reverted rawImageSizeCaptured parameter... (because OpenCV has already a default so native image over 640x480 cannot be extracted)

git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@68 f169173b-cf89-36c8-b27e-44dbe73f0c83

corelib/WebcamCapture/main.cpp

@@ -37,7 +37,6 @@ 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"
 			"   -hide :			    Image not shown while capturing (default true)\n"
 			"   -dir \"path\":		Path of the images saved (default \"./imagesCaptured\")\n"
@@ -122,7 +121,6 @@ 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";
@@ -217,7 +215,6 @@ int main(int argc, char * argv[])
 		   "   device=%d\n"
 		   "   width=%d\n"
 		   "   height=%d\n"
-		   "   rawSize=%s\n"
 		   "   hz=%f\n"
 		   "   show=%s\n"
 		   "   dir=%s\n"
@@ -227,7 +224,6 @@ int main(int argc, char * argv[])
 		   usbDevice, 
 		   imageWidth, 
 		   imageHeight, 
-		   uBool2str(rawSize).c_str(),
 		   imageRate, 
 		   uBool2str(show).c_str(), 
 		   targetDirectory.c_str(),
@@ -237,7 +233,7 @@ int main(int argc, char * argv[])
 
 	UDirectory::makeDir(targetDirectory);
 
-	rtabmap::CameraVideo cam(usbDevice, rawSize, imageRate, false, imageWidth, imageHeight);
+	rtabmap::CameraVideo cam(usbDevice, imageRate, false, imageWidth, imageHeight);
 	if(!cam.init())
 	{
 		printf("Can't initialize the camera...\n");

corelib/include/rtabmap/core/Camera.h

@@ -176,7 +176,6 @@ public:
 
 public:
 	CameraVideo(int usbDevice = 0,
-			bool rawImageSizeCaptured = false,
 			float imageRate = 0,
 			bool autoRestart = false,
 			unsigned int imageWidth = 0,
@@ -200,7 +199,6 @@ private:
 
 	// Usb camera
 	int _usbDevice;
-	bool _rawImageSizeCaptured;
 };
 
 

corelib/src/Camera.cpp

@@ -438,7 +438,6 @@ IplImage * CameraImages::takeImage()
 // CameraVideo
 /////////////////////////
 CameraVideo::CameraVideo(int usbDevice,
-						 bool rawImageSizeCaptured,
 						 float imageRate,
 						 bool autoRestart,
 						 unsigned int imageWidth,
@@ -446,8 +445,7 @@ CameraVideo::CameraVideo(int usbDevice,
 	Camera(imageRate, autoRestart, imageWidth, imageHeight),
 	_capture(0),
 	_src(kUsbDevice),
-	_usbDevice(usbDevice),
-	_rawImageSizeCaptured(rawImageSizeCaptured)
+	_usbDevice(usbDevice)
 {
 
 }
@@ -485,7 +483,7 @@ bool CameraVideo::init()
 	{
 		ULOGGER_DEBUG("CameraVideo::init() Usb device initialization on device %d with imgSize=[%d,%d]", _usbDevice, getImageWidth(), getImageHeight());
 		_capture = cvCaptureFromCAM(_usbDevice);
-		if(_capture && getImageWidth() && getImageHeight() && !_rawImageSizeCaptured)
+		if(_capture && getImageWidth() && getImageHeight())
 		{
 			cvSetCaptureProperty(_capture, CV_CAP_PROP_FRAME_WIDTH, double(getImageWidth()));
 			cvSetCaptureProperty(_capture, CV_CAP_PROP_FRAME_HEIGHT, double(getImageHeight()));

guilib/include/rtabmap/gui/PreferencesDialog.h

@@ -111,7 +111,6 @@ 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

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

guilib/src/PreferencesDialog.cpp

@@ -85,7 +85,6 @@ 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
@@ -521,7 +520,6 @@ 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");
@@ -661,7 +659,6 @@ 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");
@@ -1532,10 +1529,6 @@ 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

@@ -579,24 +579,6 @@ 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>
@@ -1071,7 +1053,7 @@ We can edit how will like the prediction used in the Bayes filter when there is
                     <rect>
                      <x>0</x>
                      <y>0</y>
-                     <width>26</width>
+                     <width>98</width>
                      <height>78</height>
                     </rect>
                    </property>