i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 17:40:23 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

93
guilib/src/PreferencesDialog.cpp
View File

@@ -40,6 +40,8 @@
#include "rtabmap/core/Odometry.h"
#include "rtabmap/core/CameraOpenni.h"
#include "rtabmap/core/CameraFreenect.h"
#include "rtabmap/core/CameraThread.h"
#include "rtabmap/core/Camera.h"
#include "rtabmap/core/Memory.h"
#include "rtabmap/gui/LoopClosureViewer.h"
@@ -64,6 +66,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_initialized(false),
_odomCameraOpenNI(0),
_odomCameraFreenect(0),
_odomCameraOpenNICv(0),
_odomThread(0)
{
ULOGGER_DEBUG("");
@@ -208,7 +211,6 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->source_comboBox_image_type, SIGNAL(currentIndexChanged(int)), _ui->stackedWidget_image, SLOT(setCurrentIndex(int)));
connect(_ui->source_comboBox_image_type, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->general_checkBox_autoRestart, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->general_checkBox_cameraKeypoints, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
//usbDevice group
connect(_ui->source_usbDevice_spinBox_id, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->source_spinBox_imgWidth, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
@@ -231,8 +233,10 @@ 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_openni, 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()));
connect(_ui->radioButton_opennicv, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->radioButton_opennicvasus, SIGNAL(toggled(bool)), 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()));
@@ -758,7 +762,6 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->source_spinBox_imgheight->setValue(0);
_ui->source_spinBox_framesDropped->setValue(0);
_ui->general_checkBox_autoRestart->setChecked(false);
_ui->general_checkBox_cameraKeypoints->setChecked(false);
_ui->source_images_spinBox_startPos->setValue(1);
_ui->source_images_refreshDir->setChecked(false);
@@ -767,8 +770,10 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->source_spinBox_databaseStartPos->setValue(0);
_ui->groupBox_sourceOpenni->setChecked(true);
_ui->radioButton_openni->setChecked(true);
_ui->radioButton_opennipcl->setChecked(true);
_ui->radioButton_freenect->setChecked(false);
_ui->radioButton_opennicv->setChecked(false);
_ui->radioButton_opennicvasus->setChecked(false);
_ui->lineEdit_openniDevice->setText("");
_ui->lineEdit_openniLocalTransform->setText("0 0 0 -PI_2 0 -PI_2");
}
@@ -978,7 +983,6 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
_ui->groupBox_sourceImage->setChecked(settings.value("imageUsed", _ui->groupBox_sourceImage->isChecked()).toBool());
_ui->general_doubleSpinBox_imgRate->setValue(settings.value("imgRate", _ui->general_doubleSpinBox_imgRate->value()).toDouble());
_ui->general_checkBox_autoRestart->setChecked(settings.value("autoRestart", _ui->general_checkBox_autoRestart->isChecked()).toBool());
_ui->general_checkBox_cameraKeypoints->setChecked(settings.value("cameraKeypoints", _ui->general_checkBox_cameraKeypoints->isChecked()).toBool());
_ui->source_comboBox_image_type->setCurrentIndex(settings.value("type", _ui->source_comboBox_image_type->currentIndex()).toInt());
_ui->source_spinBox_imgWidth->setValue(settings.value("imgWidth",_ui->source_spinBox_imgWidth->value()).toInt());
_ui->source_spinBox_imgheight->setValue(settings.value("imgHeight",_ui->source_spinBox_imgheight->value()).toInt());
@@ -1008,8 +1012,10 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
settings.beginGroup("Openni");
_ui->groupBox_sourceOpenni->setChecked(settings.value("openniUsed", _ui->groupBox_sourceOpenni->isChecked()).toBool());
_ui->radioButton_openni->setChecked(settings.value("openniType", _ui->radioButton_openni->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_opennicv->setChecked(settings.value("openniCvType", _ui->radioButton_opennicv->isChecked()).toBool());
_ui->radioButton_opennicvasus->setChecked(settings.value("openniCvAsusType", _ui->radioButton_opennicvasus->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());
settings.endGroup(); // Openni
@@ -1186,7 +1192,6 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath)
settings.setValue("imageUsed", _ui->groupBox_sourceImage->isChecked());
settings.setValue("imgRate", _ui->general_doubleSpinBox_imgRate->value());
settings.setValue("autoRestart", _ui->general_checkBox_autoRestart->isChecked());
settings.setValue("cameraKeypoints", _ui->general_checkBox_cameraKeypoints->isChecked());
settings.setValue("type", _ui->source_comboBox_image_type->currentIndex());
settings.setValue("imgWidth", _ui->source_spinBox_imgWidth->value());
settings.setValue("imgHeight", _ui->source_spinBox_imgheight->value());
@@ -1217,8 +1222,10 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath)
settings.beginGroup("Openni");
settings.setValue("openniUsed", _ui->groupBox_sourceOpenni->isChecked());
settings.setValue("openniType", _ui->radioButton_openni->isChecked());
settings.setValue("openniType", _ui->radioButton_opennipcl->isChecked());
settings.setValue("freenectType", _ui->radioButton_freenect->isChecked());
settings.setValue("openniCvType", _ui->radioButton_opennicv->isChecked());
settings.setValue("openniCvAsusType", _ui->radioButton_opennicvasus->isChecked());
settings.setValue("device", _ui->lineEdit_openniDevice->text());
settings.setValue("localTransform", _ui->lineEdit_openniLocalTransform->text());
settings.endGroup();
@@ -1581,7 +1588,7 @@ void PreferencesDialog::selectSourceDatabase(bool user)
}
}
void PreferencesDialog::selectSourceOpenni(bool openni)
void PreferencesDialog::selectSourceRGBD(Src src)
{
ULOGGER_DEBUG("");
@@ -1589,8 +1596,8 @@ void PreferencesDialog::selectSourceOpenni(bool openni)
{
int button = QMessageBox::information(this,
tr("Activate RGB-D SLAM?"),
tr("You've selected %1 camera as source input, "
"would you want to activate RGB-D SLAM mode?").arg(openni?"OpenNI":"Freenect"),
tr("You've selected RGB-D camera as source input, "
"would you want to activate RGB-D SLAM mode?"),
QMessageBox::Yes | QMessageBox::No);
if(button & QMessageBox::Yes)
{
@@ -1599,8 +1606,10 @@ void PreferencesDialog::selectSourceOpenni(bool openni)
}
_ui->groupBox_sourceOpenni->setChecked(true);
_ui->radioButton_openni->setChecked(openni);
_ui->radioButton_freenect->setChecked(!openni);
_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);
if(_obsoletePanels)
{
@@ -2456,10 +2465,6 @@ bool PreferencesDialog::getGeneralAutoRestart() const
{
return _ui->general_checkBox_autoRestart->isChecked();
}
bool PreferencesDialog::getGeneralCameraKeypoints() const
{
return _ui->general_checkBox_cameraKeypoints->isChecked();
}
int PreferencesDialog::getSourceImageType() const
{
return _ui->source_comboBox_image_type->currentIndex();
@@ -2512,9 +2517,25 @@ int PreferencesDialog::getSourceDatabaseStartPos() const
{
return _ui->source_spinBox_databaseStartPos->value();
}
bool PreferencesDialog::getSourceFreenect() const
PreferencesDialog::Src PreferencesDialog::getSourceRGBD() const
{
return _ui->radioButton_freenect->isChecked();
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
{
return kSrcOpenNI_PCL;
}
}
QString PreferencesDialog::getSourceOpenniDevice() const
{
@@ -2704,9 +2725,9 @@ void PreferencesDialog::testOdometry()
void PreferencesDialog::testOdometry(OdomType type)
{
UASSERT(_odomCameraOpenNI == 0 && _odomCameraFreenect == 0 && _odomThread == 0);
UASSERT(_odomCameraOpenNI == 0 && _odomCameraFreenect == 0 && _odomThread == 0 && _odomCameraOpenNICv == 0);
if(this->getSourceFreenect())
if(this->getSourceRGBD() == kSrcFreenect)
{
_odomCameraFreenect = new CameraFreenect(
this->getSourceOpenniDevice().isEmpty()?0:atoi(this->getSourceOpenniDevice().toStdString().c_str()),
@@ -2730,6 +2751,20 @@ void PreferencesDialog::testOdometry(OdomType type)
_odomCameraFreenect = 0;
}
}
else if(this->getSourceRGBD() == kSrcOpenNI_CV || this->getSourceRGBD() == kSrcOpenNI_CV_ASUS)
{
_odomCameraOpenNICv = new CameraThread(new CameraRGBD(
this->getGeneralInputRate(),
this->getSourceRGBD() == kSrcOpenNI_CV_ASUS));
if(!_odomCameraOpenNICv->init())
{
QMessageBox::warning(this,
tr("RTAB-Map"),
tr("OpenNI-CV camera initialization failed!"));
delete _odomCameraOpenNICv;
_odomCameraOpenNICv = 0;
}
}
else
{
_odomCameraOpenNI = new CameraOpenni(
@@ -2746,7 +2781,7 @@ void PreferencesDialog::testOdometry(OdomType type)
}
}
if(_odomCameraOpenNI || _odomCameraFreenect)
if(_odomCameraOpenNI || _odomCameraFreenect || _odomCameraOpenNICv)
{
Odometry * odometry;
ParametersMap parameters = this->getAllParameters();
@@ -2786,6 +2821,10 @@ void PreferencesDialog::testOdometry(OdomType type)
{
UEventsManager::createPipe(_odomCameraFreenect, _odomThread, "CameraEvent");
}
else if(_odomCameraOpenNICv)
{
UEventsManager::createPipe(_odomCameraOpenNICv, _odomThread, "CameraEvent");
}
else
{
UEventsManager::createPipe(_odomCameraOpenNI, _odomThread, "CameraEvent");
@@ -2803,6 +2842,10 @@ void PreferencesDialog::testOdometry(OdomType type)
{
_odomCameraFreenect->start();
}
else if(_odomCameraOpenNICv)
{
_odomCameraOpenNICv->start();
}
else
{
_odomCameraOpenNI->start();
@@ -2825,6 +2868,12 @@ void PreferencesDialog::cleanOdometryTest()
delete _odomCameraFreenect;
_odomCameraFreenect = 0;
}
if(_odomCameraOpenNICv)
{
_odomCameraOpenNICv->join(true);
delete _odomCameraOpenNICv;
_odomCameraOpenNICv = 0;
}
if(_odomThread)
{
_odomThread->join(true);