 +7,6 @@ SET(LIBRARIES
 	${OpenCV_LIBRARIES} 
 )
 
-add_definitions(${PCL_DEFINITIONS})
-
 INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
 
 ADD_EXECUTABLE(bow_mapping main.cpp)

examples/CMakeLists.txt

@@ -7,5 +7,6 @@ ELSE()
    MESSAGE(STATUS "RTAB-Map GUI lib is not built, the RGBDMapping example will not be built...")
 ENDIF()
 
+ADD_SUBDIRECTORY( CameraRGBD )
 
 

examples/RGBDMapping/main.cpp

@@ -19,8 +19,8 @@
 
 #include "rtabmap/core/Rtabmap.h"
 #include "rtabmap/core/RtabmapThread.h"
-#include "rtabmap/core/CameraOpenni.h"
-#include "rtabmap/core/CameraFreenect.h"
+#include "rtabmap/core/CameraRGBD.h"
+#include "rtabmap/core/CameraThread.h"
 #include "rtabmap/core/Odometry.h"
 #include "rtabmap/utilite/UEventsManager.h"
 #include <QtGui/QApplication>
@@ -43,10 +43,10 @@ int main(int argc, char * argv[])
 
 	// Create the OpenNI camera, it will send a CameraEvent at the rate specified.
 	// Set transform to camera so z is up, y is left and x going forward
-	CameraOpenni camera("", 10, rtabmap::Transform(0,0,1,0, -1,0,0,0, 0,-1,0,0));
-	//CameraOpenKinect camera(0, 10, rtabmap::Transform(0,0,1,0, -1,0,0,0, 0,-1,0,0));
-
-	if(!camera.init())
+	CameraRGBD * camera = new CameraOpenni("", 10, rtabmap::Transform(0,0,1,0, -1,0,0,0, 0,-1,0,0));
+	//CameraRGBD * camera = new CameraFreenect(0, 10, rtabmap::Transform(0,0,1,0, -1,0,0,0, 0,-1,0,0));
+	CameraThread cameraThread(camera);
+	if(!cameraThread.init())
 	{
 		UERROR("Camera init failed!");
 		exit(1);
@@ -72,12 +72,12 @@ int main(int argc, char * argv[])
 	// only the odometry will receive CameraEvent from that camera. RTAB-Map is
 	// also subscribed to OdometryEvent by default, so no need to create a pipe between
 	// odometry and RTAB-Map.
-	UEventsManager::createPipe(&camera, &odomThread, "CameraEvent");
+	UEventsManager::createPipe(&cameraThread, &odomThread, "CameraEvent");
 
 	// Let's start the threads
 	rtabmapThread.start();
 	odomThread.start();
-	camera.start();
+	cameraThread.start();
 
 	mapBuilder.show();
 	app.exec(); // main loop
@@ -88,7 +88,7 @@ int main(int argc, char * argv[])
 	odomThread.unregisterFromEventsManager();
 
 	// Kill all threads
-	camera.kill();
+	cameraThread.kill();
 	odomThread.join(true);
 	rtabmapThread.join(true);