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Updated CameraFreenect2 with latest freenect2 library (commit cdeb07917c)

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matlabbe
2015-11-03 17:31:07 -05:00
parent 620ce51f70
commit 2ee9183c17
11 changed files with 190 additions and 67 deletions
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50
guilib/src/CameraViewer.cpp
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@@ -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();
}