Added rawImageSizeCaptured parameter for Usb source device

git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@63 f169173b-cf89-36c8-b27e-44dbe73f0c83

guilib/src/MainWindow.cpp

@@ -992,6 +992,7 @@ void MainWindow::startDetection()
 	{
 		_camera = new CameraVideo(
 				_preferencesDialog->getSourceUsbDeviceId(),
+				_preferencesDialog->isSourceUsbRawImageSizeCaptured(),
 				_preferencesDialog->getGeneralImageRate(),
 				_preferencesDialog->getGeneralAutoRestart(),
 				_preferencesDialog->getSourceWidth(),

guilib/src/PreferencesDialog.cpp

@@ -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

@@ -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">