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

Version 0.8.9: added FlyCapture2 driver for bumblebee2 (tested only on Windows)

Browse Source
This commit is contained in:
Mathieu Labbé
2015-04-07 12:00:10 -04:00
parent 71be7921aa
commit 3ed6a1b2f0
18 changed files with 544 additions and 65 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
guilib/src/AboutDialog.cpp
View File

@@ -55,6 +55,10 @@ AboutDialog::AboutDialog(QWidget * parent) :
_ui->label_pcl_version->setText(PCL_VERSION_PRETTY);
_ui->label_freenect->setText(CameraFreenect::available()?"Yes":"No");
_ui->label_openni2->setText(CameraOpenNI2::available()?"Yes":"No");
_ui->label_openni2->setText(CameraFreenect2::available()?"Yes":"No");
_ui->label_openni2->setText(CameraStereoDC1394::available()?"Yes":"No");
_ui->label_openni2->setText(CameraStereoFlyCapture2::available()?"Yes":"No");
_ui->label_g2o->setText(graph::G2OOptimizer::available()?"Yes":"No");
}

2
guilib/src/CalibrationDialog.cpp
View File

@@ -433,7 +433,7 @@ void CalibrationDialog::processImages(const cv::Mat & imageLeft, const cv::Mat &
{
for(int id=0; id<(stereo_?2:1); ++id)
{
int step = imageSize_[id].height/12;
int step = imageSize_[id].height/16;
for(int i=step; i<imageSize_[id].height; i+=step)
{
cv::line(images[id], cv::Point(0, i), cv::Point(imageSize_[id].width, i), CV_RGB(0,255,0));

8
guilib/src/MainWindow.cpp
View File

@@ -353,6 +353,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
connect(_ui->actionOpenNI2_sense, SIGNAL(triggered()), this, SLOT(selectOpenni2()));
connect(_ui->actionFreenect2, SIGNAL(triggered()), this, SLOT(selectFreenect2()));
connect(_ui->actionStereoDC1394, SIGNAL(triggered()), this, SLOT(selectStereoDC1394()));
connect(_ui->actionStereoFlyCapture2, SIGNAL(triggered()), this, SLOT(selectStereoFlyCapture2()));
_ui->actionFreenect->setEnabled(CameraFreenect::available());
_ui->actionOpenNI_CV->setEnabled(CameraOpenNICV::available());
_ui->actionOpenNI_CV_ASUS->setEnabled(CameraOpenNICV::available());
@@ -361,6 +362,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_ui->actionOpenNI2_sense->setEnabled(CameraOpenNI2::available());
_ui->actionFreenect2->setEnabled(CameraFreenect2::available());
_ui->actionStereoDC1394->setEnabled(CameraStereoDC1394::available());
_ui->actionStereoFlyCapture2->setEnabled(CameraStereoFlyCapture2::available());
this->updateSelectSourceMenu();
connect(_ui->actionSave_state, SIGNAL(triggered()), this, SLOT(saveFigures()));
@@ -2235,6 +2237,7 @@ void MainWindow::updateSelectSourceMenu()
_ui->actionOpenNI2_sense->setChecked(_preferencesDialog->isSourceRGBDUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI2);
_ui->actionFreenect2->setChecked(_preferencesDialog->isSourceRGBDUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcFreenect2);
_ui->actionStereoDC1394->setChecked(_preferencesDialog->isSourceRGBDUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcStereoDC1394);
_ui->actionStereoFlyCapture2->setChecked(_preferencesDialog->isSourceRGBDUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcStereoFlyCapture2);
}
void MainWindow::changeImgRateSetting()
@@ -3575,6 +3578,11 @@ void MainWindow::selectStereoDC1394()
_preferencesDialog->selectSourceRGBD(PreferencesDialog::kSrcStereoDC1394);
}
void MainWindow::selectStereoFlyCapture2()
{
_preferencesDialog->selectSourceRGBD(PreferencesDialog::kSrcStereoFlyCapture2);
}
void MainWindow::dumpTheMemory()
{

31
guilib/src/PreferencesDialog.cpp
View File

@@ -120,14 +120,6 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->label_map_shown->setText(_ui->label_map_shown->text() + " (Disabled, PCL >=1.7.2 required)");
#endif
#ifdef _WIN32
_ui->radioButton_openni2->setChecked(true);
_ui->radioButton_opennipcl->setChecked(false);
_ui->groupBox_openni2->setVisible(true);
#else
_ui->groupBox_openni2->setVisible(false);
#endif
if(RTABMAP_NONFREE == 0)
{
_ui->comboBox_detector_strategy->setItemData(0, 0, Qt::UserRole - 1);
@@ -166,6 +158,10 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
{
_ui->comboBox_cameraRGBD->setItemData(6, 0, Qt::UserRole - 1);
}
if(!CameraStereoFlyCapture2::available())
{
_ui->comboBox_cameraRGBD->setItemData(7, 0, Qt::UserRole - 1);
}
_ui->openni2_exposure->setEnabled(CameraOpenNI2::exposureGainAvailable());
_ui->openni2_gain->setEnabled(CameraOpenNI2::exposureGainAvailable());
@@ -300,6 +296,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
//openni group
connect(_ui->groupBox_sourceOpenni, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->comboBox_cameraRGBD, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->comboBox_cameraRGBD, SIGNAL(currentIndexChanged(int)), this, SLOT(updateOpenNI2GroupBoxVisibility()));
connect(_ui->openni2_autoWhiteBalance, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->openni2_autoExposure, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->openni2_exposure, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
@@ -932,6 +929,10 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
{
_ui->comboBox_cameraRGBD->setCurrentIndex(1); // freenect
}
else if(CameraOpenNI2::available())
{
_ui->comboBox_cameraRGBD->setCurrentIndex(4); // openni2
}
else
{
_ui->comboBox_cameraRGBD->setCurrentIndex(0); // openni-pcl
@@ -1657,7 +1658,7 @@ void PreferencesDialog::showEvent ( QShowEvent * event )
_ui->label_dictionaryPath->setEnabled(false);
_ui->groupBox_source0->setEnabled(false);
_ui->groupBox_odometry2->setEnabled(false);
_ui->groupBox_odometry1->setEnabled(false);
this->setWindowTitle(tr("Preferences [Monitoring mode]"));
}
@@ -1672,7 +1673,7 @@ void PreferencesDialog::showEvent ( QShowEvent * event )
_ui->label_dictionaryPath->setEnabled(true);
_ui->groupBox_source0->setEnabled(true);
_ui->groupBox_odometry2->setEnabled(true);
_ui->groupBox_odometry1->setEnabled(true);
this->setWindowTitle(tr("Preferences"));
}
@@ -2789,9 +2790,9 @@ void PreferencesDialog::changeDictionaryPath()
}
}
void PreferencesDialog::showOpenNI2GroupBox(bool shown)
void PreferencesDialog::updateOpenNI2GroupBoxVisibility()
{
_ui->groupBox_openni2->setVisible(shown);
_ui->groupBox_openni2->setVisible(_ui->comboBox_cameraRGBD->currentIndex() == kSrcOpenNI2-kSrcOpenNI_PCL);
}
/*** GETTERS ***/
@@ -3132,6 +3133,12 @@ CameraRGBD * PreferencesDialog::createCameraRGBD() const
this->getGeneralInputRate(),
this->getSourceOpenniLocalTransform());
}
else if(this->getSourceRGBD() == kSrcStereoFlyCapture2)
{
return new CameraStereoFlyCapture2(
this->getGeneralInputRate(),
this->getSourceOpenniLocalTransform());
}
else
{
UFATAL("RGBD Source type undefined!");

55
guilib/src/ui/aboutDialog.ui
View File

@@ -82,6 +82,13 @@ p, li { white-space: pre-wrap; }
</item>
<item>
<layout class="QGridLayout" name="gridLayout" columnstretch="0,1">
<item row="13" column="0">
<widget class="QLabel" name="label_16">
<property name="text">
<string>With stereo dc1394 :</string>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QLabel" name="label_6">
<property name="text">
@@ -205,7 +212,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="12" column="0">
<item row="15" column="0">
<widget class="QLabel" name="label_14">
<property name="text">
<string>With g2o :</string>
@@ -232,7 +239,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="12" column="1">
<item row="15" column="1">
<widget class="QLabel" name="label_g2o">
<property name="text">
<string/>
@@ -242,6 +249,50 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="12" column="0">
<widget class="QLabel" name="label_15">
<property name="text">
<string>With Freenect2 :</string>
</property>
</widget>
</item>
<item row="14" column="0">
<widget class="QLabel" name="label_17">
<property name="text">
<string>With stereo FlyCapture2 :</string>
</property>
</widget>
</item>
<item row="12" column="1">
<widget class="QLabel" name="label_freenect2">
<property name="text">
<string/>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="13" column="1">
<widget class="QLabel" name="label_dc1394">
<property name="text">
<string/>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="14" column="1">
<widget class="QLabel" name="label_flycapture2">
<property name="text">
<string/>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
</widget>
</item>
</layout>
</item>
<item>

8
guilib/src/ui/mainWindow.ui
View File

@@ -27,7 +27,7 @@
<x>0</x>
<y>0</y>
<width>1012</width>
<height>25</height>
<height>21</height>
</rect>
</property>
<widget class="QMenu" name="menuFile">
@@ -156,6 +156,7 @@
<normaloff>:/images/bumblebee2.png</normaloff>:/images/bumblebee2.png</iconset>
</property>
<addaction name="actionStereoDC1394"/>
<addaction name="actionStereoFlyCapture2"/>
</widget>
<addaction name="menuKinect_for_Xbox_360"/>
<addaction name="menuXtion_PRO_LIVE"/>
@@ -1209,6 +1210,11 @@
<string>OpenNI2</string>
</property>
</action>
<action name="actionStereoFlyCapture2">
<property name="text">
<string>StereoFlyCapture2</string>
</property>
</action>
</widget>
<customwidgets>
<customwidget>

54
guilib/src/ui/preferencesDialog.ui
View File

@@ -63,9 +63,9 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-354</y>
<width>737</width>
<height>982</height>
<y>0</y>
<width>736</width>
<height>781</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>3</number>
<number>0</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29">
@@ -1728,6 +1728,11 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<string>StereoDC1394</string>
</property>
</item>
<item>
<property name="text">
<string>StereoFlyCapture2</string>
</property>
</item>
</widget>
</item>
<item row="1" column="1">
@@ -6264,7 +6269,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
<widget class="QWidget" name="page_12">
<layout class="QVBoxLayout" name="verticalLayout_32">
<item>
<widget class="QGroupBox" name="groupBox_odometry2">
<widget class="QGroupBox" name="groupBox_odometry1">
<property name="title">
<string>Odometry</string>
</property>
@@ -6280,11 +6285,11 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
</widget>
</item>
<item>
<layout class="QGridLayout" name="gridLayout_27" columnstretch="0,0">
<layout class="QGridLayout" name="gridLayout_27" columnstretch="0,1">
<item row="2" column="1">
<widget class="QLabel" name="label_47">
<property name="text">
<string>Automatically reset odometry after X consecutive images on which odometry cannot be computed (value=0 disables auto-reset).</string>
<string>Automatically reset odometry after X consecutive images on which odometry cannot be computed (value=0 disables auto-reset). When reset, the odometry starts from the last pose computed.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -6418,6 +6423,13 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QPushButton" name="pushButton_testOdometry">
<property name="text">
<string>Test selected odometry</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
@@ -6787,30 +6799,6 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
</layout>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_5">
<item>
<widget class="QPushButton" name="pushButton_testOdometry">
<property name="text">
<string>Test selected odometry</string>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_2">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
</layout>
</widget>
</item>
@@ -6832,7 +6820,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
<widget class="QWidget" name="page_26">
<layout class="QVBoxLayout" name="verticalLayout_54">
<item>
<widget class="QGroupBox" name="groupBox_odometryBOW3">
<widget class="QGroupBox" name="groupBox_odometryBOW2">
<property name="title">
<string>BOW</string>
</property>
@@ -6957,7 +6945,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
<widget class="QWidget" name="page_28">
<layout class="QVBoxLayout" name="verticalLayout_55">
<item>
<widget class="QGroupBox" name="groupBox_odometryFlow3">
<widget class="QGroupBox" name="groupBox_odometryFlow2">
<property name="title">
<string>Optical Flow</string>
</property>