Merged Audio branch to trunk

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@560 f169173b-cf89-36c8-b27e-44dbe73f0c83

guilib/include/rtabmap/gui/ImageView.h

@@ -0,0 +1,74 @@
+/*
+ * Copyright (C) 2010-2011, Mathieu Labbe and IntRoLab - Universite de Sherbrooke
+ *
+ * This file is part of RTAB-Map.
+ *
+ * RTAB-Map is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * RTAB-Map is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with RTAB-Map.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef IMAGEVIEW_H_
+#define IMAGEVIEW_H_
+
+#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
+
+#include <QtGui/QGraphicsView>
+#include <QtCore/QRectF>
+
+class QAction;
+class QMenu;
+
+namespace rtabmap {
+
+class RTABMAP_EXP ImageView : public QGraphicsView {
+
+	Q_OBJECT
+
+public:
+	ImageView(QWidget * parent = 0);
+	virtual ~ImageView();
+
+	void resetZoom();
+
+	bool isImageShown();
+	bool isFeaturesShown();
+	bool isLinesShown();
+
+	void setFeaturesShown(bool shown);
+	void setLinesShown(bool shown);
+
+protected:
+	virtual void contextMenuEvent(QContextMenuEvent * e);
+	virtual void wheelEvent(QWheelEvent * e);
+
+private slots:
+	void updateZoom();
+
+private:
+	void updateItemsShown();
+
+private:
+	int _zoom;
+	int _minZoom;
+	QString _savedFileName;
+
+	QMenu * _menu;
+	QAction * _showImage;
+	QAction * _showFeatures;
+	QAction * _showLines;
+	QAction * _saveImage;
+};
+
+}
+
+#endif /* IMAGEVIEW_H_ */

guilib/include/rtabmap/gui/KeypointItem.h

@@ -0,0 +1,56 @@
+/*
+ * Copyright (C) 2010-2011, Mathieu Labbe and IntRoLab - Universite de Sherbrooke
+ *
+ * This file is part of RTAB-Map.
+ *
+ * RTAB-Map is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * RTAB-Map is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with RTAB-Map.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef KEYPOINTITEM_H_
+#define KEYPOINTITEM_H_
+
+#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
+
+#include <QtGui/QGraphicsEllipseItem>
+#include <QtGui/QGraphicsTextItem>
+#include <QtGui/QPen>
+#include <QtGui/QBrush>
+
+namespace rtabmap {
+
+class RTABMAP_EXP KeypointItem : public QGraphicsEllipseItem
+{
+public:
+	KeypointItem(qreal x, qreal y, int r, const QString & info, const QColor & color = Qt::green, QGraphicsItem * parent = 0);
+	virtual ~KeypointItem();
+
+protected:
+	virtual void hoverEnterEvent ( QGraphicsSceneHoverEvent * event );
+	virtual void hoverLeaveEvent ( QGraphicsSceneHoverEvent * event );
+	virtual void focusInEvent ( QFocusEvent * event );
+	virtual void focusOutEvent ( QFocusEvent * event );
+
+private:
+	void showDescription();
+	void hideDescription();
+
+private:
+	QString _info;
+	QGraphicsRectItem * _placeHolder;
+	int _width;
+};
+
+}
+
+#endif /* KEYPOINTITEM_H_ */

guilib/include/rtabmap/gui/MainWindow.h

@@ -30,6 +30,9 @@
 
 namespace rtabmap {
 class Camera;
+class Micro;
+class CameraMicro;
+class DBReader;
 }
 
 class QGraphicsScene;
@@ -85,6 +88,7 @@ protected:
 	virtual void resizeEvent(QResizeEvent* anEvent);
 
 private slots:
+	void beep();
 	void startDetection();
 	void pauseDetection();
 	void stopDetection();
@@ -95,6 +99,8 @@ private slots:
 	void selectImages();
 	void selectVideo();
 	void selectStream();
+	void selectMic();
+	void selectAudioFile();
 	void selectDatabase();
 	void resetTheMemory();
 	void dumpTheMemory();
@@ -112,6 +118,15 @@ private slots:
 	void changeImgRateSetting();
 	void changeTimeLimitSetting();
 	void captureScreen();
+	void setAspectRatio(int w, int h);
+	void setAspectRatio16_9();
+	void setAspectRatio16_10();
+	void setAspectRatio4_3();
+	void setAspectRatio240p();
+	void setAspectRatio360p();
+	void setAspectRatio480p();
+	void setAspectRatio720p();
+	void setAspectRatio1080p();
 
 signals:
 	void statsReceived(const rtabmap::Statistics &);
@@ -128,13 +143,18 @@ signals:
 private:
 	void drawKeypoints(const std::multimap<int, cv::KeyPoint> & refWords, const std::multimap<int, cv::KeyPoint> & loopWords);
 	void setupMainLayout(bool vertical);
-	void updateSelectSourceMenu(int type);
+	void updateSelectSourceImageMenu(int type);
+	void updateSelectSourceAudioMenu(int type);
+	void updateSelectSourceDatabase(bool used);
 
 private:
 	Ui_mainWindow * _ui;
 
 	State _state;
 	rtabmap::Camera * _camera;
+	rtabmap::Micro * _mic;
+	rtabmap::CameraMicro * _cameraMic;
+	rtabmap::DBReader * _dbReader;
 
 	SrcType _srcType;
 	QString _srcPath;
@@ -156,8 +176,13 @@ private:
 	PdfPlotCurve * _posteriorCurve;
 	PdfPlotCurve * _likelihoodCurve;
 
+	UPlotCurve * _audioCurve;
+	UPlotCurve * _audioCurveLoop;
+
 	DetailedProgressDialog * _initProgressDialog;
-	QActionGroup * _selectSourceGrp;
+	QActionGroup * _selectSourceImageGrp;
+	QActionGroup * _selectSourceAudioGrp;
+
 
 	QString _graphSavingFileName;
 	QString _autoScreenCaptureFormat;

guilib/include/rtabmap/gui/PreferencesDialog.h

@@ -38,11 +38,10 @@ class QMainWindow;
 class QLineEdit;
 class QSlider;
 class QProgressDialog;
+class UPlotCurve;
 
 namespace rtabmap {
 
-class PlotCurve;
-
 class RTABMAP_EXP PreferencesDialog : public QDialog
 {
 	Q_OBJECT
@@ -64,8 +63,13 @@ public:
 		kSrcUndef,
 		kSrcUsbDevice,
 		kSrcImages,
-		kSrcVideo,
-		kSrcDatabase
+		kSrcVideo
+	};
+
+	enum SrcAudio {
+		kSrcAudioUndef,
+		kSrcAudioMicDevice,
+		kSrcAudioFile
 	};
 
 public:
@@ -102,13 +106,17 @@ public:
 	QString getWorkingDirectory();
 
 	// source panel
-	double getGeneralImageRate() const;
+	double getGeneralInputRate() const;
+	bool isSourceImageUsed() const;
+	bool isSourceAudioUsed() const;
+	bool isSourceDatabaseUsed() const;
 	bool getGeneralAutoRestart() const;
 	bool getGeneralCameraKeypoints() const;
-	int getSourceType() const;
-	QString getSourceTypeStr() const;
+	int getSourceImageType() const;
+	QString getSourceImageTypeStr() const;
 	int getSourceWidth() const;
 	int getSourceHeight() const;
+	int getFramesDropped() const;
 	QString getSourceImagesPath() const;	//Images group
 	QString getSourceImagesSuffix() const;	//Images group
 	int getSourceImagesSuffixIndex() const;	//Images group
@@ -116,31 +124,44 @@ public:
 	bool getSourceImagesRefreshDir() const;	//Images group
 	QString getSourceVideoPath() const;	//Video group
 	int getSourceUsbDeviceId() const;		//UsbDevice group
-	QString getSourceDatabasePath() const; 			//Database group
-	bool getSourceDatabaseIgnoreChildren() const;	//Database group
-	bool getSourceDatabaseLoadActions() const;	//Database group
+	int getSourceAudioType() const; //Audio group
+	QString getSourceAudioTypeStr() const; //Audio group
+	int getSourceMicDevice() const;	//Audio group
+	int getSourceMicFs() const;	//Audio group
+	int getSourceMicSampleSize() const;	//Audio group
+	QString getSourceAudioPath() const; //Audio group
+	bool getSourceAudioPlayWhileRecording() const; //Audio group
+	QString getSourceDatabasePath() const; //Database group
 
 	//
 	bool isImagesKept() const;
 	float getTimeLimit() const;
+	int getMemoryType() const;
 
 	//specific
+	bool isStatisticsPublished() const;
 	double getLoopThr() const;
 	double getRetrievalThr() const;
 	double getVpThr() const;
 	double getExpThr() const;
 
+	//
+	void disableSourceAudio();
+	void disableGeneralCameraKeypoints();
+
 signals:
 	void settingsChanged(PreferencesDialog::PANEL_FLAGS);
 	void settingsChanged(rtabmap::ParametersMap);
 
 public slots:
+	void setInputRate(double value);
 	void setHardThr(int value);
 	void setRetrievalThr(int value);
-	void setImgRate(double value);
 	void setAutoRestart(bool value);
 	void setTimeLimit(float value);
-	void selectSource(Src src = kSrcUndef);
+	void selectSourceImage(Src src = kSrcUndef);
+	void selectSourceAudio(SrcAudio = kSrcAudioUndef);
+	void selectSourceDatabase(bool user = false);
 
 private slots:
 	void closeDialog ( QAbstractButton * button );
@@ -160,6 +181,7 @@ private slots:
 	void changeDictionaryPath();
 	void readSettingsEnd();
 	void setupTreeView();
+	void updateBasicParameter();
 
 protected:
 	virtual void showEvent ( QShowEvent * event );

guilib/include/rtabmap/gui/qtipl.h

@@ -0,0 +1,34 @@
+/*
+ * Copyright (C) 2010-2011, Mathieu Labbe and IntRoLab - Universite de Sherbrooke
+ *
+ * This file is part of RTAB-Map.
+ *
+ * RTAB-Map is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * RTAB-Map is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with RTAB-Map.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef QTIPL_H
+#define QTIPL_H
+
+#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
+
+#include <QtGui/QImage>
+#include <opencv2/core/core.hpp>
+
+namespace rtabmap {
+
+QImage RTABMAP_EXP Ipl2QImage(const IplImage *newImage, int alpha = 255);
+
+}
+
+#endif