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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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79
guilib/src/MainWindow.cpp
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@@ -290,9 +290,11 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
connect(_ui->actionUsbCamera, SIGNAL(triggered()), this, SLOT(selectStream()));
this->updateSelectSourceDatabase(_preferencesDialog->isSourceDatabaseUsed());
connect(_ui->actionDatabase, SIGNAL(triggered()), this, SLOT(selectDatabase()));
this->updateSelectSourceOpenniMenu(_preferencesDialog->isSourceOpenniUsed(), !_preferencesDialog->getSourceFreenect());
this->updateSelectSourceRGBDMenu(_preferencesDialog->isSourceOpenniUsed(), _preferencesDialog->getSourceRGBD());
connect(_ui->actionOpenNI, SIGNAL(triggered()), this, SLOT(selectOpenni()));
connect(_ui->actionFreenect, SIGNAL(triggered()), this, SLOT(selectFreenect()));
connect(_ui->actionOpenNI_CV, SIGNAL(triggered()), this, SLOT(selectOpenniCv()));
connect(_ui->actionOpenNI_CV_ASUS, SIGNAL(triggered()), this, SLOT(selectOpenniCvAsus()));
connect(_ui->actionSave_state, SIGNAL(triggered()), this, SLOT(saveFigures()));
connect(_ui->actionLoad_state, SIGNAL(triggered()), this, SLOT(loadFigures()));
@@ -1514,7 +1516,7 @@ void MainWindow::applyPrefSettings(PreferencesDialog::PANEL_FLAGS flags)
_ui->doubleSpinBox_stats_imgRate->setValue(_preferencesDialog->getGeneralInputRate());
this->updateSelectSourceImageMenu(_preferencesDialog->getSourceImageType());
this->updateSelectSourceDatabase(_preferencesDialog->isSourceDatabaseUsed());
this->updateSelectSourceOpenniMenu(_preferencesDialog->isSourceOpenniUsed(), !_preferencesDialog->getSourceFreenect());
this->updateSelectSourceRGBDMenu(_preferencesDialog->isSourceOpenniUsed(), _preferencesDialog->getSourceRGBD());
QString src;
if(_preferencesDialog->isSourceImageUsed())
{
@@ -1830,10 +1832,12 @@ void MainWindow::updateSelectSourceDatabase(bool used)
_ui->actionDatabase->setChecked(used);
}
void MainWindow::updateSelectSourceOpenniMenu(bool used, bool openni)
void MainWindow::updateSelectSourceRGBDMenu(bool used, PreferencesDialog::Src src)
{
_ui->actionOpenNI->setChecked(used && openni);
_ui->actionFreenect->setChecked(used && !openni);
_ui->actionOpenNI->setChecked(used && src == PreferencesDialog::kSrcOpenNI_PCL);
_ui->actionFreenect->setChecked(used && src == PreferencesDialog::kSrcFreenect);
_ui->actionOpenNI_CV->setChecked(used && src == PreferencesDialog::kSrcOpenNI_CV);
_ui->actionOpenNI_CV_ASUS->setChecked(used && src == PreferencesDialog::kSrcOpenNI_CV_ASUS);
}
void MainWindow::changeImgRateSetting()
@@ -2023,7 +2027,7 @@ void MainWindow::startDetection()
_odomThread->start();
}
if(_preferencesDialog->getSourceFreenect())
if(_preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcFreenect)
{
_cameraOpenKinect = new CameraFreenect(
_preferencesDialog->getSourceOpenniDevice().isEmpty()?0:atoi(_preferencesDialog->getSourceOpenniDevice().toStdString().c_str()),
@@ -2060,6 +2064,37 @@ void MainWindow::startDetection()
UEventsManager::createPipe(_cameraOpenKinect, _odomThread, "CameraEvent");
}
}
else if(_preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_CV ||
_preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_CV_ASUS)
{
Camera * camera = new CameraRGBD(
_preferencesDialog->getGeneralInputRate(),
_preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_CV_ASUS);
camera->setLocalTransform(_preferencesDialog->getSourceOpenniLocalTransform());
if(!camera->init())
{
ULOGGER_WARN("init camera failed... ");
QMessageBox::warning(this,
tr("RTAB-Map"),
tr("Camera initialization failed..."));
emit stateChanged(kIdle);
delete camera;
camera = 0;
if(_odomThread)
{
delete _odomThread;
_odomThread = 0;
}
return;
}
_camera = new CameraThread(camera);
if(_odomThread)
{
UEventsManager::createPipe(_camera, _odomThread, "CameraEvent");
}
}
else
{
_cameraOpenni = new CameraOpenni(
@@ -2176,7 +2211,7 @@ void MainWindow::startDetection()
_preferencesDialog->getSourceHeight(),
_preferencesDialog->getFramesDropped());
}
else if(sourceType == 0)
else //if(sourceType == 0)
{
camera = new CameraVideo(
_preferencesDialog->getSourceUsbDeviceId(),
@@ -2185,21 +2220,6 @@ void MainWindow::startDetection()
_preferencesDialog->getSourceHeight(),
_preferencesDialog->getFramesDropped());
}
else
{
QMessageBox::warning(this,
tr("RTAB-Map"),
tr("Source type is not supported..."));
ULOGGER_WARN("iSource type not supported...");
emit stateChanged(kIdle);
return;
}
if(_preferencesDialog->getGeneralCameraKeypoints())
{
camera->setFeaturesExtracted(true);
camera->parseParameters(_preferencesDialog->getAllParameters());
}
if(!camera->init())
{
@@ -2214,7 +2234,6 @@ void MainWindow::startDetection()
}
_camera = new CameraThread(camera);
UEventsManager::addHandler(_camera); //thread
}
}
@@ -2580,12 +2599,22 @@ void MainWindow::selectDatabase()
void MainWindow::selectOpenni()
{
_preferencesDialog->selectSourceOpenni(true);
_preferencesDialog->selectSourceRGBD(PreferencesDialog::kSrcOpenNI_PCL);
}
void MainWindow::selectFreenect()
{
_preferencesDialog->selectSourceOpenni(false);
_preferencesDialog->selectSourceRGBD(PreferencesDialog::kSrcFreenect);
}
void MainWindow::selectOpenniCv()
{
_preferencesDialog->selectSourceRGBD(PreferencesDialog::kSrcOpenNI_CV);
}
void MainWindow::selectOpenniCvAsus()
{
_preferencesDialog->selectSourceRGBD(PreferencesDialog::kSrcOpenNI_CV_ASUS);
}