Refactored Camera classes and Preferences->Source menu

guilib/include/rtabmap/gui/MainWindow.h

@@ -86,13 +86,6 @@ public:
 		kMonitoringPaused
 	};
 
-	enum SrcType {
-		kSrcUndefined,
-		kSrcVideo,
-		kSrcImages,
-		kSrcStream
-	};
-
 public:
 	/**
 	 * @param prefDialog If NULL, a default dialog is created. This
@@ -141,10 +134,7 @@ private slots:
 	void deleteMemory();
 	void openWorkingDirectory();
 	void updateEditMenu();
-	void selectImages();
-	void selectVideo();
 	void selectStream();
-	void selectDatabase();
 	void selectOpenni();
 	void selectFreenect();
 	void selectOpenniCv();
@@ -161,6 +151,7 @@ private slots:
 	void downloadPoseGraph();
 	void clearTheCache();
 	void openPreferences();
+	void openPreferencesSource();
 	void setDefaultViews();
 	void selectScreenCaptureFormat(bool checked);
 	void takeScreenshot();
@@ -252,9 +243,6 @@ private:
 	rtabmap::DBReader * _dbReader;
 	rtabmap::OdometryThread * _odomThread;
 
-	SrcType _srcType;
-	QString _srcPath;
-
 	//Dialogs
 	PreferencesDialog * _preferencesDialog;
 	AboutDialog * _aboutDialog;

guilib/include/rtabmap/gui/OdometryViewer.h

@@ -58,6 +58,7 @@ protected:
 	virtual void handleEvent(UEvent * event);
 
 private slots:
+	void reset();
 	void processData(const rtabmap::OdometryEvent & odom);
 
 private:

guilib/include/rtabmap/gui/PreferencesDialog.h

@@ -59,7 +59,7 @@ namespace rtabmap {
 
 class Signature;
 class LoopClosureViewer;
-class CameraRGBD;
+class Camera;
 class CalibrationDialog;
 
 class RTABMAPGUI_EXP PreferencesDialog : public QDialog
@@ -79,19 +79,27 @@ public:
 	Q_DECLARE_FLAGS(PANEL_FLAGS, PanelFlag);
 
 	enum Src {
-		kSrcUndef,
-		kSrcUsbDevice,
-		kSrcImages,
-		kSrcVideo,
-		kSrcOpenNI_PCL,
-		kSrcFreenect,
-		kSrcOpenNI_CV,
-		kSrcOpenNI_CV_ASUS,
-		kSrcOpenNI2,
-		kSrcFreenect2,
-		kSrcStereoDC1394,
-		kSrcStereoFlyCapture2,
-		kSrcStereoImages
+		kSrcUndef = -1,
+
+		kSrcRGBD           = 0,
+		kSrcOpenNI_PCL     = 0,
+		kSrcFreenect       = 1,
+		kSrcOpenNI_CV      = 2,
+		kSrcOpenNI_CV_ASUS = 3,
+		kSrcOpenNI2        = 4,
+		kSrcFreenect2      = 5,
+
+		kSrcStereo         = 100,
+		kSrcDC1394         = 100,
+		kSrcFlyCapture2    = 101,
+		kSrcStereoImages   = 102,
+
+		kSrcRGB            = 200,
+		kSrcUsbDevice      = 200,
+		kSrcImages         = 201,
+		kSrcVideo          = 202,
+
+		kSrcDatabase       = 300
 	};
 
 public:
@@ -100,6 +108,7 @@ public:
 
 	virtual QString getIniFilePath() const;
 	void init();
+	void setCurrentPanelToSource();
 
 	// save stuff
 	void saveSettings();
@@ -162,26 +171,23 @@ public:
 	// source panel
 	double getGeneralInputRate() const;
 	bool isSourceMirroring() const;
-	bool isSourceImageUsed() const;
-	bool isSourceDatabaseUsed() const;
-	bool isSourceRGBDUsed() const;
-	PreferencesDialog::Src getSourceImageType() const;
-	QString getSourceImageTypeStr() const;
-	int getSourceWidth() const;
-	int getSourceHeight() const;
+	QString getCalibrationName() const;
+	PreferencesDialog::Src getSourceType() const;
+	PreferencesDialog::Src getSourceDriver() const;
+	QString getSourceDriverStr() const;
+	QString getSourceDevice() const;
+
 	QString getSourceImagesPath() const;	//Images group
 	QString getSourceImagesSuffix() const;	//Images group
 	int getSourceImagesSuffixIndex() const;	//Images group
 	int getSourceImagesStartPos() const;	//Images group
 	bool getSourceImagesRefreshDir() const;	//Images group
 	QString getSourceVideoPath() const;	//Video group
-	int getSourceUsbDeviceId() const;		//UsbDevice group
 	QString getSourceDatabasePath() const; //Database group
 	bool getSourceDatabaseOdometryIgnored() const; //Database group
 	bool getSourceDatabaseGoalDelayIgnored() const; //Database group
 	int getSourceDatabaseStartPos() const; //Database group
 	bool getSourceDatabaseStampsUsed() const;//Database group
-	Src getSourceRGBD() const; 			// Openni group
 	bool getSourceOpenni2AutoWhiteBalance() const;  //Openni group
 	bool getSourceOpenni2AutoExposure() const;  //Openni group
 	int getSourceOpenni2Exposure() const;  //Openni group
@@ -189,9 +195,8 @@ public:
 	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(bool forCalibration = false); // return camera should be deleted if not null
+	Transform getSourceLocalTransform() const;    //Openni group
+	Camera * createCamera(bool useRawImages = false); // return camera should be deleted if not null
 
 	int getIgnoredDCComponents() const;
 
@@ -221,9 +226,7 @@ public slots:
 	void setDetectionRate(double value);
 	void setTimeLimit(float value);
 	void setSLAMMode(bool enabled);
-	void selectSourceImage(Src src = kSrcUndef);
-	void selectSourceDatabase(bool user = false);
-	void selectSourceRGBD(Src src = kSrcUndef);
+	void selectSourceDriver(Src src);
 	void calibrate();
 
 private slots:
@@ -251,11 +254,19 @@ private slots:
 	void setupTreeView();
 	void updateBasicParameter();
 	void openDatabaseViewer();
+	void selectSourceDatabase();
 	void selectSourceStereoImagesStamps();
 	void selectSourceStereoImagesPath();
+	void selectSourceImagesPath();
+	void selectSourceVideoPath();
+	void selectSourceOniPath();
+	void selectSourceOni2Path();
+	void updateSourceGrpVisibility();
 	void updateRGBDCameraGroupBoxVisibility();
+	void updateRGBCameraGroupBoxVisibility();
+	void updateStereoCameraGroupBoxVisibility();
 	void testOdometry();
-	void testRGBDCamera();
+	void testCamera();
 
 protected:
 	virtual void showEvent ( QShowEvent * event );

guilib/src/AboutDialog.cpp

@@ -28,6 +28,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "AboutDialog.h"
 #include "rtabmap/core/Rtabmap.h"
 #include "rtabmap/core/CameraRGBD.h"
+#include "rtabmap/core/CameraStereo.h"
 #include "rtabmap/core/Graph.h"
 #include "ui_aboutDialog.h"
 #include <opencv2/core/version.hpp>

guilib/src/CalibrationDialog.cpp

@@ -167,6 +167,7 @@ void CalibrationDialog::setStereoMode(bool stereo)
 	ui_->lineEdit_R_2->setVisible(stereo_);
 	ui_->lineEdit_P_2->setVisible(stereo_);
 	ui_->radioButton_stereoRectified->setVisible(stereo_);
+	ui_->checkBox_switchImages->setVisible(stereo_);
 }
 
 void CalibrationDialog::setBoardWidth(int width)
@@ -234,8 +235,7 @@ void CalibrationDialog::handleEvent(UEvent * event)
 		if(event->getClassName().compare("CameraEvent") == 0)
 		{
 			rtabmap::CameraEvent * e = (rtabmap::CameraEvent *)event;
-			if(e->getCode() == rtabmap::CameraEvent::kCodeImage ||
-			   e->getCode() == rtabmap::CameraEvent::kCodeImageDepth)
+			if(e->getCode() == rtabmap::CameraEvent::kCodeData)
 			{
 				processingData_ = true;
 				QMetaObject::invokeMethod(this, "processImages",

guilib/src/CameraViewer.cpp

@@ -32,6 +32,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/gui/ImageView.h>
 #include <rtabmap/gui/CloudViewer.h>
 #include <rtabmap/gui/UCv2Qt.h>
+#include <rtabmap/utilite/ULogger.h>
 #include <QtCore/QMetaType>
 #include <QHBoxLayout>
 #include <QVBoxLayout>
@@ -76,17 +77,33 @@ CameraViewer::~CameraViewer()
 void CameraViewer::showImage(const rtabmap::SensorData & data)
 {
 	processingImages_ = true;
-	imageView_->setImage(uCvMat2QImage(data.imageRaw()));
-	imageView_->setImageDepth(uCvMat2QImage(data.depthOrRightRaw()));
-	if(!data.depthOrRightRaw().empty() && (data.stereoCameraModel().isValid() || data.cameraModels().size()))
+	if(!data.imageRaw().empty())
 	{
-		cloudView_->addOrUpdateCloud("cloud", util3d::cloudFromSensorData(data));
+		imageView_->setImage(uCvMat2QImage(data.imageRaw()));
+	}
+	if(!data.depthOrRightRaw().empty())
+	{
+		imageView_->setImageDepth(uCvMat2QImage(data.depthOrRightRaw()));
+	}
+	if((data.stereoCameraModel().isValid() || data.cameraModels().size()))
+	{
+		if(!data.imageRaw().empty() && !data.depthOrRightRaw().empty())
+		{
+			cloudView_->addOrUpdateCloud("cloud", util3d::cloudRGBFromSensorData(data));
+			cloudView_->setVisible(true);
+			cloudView_->update();
+		}
+		else if(!data.depthOrRightRaw().empty())
+		{
+			cloudView_->addOrUpdateCloud("cloud", util3d::cloudFromSensorData(data));
+			cloudView_->setVisible(true);
+			cloudView_->update();
+		}
 	}
 	else
 	{
 		cloudView_->setVisible(false);
 	}
-	cloudView_->update();
 	processingImages_ = false;
 }
 
@@ -95,8 +112,7 @@ void CameraViewer::handleEvent(UEvent * event)
 	if(event->getClassName().compare("CameraEvent") == 0)
 	{
 		CameraEvent * camEvent = (CameraEvent*)event;
-		if(camEvent->getCode() == CameraEvent::kCodeImageDepth ||
-		   camEvent->getCode() == CameraEvent::kCodeImage)
+		if(camEvent->getCode() == CameraEvent::kCodeData)
 		{
 			if(camEvent->data().isValid())
 			{

guilib/src/DataRecorder.cpp

@@ -171,8 +171,7 @@ void DataRecorder::handleEvent(UEvent * event)
 		if(event->getClassName().compare("CameraEvent") == 0)
 		{
 			CameraEvent * camEvent = (CameraEvent*)event;
-			if(camEvent->getCode() == CameraEvent::kCodeImageDepth ||
-			   camEvent->getCode() == CameraEvent::kCodeImage)
+			if(camEvent->getCode() == CameraEvent::kCodeData)
 			{
 				if(camEvent->data().isValid())
 				{

guilib/src/GuiLib.qrc

@@ -29,5 +29,6 @@
         <file>images/sense.png</file>
         <file>images/xtion_pro_live.png</file>
         <file>images/bumblebee2.png</file>
+	<file>images/webcam.png</file>
     </qresource>
 </RCC>

guilib/src/MainWindow.cpp

@@ -29,7 +29,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include "ui_mainWindow.h"
 
-#include "rtabmap/core/Camera.h"
+#include "rtabmap/core/CameraRGB.h"
+#include "rtabmap/core/CameraStereo.h"
 #include "rtabmap/core/CameraThread.h"
 #include "rtabmap/core/CameraEvent.h"
 #include "rtabmap/core/DBReader.h"
@@ -118,7 +119,6 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
 	_camera(0),
 	_dbReader(0),
 	_odomThread(0),
-	_srcType(kSrcUndefined),
 	_preferencesDialog(0),
 	_aboutDialog(0),
 	_exportDialog(0),
@@ -338,7 +338,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
 	_ui->actionPost_processing->setEnabled(false);
 
 	QToolButton* toolButton = new QToolButton(this);
-	toolButton->setMenu(_ui->menuRGB_D_camera);
+	toolButton->setMenu(_ui->menuSelect_source);
 	toolButton->setPopupMode(QToolButton::InstantPopup);
 	toolButton->setIcon(QIcon(":images/kinect_xbox_360.png"));
 	toolButton->setToolTip("Select sensor driver");
@@ -351,10 +351,8 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
 #endif
 
 	//Settings menu
-	connect(_ui->actionImageFiles, SIGNAL(triggered()), this, SLOT(selectImages()));
-	connect(_ui->actionVideo, SIGNAL(triggered()), this, SLOT(selectVideo()));
+	connect(_ui->actionMore_options, SIGNAL(triggered()), this, SLOT(openPreferencesSource()));
 	connect(_ui->actionUsbCamera, SIGNAL(triggered()), this, SLOT(selectStream()));
-	connect(_ui->actionDatabase, SIGNAL(triggered()), this, SLOT(selectDatabase()));
 	connect(_ui->actionOpenNI_PCL, SIGNAL(triggered()), this, SLOT(selectOpenni()));
 	connect(_ui->actionOpenNI_PCL_ASUS, SIGNAL(triggered()), this, SLOT(selectOpenni()));
 	connect(_ui->actionFreenect, SIGNAL(triggered()), this, SLOT(selectFreenect()));
@@ -2113,39 +2111,26 @@ void MainWindow::applyPrefSettings(PreferencesDialog::PANEL_FLAGS flags)
 		// Camera settings...
 		_ui->doubleSpinBox_stats_imgRate->setValue(_preferencesDialog->getGeneralInputRate());
 		this->updateSelectSourceMenu();
-		QString src;
-		if(_preferencesDialog->isSourceImageUsed())
-		{
-			src = _preferencesDialog->getSourceImageTypeStr();
-		}
-		else if(_preferencesDialog->isSourceDatabaseUsed())
-		{
-			src = "Database";
-		}
-		_ui->label_stats_source->setText(src);
+		_ui->label_stats_source->setText(_preferencesDialog->getSourceDriverStr());
 
 		if(_camera)
 		{
 			_camera->setImageRate(_preferencesDialog->getGeneralInputRate());
 
-			if(_camera->cameraRGBD() && dynamic_cast<CameraOpenNI2*>(_camera->cameraRGBD()) != 0)
+			if(_camera->camera() && dynamic_cast<CameraOpenNI2*>(_camera->camera()) != 0)
 			{
-				((CameraOpenNI2*)_camera->cameraRGBD())->setAutoWhiteBalance(_preferencesDialog->getSourceOpenni2AutoWhiteBalance());
-				((CameraOpenNI2*)_camera->cameraRGBD())->setAutoExposure(_preferencesDialog->getSourceOpenni2AutoExposure());
+				((CameraOpenNI2*)_camera->camera())->setAutoWhiteBalance(_preferencesDialog->getSourceOpenni2AutoWhiteBalance());
+				((CameraOpenNI2*)_camera->camera())->setAutoExposure(_preferencesDialog->getSourceOpenni2AutoExposure());
 				if(CameraOpenNI2::exposureGainAvailable())
 				{
-					((CameraOpenNI2*)_camera->cameraRGBD())->setExposure(_preferencesDialog->getSourceOpenni2Exposure());
-					((CameraOpenNI2*)_camera->cameraRGBD())->setGain(_preferencesDialog->getSourceOpenni2Gain());
+					((CameraOpenNI2*)_camera->camera())->setExposure(_preferencesDialog->getSourceOpenni2Exposure());
+					((CameraOpenNI2*)_camera->camera())->setGain(_preferencesDialog->getSourceOpenni2Gain());
 				}
 			}
-			if(_camera->camera())
+			if(_camera)
 			{
-				_camera->camera()->setMirroringEnabled(_preferencesDialog->isSourceMirroring());
-			}
-			if(_camera->cameraRGBD())
-			{
-				_camera->cameraRGBD()->setMirroringEnabled(_preferencesDialog->isSourceMirroring());
-				_camera->cameraRGBD()->setColorOnly(_preferencesDialog->isSourceRGBDColorOnly());
+				_camera->setMirroringEnabled(_preferencesDialog->isSourceMirroring());
+				_camera->setColorOnly(_preferencesDialog->isSourceRGBDColorOnly());
 			}
 		}
 		if(_dbReader)
@@ -2433,23 +2418,25 @@ bool MainWindow::eventFilter(QObject *obj, QEvent *event)
 
 void MainWindow::updateSelectSourceMenu()
 {
-	_ui->actionUsbCamera->setChecked(_preferencesDialog->isSourceImageUsed() && _preferencesDialog->getSourceImageType() == PreferencesDialog::kSrcUsbDevice);
-	_ui->actionImageFiles->setChecked(_preferencesDialog->isSourceImageUsed() && _preferencesDialog->getSourceImageType() == PreferencesDialog::kSrcImages);
-	_ui->actionVideo->setChecked(_preferencesDialog->isSourceImageUsed() && _preferencesDialog->getSourceImageType() == PreferencesDialog::kSrcVideo);
+	_ui->actionUsbCamera->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcUsbDevice);
 
-	_ui->actionDatabase->setChecked(_preferencesDialog->isSourceDatabaseUsed());
+	_ui->actionMore_options->setChecked(
+			_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcDatabase ||
+			_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcImages ||
+			_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcVideo ||
+			_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcStereoImages);
 
-	_ui->actionOpenNI_PCL->setChecked(_preferencesDialog->isSourceRGBDUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_PCL);
-	_ui->actionOpenNI_PCL_ASUS->setChecked(_preferencesDialog->isSourceRGBDUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_PCL);
-	_ui->actionFreenect->setChecked(_preferencesDialog->isSourceRGBDUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcFreenect);
-	_ui->actionOpenNI_CV->setChecked(_preferencesDialog->isSourceRGBDUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_CV);
-	_ui->actionOpenNI_CV_ASUS->setChecked(_preferencesDialog->isSourceRGBDUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_CV_ASUS);
-	_ui->actionOpenNI2->setChecked(_preferencesDialog->isSourceRGBDUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI2);
-	_ui->actionOpenNI2_kinect->setChecked(_preferencesDialog->isSourceRGBDUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI2);
-	_ui->actionOpenNI2_sense->setChecked(_preferencesDialog->isSourceRGBDUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI2);
-	_ui->actionFreenect2->setChecked(_preferencesDialog->isSourceRGBDUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcFreenect2);
-	_ui->actionStereoDC1394->setChecked(_preferencesDialog->isSourceRGBDUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcStereoDC1394);
-	_ui->actionStereoFlyCapture2->setChecked(_preferencesDialog->isSourceRGBDUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcStereoFlyCapture2);
+	_ui->actionOpenNI_PCL->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcOpenNI_PCL);
+	_ui->actionOpenNI_PCL_ASUS->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcOpenNI_PCL);
+	_ui->actionFreenect->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcFreenect);
+	_ui->actionOpenNI_CV->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcOpenNI_CV);
+	_ui->actionOpenNI_CV_ASUS->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcOpenNI_CV_ASUS);
+	_ui->actionOpenNI2->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcOpenNI2);
+	_ui->actionOpenNI2_kinect->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcOpenNI2);
+	_ui->actionOpenNI2_sense->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcOpenNI2);
+	_ui->actionFreenect2->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcFreenect2);
+	_ui->actionStereoDC1394->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcDC1394);
+	_ui->actionStereoFlyCapture2->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcFlyCapture2);
 }
 
 void MainWindow::changeImgRateSetting()
@@ -2674,11 +2661,9 @@ void MainWindow::startDetection()
 {
 	ParametersMap parameters = _preferencesDialog->getAllParameters();
 	// verify source with input rates
-	if((_preferencesDialog->isSourceImageUsed() &&
-			(_preferencesDialog->getSourceImageType() == PreferencesDialog::kSrcImages ||
-			 _preferencesDialog->getSourceImageType() == PreferencesDialog::kSrcVideo))
-	   ||
-	   _preferencesDialog->isSourceDatabaseUsed())
+	if(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcImages ||
+	   _preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcVideo ||
+	   _preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcDatabase)
 	{
 		float inputRate = _preferencesDialog->getGeneralInputRate();
 		float detectionRate = uStr2Float(parameters.at(Parameters::kRtabmapDetectionRate()));
@@ -2748,9 +2733,7 @@ void MainWindow::startDetection()
 	}
 
 	// Adjust pre-requirements
-	if( !_preferencesDialog->isSourceImageUsed() &&
-		!_preferencesDialog->isSourceDatabaseUsed() &&
-		!_preferencesDialog->isSourceRGBDUsed())
+	if(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcUndef)
 	{
 		QMessageBox::warning(this,
 				 tr("RTAB-Map"),
@@ -2760,41 +2743,19 @@ void MainWindow::startDetection()
 		return;
 	}
 
-	if(_preferencesDialog->isSourceRGBDUsed())
-	{
-		CameraRGBD * camera = _preferencesDialog->createCameraRGBD();
 
-		if(!camera->init(_preferencesDialog->getCameraInfoDir().toStdString()))
+	if(_preferencesDialog->getSourceDriver() < PreferencesDialog::kSrcDatabase)
+	{
+		Camera * camera = _preferencesDialog->createCamera();
+		if(!camera)
 		{
-			ULOGGER_WARN("init camera failed... ");
-			QMessageBox::warning(this,
-								   tr("RTAB-Map"),
-								   tr("Camera initialization failed..."));
 			emit stateChanged(kInitialized);
-			delete camera;
-			camera = 0;
-			if(_odomThread)
-			{
-				delete _odomThread;
-				_odomThread = 0;
-			}
 			return;
 		}
-		else if(dynamic_cast<CameraOpenNI2*>(camera) != 0)
-		{
-			((CameraOpenNI2*)camera)->setAutoWhiteBalance(_preferencesDialog->getSourceOpenni2AutoWhiteBalance());
-			((CameraOpenNI2*)camera)->setAutoExposure(_preferencesDialog->getSourceOpenni2AutoExposure());
-			((CameraOpenNI2*)camera)->setMirroring(_preferencesDialog->getSourceOpenni2Mirroring());
-			if(CameraOpenNI2::exposureGainAvailable())
-			{
-				((CameraOpenNI2*)camera)->setExposure(_preferencesDialog->getSourceOpenni2Exposure());
-				((CameraOpenNI2*)camera)->setGain(_preferencesDialog->getSourceOpenni2Gain());
-			}
-		}
-		camera->setMirroringEnabled(_preferencesDialog->isSourceMirroring());
-		camera->setColorOnly(_preferencesDialog->isSourceRGBDColorOnly());
 
 		_camera = new CameraThread(camera);
+		_camera->setMirroringEnabled(_preferencesDialog->isSourceMirroring());
+		_camera->setColorOnly(_preferencesDialog->isSourceRGBDColorOnly());
 
 		//Create odometry thread if rgbd slam
 		if(uStr2Bool(parameters.at(Parameters::kRGBDEnabled()).c_str()))
@@ -2823,6 +2784,7 @@ void MainWindow::startDetection()
 				{
 					UERROR("OdomThread must be already deleted here?!");
 					delete _odomThread;
+					_odomThread = 0;
 				}
 				Odometry * odom;
 				if(_preferencesDialog->getOdomStrategy() == 1)
@@ -2845,7 +2807,7 @@ void MainWindow::startDetection()
 			}
 		}
 	}
-	else if(_preferencesDialog->isSourceDatabaseUsed())
+	else if(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcDatabase)
 	{
 		_dbReader = new DBReader(_preferencesDialog->getSourceDatabasePath().toStdString(),
 								 _preferencesDialog->getSourceDatabaseStampsUsed()?-1:_preferencesDialog->getGeneralInputRate(),
@@ -2902,58 +2864,6 @@ void MainWindow::startDetection()
 			UEventsManager::createPipe(_dbReader, _odomThread, "CameraEvent");
 		}
 	}
-	else
-	{
-		if(_preferencesDialog->isSourceImageUsed())
-		{
-			Camera * camera = 0;
-			// Change type of the camera...
-			//
-			int sourceType = _preferencesDialog->getSourceImageType();
-			UASSERT(sourceType >= PreferencesDialog::kSrcUsbDevice && sourceType <= PreferencesDialog::kSrcVideo);
-			if(sourceType == PreferencesDialog::kSrcImages) //Images
-			{
-				camera = new CameraImages(
-						_preferencesDialog->getSourceImagesPath().append(QDir::separator()).toStdString(),
-						_preferencesDialog->getSourceImagesStartPos(),
-						_preferencesDialog->getSourceImagesRefreshDir(),
-						_preferencesDialog->getGeneralInputRate(),
-						_preferencesDialog->getSourceWidth(),
-						_preferencesDialog->getSourceHeight());
-			}
-			else if(sourceType == PreferencesDialog::kSrcVideo)
-			{
-				camera = new CameraVideo(
-						_preferencesDialog->getSourceVideoPath().toStdString(),
-						_preferencesDialog->getGeneralInputRate(),
-						_preferencesDialog->getSourceWidth(),
-						_preferencesDialog->getSourceHeight());
-			}
-			else //if(sourceType == PreferencesDialog::kSrcUsbDevice)
-			{
-				camera = new CameraVideo(
-						_preferencesDialog->getSourceUsbDeviceId(),
-						_preferencesDialog->getGeneralInputRate(),
-						_preferencesDialog->getSourceWidth(),
-						_preferencesDialog->getSourceHeight());
-			}
-
-			if(!camera->init())
-			{
-				ULOGGER_WARN("init camera failed... ");
-				QMessageBox::warning(this,
-									   tr("RTAB-Map"),
-									   tr("Camera initialization failed..."));
-				emit stateChanged(kInitialized);
-				delete camera;
-				camera = 0;
-				return;
-			}
-			camera->setMirroringEnabled(_preferencesDialog->isSourceMirroring());
-
-			_camera = new CameraThread(camera);
-		}
-	}
 
 	if(_dataRecorder)
 	{
@@ -3810,64 +3720,49 @@ void MainWindow::updateEditMenu()
 	}
 }
 
-void MainWindow::selectImages()
-{
-	_preferencesDialog->selectSourceImage(PreferencesDialog::kSrcImages);
-}
-
-void MainWindow::selectVideo()
-{
-	_preferencesDialog->selectSourceImage(PreferencesDialog::kSrcVideo);
-}
-
 void MainWindow::selectStream()
 {
-	_preferencesDialog->selectSourceImage(PreferencesDialog::kSrcUsbDevice);
-}
-
-void MainWindow::selectDatabase()
-{
-	_preferencesDialog->selectSourceDatabase(true);
+	_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcUsbDevice);
 }
 
 void MainWindow::selectOpenni()
 {
-	_preferencesDialog->selectSourceRGBD(PreferencesDialog::kSrcOpenNI_PCL);
+	_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcOpenNI_PCL);
 }
 
 void MainWindow::selectFreenect()
 {
-	_preferencesDialog->selectSourceRGBD(PreferencesDialog::kSrcFreenect);
+	_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcFreenect);
 }
 
 void MainWindow::selectOpenniCv()
 {
-	_preferencesDialog->selectSourceRGBD(PreferencesDialog::kSrcOpenNI_CV);
+	_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcOpenNI_CV);
 }
 
 void MainWindow::selectOpenniCvAsus()
 {
-	_preferencesDialog->selectSourceRGBD(PreferencesDialog::kSrcOpenNI_CV_ASUS);
+	_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcOpenNI_CV_ASUS);
 }
 
 void MainWindow::selectOpenni2()
 {
-	_preferencesDialog->selectSourceRGBD(PreferencesDialog::kSrcOpenNI2);
+	_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcOpenNI2);
 }
 
 void MainWindow::selectFreenect2()
 {
-	_preferencesDialog->selectSourceRGBD(PreferencesDialog::kSrcFreenect2);
+	_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcFreenect2);
 }
 
 void MainWindow::selectStereoDC1394()
 {
-	_preferencesDialog->selectSourceRGBD(PreferencesDialog::kSrcStereoDC1394);
+	_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcDC1394);
 }
 
 void MainWindow::selectStereoFlyCapture2()
 {
-	_preferencesDialog->selectSourceRGBD(PreferencesDialog::kSrcStereoFlyCapture2);
+	_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcFlyCapture2);
 }
 
 
@@ -4116,6 +4011,13 @@ void MainWindow::openPreferences()
 	_preferencesDialog->exec();
 }
 
+void MainWindow::openPreferencesSource()
+{
+	_preferencesDialog->setCurrentPanelToSource();
+	openPreferences();
+	this->updateSelectSourceMenu();
+}
+
 void MainWindow::setDefaultViews()
 {
 	_ui->dockWidget_posterior->setVisible(false);

guilib/src/OdometryViewer.cpp

@@ -97,8 +97,10 @@ OdometryViewer::OdometryViewer(int maxClouds, int decimation, float voxelSize, f
 	decimationSpin_->setMaximum(16);
 	decimationSpin_->setValue(decimation);
 	timeLabel_ = new QLabel(this);
+	QPushButton * resetButton = new QPushButton("reset", this);
 	QPushButton * clearButton = new QPushButton("clear", this);
 	QPushButton * closeButton = new QPushButton("close", this);
+	connect(resetButton, SIGNAL(clicked()), this, SLOT(reset()));
 	connect(clearButton, SIGNAL(clicked()), this, SLOT(clear()));
 	connect(closeButton, SIGNAL(clicked()), this, SLOT(reject()));
 
@@ -121,6 +123,7 @@ OdometryViewer::OdometryViewer(int maxClouds, int decimation, float voxelSize, f
 	hlayout2->addWidget(decimationSpin_);
 	hlayout2->addWidget(timeLabel_);
 	hlayout2->addStretch(1);
+	hlayout2->addWidget(resetButton);
 	hlayout2->addWidget(clearButton);
 	hlayout2->addWidget(closeButton);
 
@@ -140,6 +143,11 @@ OdometryViewer::~OdometryViewer()
 	UDEBUG("");
 }
 
+void OdometryViewer::reset()
+{
+	this->post(new OdometryResetEvent());
+}
+
 void OdometryViewer::clear()
 {
 	addedClouds_.clear();

guilib/src/ui/mainWindow.ui

@@ -95,16 +95,22 @@
      </property>
      <widget class="QMenu" name="menuImage">
       <property name="title">
-       <string>Image-only</string>
+       <string>RGB camera</string>
+      </property>
+      <property name="icon">
+       <iconset resource="../GuiLib.qrc">
+        <normaloff>:/images/webcam.png</normaloff>:/images/webcam.png</iconset>
       </property>
       <addaction name="actionUsbCamera"/>
-      <addaction name="actionImageFiles"/>
-      <addaction name="actionVideo"/>
      </widget>
      <widget class="QMenu" name="menuRGB_D_camera">
       <property name="title">
        <string>RGB-D camera</string>
       </property>
+      <property name="icon">
+       <iconset resource="../GuiLib.qrc">
+        <normaloff>:/images/kinect_xbox_360.png</normaloff>:/images/kinect_xbox_360.png</iconset>
+      </property>
       <widget class="QMenu" name="menuKinect_for_Xbox_360">
        <property name="title">
         <string>Kinect</string>
@@ -150,7 +156,20 @@
        </property>
        <addaction name="actionFreenect2"/>
       </widget>
-      <widget class="QMenu" name="menuBumblebee2">
+      <addaction name="menuKinect_for_Xbox_360"/>
+      <addaction name="menuXtion_PRO_LIVE"/>
+      <addaction name="menuSense_3D_scanner"/>
+      <addaction name="menuKinect_v2"/>
+     </widget>
+     <widget class="QMenu" name="menuStereo_camera">
+      <property name="title">
+       <string>Stereo camera</string>
+      </property>
+      <property name="icon">
+       <iconset resource="../GuiLib.qrc">
+        <normaloff>:/images/bumblebee2.png</normaloff>:/images/bumblebee2.png</iconset>
+      </property>
+      <widget class="QMenu" name="menuBumblebee2_2">
        <property name="title">
         <string>Bumblebee2</string>
        </property>
@@ -161,15 +180,12 @@
        <addaction name="actionStereoDC1394"/>
        <addaction name="actionStereoFlyCapture2"/>
       </widget>
-      <addaction name="menuKinect_for_Xbox_360"/>
-      <addaction name="menuXtion_PRO_LIVE"/>
-      <addaction name="menuSense_3D_scanner"/>
-      <addaction name="menuKinect_v2"/>
-      <addaction name="menuBumblebee2"/>
+      <addaction name="menuBumblebee2_2"/>
      </widget>
      <addaction name="menuRGB_D_camera"/>
+     <addaction name="menuStereo_camera"/>
      <addaction name="menuImage"/>
-     <addaction name="actionDatabase"/>
+     <addaction name="actionMore_options"/>
     </widget>
     <addaction name="menuSelect_source"/>
     <addaction name="separator"/>
@@ -946,34 +962,14 @@
    <property name="checkable">
     <bool>true</bool>
    </property>
+   <property name="icon">
+    <iconset resource="../GuiLib.qrc">
+     <normaloff>:/images/webcam.png</normaloff>:/images/webcam.png</iconset>
+   </property>
    <property name="text">
     <string>Usb camera</string>
    </property>
   </action>
-  <action name="actionImageFiles">
-   <property name="checkable">
-    <bool>true</bool>
-   </property>
-   <property name="text">
-    <string>Images...</string>
-   </property>
-  </action>
-  <action name="actionVideo">
-   <property name="checkable">
-    <bool>true</bool>
-   </property>
-   <property name="text">
-    <string>Video...</string>
-   </property>
-  </action>
-  <action name="actionDatabase">
-   <property name="checkable">
-    <bool>true</bool>
-   </property>
-   <property name="text">
-    <string>Database...</string>
-   </property>
-  </action>
   <action name="actionGenerate_local_map">
    <property name="text">
     <string>Generate graph local map (*.dot)...</string>
@@ -1203,7 +1199,7 @@
   </action>
   <action name="actionStereoFlyCapture2">
    <property name="text">
-    <string>StereoFlyCapture2</string>
+    <string>FlyCapture2</string>
    </property>
   </action>
   <action name="actionSend_goal">
@@ -1226,6 +1222,14 @@
     <string>Default views</string>
    </property>
   </action>
+  <action name="actionMore_options">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>More options...</string>
+   </property>
+  </action>
  </widget>
  <customwidgets>
   <customwidget>