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Updated how locations are retrieved on a planned path or near based on space if no path is activated.

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Added mirroring option to OpenNI2 camera
Removed "RGBD/MaxAnticipatedNodes" and "RGBD/GoalMaxDistance" parameters
Renamed "RGBD/LocalLoopDetectionRadius" to "RGBD/LocalRadius"
Added "RGBD/MaxLocalRetrieved" parameter
GUI: fixed OpenNI 2 selection from the MainWindow, added OpenNI2 under Kinect menu
This commit is contained in:
Mathieu Labbe
2015-02-20 15:32:39 -05:00
parent 647c709595
commit 38a4e8e4ee
16 changed files with 519 additions and 265 deletions
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24
guilib/src/MainWindow.cpp
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@@ -345,6 +345,8 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_ui->actionOpenNI2->setEnabled(CameraOpenNI2::available());
connect(_ui->actionOpenNI2_Sense, SIGNAL(triggered()), this, SLOT(selectOpenni2()));
_ui->actionOpenNI2_Sense->setEnabled(CameraOpenNI2::available());
connect(_ui->actionOpenNI2_kinect, SIGNAL(triggered()), this, SLOT(selectOpenni2()));
_ui->actionOpenNI2_kinect->setEnabled(CameraOpenNI2::available());
connect(_ui->actionSave_state, SIGNAL(triggered()), this, SLOT(saveFigures()));
connect(_ui->actionLoad_state, SIGNAL(triggered()), this, SLOT(loadFigures()));
@@ -2193,6 +2195,8 @@ void MainWindow::updateSelectSourceRGBDMenu(bool used, PreferencesDialog::Src sr
_ui->actionOpenNI_CV->setChecked(used && src == PreferencesDialog::kSrcOpenNI_CV);
_ui->actionOpenNI_CV_ASUS->setChecked(used && src == PreferencesDialog::kSrcOpenNI_CV_ASUS);
_ui->actionOpenNI2->setChecked(used && src == PreferencesDialog::kSrcOpenNI2);
_ui->actionOpenNI2_Sense->setChecked(used && src == PreferencesDialog::kSrcOpenNI2);
_ui->actionOpenNI2_kinect->setChecked(used && src == PreferencesDialog::kSrcOpenNI2);
}
void MainWindow::changeImgRateSetting()
@@ -2544,6 +2548,7 @@ void MainWindow::startDetection()
else if(_preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI2)
{
camera = new CameraOpenNI2(
_preferencesDialog->getSourceOpenniDevice().toStdString(),
_preferencesDialog->getGeneralInputRate(),
_preferencesDialog->getSourceOpenniLocalTransform(),
_preferencesDialog->getSourceOpenniFx(),
@@ -2599,6 +2604,7 @@ void MainWindow::startDetection()
{
((CameraOpenNI2*)camera)->setAutoWhiteBalance(_preferencesDialog->getSourceOpenni2AutoWhiteBalance());
((CameraOpenNI2*)camera)->setAutoExposure(_preferencesDialog->getSourceOpenni2AutoExposure());
((CameraOpenNI2*)camera)->setMirroring(_preferencesDialog->getSourceOpenni2Mirroring());
if(CameraOpenNI2::exposureGainAvailable())
{
((CameraOpenNI2*)camera)->setExposure(_preferencesDialog->getSourceOpenni2Exposure());
@@ -3473,27 +3479,35 @@ void MainWindow::selectDatabase()
void MainWindow::selectOpenni()
{
_preferencesDialog->selectSourceRGBD(PreferencesDialog::kSrcOpenNI_PCL, _ui->actionOpenNI_PCL->isChecked());
_preferencesDialog->selectSourceRGBD(PreferencesDialog::kSrcOpenNI_PCL,
_ui->actionOpenNI_PCL->isChecked() ||
_ui->actionOpenNI_PCL_ASUS->isChecked());
}
void MainWindow::selectFreenect()
{
_preferencesDialog->selectSourceRGBD(PreferencesDialog::kSrcFreenect, _ui->actionFreenect->isChecked());
_preferencesDialog->selectSourceRGBD(PreferencesDialog::kSrcFreenect,
_ui->actionFreenect->isChecked());
}
void MainWindow::selectOpenniCv()
{
_preferencesDialog->selectSourceRGBD(PreferencesDialog::kSrcOpenNI_CV, _ui->actionOpenNI_CV->isChecked());
_preferencesDialog->selectSourceRGBD(PreferencesDialog::kSrcOpenNI_CV,
_ui->actionOpenNI_CV->isChecked());
}
void MainWindow::selectOpenniCvAsus()
{
_preferencesDialog->selectSourceRGBD(PreferencesDialog::kSrcOpenNI_CV_ASUS, _ui->actionOpenNI_CV_ASUS->isChecked());
_preferencesDialog->selectSourceRGBD(PreferencesDialog::kSrcOpenNI_CV_ASUS,
_ui->actionOpenNI_CV_ASUS->isChecked());
}
void MainWindow::selectOpenni2()
{
_preferencesDialog->selectSourceRGBD(PreferencesDialog::kSrcOpenNI2, _ui->actionOpenNI2->isChecked());
_preferencesDialog->selectSourceRGBD(PreferencesDialog::kSrcOpenNI2,
_ui->actionOpenNI2->isChecked() ||
_ui->actionOpenNI2_Sense->isChecked() ||
_ui->actionOpenNI2_kinect->isChecked());
}