GUI: Added new Freenect2 and StereoDC1394 source options.

guilib/include/rtabmap/gui/CalibrationDialog.h

@@ -31,6 +31,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
 
 #include <QDialog>
+#include <QSettings>
 #include <opencv2/opencv.hpp>
 
 #include <rtabmap/core/CameraModel.h>
@@ -46,16 +47,18 @@ class RTABMAPGUI_EXP CalibrationDialog  : public QDialog, public UEventsHandler
 	Q_OBJECT;
 
 public:
-	CalibrationDialog(bool stereo = false, QWidget * parent = 0);
+	CalibrationDialog(bool stereo = false, const QString & savingDirectory = ".", QWidget * parent = 0);
 	virtual ~CalibrationDialog();
 
 	bool isCalibrated() const {return calibrated_;}
-	const cv::Mat & cameraMatrix() const {return model_.K();} // Matrix K
-	const cv::Mat & distCoeffs() const {return model_.D();} // Matrix D
-	float fx() const {return model_.fx();} // K(0)
-	float fy() const {return model_.fy();} // K(4)
-	float cx() const {return model_.cx();} // K(2)
-	float cy() const {return model_.cy();} // K(5)
+	const rtabmap::CameraModel & getCameraModel() const {return model_;}
+	const rtabmap::StereoCameraModel & getStereoCameraModel() const {return stereoModel_;}
+
+	void saveSettings(QSettings & settings, const QString & group = "") const;
+	void loadSettings(QSettings & settings, const QString & group = "");
+
+	void setStereoMode(bool stereo);
+	void setSavingDirectory(const QString & savingDirectory) {savingDirectory_ = savingDirectory;}
 
 public slots:
 	void setBoardWidth(int width);
@@ -66,7 +69,7 @@ private slots:
 	void processImages(const cv::Mat & imageLeft, const cv::Mat & imageRight, const QString & cameraName);
 	void restart();
 	void calibrate();
-	void save();
+	bool save();
 
 protected:
 	virtual void closeEvent(QCloseEvent* event);
@@ -85,13 +88,13 @@ private:
 
 private:
 	// parameters
-	cv::Size boardSize_; // innner squares
-	float squareSize_; // m
 	bool stereo_;
+	QString savingDirectory_;
 
 	QString cameraName_;
 	bool calibrated_;
 	bool processingData_;
+	bool savedCalibration_;
 
 	std::vector<std::vector<std::vector<cv::Point2f> > > imagePoints_;
 	std::vector<std::vector<std::vector<float> > > imageParams_;

guilib/include/rtabmap/gui/CameraViewer.h

@@ -0,0 +1,61 @@
+/*
+Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef CAMERAVIEWER_H_
+#define CAMERAVIEWER_H_
+
+#include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
+
+#include <rtabmap/utilite/UEventsHandler.h>
+#include <QWidget>
+#include <rtabmap/core/SensorData.h>
+
+namespace rtabmap {
+
+class ImageView;
+class CloudViewer;
+
+class RTABMAPGUI_EXP CameraViewer : public QWidget, public UEventsHandler
+{
+	Q_OBJECT
+public:
+	CameraViewer(QWidget * parent = 0);
+	virtual ~CameraViewer();
+
+public slots:
+	void showImage(const rtabmap::SensorData & data);
+protected:
+	void handleEvent(UEvent * event);
+
+private:
+	ImageView* imageView_;
+	CloudViewer* cloudView_;
+	bool processingImages_;
+};
+
+} /* namespace rtabmap */
+#endif /* CAMERAVIEWER_H_ */

guilib/include/rtabmap/gui/MainWindow.h

@@ -148,6 +148,8 @@ private slots:
 	void selectOpenniCv();
 	void selectOpenniCvAsus();
 	void selectOpenni2();
+	void selectFreenect2();
+	void selectStereoDC1394();
 	void dumpTheMemory();
 	void dumpThePrediction();
 	void downloadAllClouds();

guilib/include/rtabmap/gui/PreferencesDialog.h

@@ -61,6 +61,8 @@ class OdometryThread;
 class CameraThread;
 class Signature;
 class LoopClosureViewer;
+class CameraRGBD;
+class CalibrationDialog;
 
 class RTABMAPGUI_EXP PreferencesDialog : public QDialog
 {
@@ -87,7 +89,9 @@ public:
 		kSrcFreenect,
 		kSrcOpenNI_CV,
 		kSrcOpenNI_CV_ASUS,
-		kSrcOpenNI2
+		kSrcOpenNI2,
+		kSrcFreenect2,
+		kSrcStereoDC1394
 	};
 
 public:
@@ -159,7 +163,7 @@ public:
 	bool isSourceMirroring() const;
 	bool isSourceImageUsed() const;
 	bool isSourceDatabaseUsed() const;
-	bool isSourceOpenniUsed() const;
+	bool isSourceRGBDUsed() const;
 	PreferencesDialog::Src getSourceImageType() const;
 	QString getSourceImageTypeStr() const;
 	int getSourceWidth() const;
@@ -182,10 +186,7 @@ public:
 	bool getSourceOpenni2Mirroring() const; //Openni group
 	QString getSourceOpenniDevice() const;            //Openni group
 	Transform getSourceOpenniLocalTransform() const;    //Openni group
-	float getSourceOpenniFx() const; // Openni group
-	float getSourceOpenniFy() const; // Openni group
-	float getSourceOpenniCx() const; // Openni group
-	float getSourceOpenniCy() const; // Openni group
+	CameraRGBD * createCameraRGBD() const; // return camera should be deleted if not null
 
 	int getIgnoredDCComponents() const;
 
@@ -200,6 +201,7 @@ public:
 	double getLoopThr() const;
 	double getVpThr() const;
 	int getOdomStrategy() const;
+	QString getCameraInfoDir() const; // "workinfDir/camera_info"
 
 	//
 	void setMonitoringState(bool monitoringState) {_monitoringState = monitoringState;}
@@ -216,6 +218,7 @@ public slots:
 	void selectSourceImage(Src src = kSrcUndef);
 	void selectSourceDatabase(bool user = false);
 	void selectSourceRGBD(Src src = kSrcUndef);
+	void calibrate();
 
 private slots:
 	void closeDialog ( QAbstractButton * button );
@@ -246,8 +249,6 @@ private slots:
 	void testOdometry();
 	void cleanRGBDCameraTest();
 	void testRGBDCamera();
-	void calibrate();
-	void resetCalibration();
 
 protected:
 	virtual void showEvent ( QShowEvent * event );
@@ -302,6 +303,9 @@ private:
 	CameraThread * _cameraThread;
 	OdometryThread * _odomThread;
 
+	//calibration
+	CalibrationDialog * _calibrationDialog;
+
 	QVector<QCheckBox*> _3dRenderingShowClouds;
 	QVector<QDoubleSpinBox*> _3dRenderingVoxelSize;
 	QVector<QSpinBox*> _3dRenderingDecimation;