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Code Issues Packages Projects Releases Wiki Activity

GUI: Added new Freenect2 and StereoDC1394 source options.

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This commit is contained in:
Mathieu Labbe
2015-04-06 00:28:04 -04:00
parent fee32c4e25
commit 04b35b2adf
22 changed files with 765 additions and 758 deletions
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2
guilib/src/CMakeLists.txt
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@@ -17,6 +17,7 @@ SET(headers_ui
../include/${PROJECT_PREFIX}/gui/OdometryViewer.h
../include/${PROJECT_PREFIX}/gui/LoopClosureViewer.h
../include/${PROJECT_PREFIX}/gui/DataRecorder.h
../include/${PROJECT_PREFIX}/gui/CameraViewer.h
../include/${PROJECT_PREFIX}/gui/CalibrationDialog.h
./ExportDialog.h
./PostProcessingDialog.h
@@ -75,6 +76,7 @@ SET(SRC_FILES
./OdometryViewer.cpp
./LoopClosureViewer.cpp
./DataRecorder.cpp
./CameraViewer.cpp
./CalibrationDialog.cpp
./ExportDialog.cpp
./PostProcessingDialog.cpp

173
guilib/src/CalibrationDialog.cpp
View File

@@ -35,6 +35,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <QFileDialog>
#include <QMessageBox>
#include <QCloseEvent>
#include <rtabmap/core/CameraEvent.h>
#include <rtabmap/gui/UCv2Qt.h>
@@ -47,13 +48,13 @@ namespace rtabmap {
#define COUNT_MIN 40
CalibrationDialog::CalibrationDialog(bool stereo, QWidget * parent) :
CalibrationDialog::CalibrationDialog(bool stereo, const QString & savingDirectory, QWidget * parent) :
QDialog(parent),
boardSize_(8,6),
squareSize_(0.033),
stereo_(stereo),
savingDirectory_(savingDirectory),
calibrated_(false),
processingData_(false)
processingData_(false),
savedCalibration_(false)
{
imagePoints_.resize(2);
imageParams_.resize(2);
@@ -64,25 +65,6 @@ CalibrationDialog::CalibrationDialog(bool stereo, QWidget * parent) :
ui_ = new Ui_calibrationDialog();
ui_->setupUi(this);
if(!stereo_)
{
ui_->progressBar_x_2->setVisible(false);
ui_->progressBar_y_2->setVisible(false);
ui_->progressBar_size_2->setVisible(false);
ui_->progressBar_skew_2->setVisible(false);
ui_->image_view_2->setVisible(false);
ui_->label_fx_2->setVisible(false);
ui_->label_fy_2->setVisible(false);
ui_->label_cx_2->setVisible(false);
ui_->label_cy_2->setVisible(false);
ui_->label_baseline->setVisible(false);
ui_->label_baseline_name->setVisible(false);
ui_->lineEdit_K_2->setVisible(false);
ui_->lineEdit_D_2->setVisible(false);
ui_->lineEdit_R_2->setVisible(false);
ui_->lineEdit_P_2->setVisible(false);
}
connect(ui_->pushButton_calibrate, SIGNAL(clicked()), this, SLOT(calibrate()));
connect(ui_->pushButton_restart, SIGNAL(clicked()), this, SLOT(restart()));
connect(ui_->pushButton_save, SIGNAL(clicked()), this, SLOT(save()));
@@ -91,15 +73,14 @@ CalibrationDialog::CalibrationDialog(bool stereo, QWidget * parent) :
connect(ui_->spinBox_boardHeight, SIGNAL(valueChanged(int)), this, SLOT(setBoardHeight(int)));
connect(ui_->doubleSpinBox_squareSize, SIGNAL(valueChanged(double)), this, SLOT(setSquareSize(double)));
connect(ui_->buttonBox, SIGNAL(rejected()), this, SLOT(reject()));
connect(ui_->buttonBox, SIGNAL(accepted()), this, SLOT(accept()));
connect(ui_->buttonBox, SIGNAL(rejected()), this, SLOT(close()));
ui_->image_view->setFocus();
ui_->progressBar_count->setMaximum(COUNT_MIN);
ui_->progressBar_count->setFormat("%v");
this->restart();
this->setStereoMode(stereo_);
}
CalibrationDialog::~CalibrationDialog()
@@ -108,36 +89,120 @@ CalibrationDialog::~CalibrationDialog()
delete ui_;
}
void CalibrationDialog::saveSettings(QSettings & settings, const QString & group) const
{
if(!group.isEmpty())
{
settings.beginGroup(group);
}
settings.setValue("board_width", ui_->spinBox_boardWidth->value());
settings.setValue("board_height", ui_->spinBox_boardHeight->value());
settings.setValue("board_square_size", ui_->doubleSpinBox_squareSize->value());
settings.setValue("geometry", this->saveGeometry());
if(!group.isEmpty())
{
settings.endGroup();
}
}
void CalibrationDialog::loadSettings(QSettings & settings, const QString & group)
{
if(!group.isEmpty())
{
settings.beginGroup(group);
}
this->setBoardWidth(settings.value("board_width", ui_->spinBox_boardWidth->value()).toInt());
this->setBoardHeight(settings.value("board_height", ui_->spinBox_boardHeight->value()).toInt());
this->setSquareSize(settings.value("board_square_size", ui_->doubleSpinBox_squareSize->value()).toDouble());
QByteArray bytes = settings.value("geometry", QByteArray()).toByteArray();
if(!bytes.isEmpty())
{
this->restoreGeometry(bytes);
}
if(!group.isEmpty())
{
settings.endGroup();
}
}
void CalibrationDialog::setStereoMode(bool stereo)
{
this->restart();
stereo_ = stereo;
ui_->progressBar_x_2->setVisible(stereo_);
ui_->progressBar_y_2->setVisible(stereo_);
ui_->progressBar_size_2->setVisible(stereo_);
ui_->progressBar_skew_2->setVisible(stereo_);
ui_->image_view_2->setVisible(stereo_);
ui_->label_fx_2->setVisible(stereo_);
ui_->label_fy_2->setVisible(stereo_);
ui_->label_cx_2->setVisible(stereo_);
ui_->label_cy_2->setVisible(stereo_);
ui_->label_baseline->setVisible(stereo_);
ui_->label_baseline_name->setVisible(stereo_);
ui_->lineEdit_K_2->setVisible(stereo_);
ui_->lineEdit_D_2->setVisible(stereo_);
ui_->lineEdit_R_2->setVisible(stereo_);
ui_->lineEdit_P_2->setVisible(stereo_);
}
void CalibrationDialog::setBoardWidth(int width)
{
if(width != boardSize_.width)
if(width != ui_->spinBox_boardWidth->value())
{
boardSize_.width = width;
ui_->spinBox_boardWidth->setValue(width);
this->restart();
}
}
void CalibrationDialog::setBoardHeight(int height)
{
if(height != boardSize_.height)
if(height != ui_->spinBox_boardHeight->value())
{
boardSize_.height = height;
ui_->spinBox_boardHeight->setValue(height);
this->restart();
}
}
void CalibrationDialog::setSquareSize(double size)
{
if(size != squareSize_)
if(size != ui_->doubleSpinBox_squareSize->value())
{
squareSize_ = size;
ui_->doubleSpinBox_squareSize->setValue(size);
this->restart();
}
}
void CalibrationDialog::closeEvent(QCloseEvent* event)
{
this->unregisterFromEventsManager();
if(!savedCalibration_ && calibrated_)
{
QMessageBox::StandardButton b = QMessageBox::question(this, tr("Save calibration?"),
tr("The camera is calibrated but you didn't "
"save the calibration, do you want to save it?"),
QMessageBox::Yes | QMessageBox::Ignore | QMessageBox::Cancel, QMessageBox::Yes);
event->ignore();
if(b == QMessageBox::Yes)
{
if(this->save())
{
event->accept();
}
}
else if(b == QMessageBox::Ignore)
{
event->accept();
}
}
else
{
event->accept();
}
if(event->isAccepted())
{
this->unregisterFromEventsManager();
}
}
void CalibrationDialog::handleEvent(UEvent * event)
@@ -207,6 +272,7 @@ void CalibrationDialog::processImages(const cv::Mat & imageLeft, const cv::Mat &
}
bool found = false;
cv::Size boardSize(ui_->spinBox_boardWidth->value(), ui_->spinBox_boardHeight->value());
if(!viewGray.empty())
{
int maxScale = 1;
@@ -217,7 +283,7 @@ void CalibrationDialog::processImages(const cv::Mat & imageLeft, const cv::Mat &
timg = viewGray;
else
cv::resize(viewGray, timg, cv::Size(), scale, scale);
found = cv::findChessboardCorners(timg, boardSize_, pointBuf[id],
found = cv::findChessboardCorners(timg, boardSize, pointBuf[id],
CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_NORMALIZE_IMAGE);
if(found)
{
@@ -248,10 +314,10 @@ void CalibrationDialog::processImages(const cv::Mat & imageLeft, const cv::Mat &
cv::TermCriteria( CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1 ));
boardAccepted[id] = true;
getParams(pointBuf[id], boardSize_, imageSize_[id], params[id][0], params[id][1], params[id][2], params[id][3]);
getParams(pointBuf[id], boardSize, imageSize_[id], params[id][0], params[id][1], params[id][2], params[id][3]);
// Draw the corners.
cv::drawChessboardCorners(images[id], boardSize_, cv::Mat(pointBuf[id]), found);
cv::drawChessboardCorners(images[id], boardSize, cv::Mat(pointBuf[id]), found);
}
}
@@ -392,6 +458,7 @@ void CalibrationDialog::restart()
{
// restart
calibrated_ = false;
savedCalibration_ = false;
imagePoints_[0].clear();
imagePoints_[1].clear();
imageParams_[0].clear();
@@ -402,7 +469,6 @@ void CalibrationDialog::restart()
ui_->pushButton_calibrate->setEnabled(false);
ui_->pushButton_save->setEnabled(false);
ui_->buttonBox->button(QDialogButtonBox::Ok)->setEnabled(false);
ui_->checkBox_rectified->setEnabled(false);
ui_->progressBar_count->reset();
@@ -442,11 +508,23 @@ void CalibrationDialog::calibrate()
{
UINFO("Calibration...");
processingData_ = true;
savedCalibration_ = false;
QMessageBox mb(QMessageBox::Information,
tr("Calibrating..."),
tr("Operation in progress. You have time to take a coffee!"));
mb.show();
QApplication::processEvents();
uSleep(100); // hack make sure the text in the QMessageBox is shown...
QApplication::processEvents();
std::vector<std::vector<cv::Point3f> > objectPoints(1);
cv::Size boardSize(ui_->spinBox_boardWidth->value(), ui_->spinBox_boardHeight->value());
float squareSize = ui_->doubleSpinBox_squareSize->value();
// compute board corner positions
for( int i = 0; i < boardSize_.height; ++i )
for( int j = 0; j < boardSize_.width; ++j )
objectPoints[0].push_back(cv::Point3f(float( j*squareSize_ ), float( i*squareSize_ ), 0));
for( int i = 0; i < boardSize.height; ++i )
for( int j = 0; j < boardSize.width; ++j )
objectPoints[0].push_back(cv::Point3f(float( j*squareSize ), float( i*squareSize ), 0));
objectPoints.resize(imagePoints_[0].size(),objectPoints[0]);
@@ -523,7 +601,6 @@ void CalibrationDialog::calibrate()
ui_->checkBox_rectified->setEnabled(true);
ui_->checkBox_rectified->setChecked(true);
ui_->buttonBox->button(QDialogButtonBox::Ok)->setEnabled(true);
ui_->pushButton_save->setEnabled(true);
}
}
@@ -631,24 +708,23 @@ void CalibrationDialog::calibrate()
ui_->checkBox_rectified->setEnabled(true);
ui_->checkBox_rectified->setChecked(true);
ui_->buttonBox->button(QDialogButtonBox::Ok)->setEnabled(true);
ui_->pushButton_save->setEnabled(true);
}
}
UINFO("End calibration");
processingData_ = false;
}
void CalibrationDialog::save()
bool CalibrationDialog::save()
{
bool saved = false;
processingData_ = true;
if(!stereo_)
{
UASSERT(model_.isValid());
QString cameraName = model_.name().c_str();
QString filePath = QFileDialog::getSaveFileName(this, tr("Export"), cameraName+".yaml", "*.yaml");
QString filePath = QFileDialog::getSaveFileName(this, tr("Export"), savingDirectory_+"/"+cameraName+".yaml", "*.yaml");
if(!filePath.isEmpty())
{
@@ -656,6 +732,8 @@ void CalibrationDialog::save()
{
QMessageBox::information(this, tr("Export"), tr("Calibration file saved to \"%1\".").arg(filePath));
UINFO("Saved \"%s\"!", filePath.toStdString().c_str());
savedCalibration_ = true;
saved = true;
}
else
{
@@ -667,7 +745,7 @@ void CalibrationDialog::save()
{
UASSERT(stereoModel_.isValid());
QString cameraName = stereoModel_.name().c_str();
QString filePath = QFileDialog::getSaveFileName(this, tr("Export"), cameraName, "*.yaml");
QString filePath = QFileDialog::getSaveFileName(this, tr("Export"), savingDirectory_ + "/" + cameraName, "*.yaml");
std::string name = UFile::getName(filePath.toStdString());
std::string dir = UDirectory::getDir(filePath.toStdString());
if(!name.empty())
@@ -680,6 +758,8 @@ void CalibrationDialog::save()
QMessageBox::information(this, tr("Export"), tr("Calibration files saved to \"%1\" and \"%2\".").
arg(leftPath.c_str()).arg(rightPath.c_str()));
UINFO("Saved \"%s\" and \"%s\"!", leftPath.c_str(), rightPath.c_str());
savedCalibration_ = true;
saved = true;
}
else
{
@@ -688,6 +768,7 @@ void CalibrationDialog::save()
}
}
processingData_ = false;
return saved;
}
float CalibrationDialog::getArea(const std::vector<cv::Point2f> & corners, const cv::Size & boardSize)

111
guilib/src/CameraViewer.cpp Normal file
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@@ -0,0 +1,111 @@
/*
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.
*/
#include "rtabmap/gui/CameraViewer.h"
#include <rtabmap/core/CameraEvent.h>
#include <rtabmap/core/util3d.h>
#include <rtabmap/gui/ImageView.h>
#include <rtabmap/gui/CloudViewer.h>
#include <rtabmap/gui/UCv2Qt.h>
#include <QtCore/QMetaType>
#include <QHBoxLayout>
namespace rtabmap {
CameraViewer::CameraViewer(QWidget * parent) :
QWidget(parent),
imageView_(new ImageView(this)),
cloudView_(new CloudViewer(this)),
processingImages_(false)
{
qRegisterMetaType<rtabmap::SensorData>("rtabmap::SensorData");
imageView_->setImageDepthShown(true);
imageView_->setMinimumSize(320, 240);
QHBoxLayout * layout = new QHBoxLayout(this);
layout->setMargin(0);
layout->addWidget(imageView_);
layout->addWidget(cloudView_);
layout->setStretch(0, 1);
layout->setStretch(1, 1);
this->setLayout(layout);
}
CameraViewer::~CameraViewer()
{
this->unregisterFromEventsManager();
}
void CameraViewer::showImage(const rtabmap::SensorData & data)
{
processingImages_ = true;
imageView_->setImage(uCvMat2QImage(data.image()));
imageView_->setImageDepth(uCvMat2QImage(data.depthOrRightImage()));
if(!data.depth().empty() && data.fx() && data.fy())
{
cloudView_->addOrUpdateCloud("cloud",
util3d::cloudFromDepthRGB(data.image(), data.depth(), data.cx(), data.cy(), data.fx(), data.fy()),
data.localTransform());
}
else if(!data.rightImage().empty() && data.fx() && data.baseline())
{
cloudView_->addOrUpdateCloud("cloud",
util3d::cloudFromStereoImages(data.image(), data.rightImage(), data.cx(), data.cy(), data.fx(), data.baseline()),
data.localTransform());
}
else
{
cloudView_->setVisible(false);
}
cloudView_->update();
processingImages_ = false;
}
void CameraViewer::handleEvent(UEvent * event)
{
if(event->getClassName().compare("CameraEvent") == 0)
{
CameraEvent * camEvent = (CameraEvent*)event;
if(camEvent->getCode() == CameraEvent::kCodeImageDepth ||
camEvent->getCode() == CameraEvent::kCodeImage)
{
if(camEvent->data().isValid())
{
if(!processingImages_ && this->isVisible() && camEvent->data().isValid())
{
processingImages_ = true;
QMetaObject::invokeMethod(this, "showImage",
Q_ARG(rtabmap::SensorData, camEvent->data()));
}
}
}
}
}
} /* namespace rtabmap */

2
guilib/src/CloudViewer.cpp
View File

@@ -193,7 +193,7 @@ void CloudViewer::saveSettings(QSettings & settings, const QString & group) cons
settings.setValue("grid", this->isGridShown());
settings.setValue("grid_cell_count", this->getGridCellCount());
settings.setValue("grid_cell_size", this->getGridCellSize());
settings.setValue("grid_cell_size", (double)this->getGridCellSize());
settings.setValue("trajectory_shown", this->isTrajectoryShown());
settings.setValue("trajectory_size", this->getTrajectorySize());

2
guilib/src/DataRecorder.cpp
View File

@@ -177,7 +177,7 @@ void DataRecorder::handleEvent(UEvent * event)
processingImages_ = true;
QMetaObject::invokeMethod(this, "showImage",
Q_ARG(cv::Mat, camEvent->data().image()),
Q_ARG(cv::Mat, camEvent->data().depth()));
Q_ARG(cv::Mat, camEvent->data().depthOrRightImage()));
}
}
}

4
guilib/src/GraphViewer.cpp
View File

@@ -492,8 +492,8 @@ void GraphViewer::saveSettings(QSettings & settings, const QString & group) cons
{
settings.beginGroup(group);
}
settings.setValue("node_radius", this->getNodeRadius());
settings.setValue("link_width", this->getLinkWidth());
settings.setValue("node_radius", (double)this->getNodeRadius());
settings.setValue("link_width", (double)this->getLinkWidth());
settings.setValue("node_color", this->getNodeColor());
settings.setValue("neighbor_color", this->getNeighborColor());
settings.setValue("global_color", this->getGlobalLoopClosureColor());

1
guilib/src/GuiLib.qrc
View File

@@ -27,5 +27,6 @@
<file>images/kinect_xbox_one.png</file>
<file>images/sense.png</file>
<file>images/xtion_pro_live.png</file>
<file>images/bumblebee2.png</file>
</qresource>
</RCC>

169
guilib/src/MainWindow.cpp
View File

@@ -346,17 +346,21 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
connect(_ui->actionOpenNI_PCL, SIGNAL(triggered()), this, SLOT(selectOpenni()));
connect(_ui->actionOpenNI_PCL_ASUS, SIGNAL(triggered()), this, SLOT(selectOpenni()));
connect(_ui->actionFreenect, SIGNAL(triggered()), this, SLOT(selectFreenect()));
_ui->actionFreenect->setEnabled(CameraFreenect::available());
connect(_ui->actionOpenNI_CV, SIGNAL(triggered()), this, SLOT(selectOpenniCv()));
connect(_ui->actionOpenNI_CV_ASUS, SIGNAL(triggered()), this, SLOT(selectOpenniCvAsus()));
connect(_ui->actionOpenNI2, SIGNAL(triggered()), this, SLOT(selectOpenni2()));
connect(_ui->actionOpenNI2_kinect, SIGNAL(triggered()), this, SLOT(selectOpenni2()));
connect(_ui->actionOpenNI2_sense, SIGNAL(triggered()), this, SLOT(selectOpenni2()));
connect(_ui->actionFreenect2, SIGNAL(triggered()), this, SLOT(selectFreenect2()));
connect(_ui->actionStereoDC1394, SIGNAL(triggered()), this, SLOT(selectStereoDC1394()));
_ui->actionFreenect->setEnabled(CameraFreenect::available());
_ui->actionOpenNI_CV->setEnabled(CameraOpenNICV::available());
_ui->actionOpenNI_CV_ASUS->setEnabled(CameraOpenNICV::available());
connect(_ui->actionOpenNI2, SIGNAL(triggered()), this, SLOT(selectOpenni2()));
_ui->actionOpenNI2->setEnabled(CameraOpenNI2::available());
connect(_ui->actionOpenNI2_Sense, SIGNAL(triggered()), this, SLOT(selectOpenni2()));
_ui->actionOpenNI2_Sense->setEnabled(CameraOpenNI2::available());
connect(_ui->actionOpenNI2_kinect, SIGNAL(triggered()), this, SLOT(selectOpenni2()));
_ui->actionOpenNI2_kinect->setEnabled(CameraOpenNI2::available());
_ui->actionOpenNI2_sense->setEnabled(CameraOpenNI2::available());
_ui->actionFreenect2->setEnabled(CameraFreenect2::available());
_ui->actionStereoDC1394->setEnabled(CameraStereoDC1394::available());
this->updateSelectSourceMenu();
connect(_ui->actionSave_state, SIGNAL(triggered()), this, SLOT(saveFigures()));
@@ -2221,14 +2225,16 @@ void MainWindow::updateSelectSourceMenu()
_ui->actionDatabase->setChecked(_preferencesDialog->isSourceDatabaseUsed());
_ui->actionOpenNI_PCL->setChecked(_preferencesDialog->isSourceOpenniUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_PCL);
_ui->actionOpenNI_PCL_ASUS->setChecked(_preferencesDialog->isSourceOpenniUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_PCL);
_ui->actionFreenect->setChecked(_preferencesDialog->isSourceOpenniUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcFreenect);
_ui->actionOpenNI_CV->setChecked(_preferencesDialog->isSourceOpenniUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_CV);
_ui->actionOpenNI_CV_ASUS->setChecked(_preferencesDialog->isSourceOpenniUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_CV_ASUS);
_ui->actionOpenNI2->setChecked(_preferencesDialog->isSourceOpenniUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI2);
_ui->actionOpenNI2_Sense->setChecked(_preferencesDialog->isSourceOpenniUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI2);
_ui->actionOpenNI2_kinect->setChecked(_preferencesDialog->isSourceOpenniUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI2);
_ui->actionOpenNI_PCL->setChecked(_preferencesDialog->isSourceRGBDUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_PCL);
_ui->actionOpenNI_PCL_ASUS->setChecked(_preferencesDialog->isSourceRGBDUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_PCL);
_ui->actionFreenect->setChecked(_preferencesDialog->isSourceRGBDUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcFreenect);
_ui->actionOpenNI_CV->setChecked(_preferencesDialog->isSourceRGBDUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_CV);
_ui->actionOpenNI_CV_ASUS->setChecked(_preferencesDialog->isSourceRGBDUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_CV_ASUS);
_ui->actionOpenNI2->setChecked(_preferencesDialog->isSourceRGBDUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI2);
_ui->actionOpenNI2_kinect->setChecked(_preferencesDialog->isSourceRGBDUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI2);
_ui->actionOpenNI2_sense->setChecked(_preferencesDialog->isSourceRGBDUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI2);
_ui->actionFreenect2->setChecked(_preferencesDialog->isSourceRGBDUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcFreenect2);
_ui->actionStereoDC1394->setChecked(_preferencesDialog->isSourceRGBDUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcStereoDC1394);
}
void MainWindow::changeImgRateSetting()
@@ -2555,7 +2561,7 @@ void MainWindow::startDetection()
// Adjust pre-requirements
if( !_preferencesDialog->isSourceImageUsed() &&
!_preferencesDialog->isSourceDatabaseUsed() &&
!_preferencesDialog->isSourceOpenniUsed())
!_preferencesDialog->isSourceRGBDUsed())
{
QMessageBox::warning(this,
tr("RTAB-Map"),
@@ -2565,83 +2571,11 @@ void MainWindow::startDetection()
return;
}
if(_preferencesDialog->isSourceOpenniUsed())
if(_preferencesDialog->isSourceRGBDUsed())
{
//Create odometry thread if rgbd slam
if(uStr2Bool(parameters.at(Parameters::kRGBDEnabled()).c_str()))
{
if(_odomThread)
{
UERROR("OdomThread must be already deleted here?!");
delete _odomThread;
}
Odometry * odom;
if(_preferencesDialog->getOdomStrategy() == 1)
{
odom = new OdometryOpticalFlow(parameters);
}
else
{
odom = new OdometryBOW(parameters);
}
_odomThread = new OdometryThread(odom);
CameraRGBD * camera = _preferencesDialog->createCameraRGBD();
UEventsManager::addHandler(_odomThread);
_odomThread->start();
}
CameraRGBD * camera = 0;
if(_preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_PCL)
{
camera = new CameraOpenni(
_preferencesDialog->getSourceOpenniDevice().toStdString(),
_preferencesDialog->getGeneralInputRate(),
_preferencesDialog->getSourceOpenniLocalTransform(),
_preferencesDialog->getSourceOpenniFx(),
_preferencesDialog->getSourceOpenniFy(),
_preferencesDialog->getSourceOpenniCx(),
_preferencesDialog->getSourceOpenniCy());
}
else if(_preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI2)
{
camera = new CameraOpenNI2(
_preferencesDialog->getSourceOpenniDevice().toStdString(),
_preferencesDialog->getGeneralInputRate(),
_preferencesDialog->getSourceOpenniLocalTransform(),
_preferencesDialog->getSourceOpenniFx(),
_preferencesDialog->getSourceOpenniFy(),
_preferencesDialog->getSourceOpenniCx(),
_preferencesDialog->getSourceOpenniCy());
}
else if(_preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcFreenect)
{
camera = new CameraFreenect(
_preferencesDialog->getSourceOpenniDevice().isEmpty()?0:atoi(_preferencesDialog->getSourceOpenniDevice().toStdString().c_str()),
_preferencesDialog->getGeneralInputRate(),
_preferencesDialog->getSourceOpenniLocalTransform(),
_preferencesDialog->getSourceOpenniFx(),
_preferencesDialog->getSourceOpenniFy(),
_preferencesDialog->getSourceOpenniCx(),
_preferencesDialog->getSourceOpenniCy());
}
else if(_preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_CV ||
_preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_CV_ASUS)
{
camera = new CameraOpenNICV(
_preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_CV_ASUS,
_preferencesDialog->getGeneralInputRate(),
_preferencesDialog->getSourceOpenniLocalTransform(),
_preferencesDialog->getSourceOpenniFx(),
_preferencesDialog->getSourceOpenniFy(),
_preferencesDialog->getSourceOpenniCx(),
_preferencesDialog->getSourceOpenniCy());
}
else
{
UFATAL("RGBD Source type undefined!");
}
if(!camera->init())
if(!camera->init(_preferencesDialog->getCameraInfoDir().toStdString()))
{
ULOGGER_WARN("init camera failed... ");
QMessageBox::warning(this,
@@ -2657,7 +2591,7 @@ void MainWindow::startDetection()
}
return;
}
else if(_preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI2)
else if(dynamic_cast<CameraOpenNI2*>(camera) != 0)
{
((CameraOpenNI2*)camera)->setAutoWhiteBalance(_preferencesDialog->getSourceOpenni2AutoWhiteBalance());
((CameraOpenNI2*)camera)->setAutoExposure(_preferencesDialog->getSourceOpenni2AutoExposure());
@@ -2671,9 +2605,50 @@ void MainWindow::startDetection()
camera->setMirroringEnabled(_preferencesDialog->isSourceMirroring());
_camera = new CameraThread(camera);
if(_odomThread)
//Create odometry thread if rgbd slam
if(uStr2Bool(parameters.at(Parameters::kRGBDEnabled()).c_str()))
{
UEventsManager::createPipe(_camera, _odomThread, "CameraEvent");
// Require calibrated camera
if(!camera->isCalibrated())
{
UWARN("Camera is not calibrated!");
emit stateChanged(kInitialized);
delete _camera;
_camera = 0;
int button = QMessageBox::question(this,
tr("Camera is not calibrated!"),
tr("RTAB-Map cannot run with an uncalibrated camera. Do you want to calibrate the camera now?"),
QMessageBox::Yes | QMessageBox::No);
if(button == QMessageBox::Yes)
{
QTimer::singleShot(0, _preferencesDialog, SLOT(calibrate()));
}
return;
}
else
{
if(_odomThread)
{
UERROR("OdomThread must be already deleted here?!");
delete _odomThread;
}
Odometry * odom;
if(_preferencesDialog->getOdomStrategy() == 1)
{
odom = new OdometryOpticalFlow(parameters);
}
else
{
odom = new OdometryBOW(parameters);
}
_odomThread = new OdometryThread(odom);
UEventsManager::addHandler(_odomThread);
UEventsManager::createPipe(_camera, _odomThread, "CameraEvent");
_odomThread->start();
}
}
}
else if(_preferencesDialog->isSourceDatabaseUsed())
@@ -3590,6 +3565,16 @@ void MainWindow::selectOpenni2()
_preferencesDialog->selectSourceRGBD(PreferencesDialog::kSrcOpenNI2);
}
void MainWindow::selectFreenect2()
{
_preferencesDialog->selectSourceRGBD(PreferencesDialog::kSrcFreenect2);
}
void MainWindow::selectStereoDC1394()
{
_preferencesDialog->selectSourceRGBD(PreferencesDialog::kSrcStereoDC1394);
}
void MainWindow::dumpTheMemory()
{

426
guilib/src/PreferencesDialog.cpp
View File

@@ -56,7 +56,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/Graph.h"
#include "rtabmap/gui/LoopClosureViewer.h"
#include "rtabmap/gui/DataRecorder.h"
#include "rtabmap/gui/CameraViewer.h"
#include "rtabmap/gui/CloudViewer.h"
#include "rtabmap/gui/ImageView.h"
#include "GraphViewer.h"
@@ -82,7 +82,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_indexModel(0),
_initialized(false),
_cameraThread(0),
_odomThread(0)
_odomThread(0),
_calibrationDialog(new CalibrationDialog(false, ".", this))
{
ULOGGER_DEBUG("");
@@ -144,6 +145,29 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
{
_ui->graphOptimization_type->setItemData(1, 0, Qt::UserRole - 1);
}
if(!CameraFreenect::available())
{
_ui->comboBox_cameraRGBD->setItemData(1, 0, Qt::UserRole - 1);
}
if(!CameraOpenNICV::available())
{
_ui->comboBox_cameraRGBD->setItemData(2, 0, Qt::UserRole - 1);
_ui->comboBox_cameraRGBD->setItemData(3, 0, Qt::UserRole - 1);
}
if(!CameraOpenNI2::available())
{
_ui->comboBox_cameraRGBD->setItemData(4, 0, Qt::UserRole - 1);
}
if(!CameraFreenect2::available())
{
_ui->comboBox_cameraRGBD->setItemData(5, 0, Qt::UserRole - 1);
}
if(!CameraStereoDC1394::available())
{
_ui->comboBox_cameraRGBD->setItemData(6, 0, Qt::UserRole - 1);
}
_ui->openni2_exposure->setEnabled(CameraOpenNI2::exposureGainAvailable());
_ui->openni2_gain->setEnabled(CameraOpenNI2::exposureGainAvailable());
_ui->predictionPlot->showLegend(false);
@@ -275,18 +299,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->source_spinBox_databaseStartPos, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
//openni group
connect(_ui->groupBox_sourceOpenni, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->radioButton_opennipcl, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->radioButton_freenect, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteSourcePanel()));
_ui->radioButton_freenect->setEnabled(CameraFreenect::available());
connect(_ui->radioButton_opennicv, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->radioButton_opennicvasus, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteSourcePanel()));
_ui->radioButton_opennicv->setEnabled(CameraOpenNICV::available());
_ui->radioButton_opennicvasus->setEnabled(CameraOpenNICV::available());
connect(_ui->radioButton_openni2, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->radioButton_openni2, SIGNAL(toggled(bool)), this, SLOT(showOpenNI2GroupBox(bool)));
_ui->radioButton_openni2->setEnabled(CameraOpenNI2::available());
_ui->openni2_exposure->setEnabled(CameraOpenNI2::exposureGainAvailable());
_ui->openni2_gain->setEnabled(CameraOpenNI2::exposureGainAvailable());
connect(_ui->comboBox_cameraRGBD, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->openni2_autoWhiteBalance, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->openni2_autoExposure, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->openni2_exposure, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
@@ -294,12 +307,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->openni2_mirroring, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->lineEdit_openniDevice, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->lineEdit_openniLocalTransform, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->doubleSpinBox_openniFx, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->doubleSpinBox_openniFy, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->doubleSpinBox_openniCx, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->doubleSpinBox_openniCy, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->pushButton_calibrate, SIGNAL(clicked()), this, SLOT(calibrate()));
connect(_ui->pushButton_calibrate_reset, SIGNAL(clicked()), this, SLOT(resetCalibration()));
//Rtabmap basic
@@ -918,15 +926,17 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->groupBox_sourceOpenni->setChecked(true);
#ifdef _WIN32
_ui->radioButton_openni2->setChecked(true);
_ui->radioButton_opennipcl->setChecked(false);
_ui->comboBox_cameraRGBD->setCurrentIndex(4); // openni2
#else
_ui->radioButton_opennipcl->setChecked(true);
_ui->radioButton_openni2->setChecked(false);
if(CameraFreenect::available())
{
_ui->comboBox_cameraRGBD->setCurrentIndex(1); // freenect
}
else
{
_ui->comboBox_cameraRGBD->setCurrentIndex(0); // openni-pcl
}
#endif
_ui->radioButton_freenect->setChecked(false);
_ui->radioButton_opennicv->setChecked(false);
_ui->radioButton_opennicvasus->setChecked(false);
_ui->openni2_autoWhiteBalance->setChecked(true);
_ui->openni2_autoExposure->setChecked(true);
_ui->openni2_exposure->setValue(0);
@@ -934,10 +944,6 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->openni2_mirroring->setChecked(false);
_ui->lineEdit_openniDevice->setText("");
_ui->lineEdit_openniLocalTransform->setText("0 0 0 -PI_2 0 -PI_2");
_ui->doubleSpinBox_openniFx->setValue(0.0);
_ui->doubleSpinBox_openniFy->setValue(0.0);
_ui->doubleSpinBox_openniCx->setValue(0.0);
_ui->doubleSpinBox_openniCy->setValue(0.0);
}
else if(groupBox->objectName() == _ui->groupBox_rtabmap_basic0->objectName())
{
@@ -1190,11 +1196,7 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
settings.beginGroup("Openni");
_ui->groupBox_sourceOpenni->setChecked(settings.value("openniUsed", _ui->groupBox_sourceOpenni->isChecked()).toBool());
_ui->radioButton_opennipcl->setChecked(settings.value("openniType", _ui->radioButton_opennipcl->isChecked()).toBool());
_ui->radioButton_freenect->setChecked(settings.value("freenectType", _ui->radioButton_freenect->isChecked()).toBool());
_ui->radioButton_openni2->setChecked(settings.value("openni2", _ui->radioButton_openni2->isChecked()).toBool());
_ui->radioButton_opennicv->setChecked(settings.value("openniCvType", _ui->radioButton_opennicv->isChecked()).toBool());
_ui->radioButton_opennicvasus->setChecked(settings.value("openniCvAsusType", _ui->radioButton_opennicvasus->isChecked()).toBool());
_ui->comboBox_cameraRGBD->setCurrentIndex(settings.value("cameraRGBDType", _ui->comboBox_cameraRGBD->currentIndex()).toInt());
_ui->openni2_autoWhiteBalance->setChecked(settings.value("openni2AutoWhiteBalance", _ui->openni2_autoWhiteBalance->isChecked()).toBool());
_ui->openni2_autoExposure->setChecked(settings.value("openni2AutoExposure", _ui->openni2_autoExposure->isChecked()).toBool());
_ui->openni2_exposure->setValue(settings.value("openni2Exposure", _ui->openni2_exposure->value()).toInt());
@@ -1202,10 +1204,7 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
_ui->openni2_mirroring->setChecked(settings.value("openni2Mirroring", _ui->openni2_mirroring->isChecked()).toBool());
_ui->lineEdit_openniDevice->setText(settings.value("device",_ui->lineEdit_openniDevice->text()).toString());
_ui->lineEdit_openniLocalTransform->setText(settings.value("localTransform",_ui->lineEdit_openniLocalTransform->text()).toString());
_ui->doubleSpinBox_openniFx->setValue(settings.value("fx", _ui->doubleSpinBox_openniFx->value()).toDouble());
_ui->doubleSpinBox_openniFy->setValue(settings.value("fy", _ui->doubleSpinBox_openniFy->value()).toDouble());
_ui->doubleSpinBox_openniCx->setValue(settings.value("cx", _ui->doubleSpinBox_openniCx->value()).toDouble());
_ui->doubleSpinBox_openniCy->setValue(settings.value("cy", _ui->doubleSpinBox_openniCy->value()).toDouble());
_calibrationDialog->loadSettings(settings, "CalibrationDialog");
settings.endGroup(); // Openni
}
@@ -1462,11 +1461,7 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.beginGroup("Openni");
settings.setValue("openniUsed", _ui->groupBox_sourceOpenni->isChecked());
settings.setValue("openniType", _ui->radioButton_opennipcl->isChecked());
settings.setValue("freenectType", _ui->radioButton_freenect->isChecked());
settings.setValue("openni2", _ui->radioButton_openni2->isChecked());
settings.setValue("openniCvType", _ui->radioButton_opennicv->isChecked());
settings.setValue("openniCvAsusType", _ui->radioButton_opennicvasus->isChecked());
settings.setValue("cameraRGBDType", _ui->comboBox_cameraRGBD->currentIndex());
settings.setValue("openni2AutoWhiteBalance", _ui->openni2_autoWhiteBalance->isChecked());
settings.setValue("openni2AutoExposure", _ui->openni2_autoExposure->isChecked());
settings.setValue("openni2Exposure", _ui->openni2_exposure->value());
@@ -1474,11 +1469,8 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.setValue("openni2Mirroring", _ui->openni2_mirroring->isChecked());
settings.setValue("device", _ui->lineEdit_openniDevice->text());
settings.setValue("localTransform", _ui->lineEdit_openniLocalTransform->text());
settings.setValue("fx", _ui->doubleSpinBox_openniFx->value());
settings.setValue("fy", _ui->doubleSpinBox_openniFy->value());
settings.setValue("cx", _ui->doubleSpinBox_openniCx->value());
settings.setValue("cy", _ui->doubleSpinBox_openniCy->value());
settings.endGroup();
_calibrationDialog->saveSettings(settings, "CalibrationDialog");
settings.endGroup(); // Openni
}
void PreferencesDialog::writeCoreSettings(const QString & filePath) const
@@ -1795,6 +1787,7 @@ void PreferencesDialog::saveWidgetState(const QWidget * widget)
const ExportCloudsDialog * exportCloudsDialog = qobject_cast<const ExportCloudsDialog*>(widget);
const PostProcessingDialog * postProcessingDialog = qobject_cast<const PostProcessingDialog *>(widget);
const GraphViewer * graphViewer = qobject_cast<const GraphViewer *>(widget);
const CalibrationDialog * calibrationDialog = qobject_cast<const CalibrationDialog *>(widget);
if(cloudViewer)
{
@@ -1816,6 +1809,10 @@ void PreferencesDialog::saveWidgetState(const QWidget * widget)
{
graphViewer->saveSettings(settings);
}
else if(calibrationDialog)
{
calibrationDialog->saveSettings(settings);
}
else
{
UERROR("Widget \"%s\" cannot be exported in config file.", widget->objectName().toStdString().c_str());
@@ -1840,6 +1837,7 @@ void PreferencesDialog::loadWidgetState(QWidget * widget)
ExportCloudsDialog * exportCloudsDialog = qobject_cast<ExportCloudsDialog*>(widget);
PostProcessingDialog * postProcessingDialog = qobject_cast<PostProcessingDialog *>(widget);
GraphViewer * graphViewer = qobject_cast<GraphViewer *>(widget);
CalibrationDialog * calibrationDialog = qobject_cast<CalibrationDialog *>(widget);
if(cloudViewer)
{
@@ -1861,6 +1859,10 @@ void PreferencesDialog::loadWidgetState(QWidget * widget)
{
graphViewer->loadSettings(settings);
}
else if(calibrationDialog)
{
calibrationDialog->loadSettings(settings);
}
else
{
UERROR("Widget \"%s\" cannot be loaded from config file.", widget->objectName().toStdString().c_str());
@@ -2059,36 +2061,12 @@ void PreferencesDialog::selectSourceRGBD(Src src)
}
_ui->groupBox_sourceOpenni->setChecked(true);
_ui->radioButton_opennipcl->setChecked(src == kSrcOpenNI_PCL);
_ui->radioButton_freenect->setChecked(src == kSrcFreenect);
_ui->radioButton_opennicv->setChecked(src == kSrcOpenNI_CV);
_ui->radioButton_opennicvasus->setChecked(src == kSrcOpenNI_CV_ASUS);
_ui->radioButton_openni2->setChecked(src == kSrcOpenNI2);
_ui->comboBox_cameraRGBD->setCurrentIndex(src - kSrcOpenNI_PCL);
if(_ui->groupBox_sourceOpenni->isChecked())
{
_ui->groupBox_sourceImage->setChecked(false);
_ui->groupBox_sourceDatabase->setChecked(false);
if(_ui->doubleSpinBox_openniFx->value() != 0 ||
_ui->doubleSpinBox_openniFy->value() != 0 ||
_ui->doubleSpinBox_openniCx->value() != 0 ||
_ui->doubleSpinBox_openniCy->value() != 0 )
{
int button = QMessageBox::information(this,
tr("Calibration detected"),
tr("Some calibration values (fx=%1, fy=%2, cx=%3, cy=%4) are set.\n"
"Do you want to reset them to factory defaults?")
.arg(_ui->doubleSpinBox_openniFx->value())
.arg(_ui->doubleSpinBox_openniFy->value())
.arg(_ui->doubleSpinBox_openniCx->value())
.arg(_ui->doubleSpinBox_openniCy->value()),
QMessageBox::Yes | QMessageBox::No, QMessageBox::Yes);
if(button & QMessageBox::Yes)
{
this->resetCalibration();
}
}
}
if(validateForm())
@@ -2984,7 +2962,7 @@ bool PreferencesDialog::isSourceDatabaseUsed() const
{
return _ui->groupBox_sourceDatabase->isChecked();
}
bool PreferencesDialog::isSourceOpenniUsed() const
bool PreferencesDialog::isSourceRGBDUsed() const
{
return _ui->groupBox_sourceOpenni->isChecked();
}
@@ -3052,26 +3030,7 @@ int PreferencesDialog::getSourceDatabaseStartPos() const
PreferencesDialog::Src PreferencesDialog::getSourceRGBD() const
{
if(_ui->radioButton_freenect->isChecked())
{
return kSrcFreenect;
}
else if(_ui->radioButton_opennicv->isChecked())
{
return kSrcOpenNI_CV;
}
else if (_ui->radioButton_opennicvasus->isChecked())
{
return kSrcOpenNI_CV_ASUS;
}
else if (_ui->radioButton_openni2->isChecked())
{
return kSrcOpenNI2;
}
else
{
return kSrcOpenNI_PCL;
}
return (PreferencesDialog::Src)(_ui->comboBox_cameraRGBD->currentIndex()+kSrcOpenNI_PCL);
}
bool PreferencesDialog::getSourceOpenni2AutoWhiteBalance() const
{
@@ -3129,21 +3088,55 @@ Transform PreferencesDialog::getSourceOpenniLocalTransform() const
return t;
}
float PreferencesDialog::getSourceOpenniFx() const
CameraRGBD * PreferencesDialog::createCameraRGBD() const
{
return _ui->doubleSpinBox_openniFx->value();
}
float PreferencesDialog::getSourceOpenniFy() const
{
return _ui->doubleSpinBox_openniFy->value();
}
float PreferencesDialog::getSourceOpenniCx() const
{
return _ui->doubleSpinBox_openniCx->value();
}
float PreferencesDialog::getSourceOpenniCy() const
{
return _ui->doubleSpinBox_openniCy->value();
if(this->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_PCL)
{
return new CameraOpenni(
this->getSourceOpenniDevice().toStdString(),
this->getGeneralInputRate(),
this->getSourceOpenniLocalTransform());
}
else if(this->getSourceRGBD() == PreferencesDialog::kSrcOpenNI2)
{
return new CameraOpenNI2(
this->getSourceOpenniDevice().toStdString(),
this->getGeneralInputRate(),
this->getSourceOpenniLocalTransform());
}
else if(this->getSourceRGBD() == PreferencesDialog::kSrcFreenect)
{
return new CameraFreenect(
this->getSourceOpenniDevice().isEmpty()?0:atoi(this->getSourceOpenniDevice().toStdString().c_str()),
this->getGeneralInputRate(),
this->getSourceOpenniLocalTransform());
}
else if(this->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_CV ||
this->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_CV_ASUS)
{
return new CameraOpenNICV(
this->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_CV_ASUS,
this->getGeneralInputRate(),
this->getSourceOpenniLocalTransform());
}
else if(this->getSourceRGBD() == kSrcFreenect2)
{
return new CameraFreenect2(
this->getSourceOpenniDevice().isEmpty()?0:atoi(this->getSourceOpenniDevice().toStdString().c_str()),
this->getGeneralInputRate(),
this->getSourceOpenniLocalTransform());
}
else if(this->getSourceRGBD() == kSrcStereoDC1394)
{
return new CameraStereoDC1394(
this->getGeneralInputRate(),
this->getSourceOpenniLocalTransform());
}
else
{
UFATAL("RGBD Source type undefined!");
}
return 0;
}
bool PreferencesDialog::isStatisticsPublished() const
@@ -3163,6 +3156,11 @@ int PreferencesDialog::getOdomStrategy() const
return _ui->odom_strategy->currentIndex();
}
QString PreferencesDialog::getCameraInfoDir() const
{
return (this->getWorkingDirectory().isEmpty()?".":this->getWorkingDirectory())+"/camera_info";
}
bool PreferencesDialog::isImagesKept() const
{
return _ui->general_checkBox_imagesKept->isChecked();
@@ -3266,58 +3264,9 @@ void PreferencesDialog::testOdometry(int type)
UASSERT(_odomThread == 0 && _cameraThread == 0);
CameraRGBD * camera = 0;
if(this->getSourceRGBD() == kSrcOpenNI_PCL)
{
camera = new CameraOpenni(
this->getSourceOpenniDevice().toStdString(),
this->getGeneralInputRate(),
this->getSourceOpenniLocalTransform(),
this->getSourceOpenniFx(),
this->getSourceOpenniFy(),
this->getSourceOpenniCx(),
this->getSourceOpenniCy());
}
else if(this->getSourceRGBD() == kSrcOpenNI2)
{
camera = new CameraOpenNI2(
this->getSourceOpenniDevice().toStdString(),
this->getGeneralInputRate(),
this->getSourceOpenniLocalTransform(),
this->getSourceOpenniFx(),
this->getSourceOpenniFy(),
this->getSourceOpenniCx(),
this->getSourceOpenniCy());
CameraRGBD * camera = this->createCameraRGBD();
}
else if(this->getSourceRGBD() == kSrcFreenect)
{
camera = new CameraFreenect(
this->getSourceOpenniDevice().isEmpty()?0:atoi(this->getSourceOpenniDevice().toStdString().c_str()),
this->getGeneralInputRate(),
this->getSourceOpenniLocalTransform(),
this->getSourceOpenniFx(),
this->getSourceOpenniFy(),
this->getSourceOpenniCx(),
this->getSourceOpenniCy());
}
else if(this->getSourceRGBD() == kSrcOpenNI_CV || this->getSourceRGBD() == kSrcOpenNI_CV_ASUS)
{
camera = new CameraOpenNICV(
this->getSourceRGBD() == kSrcOpenNI_CV_ASUS,
this->getGeneralInputRate(),
this->getSourceOpenniLocalTransform(),
this->getSourceOpenniFx(),
this->getSourceOpenniFy(),
this->getSourceOpenniCx(),
this->getSourceOpenniCy());
}
else
{
UFATAL("RGBD Source type undefined!");
}
if(!camera->init())
if(!camera->init(this->getCameraInfoDir().toStdString()))
{
QMessageBox::warning(this,
tr("RTAB-Map"),
@@ -3325,7 +3274,7 @@ void PreferencesDialog::testOdometry(int type)
delete camera;
camera = 0;
}
else if(this->getSourceRGBD() == kSrcOpenNI2)
else if(dynamic_cast<CameraOpenNI2*>(camera) != 0)
{
((CameraOpenNI2*)camera)->setAutoWhiteBalance(getSourceOpenni2AutoWhiteBalance());
((CameraOpenNI2*)camera)->setAutoExposure(getSourceOpenni2AutoExposure());
@@ -3434,58 +3383,8 @@ void PreferencesDialog::testRGBDCamera()
tr("A camera is already running!"));
}
CameraRGBD * camera = 0;
if(this->getSourceRGBD() == kSrcOpenNI_PCL)
{
camera = new CameraOpenni(
this->getSourceOpenniDevice().toStdString(),
this->getGeneralInputRate(),
this->getSourceOpenniLocalTransform(),
this->getSourceOpenniFx(),
this->getSourceOpenniFy(),
this->getSourceOpenniCx(),
this->getSourceOpenniCy());
}
else if(this->getSourceRGBD() == kSrcOpenNI2)
{
camera = new CameraOpenNI2(
this->getSourceOpenniDevice().toStdString(),
this->getGeneralInputRate(),
this->getSourceOpenniLocalTransform(),
this->getSourceOpenniFx(),
this->getSourceOpenniFy(),
this->getSourceOpenniCx(),
this->getSourceOpenniCy());
}
else if(this->getSourceRGBD() == kSrcFreenect)
{
camera = new CameraFreenect(
this->getSourceOpenniDevice().isEmpty()?0:atoi(this->getSourceOpenniDevice().toStdString().c_str()),
this->getGeneralInputRate(),
this->getSourceOpenniLocalTransform(),
this->getSourceOpenniFx(),
this->getSourceOpenniFy(),
this->getSourceOpenniCx(),
this->getSourceOpenniCy());
}
else if(this->getSourceRGBD() == kSrcOpenNI_CV || this->getSourceRGBD() == kSrcOpenNI_CV_ASUS)
{
camera = new CameraOpenNICV(
this->getSourceRGBD() == kSrcOpenNI_CV_ASUS,
this->getGeneralInputRate(),
this->getSourceOpenniLocalTransform(),
this->getSourceOpenniFx(),
this->getSourceOpenniFy(),
this->getSourceOpenniCx(),
this->getSourceOpenniCy());
}
else
{
UFATAL("RGBD Source type undefined!");
}
if(!camera->init())
CameraRGBD * camera = this->createCameraRGBD();
if(!camera->init(this->getCameraInfoDir().toStdString()))
{
QMessageBox::warning(this,
tr("RTAB-Map"),
@@ -3493,7 +3392,7 @@ void PreferencesDialog::testRGBDCamera()
delete camera;
camera = 0;
}
else if(this->getSourceRGBD() == kSrcOpenNI2)
else if(dynamic_cast<CameraOpenNI2*>(camera) != 0)
{
((CameraOpenNI2*)camera)->setAutoWhiteBalance(getSourceOpenni2AutoWhiteBalance());
((CameraOpenNI2*)camera)->setAutoExposure(getSourceOpenni2AutoExposure());
@@ -3512,13 +3411,13 @@ void PreferencesDialog::testRGBDCamera()
_ui->pushButton_test_rgbd_camera->setEnabled(false);
// Create DataRecorder without init it, just to show images...
DataRecorder * window = new DataRecorder(this);
CameraViewer * window = new CameraViewer(this);
window->setWindowModality(Qt::WindowModal);
window->setAttribute(Qt::WA_DeleteOnClose);
window->setWindowFlags(Qt::Dialog);
window->setWindowTitle(tr("RGBD camera viewer"));
window->setMinimumWidth(800);
window->setMinimumHeight(600);
window->setMinimumWidth(1280);
window->setMinimumHeight(480);
connect( window, SIGNAL(destroyed(QObject*)), this, SLOT(cleanRGBDCameraTest()) );
window->registerToEventsManager();
@@ -3533,58 +3432,8 @@ void PreferencesDialog::testRGBDCamera()
void PreferencesDialog::calibrate()
{
CameraRGBD * camera = 0;
if(this->getSourceRGBD() == kSrcOpenNI_PCL)
{
camera = new CameraOpenni(
this->getSourceOpenniDevice().toStdString(),
this->getGeneralInputRate(),
this->getSourceOpenniLocalTransform(),
this->getSourceOpenniFx(),
this->getSourceOpenniFy(),
this->getSourceOpenniCx(),
this->getSourceOpenniCy());
}
else if(this->getSourceRGBD() == kSrcOpenNI2)
{
camera = new CameraOpenNI2(
this->getSourceOpenniDevice().toStdString(),
this->getGeneralInputRate(),
this->getSourceOpenniLocalTransform(),
this->getSourceOpenniFx(),
this->getSourceOpenniFy(),
this->getSourceOpenniCx(),
this->getSourceOpenniCy());
}
else if(this->getSourceRGBD() == kSrcFreenect)
{
camera = new CameraFreenect(
this->getSourceOpenniDevice().isEmpty()?0:atoi(this->getSourceOpenniDevice().toStdString().c_str()),
this->getGeneralInputRate(),
this->getSourceOpenniLocalTransform(),
this->getSourceOpenniFx(),
this->getSourceOpenniFy(),
this->getSourceOpenniCx(),
this->getSourceOpenniCy());
}
else if(this->getSourceRGBD() == kSrcOpenNI_CV || this->getSourceRGBD() == kSrcOpenNI_CV_ASUS)
{
camera = new CameraOpenNICV(
this->getSourceRGBD() == kSrcOpenNI_CV_ASUS,
this->getGeneralInputRate(),
this->getSourceOpenniLocalTransform(),
this->getSourceOpenniFx(),
this->getSourceOpenniFy(),
this->getSourceOpenniCx(),
this->getSourceOpenniCy());
}
else
{
UFATAL("RGBD Source type undefined!");
}
if(!camera->init())
CameraRGBD * camera = this->createCameraRGBD();
if(!camera->init("")) // don't set calibration folder to use raw images
{
QMessageBox::warning(this,
tr("RTAB-Map"),
@@ -3592,7 +3441,7 @@ void PreferencesDialog::calibrate()
delete camera;
camera = 0;
}
else if(this->getSourceRGBD() == kSrcOpenNI2)
else if(dynamic_cast<CameraOpenNI2*>(camera) != 0)
{
((CameraOpenNI2*)camera)->setAutoWhiteBalance(getSourceOpenni2AutoWhiteBalance());
((CameraOpenNI2*)camera)->setAutoExposure(getSourceOpenni2AutoExposure());
@@ -3608,33 +3457,32 @@ void PreferencesDialog::calibrate()
if(camera)
{
CalibrationDialog * dialog = new CalibrationDialog(this);
dialog->registerToEventsManager();
if(!this->getCameraInfoDir().isEmpty())
{
QDir dir(this->getCameraInfoDir());
if (!dir.exists())
{
UINFO("Creating camera_info directory: \"%s\"", this->getCameraInfoDir().toStdString().c_str());
if(!dir.mkpath(this->getCameraInfoDir()))
{
UWARN("Could create camera_info directory: \"%s\"", this->getCameraInfoDir().toStdString().c_str());
}
}
}
_calibrationDialog->setStereoMode(dynamic_cast<CameraStereoDC1394*>(camera)!=0);
_calibrationDialog->setSavingDirectory(this->getCameraInfoDir());
_calibrationDialog->registerToEventsManager();
CameraThread cameraThread(camera);
UEventsManager::createPipe(&cameraThread, dialog, "CameraEvent");
UEventsManager::createPipe(&cameraThread, _calibrationDialog, "CameraEvent");
cameraThread.start();
if(dialog->exec() == QDialog::Accepted)
{
_ui->doubleSpinBox_openniFx->setValue(dialog->fx());
_ui->doubleSpinBox_openniFy->setValue(dialog->fy());
_ui->doubleSpinBox_openniCx->setValue(dialog->cx());
_ui->doubleSpinBox_openniCy->setValue(dialog->cy());
}
_calibrationDialog->exec();
_calibrationDialog->unregisterFromEventsManager();
cameraThread.join(true);
delete dialog;
}
}
void PreferencesDialog::resetCalibration()
{
_ui->doubleSpinBox_openniFx->setValue(0);
_ui->doubleSpinBox_openniFy->setValue(0);
_ui->doubleSpinBox_openniCx->setValue(0);
_ui->doubleSpinBox_openniCy->setValue(0);
}
}

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4
guilib/src/ui/calibrationDialog.ui
View File

@@ -6,7 +6,7 @@
<rect>
<x>0</x>
<y>0</y>
<width>875</width>
<width>1310</width>
<height>834</height>
</rect>
</property>
@@ -586,7 +586,7 @@
<item>
<widget class="QDialogButtonBox" name="buttonBox">
<property name="standardButtons">
<set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
<set>QDialogButtonBox::Close</set>
</property>
</widget>
</item>

56
guilib/src/ui/mainWindow.ui
View File

@@ -135,11 +135,33 @@
<iconset resource="../GuiLib.qrc">
<normaloff>:/images/sense.png</normaloff>:/images/sense.png</iconset>
</property>
<addaction name="actionOpenNI2_Sense"/>
<addaction name="actionOpenNI2_sense"/>
</widget>
<widget class="QMenu" name="menuKinect_v2">
<property name="title">
<string>Kinect v2</string>
</property>
<property name="icon">
<iconset resource="../GuiLib.qrc">
<normaloff>:/images/kinect_xbox_one.png</normaloff>:/images/kinect_xbox_one.png</iconset>
</property>
<addaction name="actionFreenect2"/>
</widget>
<widget class="QMenu" name="menuBumblebee2">
<property name="title">
<string>Bumblebee2</string>
</property>
<property name="icon">
<iconset resource="../GuiLib.qrc">
<normaloff>:/images/bumblebee2.png</normaloff>:/images/bumblebee2.png</iconset>
</property>
<addaction name="actionStereoDC1394"/>
</widget>
<addaction name="menuKinect_for_Xbox_360"/>
<addaction name="menuXtion_PRO_LIVE"/>
<addaction name="menuSense_3D_scanner"/>
<addaction name="menuKinect_v2"/>
<addaction name="menuBumblebee2"/>
</widget>
<addaction name="menuRGB_D_camera"/>
<addaction name="menuImage"/>
@@ -1113,14 +1135,6 @@
<string>View scans...</string>
</property>
</action>
<action name="actionOpenNI2_Sense">
<property name="checkable">
<bool>true</bool>
</property>
<property name="text">
<string>OpenNI2</string>
</property>
</action>
<action name="actionOpen_database">
<property name="icon">
<iconset resource="../GuiLib.qrc">
@@ -1163,6 +1177,22 @@
<string>Save config</string>
</property>
</action>
<action name="actionFreenect2">
<property name="checkable">
<bool>true</bool>
</property>
<property name="text">
<string>Freenect2</string>
</property>
</action>
<action name="actionStereoDC1394">
<property name="checkable">
<bool>true</bool>
</property>
<property name="text">
<string>StereoDC1394</string>
</property>
</action>
<action name="actionOpenNI2_kinect">
<property name="checkable">
<bool>true</bool>
@@ -1171,6 +1201,14 @@
<string>OpenNI2</string>
</property>
</action>
<action name="actionOpenNI2_sense">
<property name="checkable">
<bool>true</bool>
</property>
<property name="text">
<string>OpenNI2</string>
</property>
</action>
</widget>
<customwidgets>
<customwidget>

230
guilib/src/ui/preferencesDialog.ui
View File

@@ -64,8 +64,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>744</width>
<height>1110</height>
<width>737</width>
<height>982</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>23</number>
<number>3</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29">
@@ -1687,65 +1687,83 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_7">
<item>
<widget class="QRadioButton" name="radioButton_opennipcl">
<property name="text">
<string>OpenNI-PCL</string>
<layout class="QGridLayout" name="gridLayout_55" columnstretch="0,0,1">
<item row="0" column="1">
<widget class="QComboBox" name="comboBox_cameraRGBD">
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
</property>
<property name="checked">
<item>
<property name="text">
<string>OpenNI-PCL</string>
</property>
</item>
<item>
<property name="text">
<string>Freenect</string>
</property>
</item>
<item>
<property name="text">
<string>OpenNI-CV</string>
</property>
</item>
<item>
<property name="text">
<string>OpenNI-CV-ASUS</string>
</property>
</item>
<item>
<property name="text">
<string>OpenNI2</string>
</property>
</item>
<item>
<property name="text">
<string>Freenect2</string>
</property>
</item>
<item>
<property name="text">
<string>StereoDC1394</string>
</property>
</item>
</widget>
</item>
<item row="1" column="1">
<widget class="QPushButton" name="pushButton_calibrate">
<property name="text">
<string>Calibrate</string>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QLabel" name="label_46">
<property name="text">
<string>On initialization, calibration files are loaded from the &quot;camera_info&quot; folder in the working directory.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QRadioButton" name="radioButton_freenect">
<property name="text">
<string>Feeenect</string>
</property>
</widget>
</item>
<item>
<widget class="QRadioButton" name="radioButton_opennicv">
<property name="text">
<string>OpenNI-CV</string>
</property>
</widget>
</item>
<item>
<widget class="QRadioButton" name="radioButton_opennicvasus">
<property name="text">
<string>OpenNI-CV-ASUS</string>
</property>
</widget>
</item>
<item>
<widget class="QRadioButton" name="radioButton_openni2">
<property name="text">
<string>OpenNI2</string>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<item row="2" column="1">
<widget class="QPushButton" name="pushButton_test_rgbd_camera">
<property name="text">
<string>Test</string>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_228">
<property name="text">
<string>Driver</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
<item>
@@ -1895,116 +1913,6 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</item>
</layout>
</item>
<item>
<widget class="QGroupBox" name="groupBox_3">
<property name="title">
<string>Calibration</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_41">
<item>
<widget class="QLabel" name="label_160">
<property name="text">
<string>Camera intrinsic parameters. While the default values are good, a calibration is recommended to increase the precision of the 3D clouds. Set values to 0 to use the default parameters from the camera. For example, the focal length is ~525 for Kinect and ~545 for Xtion Pro Live. The button &quot;Calibrate&quot; below can be used to calibrate the camera with a chessboard pattern.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<layout class="QGridLayout" name="gridLayout_55" columnstretch="0,1">
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_openniFx">
<property name="maximum">
<double>1000.000000000000000</double>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_161">
<property name="text">
<string>fx=K[0]</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_openniFy">
<property name="maximum">
<double>1000.000000000000000</double>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_162">
<property name="text">
<string>fy=K[4]</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_openniCx">
<property name="maximum">
<double>1000.000000000000000</double>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_166">
<property name="text">
<string>cx=K[2]</string>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_openniCy">
<property name="maximum">
<double>1000.000000000000000</double>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_165">
<property name="text">
<string>cy=K[5]</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_8">
<item>
<widget class="QPushButton" name="pushButton_calibrate">
<property name="text">
<string>Calibrate</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="pushButton_calibrate_reset">
<property name="text">
<string>Reset</string>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_3">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
</item>