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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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183
guilib/src/PreferencesDialog.cpp
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@@ -3520,7 +3520,7 @@ void PreferencesDialog::updateSourceGrpVisibility()
_ui->groupBox_sourceRGB->setVisible(_ui->comboBox_sourceType->currentIndex() == 2);
_ui->groupBox_sourceDatabase->setVisible(_ui->comboBox_sourceType->currentIndex() == 3);
_ui->groupBox_scanFromDepth->setVisible(_ui->comboBox_sourceType->currentIndex() <= 1);
_ui->groupBox_scanFromDepth->setVisible(_ui->comboBox_sourceType->currentIndex() <= 1 || _ui->comboBox_sourceType->currentIndex() == 3);
_ui->stackedWidget_rgbd->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 &&
(_ui->comboBox_cameraRGBD->currentIndex() == kSrcOpenNI2-kSrcRGBD ||
@@ -3549,7 +3549,7 @@ void PreferencesDialog::updateSourceGrpVisibility()
(_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoImages-kSrcStereo) ||
(_ui->comboBox_sourceType->currentIndex() == 2 && _ui->source_comboBox_image_type->currentIndex() == kSrcImages-kSrcRGB));
_ui->groupBox_scan->setVisible(_ui->comboBox_sourceType->currentIndex() != 3);
//_ui->groupBox_scan->setVisible(_ui->comboBox_sourceType->currentIndex() != 3);
_ui->groupBox_depthFromScan->setVisible(_ui->comboBox_sourceType->currentIndex() == 2 && _ui->source_comboBox_image_type->currentIndex() == kSrcImages-kSrcRGB);
}
@@ -3891,30 +3891,6 @@ Transform PreferencesDialog::getLaserLocalTransform() const
return t;
}
QString PreferencesDialog::getSourceDatabasePath() const
{
return _ui->source_database_lineEdit_path->text();
}
bool PreferencesDialog::getSourceDatabaseOdometryIgnored() const
{
return _ui->source_checkBox_ignoreOdometry->isChecked();
}
bool PreferencesDialog::getSourceDatabaseGoalDelayIgnored() const
{
return _ui->source_checkBox_ignoreGoalDelay->isChecked();
}
bool PreferencesDialog::getSourceDatabaseGoalsIgnored() const
{
return _ui->source_checkBox_ignoreGoals->isChecked();
}
int PreferencesDialog::getSourceDatabaseStartPos() const
{
return _ui->source_spinBox_databaseStartPos->value();
}
int PreferencesDialog::getSourceDatabaseCameraIndex() const
{
return _ui->source_spinBox_database_cameraIndex->value();
}
bool PreferencesDialog::getSourceDatabaseStampsUsed() const
{
return _ui->source_checkBox_useDbStamps->isChecked();
@@ -4193,8 +4169,13 @@ Camera * PreferencesDialog::createCamera(bool useRawImages)
}
else if(driver == kSrcDatabase)
{
UERROR("Call directly DBReader for kSrcDatabase.");
return 0;
camera = new DBReader(_ui->source_database_lineEdit_path->text().toStdString(),
_ui->source_checkBox_useDbStamps->isChecked()?-1:this->getGeneralInputRate(),
_ui->source_checkBox_ignoreOdometry->isChecked(),
_ui->source_checkBox_ignoreGoalDelay->isChecked(),
_ui->source_checkBox_ignoreGoals->isChecked(),
_ui->source_spinBox_databaseStartPos->value(),
_ui->source_spinBox_database_cameraIndex->value());
}
else
{
@@ -4376,30 +4357,11 @@ void PreferencesDialog::setSLAMMode(bool enabled)
void PreferencesDialog::testOdometry()
{
DBReader dbReader(_ui->source_database_lineEdit_path->text().toStdString(),
_ui->source_checkBox_useDbStamps->isChecked()?-1:this->getGeneralInputRate(),
true,
true,
true,
_ui->source_spinBox_database_cameraIndex->value());
Camera * camera = 0;
if(this->getSourceType() == kSrcDatabase)
Camera * camera = this->createCamera();
if(!camera)
{
if(!dbReader.init())
{
QMessageBox::warning(this, tr("Camera viewer"), tr("Failed to initialize the database reader!"));
return;
}
return;
}
else
{
camera = this->createCamera();
if(!camera)
{
return;
}
}
ParametersMap parameters = this->getAllParameters();
Odometry * odometry = Odometry::create(parameters);
@@ -4420,9 +4382,42 @@ void PreferencesDialog::testOdometry()
odomViewer->resize(1280, 480+QPushButton().minimumHeight());
odomViewer->registerToEventsManager();
CameraThread cameraThread(camera, this->getAllParameters()); // take ownership of camera
cameraThread.setMirroringEnabled(isSourceMirroring());
cameraThread.setColorOnly(_ui->checkbox_rgbd_colorOnly->isChecked());
cameraThread.setImageDecimation(_ui->spinBox_source_imageDecimation->value());
cameraThread.setStereoToDepth(_ui->checkbox_stereo_depthGenerated->isChecked());
cameraThread.setScanFromDepth(
_ui->groupBox_scanFromDepth->isChecked(),
_ui->spinBox_cameraScanFromDepth_decimation->value(),
_ui->doubleSpinBox_cameraSCanFromDepth_maxDepth->value(),
_ui->doubleSpinBox_cameraImages_scanVoxelSize->value(),
_ui->spinBox_cameraImages_scanNormalsK->value());
UEventsManager::createPipe(&cameraThread, &odomThread, "CameraEvent");
UEventsManager::createPipe(&odomThread, odomViewer, "OdometryEvent");
UEventsManager::createPipe(odomViewer, &odomThread, "OdometryResetEvent");
odomThread.start();
cameraThread.start();
odomViewer->exec();
delete odomViewer;
cameraThread.join(true);
odomThread.join(true);
}
void PreferencesDialog::testCamera()
{
CameraViewer * window = new CameraViewer(this, this->getAllParameters());
window->setWindowTitle(tr("Camera viewer"));
window->resize(1280, 480+QPushButton().minimumHeight());
window->registerToEventsManager();
Camera * camera = this->createCamera();
if(camera)
{
CameraThread cameraThread(camera, this->getAllParameters()); // take ownership of camera
CameraThread cameraThread(camera, this->getAllParameters());
cameraThread.setMirroringEnabled(isSourceMirroring());
cameraThread.setColorOnly(_ui->checkbox_rgbd_colorOnly->isChecked());
cameraThread.setImageDecimation(_ui->spinBox_source_imageDecimation->value());
@@ -4433,97 +4428,19 @@ void PreferencesDialog::testOdometry()
_ui->doubleSpinBox_cameraSCanFromDepth_maxDepth->value(),
_ui->doubleSpinBox_cameraImages_scanVoxelSize->value(),
_ui->spinBox_cameraImages_scanNormalsK->value());
UEventsManager::createPipe(&cameraThread, &odomThread, "CameraEvent");
UEventsManager::createPipe(&odomThread, odomViewer, "OdometryEvent");
UEventsManager::createPipe(odomViewer, &odomThread, "OdometryResetEvent");
UEventsManager::createPipe(&cameraThread, window, "CameraEvent");
odomThread.start();
cameraThread.start();
odomViewer->exec();
delete odomViewer;
window->exec();
delete window;
cameraThread.join(true);
odomThread.join(true);
}
else
{
UEventsManager::createPipe(&dbReader, &odomThread, "CameraEvent");
UEventsManager::createPipe(&odomThread, odomViewer, "OdometryEvent");
UEventsManager::createPipe(odomViewer, &odomThread, "OdometryResetEvent");
odomThread.start();
dbReader.start();
odomViewer->exec();
delete odomViewer;
dbReader.join(true);
odomThread.join(true);
delete window;
}
}
void PreferencesDialog::testCamera()
{
CameraViewer * window = new CameraViewer(this, this->getAllParameters());
window->setWindowTitle(tr("Camera viewer"));
window->resize(1280, 480+QPushButton().minimumHeight());
window->registerToEventsManager();
if(this->getSourceType() == kSrcDatabase)
{
DBReader dbReader(_ui->source_database_lineEdit_path->text().toStdString(),
_ui->source_checkBox_useDbStamps->isChecked()?-1:this->getGeneralInputRate(),
true,
true,
true,
_ui->source_spinBox_database_cameraIndex->value());
if(!dbReader.init(_ui->source_images_spinBox_startPos->value()))
{
QMessageBox::warning(this, tr("Camera viewer"), tr("Failed to initialize the database reader!"));
delete window;
}
else
{
UEventsManager::createPipe(&dbReader, window, "CameraEvent");
dbReader.start();
window->exec();
delete window;
dbReader.join(true);
}
}
else
{
Camera * camera = this->createCamera();
if(camera)
{
CameraThread cameraThread(camera, this->getAllParameters());
cameraThread.setMirroringEnabled(isSourceMirroring());
cameraThread.setColorOnly(_ui->checkbox_rgbd_colorOnly->isChecked());
cameraThread.setImageDecimation(_ui->spinBox_source_imageDecimation->value());
cameraThread.setStereoToDepth(_ui->checkbox_stereo_depthGenerated->isChecked());
cameraThread.setScanFromDepth(
_ui->groupBox_scanFromDepth->isChecked(),
_ui->spinBox_cameraScanFromDepth_decimation->value(),
_ui->doubleSpinBox_cameraSCanFromDepth_maxDepth->value(),
_ui->doubleSpinBox_cameraImages_scanVoxelSize->value(),
_ui->spinBox_cameraImages_scanNormalsK->value());
UEventsManager::createPipe(&cameraThread, window, "CameraEvent");
cameraThread.start();
window->exec();
delete window;
cameraThread.join(true);
}
else
{
delete window;
}
}
}
void PreferencesDialog::calibrate()
{
if(this->getSourceType() == kSrcDatabase)