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Added CameraRGBD with openni from OpenCV, removed feature2D stuff from Camera

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1358 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-06-13 03:47:39 +00:00
parent f423b1b743
commit 0bba363f5f
11 changed files with 345 additions and 309 deletions
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4
guilib/include/rtabmap/gui/MainWindow.h
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@@ -115,6 +115,8 @@ private slots:
void selectDatabase();
void selectOpenni();
void selectFreenect();
void selectOpenniCv();
void selectOpenniCvAsus();
void dumpTheMemory();
void dumpThePrediction();
void downloadAllClouds();
@@ -177,7 +179,7 @@ private:
void setupMainLayout(bool vertical);
void updateSelectSourceImageMenu(int type);
void updateSelectSourceDatabase(bool used);
void updateSelectSourceOpenniMenu(bool used, bool openni);
void updateSelectSourceRGBDMenu(bool used, PreferencesDialog::Src src);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr createAssembledCloud();
pcl::PointCloud<pcl::PointXYZRGB>::Ptr createCloud(

13
guilib/include/rtabmap/gui/PreferencesDialog.h
View File

@@ -52,6 +52,7 @@ namespace rtabmap {
class CameraOpenni;
class CameraFreenect;
class OdometryThread;
class CameraThread;
class Signature;
class LoopClosureViewer;
@@ -75,7 +76,11 @@ public:
kSrcUndef,
kSrcUsbDevice,
kSrcImages,
kSrcVideo
kSrcVideo,
kSrcOpenNI_PCL,
kSrcFreenect,
kSrcOpenNI_CV,
kSrcOpenNI_CV_ASUS
};
enum OdomType {
@@ -146,7 +151,6 @@ public:
bool isSourceOpenniUsed() const;
OdomType getOdometryType() const;
bool getGeneralAutoRestart() const;
bool getGeneralCameraKeypoints() const;
int getSourceImageType() const;
QString getSourceImageTypeStr() const;
int getSourceWidth() const;
@@ -162,7 +166,7 @@ public:
QString getSourceDatabasePath() const; //Database group
bool getSourceDatabaseOdometryIgnored() const; //Database group
int getSourceDatabaseStartPos() const; //Database group
bool getSourceFreenect() const; // Openni group
Src getSourceRGBD() const; // Openni group
QString getSourceOpenniDevice() const; //Openni group
Transform getSourceOpenniLocalTransform() const; //Openni group
@@ -196,7 +200,7 @@ public slots:
void setSLAMMode(bool enabled);
void selectSourceImage(Src src = kSrcUndef);
void selectSourceDatabase(bool user = false);
void selectSourceOpenni(bool openni);
void selectSourceRGBD(Src src = kSrcUndef);
private slots:
void closeDialog ( QAbstractButton * button );
@@ -276,6 +280,7 @@ private:
//Odometry test
CameraOpenni * _odomCameraOpenNI;
CameraFreenect * _odomCameraFreenect;
CameraThread * _odomCameraOpenNICv;
OdometryThread * _odomThread;
QVector<QCheckBox*> _3dRenderingShowClouds;