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added openni2 option to dataRecorder app

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1435 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-06-23 01:07:51 +00:00
parent c6a525c112
commit d1df15efdd
1 changed files with 13 additions and 2 deletions
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tools/DataRecorder/main.cpp
+13 -2
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@@ -19,7 +19,8 @@ void showUsage()
" -hide Don't display the current cloud recorded.\n" " -hide Don't display the current cloud recorded.\n"
" -debug Set debug level for the logger.\n" " -debug Set debug level for the logger.\n"
" -rate #.# Input rate Hz (default 0=inf)\n" " -rate #.# Input rate Hz (default 0=inf)\n"
" -openni Use openni camera instead of the usb camera.\n"); " -openni Use openni camera instead of the usb camera.\n"
" -openni2 Use openni2 camera instead of the usb camera.\n");
exit(1); exit(1);
} }
@@ -48,6 +49,7 @@ int main (int argc, char * argv[])
QString fileName; QString fileName;
bool show = true; bool show = true;
bool openni = false; bool openni = false;
bool openni2 = false;
float rate = 0.0f; float rate = 0.0f;
if(argc < 2) if(argc < 2)
@@ -88,6 +90,11 @@ int main (int argc, char * argv[])
openni = true; openni = true;
continue; continue;
} }
if(strcmp(argv[i], "-openni2") == 0)
{
openni2 = true;
continue;
}
printf("Unrecognized option : %s\n", argv[i]); printf("Unrecognized option : %s\n", argv[i]);
showUsage(); showUsage();
@@ -113,7 +120,11 @@ int main (int argc, char * argv[])
signal(SIGTERM, &sighandler); signal(SIGTERM, &sighandler);
signal(SIGINT, &sighandler); signal(SIGINT, &sighandler);
if(openni) if(openni2)
{
cam = new rtabmap::CameraThread(new rtabmap::CameraOpenNI2(rate, rtabmap::Transform(0,0,1,0, -1,0,0,0, 0,-1,0,0)));
}
else if(openni)
{ {
cam = new rtabmap::CameraThread(new rtabmap::CameraOpenni("", rate, rtabmap::Transform(0,0,1,0, -1,0,0,0, 0,-1,0,0))); cam = new rtabmap::CameraThread(new rtabmap::CameraOpenni("", rate, rtabmap::Transform(0,0,1,0, -1,0,0,0, 0,-1,0,0)));
} }