i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 01:20:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

Updated CameraFreenect2 with latest freenect2 library (commit cdeb07917c)

Browse Source
This commit is contained in:
matlabbe
2015-11-03 17:31:07 -05:00
parent 620ce51f70
commit 2ee9183c17
11 changed files with 190 additions and 67 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
guilib/include/rtabmap/gui/CameraViewer.h
View File

@@ -34,6 +34,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <QDialog>
#include <rtabmap/core/SensorData.h>
class QSpinBox;
namespace rtabmap {
class ImageView;
@@ -55,6 +57,8 @@ private:
ImageView* imageView_;
CloudViewer* cloudView_;
bool processingImages_;
QSpinBox * decimationSpin_;
int validDecimationValue_;
};
} /* namespace rtabmap */

50
guilib/src/CameraViewer.cpp
View File

@@ -29,6 +29,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/core/CameraEvent.h>
#include <rtabmap/core/util3d.h>
#include <rtabmap/core/util2d.h>
#include <rtabmap/gui/ImageView.h>
#include <rtabmap/gui/CloudViewer.h>
#include <rtabmap/utilite/UCv2Qt.h>
@@ -36,6 +37,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <QtCore/QMetaType>
#include <QHBoxLayout>
#include <QVBoxLayout>
#include <QLabel>
#include <QSpinBox>
#include <QDialogButtonBox>
namespace rtabmap {
@@ -45,7 +48,8 @@ CameraViewer::CameraViewer(QWidget * parent) :
QDialog(parent),
imageView_(new ImageView(this)),
cloudView_(new CloudViewer(this)),
processingImages_(false)
processingImages_(false),
validDecimationValue_(1)
{
qRegisterMetaType<rtabmap::SensorData>("rtabmap::SensorData");
@@ -56,15 +60,27 @@ CameraViewer::CameraViewer(QWidget * parent) :
layout->addWidget(imageView_,1);
layout->addWidget(cloudView_,1);
QLabel * decimationLabel = new QLabel("Decimation", this);
decimationSpin_ = new QSpinBox(this);
decimationSpin_->setMinimum(1);
decimationSpin_->setMaximum(16);
decimationSpin_->setValue(1);
QDialogButtonBox * buttonBox = new QDialogButtonBox(this);
buttonBox->setStandardButtons(QDialogButtonBox::Close);
connect(buttonBox, SIGNAL(rejected()), this, SLOT(reject()));
QHBoxLayout * layout2 = new QHBoxLayout();
layout2->addWidget(decimationLabel);
layout2->addWidget(decimationSpin_);
layout2->addStretch(1);
layout2->addWidget(buttonBox);
QVBoxLayout * vlayout = new QVBoxLayout(this);
vlayout->setMargin(0);
vlayout->setSpacing(0);
vlayout->addLayout(layout, 1);
vlayout->addWidget(buttonBox);
vlayout->addLayout(layout2);
this->setLayout(vlayout);
}
@@ -76,26 +92,48 @@ CameraViewer::~CameraViewer()
void CameraViewer::showImage(const rtabmap::SensorData & data)
{
if(!data.imageRaw().empty() || !data.depthOrRightRaw().empty())
{
if(data.imageRaw().cols % decimationSpin_->value() == 0 &&
data.imageRaw().rows % decimationSpin_->value() == 0 &&
data.depthOrRightRaw().cols % decimationSpin_->value() == 0 &&
data.depthOrRightRaw().rows % decimationSpin_->value() == 0)
{
validDecimationValue_ = decimationSpin_->value();
}
else
{
UWARN("Decimation (%d) must be a denominator of the width and height of "
"the image (color=%d/%d depth=%d/%d). Using last valid decimation value (%d).",
decimationSpin_->value(),
data.imageRaw().cols,
data.imageRaw().rows,
data.depthOrRightRaw().cols,
data.depthOrRightRaw().rows,
validDecimationValue_);
}
}
processingImages_ = true;
if(!data.imageRaw().empty())
{
imageView_->setImage(uCvMat2QImage(data.imageRaw()));
imageView_->setImage(uCvMat2QImage(util2d::decimate(data.imageRaw(), validDecimationValue_)));
}
if(!data.depthOrRightRaw().empty())
{
imageView_->setImageDepth(uCvMat2QImage(data.depthOrRightRaw()));
imageView_->setImageDepth(uCvMat2QImage(util2d::decimate(data.depthOrRightRaw(), validDecimationValue_)));
}
if((data.stereoCameraModel().isValid() || (data.cameraModels().size() && data.cameraModels().at(0).isValid())))
{
if(!data.imageRaw().empty() && !data.depthOrRightRaw().empty())
{
cloudView_->addOrUpdateCloud("cloud", util3d::cloudRGBFromSensorData(data));
cloudView_->addOrUpdateCloud("cloud", util3d::cloudRGBFromSensorData(data, validDecimationValue_));
cloudView_->setVisible(true);
cloudView_->update();
}
else if(!data.depthOrRightRaw().empty())
{
cloudView_->addOrUpdateCloud("cloud", util3d::cloudFromSensorData(data));
cloudView_->addOrUpdateCloud("cloud", util3d::cloudFromSensorData(data, validDecimationValue_));
cloudView_->setVisible(true);
cloudView_->update();
}

2
guilib/src/PreferencesDialog.cpp
View File

@@ -3626,7 +3626,7 @@ Camera * PreferencesDialog::createCamera(bool useRawImages)
{
camera = new CameraFreenect2(
this->getSourceDevice().isEmpty()?0:atoi(this->getSourceDevice().toStdString().c_str()),
useRawImages?CameraFreenect2::kTypeRGBIR:(CameraFreenect2::Type)_ui->comboBox_freenect2Format->currentIndex(),
useRawImages?CameraFreenect2::kTypeColorIR:(CameraFreenect2::Type)_ui->comboBox_freenect2Format->currentIndex(),
this->getGeneralInputRate(),
this->getSourceLocalTransform());
}

19
guilib/src/ui/preferencesDialog.ui
View File

@@ -64,8 +64,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>760</width>
<height>1705</height>
<width>759</width>
<height>966</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>16</number>
<number>3</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29">
@@ -1874,7 +1874,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<item>
<widget class="QStackedWidget" name="stackedWidget_rgbd">
<property name="currentIndex">
<number>4</number>
<number>5</number>
</property>
<widget class="QWidget" name="page_32">
<layout class="QVBoxLayout" name="verticalLayout_63">
@@ -2145,17 +2145,22 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
<item>
<property name="text">
<string>RGB+Depth SD</string>
<string>Registered Color to Depth SD</string>
</property>
</item>
<item>
<property name="text">
<string>RGB+Depth HD</string>
<string>Registered Depth to Color HD</string>
</property>
</item>
<item>
<property name="text">
<string>IR+Depth</string>
<string>Registered Depth to Color SD</string>
</property>
</item>
<item>
<property name="text">
<string>IR + Depth</string>
</property>
</item>
</widget>