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Added rawImageSizeCaptured parameter for Usb source device

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git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@63 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2011-06-07 15:01:39 +00:00
parent 147bee0e63
commit 450aef86f7
7 changed files with 48 additions and 14 deletions
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corelib/WebcamCapture/main.cpp
+11 -9
View File
@@ -37,10 +37,11 @@ void showUsage()
" -device #: Id of the webcam (default 0)\n"
" -width #: Image width (default 640)\n"
" -height #: Image height (default 480)\n"
" -rawSize Resize image after capturing the with default size\n"
" -fps #.#: Frame rate (Hz) (default 2.0)\n"
" -show bool: Image shown while capturing (default true)\n"
" -hide : Image not shown while capturing (default true)\n"
" -dir \"path\": Path of the images saved (default \"./imagesCaptured\")\n"
" -save bool: Save images captured (default true)\n"
" -save : Save images captured (default true)\n"
" -startId #: Image id to start with (default 1)\n"
" -ext \"ext\": Image extension (default \"jpg\")\n"
" -debug: Debug trace\n");
@@ -121,10 +122,11 @@ int main(int argc, char * argv[])
int usbDevice = 0;
int imageWidth = 640;
int imageHeight = 480;
bool rawSize = false;
float imageRate = 2.0;
int startId = 1;
std::string extension = "jpg";
bool save = true;
bool save = false;
std::string targetDirectory = UDirectory::currentDir(true) + "imagesCaptured";
for(int i=1; i<argc; ++i)
@@ -176,10 +178,9 @@ int main(int argc, char * argv[])
++i;
}
if(strcmp(argv[i], "-show") == 0 && i+1<argc)
if(strcmp(argv[i], "-hide") == 0 && i+1<argc)
{
show = uStr2Bool(argv[i+1]);
++i;
show = false;
}
if(strcmp(argv[i], "-dir") == 0 && i+1<argc)
@@ -190,8 +191,7 @@ int main(int argc, char * argv[])
if(strcmp(argv[i], "-save") == 0 && i+1<argc)
{
save = uStr2Bool(argv[i+1]);
++i;
save = true;
}
if(strcmp(argv[i], "-debug") == 0)
@@ -217,6 +217,7 @@ int main(int argc, char * argv[])
" device=%d\n"
" width=%d\n"
" height=%d\n"
" rawSize=%d\n"
" hz=%f\n"
" show=%s\n"
" dir=%s\n"
@@ -226,6 +227,7 @@ int main(int argc, char * argv[])
usbDevice,
imageWidth,
imageHeight,
uBool2str(rawSize).c_str(),
imageRate,
uBool2str(show).c_str(),
targetDirectory.c_str(),
@@ -235,7 +237,7 @@ int main(int argc, char * argv[])
UDirectory::makeDir(targetDirectory);
rtabmap::CameraVideo cam(usbDevice, imageWidth, imageHeight, false, imageRate);
rtabmap::CameraVideo cam(usbDevice, rawSize, imageRate, false, imageWidth, imageHeight);
if(!cam.init())
{
printf("Can't initialize the camera...\n");
corelib/include/rtabmap/core/Camera.h
+1
View File
@@ -176,6 +176,7 @@ public:
public:
CameraVideo(int usbDevice = 0,
bool rawImageSizeCaptured = false,
float imageRate = 0,
bool autoRestart = false,
unsigned int imageWidth = 0,
corelib/src/Camera.cpp
+2 -1
View File
@@ -438,10 +438,11 @@ IplImage * CameraImages::takeImage()
// CameraVideo
/////////////////////////
CameraVideo::CameraVideo(int usbDevice,
bool rawImageSizeCaptured,
float imageRate,
bool autoRestart,
unsigned int imageWidth,
unsigned int imageHeight) :
unsigned int imageHeight) :
Camera(imageRate, autoRestart, imageWidth, imageHeight),
_capture(0),
_src(kUsbDevice),
guilib/include/rtabmap/gui/PreferencesDialog.h
+1
View File
@@ -111,6 +111,7 @@ public:
bool getSourceImagesRefreshDir() const; //Images group
QString getSourceVideoPath() const; //Video group
int getSourceUsbDeviceId() const; //UsbDevice group
bool isSourceUsbRawImageSizeCaptured() const; //UsbDevice group
QString getSourceDatabasePath() const; //Database group
bool getSourceDatabaseIgnoreChildren() const; //Database group
guilib/src/MainWindow.cpp
+1
View File
@@ -992,6 +992,7 @@ void MainWindow::startDetection()
{
_camera = new CameraVideo(
_preferencesDialog->getSourceUsbDeviceId(),
_preferencesDialog->isSourceUsbRawImageSizeCaptured(),
_preferencesDialog->getGeneralImageRate(),
_preferencesDialog->getGeneralAutoRestart(),
_preferencesDialog->getSourceWidth(),
guilib/src/PreferencesDialog.cpp
+7
View File
@@ -85,6 +85,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->general_checkBox_autoRestart, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
//usbDevice group
connect(_ui->source_usbDevice_spinBox_id, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->general_checkBox_rawImageSizeCaptured, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->source_spinBox_imgWidth, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->source_spinBox_imgheight, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
//images group
@@ -520,6 +521,7 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
//usbDevice group
settings.beginGroup("usbDevice");
_ui->source_usbDevice_spinBox_id->setValue(settings.value("id",_ui->source_usbDevice_spinBox_id->value()).toInt());
_ui->general_checkBox_rawImageSizeCaptured->setChecked(settings.value("rawImageSizeCaptured", _ui->general_checkBox_rawImageSizeCaptured->isChecked()).toBool());
settings.endGroup(); // usbDevice
//images group
settings.beginGroup("images");
@@ -659,6 +661,7 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath)
//usbDevice group
settings.beginGroup("usbDevice");
settings.setValue("id", _ui->source_usbDevice_spinBox_id->value());
settings.setValue("rawImageSizeCaptured", _ui->general_checkBox_rawImageSizeCaptured->isChecked());
settings.endGroup(); //usbDevice
//images group
settings.beginGroup("images");
@@ -1529,6 +1532,10 @@ int PreferencesDialog::getSourceUsbDeviceId() const
{
return _ui->source_usbDevice_spinBox_id->value();
}
bool PreferencesDialog::isSourceUsbRawImageSizeCaptured() const
{
return _ui->general_checkBox_rawImageSizeCaptured->isChecked();
}
QString PreferencesDialog::getSourceDatabasePath() const
{
return _ui->source_database_lineEdit_path->text();
guilib/src/ui/preferencesDialog.ui
+25 -4
View File
@@ -46,6 +46,9 @@
<attribute name="headerVisible">
<bool>false</bool>
</attribute>
<attribute name="headerVisible">
<bool>false</bool>
</attribute>
</widget>
</item>
<item>
@@ -65,7 +68,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>0</number>
<number>1</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29">
@@ -546,7 +549,7 @@ when using the file type, logs are saved in Logrtabmap.txt (located in the worki
<item>
<widget class="QStackedWidget" name="stackedWidget_2">
<property name="currentIndex">
<number>1</number>
<number>0</number>
</property>
<widget class="QWidget" name="page_7">
<layout class="QVBoxLayout" name="verticalLayout_30">
@@ -576,6 +579,24 @@ when using the file type, logs are saved in Logrtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="general_checkBox_rawImageSizeCaptured">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_13">
<property name="text">
<string>Raw image size captured.
If false, the usb driver is configured with the image width/height above. If true, the image is resized after the capture.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>
@@ -1050,8 +1071,8 @@ We can edit how will like the prediction used in the Bayes filter when there is
<rect>
<x>0</x>
<y>0</y>
<width>518</width>
<height>147</height>
<width>26</width>
<height>78</height>
</rect>
</property>
<layout class="QHBoxLayout" name="horizontalLayout_2">