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Moved some util3d methods to Transform.h, Graph.h and Compression.h

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Added computePath() method implementating A star on graph
GUI: SetWindowModified() and user should explicitly save the GUI config to keep them
Calibration: added mirror checkbox, added device id argument
This commit is contained in:
Mathieu Labbe
2015-01-23 11:17:42 -05:00
parent fdf7f69783
commit 7a6bf630ca
34 changed files with 1817 additions and 1282 deletions
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69
tools/Calibration/main.cpp
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@@ -29,14 +29,18 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/CameraRGBD.h"
#include "rtabmap/core/CameraThread.h"
#include "rtabmap/utilite/ULogger.h"
#include "rtabmap/utilite/UConversion.h"
#include "rtabmap/gui/CalibrationDialog.h"
#include <QtGui/QApplication>
void showUsage()
{
printf("\nUsage:\n"
"rtabmap-calibration driver\n"
" driver Driver number to use: 0=USB camera, 1=OpenNI-PCL, 2=OpenNI2, 3=Freenect, 4=OpenNI-CV, 5=OpenNI-CV-ASUS\n\n");
"rtabmap-calibration [options]\n"
"Options:\n"
" --driver # Driver number to use: 0=USB camera, 1=OpenNI-PCL, 2=OpenNI2,\n"
" 3=Freenect, 4=OpenNI-CV, 5=OpenNI-CV-ASUS\n"
" --device # Device id\n\n");
exit(1);
}
@@ -46,31 +50,70 @@ int main(int argc, char * argv[])
ULogger::setLevel(ULogger::kInfo);
int driver = 0;
if(argc < 2)
int device = 0;
for(int i=1; i<argc; ++i)
{
showUsage();
}
else
{
driver = atoi(argv[argc-1]);
if(driver < 0 || driver > 5)
if(strcmp(argv[i], "--driver") == 0)
{
++i;
if(i < argc)
{
driver = std::atoi(argv[i]);
if(driver < 0)
{
showUsage();
}
}
else
{
showUsage();
}
continue;
}
if(strcmp(argv[i], "--device") == 0)
{
++i;
if(i < argc)
{
device = std::atoi(argv[i]);
if(device < 0)
{
showUsage();
}
}
else
{
showUsage();
}
continue;
}
if(strcmp(argv[i], "--help") == 0)
{
UERROR("driver should be between 0 and 5.");
showUsage();
}
printf("Unrecognized option : %s\n", argv[i]);
showUsage();
}
driver = atoi(argv[argc-1]);
if(driver < 0 || driver > 5)
{
UERROR("driver should be between 0 and 5.");
showUsage();
}
UINFO("Using driver %d", driver);
UINFO("Using device %d", device);
float imageRate = 1.0f;
rtabmap::Camera * cameraUsb = 0;
rtabmap::CameraRGBD * camera = 0;
if(driver == 0)
{
cameraUsb = new rtabmap::CameraVideo(0, imageRate);
cameraUsb = new rtabmap::CameraVideo(device, imageRate);
}
else if(driver == 1)
{
camera = new rtabmap::CameraOpenni("", imageRate);
camera = new rtabmap::CameraOpenni(uNumber2Str(device), imageRate);
}
else if(driver == 2)
{
@@ -88,7 +131,7 @@ int main(int argc, char * argv[])
UERROR("Not built with Freenect support...");
exit(-1);
}
camera = new rtabmap::CameraFreenect(0, imageRate);
camera = new rtabmap::CameraFreenect(device, imageRate);
}
else if(driver == 4)
{