mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 17:40:23 +08:00
Refactored Camera classes and Preferences->Source menu
This commit is contained in:
matlabbe
@@ -29,7 +29,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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#include "ui_mainWindow.h"
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#include "rtabmap/core/Camera.h"
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#include "rtabmap/core/CameraRGB.h"
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#include "rtabmap/core/CameraStereo.h"
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#include "rtabmap/core/CameraThread.h"
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#include "rtabmap/core/CameraEvent.h"
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#include "rtabmap/core/DBReader.h"
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@@ -118,7 +119,6 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
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_camera(0),
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_dbReader(0),
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_odomThread(0),
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_srcType(kSrcUndefined),
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_preferencesDialog(0),
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_aboutDialog(0),
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_exportDialog(0),
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@@ -338,7 +338,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
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_ui->actionPost_processing->setEnabled(false);
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QToolButton* toolButton = new QToolButton(this);
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toolButton->setMenu(_ui->menuRGB_D_camera);
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toolButton->setMenu(_ui->menuSelect_source);
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toolButton->setPopupMode(QToolButton::InstantPopup);
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toolButton->setIcon(QIcon(":images/kinect_xbox_360.png"));
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toolButton->setToolTip("Select sensor driver");
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@@ -351,10 +351,8 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
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#endif
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//Settings menu
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connect(_ui->actionImageFiles, SIGNAL(triggered()), this, SLOT(selectImages()));
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connect(_ui->actionVideo, SIGNAL(triggered()), this, SLOT(selectVideo()));
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connect(_ui->actionMore_options, SIGNAL(triggered()), this, SLOT(openPreferencesSource()));
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connect(_ui->actionUsbCamera, SIGNAL(triggered()), this, SLOT(selectStream()));
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connect(_ui->actionDatabase, SIGNAL(triggered()), this, SLOT(selectDatabase()));
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connect(_ui->actionOpenNI_PCL, SIGNAL(triggered()), this, SLOT(selectOpenni()));
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connect(_ui->actionOpenNI_PCL_ASUS, SIGNAL(triggered()), this, SLOT(selectOpenni()));
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connect(_ui->actionFreenect, SIGNAL(triggered()), this, SLOT(selectFreenect()));
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@@ -2113,39 +2111,26 @@ void MainWindow::applyPrefSettings(PreferencesDialog::PANEL_FLAGS flags)
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// Camera settings...
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_ui->doubleSpinBox_stats_imgRate->setValue(_preferencesDialog->getGeneralInputRate());
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this->updateSelectSourceMenu();
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QString src;
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if(_preferencesDialog->isSourceImageUsed())
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{
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src = _preferencesDialog->getSourceImageTypeStr();
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}
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else if(_preferencesDialog->isSourceDatabaseUsed())
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{
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src = "Database";
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}
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_ui->label_stats_source->setText(src);
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_ui->label_stats_source->setText(_preferencesDialog->getSourceDriverStr());
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if(_camera)
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{
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_camera->setImageRate(_preferencesDialog->getGeneralInputRate());
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if(_camera->cameraRGBD() && dynamic_cast<CameraOpenNI2*>(_camera->cameraRGBD()) != 0)
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if(_camera->camera() && dynamic_cast<CameraOpenNI2*>(_camera->camera()) != 0)
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{
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((CameraOpenNI2*)_camera->cameraRGBD())->setAutoWhiteBalance(_preferencesDialog->getSourceOpenni2AutoWhiteBalance());
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((CameraOpenNI2*)_camera->cameraRGBD())->setAutoExposure(_preferencesDialog->getSourceOpenni2AutoExposure());
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((CameraOpenNI2*)_camera->camera())->setAutoWhiteBalance(_preferencesDialog->getSourceOpenni2AutoWhiteBalance());
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((CameraOpenNI2*)_camera->camera())->setAutoExposure(_preferencesDialog->getSourceOpenni2AutoExposure());
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if(CameraOpenNI2::exposureGainAvailable())
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{
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((CameraOpenNI2*)_camera->cameraRGBD())->setExposure(_preferencesDialog->getSourceOpenni2Exposure());
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((CameraOpenNI2*)_camera->cameraRGBD())->setGain(_preferencesDialog->getSourceOpenni2Gain());
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((CameraOpenNI2*)_camera->camera())->setExposure(_preferencesDialog->getSourceOpenni2Exposure());
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((CameraOpenNI2*)_camera->camera())->setGain(_preferencesDialog->getSourceOpenni2Gain());
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}
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}
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if(_camera->camera())
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if(_camera)
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{
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_camera->camera()->setMirroringEnabled(_preferencesDialog->isSourceMirroring());
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}
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if(_camera->cameraRGBD())
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{
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_camera->cameraRGBD()->setMirroringEnabled(_preferencesDialog->isSourceMirroring());
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_camera->cameraRGBD()->setColorOnly(_preferencesDialog->isSourceRGBDColorOnly());
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_camera->setMirroringEnabled(_preferencesDialog->isSourceMirroring());
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_camera->setColorOnly(_preferencesDialog->isSourceRGBDColorOnly());
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}
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}
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if(_dbReader)
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@@ -2433,23 +2418,25 @@ bool MainWindow::eventFilter(QObject *obj, QEvent *event)
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void MainWindow::updateSelectSourceMenu()
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{
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_ui->actionUsbCamera->setChecked(_preferencesDialog->isSourceImageUsed() && _preferencesDialog->getSourceImageType() == PreferencesDialog::kSrcUsbDevice);
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_ui->actionImageFiles->setChecked(_preferencesDialog->isSourceImageUsed() && _preferencesDialog->getSourceImageType() == PreferencesDialog::kSrcImages);
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_ui->actionVideo->setChecked(_preferencesDialog->isSourceImageUsed() && _preferencesDialog->getSourceImageType() == PreferencesDialog::kSrcVideo);
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_ui->actionUsbCamera->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcUsbDevice);
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_ui->actionDatabase->setChecked(_preferencesDialog->isSourceDatabaseUsed());
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_ui->actionMore_options->setChecked(
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_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcDatabase ||
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_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcImages ||
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_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcVideo ||
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_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcStereoImages);
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_ui->actionOpenNI_PCL->setChecked(_preferencesDialog->isSourceRGBDUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_PCL);
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_ui->actionOpenNI_PCL_ASUS->setChecked(_preferencesDialog->isSourceRGBDUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_PCL);
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_ui->actionFreenect->setChecked(_preferencesDialog->isSourceRGBDUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcFreenect);
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_ui->actionOpenNI_CV->setChecked(_preferencesDialog->isSourceRGBDUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_CV);
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_ui->actionOpenNI_CV_ASUS->setChecked(_preferencesDialog->isSourceRGBDUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_CV_ASUS);
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_ui->actionOpenNI2->setChecked(_preferencesDialog->isSourceRGBDUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI2);
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_ui->actionOpenNI2_kinect->setChecked(_preferencesDialog->isSourceRGBDUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI2);
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_ui->actionOpenNI2_sense->setChecked(_preferencesDialog->isSourceRGBDUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI2);
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_ui->actionFreenect2->setChecked(_preferencesDialog->isSourceRGBDUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcFreenect2);
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_ui->actionStereoDC1394->setChecked(_preferencesDialog->isSourceRGBDUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcStereoDC1394);
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_ui->actionStereoFlyCapture2->setChecked(_preferencesDialog->isSourceRGBDUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcStereoFlyCapture2);
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_ui->actionOpenNI_PCL->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcOpenNI_PCL);
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_ui->actionOpenNI_PCL_ASUS->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcOpenNI_PCL);
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_ui->actionFreenect->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcFreenect);
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_ui->actionOpenNI_CV->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcOpenNI_CV);
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_ui->actionOpenNI_CV_ASUS->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcOpenNI_CV_ASUS);
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_ui->actionOpenNI2->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcOpenNI2);
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_ui->actionOpenNI2_kinect->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcOpenNI2);
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_ui->actionOpenNI2_sense->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcOpenNI2);
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_ui->actionFreenect2->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcFreenect2);
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_ui->actionStereoDC1394->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcDC1394);
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_ui->actionStereoFlyCapture2->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcFlyCapture2);
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}
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void MainWindow::changeImgRateSetting()
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@@ -2674,11 +2661,9 @@ void MainWindow::startDetection()
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{
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ParametersMap parameters = _preferencesDialog->getAllParameters();
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// verify source with input rates
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if((_preferencesDialog->isSourceImageUsed() &&
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(_preferencesDialog->getSourceImageType() == PreferencesDialog::kSrcImages ||
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_preferencesDialog->getSourceImageType() == PreferencesDialog::kSrcVideo))
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_preferencesDialog->isSourceDatabaseUsed())
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if(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcImages ||
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_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcVideo ||
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_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcDatabase)
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{
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float inputRate = _preferencesDialog->getGeneralInputRate();
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float detectionRate = uStr2Float(parameters.at(Parameters::kRtabmapDetectionRate()));
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@@ -2748,9 +2733,7 @@ void MainWindow::startDetection()
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}
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// Adjust pre-requirements
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if( !_preferencesDialog->isSourceImageUsed() &&
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!_preferencesDialog->isSourceDatabaseUsed() &&
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!_preferencesDialog->isSourceRGBDUsed())
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if(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcUndef)
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{
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QMessageBox::warning(this,
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tr("RTAB-Map"),
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@@ -2760,41 +2743,19 @@ void MainWindow::startDetection()
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return;
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}
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if(_preferencesDialog->isSourceRGBDUsed())
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{
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CameraRGBD * camera = _preferencesDialog->createCameraRGBD();
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if(!camera->init(_preferencesDialog->getCameraInfoDir().toStdString()))
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if(_preferencesDialog->getSourceDriver() < PreferencesDialog::kSrcDatabase)
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{
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Camera * camera = _preferencesDialog->createCamera();
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if(!camera)
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{
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ULOGGER_WARN("init camera failed... ");
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QMessageBox::warning(this,
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tr("RTAB-Map"),
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tr("Camera initialization failed..."));
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emit stateChanged(kInitialized);
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delete camera;
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camera = 0;
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if(_odomThread)
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{
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delete _odomThread;
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_odomThread = 0;
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}
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return;
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}
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else if(dynamic_cast<CameraOpenNI2*>(camera) != 0)
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{
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((CameraOpenNI2*)camera)->setAutoWhiteBalance(_preferencesDialog->getSourceOpenni2AutoWhiteBalance());
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((CameraOpenNI2*)camera)->setAutoExposure(_preferencesDialog->getSourceOpenni2AutoExposure());
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((CameraOpenNI2*)camera)->setMirroring(_preferencesDialog->getSourceOpenni2Mirroring());
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if(CameraOpenNI2::exposureGainAvailable())
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{
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((CameraOpenNI2*)camera)->setExposure(_preferencesDialog->getSourceOpenni2Exposure());
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((CameraOpenNI2*)camera)->setGain(_preferencesDialog->getSourceOpenni2Gain());
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}
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}
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camera->setMirroringEnabled(_preferencesDialog->isSourceMirroring());
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camera->setColorOnly(_preferencesDialog->isSourceRGBDColorOnly());
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_camera = new CameraThread(camera);
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_camera->setMirroringEnabled(_preferencesDialog->isSourceMirroring());
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_camera->setColorOnly(_preferencesDialog->isSourceRGBDColorOnly());
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//Create odometry thread if rgbd slam
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if(uStr2Bool(parameters.at(Parameters::kRGBDEnabled()).c_str()))
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@@ -2823,6 +2784,7 @@ void MainWindow::startDetection()
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{
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UERROR("OdomThread must be already deleted here?!");
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delete _odomThread;
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_odomThread = 0;
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}
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Odometry * odom;
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if(_preferencesDialog->getOdomStrategy() == 1)
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@@ -2845,7 +2807,7 @@ void MainWindow::startDetection()
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}
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}
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}
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else if(_preferencesDialog->isSourceDatabaseUsed())
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else if(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcDatabase)
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{
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_dbReader = new DBReader(_preferencesDialog->getSourceDatabasePath().toStdString(),
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_preferencesDialog->getSourceDatabaseStampsUsed()?-1:_preferencesDialog->getGeneralInputRate(),
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@@ -2902,58 +2864,6 @@ void MainWindow::startDetection()
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UEventsManager::createPipe(_dbReader, _odomThread, "CameraEvent");
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}
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}
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else
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{
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if(_preferencesDialog->isSourceImageUsed())
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{
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Camera * camera = 0;
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// Change type of the camera...
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//
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int sourceType = _preferencesDialog->getSourceImageType();
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UASSERT(sourceType >= PreferencesDialog::kSrcUsbDevice && sourceType <= PreferencesDialog::kSrcVideo);
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if(sourceType == PreferencesDialog::kSrcImages) //Images
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{
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camera = new CameraImages(
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_preferencesDialog->getSourceImagesPath().append(QDir::separator()).toStdString(),
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_preferencesDialog->getSourceImagesStartPos(),
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_preferencesDialog->getSourceImagesRefreshDir(),
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_preferencesDialog->getGeneralInputRate(),
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_preferencesDialog->getSourceWidth(),
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_preferencesDialog->getSourceHeight());
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}
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else if(sourceType == PreferencesDialog::kSrcVideo)
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{
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camera = new CameraVideo(
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_preferencesDialog->getSourceVideoPath().toStdString(),
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_preferencesDialog->getGeneralInputRate(),
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_preferencesDialog->getSourceWidth(),
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_preferencesDialog->getSourceHeight());
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}
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else //if(sourceType == PreferencesDialog::kSrcUsbDevice)
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{
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camera = new CameraVideo(
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_preferencesDialog->getSourceUsbDeviceId(),
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_preferencesDialog->getGeneralInputRate(),
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_preferencesDialog->getSourceWidth(),
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_preferencesDialog->getSourceHeight());
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}
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if(!camera->init())
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{
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ULOGGER_WARN("init camera failed... ");
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QMessageBox::warning(this,
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tr("RTAB-Map"),
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tr("Camera initialization failed..."));
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emit stateChanged(kInitialized);
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delete camera;
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camera = 0;
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return;
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}
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camera->setMirroringEnabled(_preferencesDialog->isSourceMirroring());
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_camera = new CameraThread(camera);
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}
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}
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if(_dataRecorder)
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{
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@@ -3810,64 +3720,49 @@ void MainWindow::updateEditMenu()
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}
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}
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void MainWindow::selectImages()
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{
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_preferencesDialog->selectSourceImage(PreferencesDialog::kSrcImages);
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}
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void MainWindow::selectVideo()
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{
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_preferencesDialog->selectSourceImage(PreferencesDialog::kSrcVideo);
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}
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void MainWindow::selectStream()
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{
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_preferencesDialog->selectSourceImage(PreferencesDialog::kSrcUsbDevice);
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}
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void MainWindow::selectDatabase()
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{
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_preferencesDialog->selectSourceDatabase(true);
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_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcUsbDevice);
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}
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void MainWindow::selectOpenni()
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{
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_preferencesDialog->selectSourceRGBD(PreferencesDialog::kSrcOpenNI_PCL);
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_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcOpenNI_PCL);
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}
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void MainWindow::selectFreenect()
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{
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_preferencesDialog->selectSourceRGBD(PreferencesDialog::kSrcFreenect);
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_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcFreenect);
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}
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void MainWindow::selectOpenniCv()
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{
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_preferencesDialog->selectSourceRGBD(PreferencesDialog::kSrcOpenNI_CV);
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_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcOpenNI_CV);
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}
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void MainWindow::selectOpenniCvAsus()
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{
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_preferencesDialog->selectSourceRGBD(PreferencesDialog::kSrcOpenNI_CV_ASUS);
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_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcOpenNI_CV_ASUS);
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}
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void MainWindow::selectOpenni2()
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{
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_preferencesDialog->selectSourceRGBD(PreferencesDialog::kSrcOpenNI2);
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_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcOpenNI2);
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}
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void MainWindow::selectFreenect2()
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{
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_preferencesDialog->selectSourceRGBD(PreferencesDialog::kSrcFreenect2);
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_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcFreenect2);
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}
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void MainWindow::selectStereoDC1394()
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{
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_preferencesDialog->selectSourceRGBD(PreferencesDialog::kSrcStereoDC1394);
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_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcDC1394);
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}
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void MainWindow::selectStereoFlyCapture2()
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{
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_preferencesDialog->selectSourceRGBD(PreferencesDialog::kSrcStereoFlyCapture2);
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_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcFlyCapture2);
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}
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@@ -4116,6 +4011,13 @@ void MainWindow::openPreferences()
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_preferencesDialog->exec();
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}
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void MainWindow::openPreferencesSource()
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{
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_preferencesDialog->setCurrentPanelToSource();
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openPreferences();
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this->updateSelectSourceMenu();
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}
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void MainWindow::setDefaultViews()
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{
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_ui->dockWidget_posterior->setVisible(false);
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