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Added message box when calibration cannot be done on a specified driver. Added HD option in Source panel for Freenect 2.

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This commit is contained in:
Mathieu Labbe
2015-05-05 18:21:43 -04:00
parent f32319f0dc
commit 679d9deca0
4 changed files with 125 additions and 36 deletions
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5
guilib/include/rtabmap/gui/PreferencesDialog.h
View File

@@ -186,10 +186,11 @@ public:
int getSourceOpenni2Exposure() const; //Openni group
int getSourceOpenni2Gain() const; //Openni group
bool getSourceOpenni2Mirroring() const; //Openni group
int getSourceFreenect2Format() const; //Openni group
bool isSourceRGBDColorOnly() const;
QString getSourceOpenniDevice() const; //Openni group
Transform getSourceOpenniLocalTransform() const; //Openni group
CameraRGBD * createCameraRGBD() const; // return camera should be deleted if not null
CameraRGBD * createCameraRGBD(bool forCalibration = false); // return camera should be deleted if not null
int getIgnoredDCComponents() const;
@@ -247,7 +248,7 @@ private slots:
void setupTreeView();
void updateBasicParameter();
void openDatabaseViewer();
void updateOpenNI2GroupBoxVisibility();
void updateRGBDCameraGroupBoxVisibility();
void testOdometry();
void testRGBDCamera();

105
guilib/src/PreferencesDialog.cpp
View File

@@ -167,7 +167,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->openni2_gain->setEnabled(CameraOpenNI2::exposureGainAvailable());
// Default Driver
connect(_ui->comboBox_cameraRGBD, SIGNAL(currentIndexChanged(int)), this, SLOT(updateOpenNI2GroupBoxVisibility()));
connect(_ui->comboBox_cameraRGBD, SIGNAL(currentIndexChanged(int)), this, SLOT(updateRGBDCameraGroupBoxVisibility()));
this->resetSettings(_ui->groupBox_source0);
_ui->predictionPlot->showLegend(false);
@@ -310,6 +310,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->openni2_exposure, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->openni2_gain, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->openni2_mirroring, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->comboBox_freenect2Format, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkbox_rgbd_colorOnly, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->lineEdit_openniDevice, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->lineEdit_openniLocalTransform, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
@@ -970,6 +971,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->openni2_exposure->setValue(0);
_ui->openni2_gain->setValue(100);
_ui->openni2_mirroring->setChecked(false);
_ui->comboBox_freenect2Format->setCurrentIndex(0);
_ui->checkbox_rgbd_colorOnly->setChecked(false);
_ui->lineEdit_openniDevice->setText("");
_ui->lineEdit_openniLocalTransform->setText("0 0 0 -PI_2 0 -PI_2");
@@ -1234,6 +1236,7 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
_ui->openni2_exposure->setValue(settings.value("openni2Exposure", _ui->openni2_exposure->value()).toInt());
_ui->openni2_gain->setValue(settings.value("openni2Gain", _ui->openni2_gain->value()).toInt());
_ui->openni2_mirroring->setChecked(settings.value("openni2Mirroring", _ui->openni2_mirroring->isChecked()).toBool());
_ui->comboBox_freenect2Format->setCurrentIndex(settings.value("freenect2Format", _ui->comboBox_freenect2Format->currentIndex()).toInt());
_ui->checkbox_rgbd_colorOnly->setChecked(settings.value("rgbdColorOnly", _ui->checkbox_rgbd_colorOnly->isChecked()).toBool());
_ui->lineEdit_openniDevice->setText(settings.value("device",_ui->lineEdit_openniDevice->text()).toString());
_ui->lineEdit_openniLocalTransform->setText(settings.value("localTransform",_ui->lineEdit_openniLocalTransform->text()).toString());
@@ -1503,6 +1506,7 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.setValue("openni2Exposure", _ui->openni2_exposure->value());
settings.setValue("openni2Gain", _ui->openni2_gain->value());
settings.setValue("openni2Mirroring", _ui->openni2_mirroring->isChecked());
settings.setValue("freenect2Format", _ui->comboBox_freenect2Format->currentIndex());
settings.setValue("rgbdColorOnly", _ui->checkbox_rgbd_colorOnly->isChecked());
settings.setValue("device", _ui->lineEdit_openniDevice->text());
settings.setValue("localTransform", _ui->lineEdit_openniLocalTransform->text());
@@ -2829,9 +2833,10 @@ void PreferencesDialog::changeDictionaryPath()
}
}
void PreferencesDialog::updateOpenNI2GroupBoxVisibility()
void PreferencesDialog::updateRGBDCameraGroupBoxVisibility()
{
_ui->groupBox_openni2->setVisible(_ui->comboBox_cameraRGBD->currentIndex() == kSrcOpenNI2-kSrcOpenNI_PCL);
_ui->groupBox_freenect2->setVisible(_ui->comboBox_cameraRGBD->currentIndex() == kSrcFreenect2-kSrcOpenNI_PCL);
}
/*** GETTERS ***/
@@ -3104,6 +3109,11 @@ bool PreferencesDialog::getSourceOpenni2Mirroring() const
{
return _ui->openni2_mirroring->isChecked();
}
int PreferencesDialog::getSourceFreenect2Format() const
{
return _ui->comboBox_freenect2Format->currentIndex();
}
bool PreferencesDialog::isSourceRGBDColorOnly() const
{
return _ui->checkbox_rgbd_colorOnly->isChecked();
@@ -3144,42 +3154,82 @@ Transform PreferencesDialog::getSourceOpenniLocalTransform() const
return t;
}
CameraRGBD * PreferencesDialog::createCameraRGBD() const
CameraRGBD * PreferencesDialog::createCameraRGBD(bool forCalibration)
{
if(this->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_PCL)
{
return new CameraOpenni(
this->getSourceOpenniDevice().toStdString(),
this->getGeneralInputRate(),
this->getSourceOpenniLocalTransform());
if(forCalibration)
{
QMessageBox::warning(this, tr("Calibration"),
tr("RTAB-Map calibration for \"OpenNI\" driver is not yet supported. "
"Factory calibration loaded from OpenNI is used."), QMessageBox::Ok);
return 0;
}
else
{
return new CameraOpenni(
this->getSourceOpenniDevice().toStdString(),
this->getGeneralInputRate(),
this->getSourceOpenniLocalTransform());
}
}
else if(this->getSourceRGBD() == PreferencesDialog::kSrcOpenNI2)
{
return new CameraOpenNI2(
this->getSourceOpenniDevice().toStdString(),
this->getGeneralInputRate(),
this->getSourceOpenniLocalTransform());
if(forCalibration)
{
QMessageBox::warning(this, tr("Calibration"),
tr("RTAB-Map calibration for \"OpenNI2\" driver is not yet supported. "
"Factory calibration loaded from OpenNI2 is used."), QMessageBox::Ok);
return 0;
}
else
{
return new CameraOpenNI2(
this->getSourceOpenniDevice().toStdString(),
this->getGeneralInputRate(),
this->getSourceOpenniLocalTransform());
}
}
else if(this->getSourceRGBD() == PreferencesDialog::kSrcFreenect)
{
return new CameraFreenect(
this->getSourceOpenniDevice().isEmpty()?0:atoi(this->getSourceOpenniDevice().toStdString().c_str()),
this->getGeneralInputRate(),
this->getSourceOpenniLocalTransform());
if(forCalibration)
{
QMessageBox::warning(this, tr("Calibration"),
tr("RTAB-Map calibration for \"Freenect\" driver is not yet supported. "
"Factory calibration loaded from Freenect is used."), QMessageBox::Ok);
return 0;
}
else
{
return new CameraFreenect(
this->getSourceOpenniDevice().isEmpty()?0:atoi(this->getSourceOpenniDevice().toStdString().c_str()),
this->getGeneralInputRate(),
this->getSourceOpenniLocalTransform());
}
}
else if(this->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_CV ||
this->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_CV_ASUS)
{
return new CameraOpenNICV(
this->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_CV_ASUS,
this->getGeneralInputRate(),
this->getSourceOpenniLocalTransform());
if(forCalibration)
{
QMessageBox::warning(this, tr("Calibration"),
tr("RTAB-Map calibration for \"OpenNI\" driver is not yet supported. "
"Factory calibration loaded from OpenNI is used."), QMessageBox::Ok);
return 0;
}
else
{
return new CameraOpenNICV(
this->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_CV_ASUS,
this->getGeneralInputRate(),
this->getSourceOpenniLocalTransform());
}
}
else if(this->getSourceRGBD() == kSrcFreenect2)
{
return new CameraFreenect2(
this->getSourceOpenniDevice().isEmpty()?0:atoi(this->getSourceOpenniDevice().toStdString().c_str()),
CameraFreenect2::kTypeRGBDepthSD,
forCalibration?CameraFreenect2::kTypeRGBIR:(CameraFreenect2::Type)getSourceFreenect2Format(),
this->getGeneralInputRate(),
this->getSourceOpenniLocalTransform());
}
@@ -3429,12 +3479,17 @@ void PreferencesDialog::testRGBDCamera()
void PreferencesDialog::calibrate()
{
CameraRGBD * camera = this->createCameraRGBD();
CameraRGBD * camera = this->createCameraRGBD(true);
if(camera == 0 || !camera->init("")) // don't set calibration folder to use raw images
{
QMessageBox::warning(this,
tr("RTAB-Map"),
tr("RGBD camera initialization failed!"));
if(camera != 0)
{
QMessageBox::warning(this,
tr("RTAB-Map"),
tr("RGBD camera initialization failed!"));
}
//else already warned
if(camera)
{
delete camera;
@@ -3467,7 +3522,7 @@ void PreferencesDialog::calibrate()
}
}
}
_calibrationDialog->setStereoMode(dynamic_cast<CameraStereoDC1394*>(camera)!=0);
_calibrationDialog->setStereoMode(true);
_calibrationDialog->setSavingDirectory(this->getCameraInfoDir());
_calibrationDialog->registerToEventsManager();

42
guilib/src/ui/preferencesDialog.ui
View File

@@ -63,9 +63,9 @@
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<y>-485</y>
<width>760</width>
<height>1029</height>
<height>1132</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>0</number>
<number>3</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29">
@@ -1943,6 +1943,42 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_freenect2">
<property name="title">
<string>Freenect2</string>
</property>
<layout class="QGridLayout" name="gridLayout_56" columnstretch="0,1">
<item row="0" column="1">
<widget class="QLabel" name="label_230">
<property name="text">
<string>Format.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QComboBox" name="comboBox_freenect2Format">
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
</property>
<item>
<property name="text">
<string>RGB+Depth SD</string>
</property>
</item>
<item>
<property name="text">
<string>RGB+Depth HD</string>
</property>
</item>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<layout class="QFormLayout" name="formLayout">
<property name="fieldGrowthPolicy">