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

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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
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31
guilib/src/PreferencesDialog.cpp
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@@ -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!");