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DBReader now inherits from Camera (so that CameraThread's post processing stuff can be used with a database stream)

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This commit is contained in:
matlabbe
2016-06-21 11:22:24 -04:00
parent cdddb1209e
commit 0ec39e3c77
20 changed files with 435 additions and 642 deletions
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guilib/src/MainWindow.cpp
+58 -149
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@@ -126,7 +126,6 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_ui(0),
_state(kIdle),
_camera(0),
_dbReader(0),
_odomThread(0),
_preferencesDialog(0),
_aboutDialog(0),
@@ -671,12 +670,6 @@ void MainWindow::closeEvent(QCloseEvent* event)
delete _camera;
_camera = 0;
}
if(_dbReader)
{
UERROR("DBReader must be already deleted here!");
delete _dbReader;
_dbReader = 0;
}
if(_odomThread)
{
UERROR("OdomThread must be already deleted here!");
@@ -3131,12 +3124,16 @@ void MainWindow::applyPrefSettings(PreferencesDialog::PANEL_FLAGS flags)
if(_camera)
{
_camera->setImageRate(_preferencesDialog->getGeneralInputRate());
}
if(_dbReader)
{
_dbReader->setFrameRate( _preferencesDialog->getSourceDatabaseStampsUsed()?-1:_preferencesDialog->getGeneralInputRate());
if(dynamic_cast<DBReader*>(_camera->camera()) != 0)
{
_camera->setImageRate( _preferencesDialog->getSourceDatabaseStampsUsed()?-1:_preferencesDialog->getGeneralInputRate());
}
else
{
_camera->setImageRate(_preferencesDialog->getGeneralInputRate());
}
}
}//This will update the statistics toolbox
if(flags & PreferencesDialog::kPanelGeneral)
@@ -3798,15 +3795,6 @@ void MainWindow::startDetection()
emit stateChanged(kInitialized);
return;
}
if(_dbReader != 0)
{
QMessageBox::warning(this,
tr("RTAB-Map"),
tr("A database reader is running, stop it first."));
UWARN("_dbReader is not null... it must be stopped first");
emit stateChanged(kInitialized);
return;
}
// Adjust pre-requirements
if(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcUndef)
@@ -3820,56 +3808,58 @@ void MainWindow::startDetection()
}
if(_preferencesDialog->getSourceDriver() < PreferencesDialog::kSrcDatabase)
Camera * camera = _preferencesDialog->createCamera();
if(!camera)
{
Camera * camera = _preferencesDialog->createCamera();
if(!camera)
emit stateChanged(kInitialized);
return;
}
_camera = new CameraThread(camera, parameters);
_camera->setMirroringEnabled(_preferencesDialog->isSourceMirroring());
_camera->setColorOnly(_preferencesDialog->isSourceRGBDColorOnly());
_camera->setImageDecimation(_preferencesDialog->getSourceImageDecimation());
_camera->setStereoToDepth(_preferencesDialog->isSourceStereoDepthGenerated());
_camera->setScanFromDepth(
_preferencesDialog->isSourceScanFromDepth(),
_preferencesDialog->getSourceScanFromDepthDecimation(),
_preferencesDialog->getSourceScanFromDepthMaxDepth(),
_preferencesDialog->getSourceScanVoxelSize(),
_preferencesDialog->getSourceScanNormalsK());
//Create odometry thread if rgbd slam
if(uStr2Bool(parameters.at(Parameters::kRGBDEnabled()).c_str()))
{
// 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;
}
_camera = new CameraThread(camera, parameters);
_camera->setMirroringEnabled(_preferencesDialog->isSourceMirroring());
_camera->setColorOnly(_preferencesDialog->isSourceRGBDColorOnly());
_camera->setImageDecimation(_preferencesDialog->getSourceImageDecimation());
_camera->setStereoToDepth(_preferencesDialog->isSourceStereoDepthGenerated());
_camera->setScanFromDepth(
_preferencesDialog->isSourceScanFromDepth(),
_preferencesDialog->getSourceScanFromDepthDecimation(),
_preferencesDialog->getSourceScanFromDepthMaxDepth(),
_preferencesDialog->getSourceScanVoxelSize(),
_preferencesDialog->getSourceScanNormalsK());
//Create odometry thread if rgbd slam
if(uStr2Bool(parameters.at(Parameters::kRGBDEnabled()).c_str()))
else
{
// Require calibrated camera
if(!camera->isCalibrated())
if(_odomThread)
{
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;
UERROR("OdomThread must be already deleted here?!");
delete _odomThread;
_odomThread = 0;
}
else
DBReader* dbReader = dynamic_cast<DBReader*>(camera);
if(dbReader == 0 || dbReader->isOdometryIgnored())
{
if(_odomThread)
{
UERROR("OdomThread must be already deleted here?!");
delete _odomThread;
_odomThread = 0;
}
Odometry * odom = Odometry::create(parameters);
_odomThread = new OdometryThread(odom, _preferencesDialog->getOdomBufferSize());
@@ -3880,65 +3870,10 @@ void MainWindow::startDetection()
}
}
}
else if(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcDatabase)
if(_dataRecorder && _camera)
{
_dbReader = new DBReader(_preferencesDialog->getSourceDatabasePath().toStdString(),
_preferencesDialog->getSourceDatabaseStampsUsed()?-1:_preferencesDialog->getGeneralInputRate(),
_preferencesDialog->getSourceDatabaseOdometryIgnored(),
_preferencesDialog->getSourceDatabaseGoalDelayIgnored(),
_preferencesDialog->getSourceDatabaseGoalsIgnored(),
_preferencesDialog->getSourceDatabaseCameraIndex());
//Create odometry thread if rgdb slam
if(uStr2Bool(parameters.at(Parameters::kRGBDEnabled()).c_str()) &&
_preferencesDialog->getSourceDatabaseOdometryIgnored())
{
if(_odomThread)
{
UERROR("OdomThread must be already deleted here?!");
delete _odomThread;
}
Odometry * odom = Odometry::create(parameters);
_odomThread = new OdometryThread(odom, _preferencesDialog->getOdomBufferSize());
UEventsManager::addHandler(_odomThread);
_odomThread->start();
}
if(!_dbReader->init(_preferencesDialog->getSourceDatabaseStartPos()))
{
ULOGGER_WARN("init DBReader failed... ");
QMessageBox::warning(this,
tr("RTAB-Map"),
tr("Database reader initialization failed..."));
emit stateChanged(kInitialized);
delete _dbReader;
_dbReader = 0;
if(_odomThread)
{
delete _odomThread;
_odomThread = 0;
}
return;
}
if(_odomThread)
{
UEventsManager::createPipe(_dbReader, _odomThread, "CameraEvent");
UEventsManager::createPipe(_dbReader, this, "CameraEvent");
}
}
if(_dataRecorder)
{
if(_camera)
{
UEventsManager::createPipe(_camera, _dataRecorder, "CameraEvent");
}
else if(_dbReader)
{
UEventsManager::createPipe(_dbReader, _dataRecorder, "CameraEvent");
}
UEventsManager::createPipe(_camera, _dataRecorder, "CameraEvent");
}
_lastOdomPose.setNull();
@@ -3964,7 +3899,7 @@ void MainWindow::startDetection()
// Could not be in the main thread here! (see handleEvents())
void MainWindow::pauseDetection()
{
if(_camera || _dbReader)
if(_camera)
{
if(_state == kPaused && (QApplication::keyboardModifiers() & Qt::ShiftModifier))
{
@@ -3998,14 +3933,13 @@ void MainWindow::pauseDetection()
void MainWindow::stopDetection()
{
if(!_camera && !_dbReader && !_odomThread)
if(!_camera && !_odomThread)
{
return;
}
if(_state == kDetecting &&
( (_camera && _camera->isRunning()) ||
(_dbReader && _dbReader->isRunning()) ) )
(_camera && _camera->isRunning()) )
{
QMessageBox::StandardButton button = QMessageBox::question(this, tr("Stopping process..."), tr("Are you sure you want to stop the process?"), QMessageBox::Yes|QMessageBox::No, QMessageBox::No);
@@ -4022,11 +3956,6 @@ void MainWindow::stopDetection()
_camera->join(true);
}
if(_dbReader)
{
_dbReader->join(true);
}
if(_odomThread)
{
_ui->actionReset_Odometry->setEnabled(false);
@@ -4039,11 +3968,6 @@ void MainWindow::stopDetection()
delete _camera;
_camera = 0;
}
if(_dbReader)
{
delete _dbReader;
_dbReader = 0;
}
if(_odomThread)
{
delete _odomThread;
@@ -5923,11 +5847,6 @@ void MainWindow::changeState(MainWindow::State newState)
{
_camera->start();
}
if(_dbReader)
{
_dbReader->start();
}
break;
case kPaused:
@@ -5959,11 +5878,6 @@ void MainWindow::changeState(MainWindow::State newState)
{
_camera->start();
}
if(_dbReader)
{
_dbReader->start();
}
}
else if(_state == kDetecting)
{
@@ -5993,11 +5907,6 @@ void MainWindow::changeState(MainWindow::State newState)
{
_camera->join(true);
}
if(_dbReader)
{
_dbReader->join(true);
}
}
break;
case kMonitoring: