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Added rtabmap-camera tool. Added Export button in Calibration dialog to

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save calibration to yaml file (same format as ROS).
This commit is contained in:
Mathieu Labbe
2015-01-19 16:14:49 -05:00
parent e7ae2c5e31
commit fdf7f69783
10 changed files with 458 additions and 20 deletions
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tools/Calibration/main.cpp
+37 -16
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@@ -25,6 +25,7 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include "rtabmap/core/Camera.h"
#include "rtabmap/core/CameraRGBD.h"
#include "rtabmap/core/CameraThread.h"
#include "rtabmap/utilite/ULogger.h"
@@ -35,7 +36,7 @@ void showUsage()
{
printf("\nUsage:\n"
"rtabmap-calibration driver\n"
" driver Driver number to use: 0=OpenNI-PCL, 1=OpenNI2, 2=Freenect, 3=OpenNI-CV, 4=OpenNI-CV-ASUS\n\n");
" driver Driver number to use: 0=USB camera, 1=OpenNI-PCL, 2=OpenNI2, 3=Freenect, 4=OpenNI-CV, 5=OpenNI-CV-ASUS\n\n");
exit(1);
}
@@ -52,21 +53,26 @@ int main(int argc, char * argv[])
else
{
driver = atoi(argv[argc-1]);
if(driver < 0 || driver > 4)
if(driver < 0 || driver > 5)
{
UERROR("driver should be between 0 and 4.");
UERROR("driver should be between 0 and 5.");
showUsage();
}
}
UINFO("Using driver %d", driver);
float imageRate = 1.0f;
rtabmap::Camera * cameraUsb = 0;
rtabmap::CameraRGBD * camera = 0;
if(driver == 0)
{
camera = new rtabmap::CameraOpenni("", imageRate);
cameraUsb = new rtabmap::CameraVideo(0, imageRate);
}
else if(driver == 1)
{
camera = new rtabmap::CameraOpenni("", imageRate);
}
else if(driver == 2)
{
if(!rtabmap::CameraOpenNI2::available())
{
@@ -75,7 +81,7 @@ int main(int argc, char * argv[])
}
camera = new rtabmap::CameraOpenNI2(imageRate);
}
else if(driver == 2)
else if(driver == 3)
{
if(!rtabmap::CameraFreenect::available())
{
@@ -84,7 +90,7 @@ int main(int argc, char * argv[])
}
camera = new rtabmap::CameraFreenect(0, imageRate);
}
else if(driver == 3)
else if(driver == 4)
{
if(!rtabmap::CameraOpenNICV::available())
{
@@ -93,7 +99,7 @@ int main(int argc, char * argv[])
}
camera = new rtabmap::CameraOpenNICV(false, imageRate);
}
else if(driver == 4)
else if(driver == 5)
{
if(!rtabmap::CameraOpenNICV::available())
{
@@ -107,21 +113,36 @@ int main(int argc, char * argv[])
UFATAL("");
}
if(!camera->init())
{
printf("Camera init failed!\n");
delete camera;
exit(1);
}
rtabmap::CameraThread * cameraThread = 0;
rtabmap::CameraThread cameraThread(camera);
if(cameraUsb)
{
if(!cameraUsb->init())
{
printf("Camera init failed!\n");
delete cameraUsb;
exit(1);
}
cameraThread = new rtabmap::CameraThread(cameraUsb);
}
else if(camera)
{
if(!camera->init())
{
printf("Camera init failed!\n");
delete camera;
exit(1);
}
cameraThread = new rtabmap::CameraThread(camera);
}
QApplication app(argc, argv);
rtabmap::CalibrationDialog dialog;
dialog.registerToEventsManager();
dialog.show();
cameraThread.start();
cameraThread->start();
app.exec();
cameraThread.join(true);
cameraThread->join(true);
delete cameraThread;
}