X-lanni
295 lines
7.6 KiB
C++
295 lines
7.6 KiB
C++
/*
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Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#include <rtabmap/core/SensorCaptureThread.h>
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#include "rtabmap/core/CameraRGB.h"
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#include "rtabmap/core/CameraRGBD.h"
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#include "rtabmap/core/CameraStereo.h"
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#include "rtabmap/utilite/ULogger.h"
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#include "rtabmap/utilite/UConversion.h"
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#include "rtabmap/gui/CalibrationDialog.h"
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#include <QApplication>
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void showUsage()
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{
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printf("\nUsage:\n"
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"rtabmap-calibration [options]\n"
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"Options:\n"
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" --driver # Driver number to use:-1=USB camera\n"
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" 0=OpenNI-PCL (Kinect)\n"
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" 1=OpenNI2 (Kinect and Xtion PRO Live)\n"
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" 2=Freenect (Kinect)\n"
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" 3=OpenNI-CV (Kinect)\n"
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" 4=OpenNI-CV-ASUS (Xtion PRO Live)\n"
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" 5=Freenect2 (Kinect v2)\n"
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" 6=DC1394 (Bumblebee2)\n"
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" 7=FlyCapture2 (Bumblebee2)\n"
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" 11=RealSense2 (T265)\n"
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" --device # Device id\n"
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" --debug Debug log\n"
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" --stereo Stereo: assuming device provides \n"
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" side-by-side stereo images, otherwise \n"
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" add also \"--device_r #\" for the right device.\n\n");
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exit(1);
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}
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int main(int argc, char * argv[])
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{
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ULogger::setType(ULogger::kTypeConsole);
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ULogger::setLevel(ULogger::kInfo);
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ULogger::setPrintTime(false);
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ULogger::setPrintWhere(false);
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int driver = -1;
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int device = 0;
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int deviceRight = -1;
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bool stereo = false;
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for(int i=1; i<argc; ++i)
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{
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if(strcmp(argv[i], "--driver") == 0)
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{
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++i;
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if(i < argc)
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{
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driver = std::atoi(argv[i]);
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if(driver < -1)
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{
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showUsage();
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}
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}
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else
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{
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showUsage();
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}
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continue;
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}
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if(strcmp(argv[i], "--device") == 0)
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{
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++i;
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if(i < argc)
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{
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device = std::atoi(argv[i]);
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if(device < 0)
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{
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showUsage();
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}
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}
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else
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{
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showUsage();
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}
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continue;
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}
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if(strcmp(argv[i], "--device_r") == 0)
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{
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++i;
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if(i < argc)
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{
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deviceRight = std::atoi(argv[i]);
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if(deviceRight < 0)
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{
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showUsage();
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}
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}
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else
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{
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showUsage();
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}
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continue;
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}
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if(strcmp(argv[i], "--debug") == 0)
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{
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ULogger::setLevel(ULogger::kDebug);
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ULogger::setPrintTime(true);
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ULogger::setPrintWhere(true);
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continue;
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}
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if(strcmp(argv[i], "--stereo") == 0)
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{
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stereo=true;
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continue;
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}
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if(strcmp(argv[i], "--help") == 0)
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{
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showUsage();
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}
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printf("Unrecognized option : %s\n", argv[i]);
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showUsage();
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}
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if(driver < -1 || driver > 15)
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{
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UERROR("driver should be between -1 and 15.");
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showUsage();
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}
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if(driver == 11)
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{
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stereo = true;
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}
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UINFO("Using driver %d", driver);
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UINFO("Using device %d", device);
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UINFO("Stereo: %s", stereo?"true":"false");
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if(stereo && deviceRight >= 0)
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{
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UINFO("Using right device %d", deviceRight);
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}
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QApplication app(argc, argv);
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rtabmap::CalibrationDialog dialog(stereo, ".");
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rtabmap::Camera * camera = 0;
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if(driver == -1)
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{
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if(stereo)
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{
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if(deviceRight>=0)
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{
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// left and right videos
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camera = new rtabmap::CameraStereoVideo(device, deviceRight);
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}
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else
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{
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// side-by-side video
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camera = new rtabmap::CameraStereoVideo(device);
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}
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}
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else
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{
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camera = new rtabmap::CameraVideo(device);
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}
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dialog.setStereoMode(stereo);
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}
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else if(driver == 0)
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{
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camera = new rtabmap::CameraOpenni();
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}
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else if(driver == 1)
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{
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if(!rtabmap::CameraOpenNI2::available())
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{
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UERROR("Not built with OpenNI2 support...");
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exit(-1);
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}
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camera = new rtabmap::CameraOpenNI2();
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}
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else if(driver == 2)
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{
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if(!rtabmap::CameraFreenect::available())
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{
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UERROR("Not built with Freenect support...");
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exit(-1);
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}
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camera = new rtabmap::CameraFreenect();
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}
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else if(driver == 3)
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{
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if(!rtabmap::CameraOpenNICV::available())
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{
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UERROR("Not built with OpenNI from OpenCV support...");
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exit(-1);
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}
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camera = new rtabmap::CameraOpenNICV(false);
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}
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else if(driver == 4)
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{
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if(!rtabmap::CameraOpenNICV::available())
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{
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UERROR("Not built with OpenNI from OpenCV support...");
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exit(-1);
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}
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camera = new rtabmap::CameraOpenNICV(true);
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}
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else if(driver == 5)
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{
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if(!rtabmap::CameraFreenect2::available())
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{
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UERROR("Not built with Freenect2 support...");
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exit(-1);
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}
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camera = new rtabmap::CameraFreenect2(0, rtabmap::CameraFreenect2::kTypeColorIR);
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dialog.setSwitchedImages(true);
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dialog.setStereoMode(stereo, "rgb", "depth");
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}
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else if(driver == 6)
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{
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if(!rtabmap::CameraStereoDC1394::available())
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{
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UERROR("Not built with DC1394 support...");
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exit(-1);
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}
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camera = new rtabmap::CameraStereoDC1394();
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dialog.setStereoMode(stereo);
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}
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else if(driver == 7)
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{
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if(!rtabmap::CameraStereoFlyCapture2::available())
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{
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UERROR("Not built with FlyCapture2/Triclops support...");
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exit(-1);
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}
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camera = new rtabmap::CameraStereoFlyCapture2();
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dialog.setStereoMode(stereo);
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}
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else if(driver == 11)
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{
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if(!rtabmap::CameraRealSense2::available())
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{
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UERROR("Not built with RealSense2 support...");
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exit(-1);
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}
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camera = new rtabmap::CameraRealSense2();
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((rtabmap::CameraRealSense2*)camera)->setImagesRectified(false);
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dialog.setStereoMode(true);
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dialog.setFisheyeModel();
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}
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else
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{
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UFATAL("Calibration for driver %d not available.", driver);
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}
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rtabmap::SensorCaptureThread * cameraThread = 0;
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if(camera)
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{
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if(!camera->init(""))
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{
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printf("Camera init failed!\n");
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delete camera;
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exit(1);
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}
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cameraThread = new rtabmap::SensorCaptureThread(camera);
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}
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dialog.registerToEventsManager();
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dialog.show();
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cameraThread->start();
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app.exec();
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cameraThread->join(true);
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delete cameraThread;
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}
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