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Added StereoVideo source input (side-by-side video)

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This commit is contained in:
matlabbe
2015-07-16 14:44:25 -04:00
parent 6872b16550
commit 8754da7420
8 changed files with 485 additions and 58 deletions
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68
guilib/src/PreferencesDialog.cpp
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@@ -333,9 +333,11 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->source_images_lineEdit_path, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->source_images_spinBox_startPos, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->source_images_refreshDir, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkBox_rgbImages_rectify, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
//video group
connect(_ui->source_video_toolButton_selectSource, SIGNAL(clicked()), this, SLOT(selectSourceVideoPath()));
connect(_ui->source_video_lineEdit_path, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkBox_rgbVideo_rectify, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
//database group
connect(_ui->source_database_toolButton_selectSource, SIGNAL(clicked()), this, SLOT(selectSourceDatabase()));
connect(_ui->toolButton_dbViewer, SIGNAL(clicked()), this, SLOT(openDatabaseViewer()));
@@ -363,6 +365,10 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->lineEdit_cameraStereoImages_timestamps, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->toolButton_cameraStereoImages_path, SIGNAL(clicked()), this, SLOT(selectSourceStereoImagesPath()));
connect(_ui->lineEdit_cameraStereoImages_path, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkBox_stereoImages_rectify, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->toolButton_cameraStereoVideo_path, SIGNAL(clicked()), this, SLOT(selectSourceStereoVideoPath()));
connect(_ui->lineEdit_cameraStereoVideo_path, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkBox_stereoVideo_rectify, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkbox_rgbd_colorOnly, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->pushButton_calibrate, SIGNAL(clicked()), this, SLOT(calibrate()));
connect(_ui->toolButton_openniOniPath, SIGNAL(clicked()), this, SLOT(selectSourceOniPath()));
@@ -1036,6 +1042,8 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->source_comboBox_image_type->setCurrentIndex(kSrcUsbDevice-kSrcUsbDevice);
_ui->source_images_spinBox_startPos->setValue(1);
_ui->source_images_refreshDir->setChecked(false);
_ui->checkBox_rgbImages_rectify->setChecked(false);
_ui->checkBox_rgbVideo_rectify->setChecked(false);
_ui->source_checkBox_ignoreOdometry->setChecked(false);
_ui->source_checkBox_ignoreGoalDelay->setChecked(false);
@@ -1084,6 +1092,9 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->source_comboBox_image_type->setCurrentIndex(kSrcDC1394-kSrcDC1394);
_ui->lineEdit_cameraStereoImages_timestamps->setText("");
_ui->lineEdit_cameraStereoImages_path->setText("");
_ui->checkBox_stereoImages_rectify->setChecked(false);
_ui->lineEdit_cameraStereoVideo_path->setText("");
_ui->checkBox_stereoVideo_rectify->setChecked(false);
}
else if(groupBox->objectName() == _ui->groupBox_rtabmap_basic0->objectName())
{
@@ -1348,16 +1359,24 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
settings.beginGroup("StereoImages");
_ui->lineEdit_cameraStereoImages_timestamps->setText(settings.value("stamps", _ui->lineEdit_cameraStereoImages_timestamps->text()).toString());
_ui->lineEdit_cameraStereoImages_path->setText(settings.value("path", _ui->lineEdit_cameraStereoImages_path->text()).toString());
_ui->checkBox_stereoImages_rectify->setChecked(settings.value("rectify",_ui->checkBox_stereoImages_rectify->isChecked()).toBool());
settings.endGroup(); // StereoImages
settings.beginGroup("StereoVideo");
_ui->lineEdit_cameraStereoVideo_path->setText(settings.value("path", _ui->lineEdit_cameraStereoVideo_path->text()).toString());
_ui->checkBox_stereoVideo_rectify->setChecked(settings.value("rectify",_ui->checkBox_stereoVideo_rectify->isChecked()).toBool());
settings.endGroup(); // StereoVideo
settings.beginGroup("Images");
_ui->source_images_lineEdit_path->setText(settings.value("path", _ui->source_images_lineEdit_path->text()).toString());
_ui->source_images_spinBox_startPos->setValue(settings.value("startPos",_ui->source_images_spinBox_startPos->value()).toInt());
_ui->source_images_refreshDir->setChecked(settings.value("refreshDir",_ui->source_images_refreshDir->isChecked()).toBool());
_ui->checkBox_rgbImages_rectify->setChecked(settings.value("rectify",_ui->checkBox_rgbImages_rectify->isChecked()).toBool());
settings.endGroup(); // images
settings.beginGroup("Video");
_ui->source_video_lineEdit_path->setText(settings.value("path", _ui->source_video_lineEdit_path->text()).toString());
_ui->checkBox_rgbVideo_rectify->setChecked(settings.value("rectify",_ui->checkBox_rgbVideo_rectify->isChecked()).toBool());
settings.endGroup(); // video
settings.beginGroup("Database");
@@ -1639,16 +1658,24 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.beginGroup("StereoImages");
settings.setValue("stamps", _ui->lineEdit_cameraStereoImages_timestamps->text());
settings.setValue("path", _ui->lineEdit_cameraStereoImages_path->text());
settings.setValue("rectify", _ui->checkBox_stereoImages_rectify->isChecked());
settings.endGroup(); // StereoImages
settings.beginGroup("StereoVideo");
settings.setValue("path", _ui->lineEdit_cameraStereoVideo_path->text());
settings.setValue("rectify", _ui->checkBox_stereoVideo_rectify->isChecked());
settings.endGroup(); // StereoVideo
settings.beginGroup("Images");
settings.setValue("path", _ui->source_images_lineEdit_path->text());
settings.setValue("startPos", _ui->source_images_spinBox_startPos->value());
settings.setValue("refreshDir", _ui->source_images_refreshDir->isChecked());
settings.setValue("rectify", _ui->checkBox_rgbImages_rectify->isChecked());
settings.endGroup(); // images
settings.beginGroup("Video");
settings.setValue("path", _ui->source_video_lineEdit_path->text());
settings.setValue("rectify", _ui->checkBox_rgbVideo_rectify->isChecked());
settings.endGroup(); // video
settings.beginGroup("Database");
@@ -2224,6 +2251,20 @@ void PreferencesDialog::selectSourceVideoPath()
}
}
void PreferencesDialog::selectSourceStereoVideoPath()
{
QString dir = _ui->lineEdit_cameraStereoVideo_path->text();
if(dir.isEmpty())
{
dir = getWorkingDirectory();
}
QString path = QFileDialog::getOpenFileName(this, tr("Select file"), _ui->lineEdit_cameraStereoVideo_path->text(), tr("Videos (*.avi *.mpg *.mp4)"));
if(!path.isEmpty())
{
_ui->lineEdit_cameraStereoVideo_path->setText(path);
}
}
void PreferencesDialog::selectSourceOniPath()
{
QString dir = _ui->lineEdit_openniOniPath->text();
@@ -3274,10 +3315,18 @@ bool PreferencesDialog::getSourceImagesRefreshDir() const
{
return _ui->source_images_refreshDir->isChecked();
}
bool PreferencesDialog::getSourceImagesRectify() const
{
return _ui->checkBox_rgbImages_rectify->isChecked();
}
QString PreferencesDialog::getSourceVideoPath() const
{
return _ui->source_video_lineEdit_path->text();
}
bool PreferencesDialog::getSourceVideoRectify() const
{
return _ui->checkBox_rgbVideo_rectify->isChecked();
}
QString PreferencesDialog::getSourceDatabasePath() const
{
return _ui->source_database_lineEdit_path->text();
@@ -3323,6 +3372,14 @@ int PreferencesDialog::getSourceFreenect2Format() const
{
return _ui->comboBox_freenect2Format->currentIndex();
}
bool PreferencesDialog::getSourceStereoImagesRectify() const
{
return _ui->checkBox_stereoImages_rectify->isChecked();
}
bool PreferencesDialog::getSourceStereoVideoRectify() const
{
return _ui->checkBox_stereoVideo_rectify->isChecked();
}
bool PreferencesDialog::isSourceRGBDColorOnly() const
{
@@ -3438,6 +3495,15 @@ Camera * PreferencesDialog::createCamera(bool useRawImages)
camera = new CameraStereoImages(
_ui->lineEdit_cameraStereoImages_path->text().append(QDir::separator()).toStdString(),
_ui->lineEdit_cameraStereoImages_timestamps->text().toStdString(),
_ui->checkBox_stereoImages_rectify->isChecked(),
this->getGeneralInputRate(),
this->getSourceLocalTransform());
}
else if(driver == kSrcStereoVideo)
{
camera = new CameraStereoVideo(
_ui->lineEdit_cameraStereoVideo_path->text().toStdString(),
_ui->checkBox_stereoVideo_rectify->isChecked(),
this->getGeneralInputRate(),
this->getSourceLocalTransform());
}
@@ -3452,6 +3518,7 @@ Camera * PreferencesDialog::createCamera(bool useRawImages)
{
camera = new CameraVideo(
this->getSourceVideoPath().toStdString(),
this->getSourceVideoRectify(),
this->getGeneralInputRate(),
this->getSourceLocalTransform());
}
@@ -3461,6 +3528,7 @@ Camera * PreferencesDialog::createCamera(bool useRawImages)
this->getSourceImagesPath().toStdString(),
this->getSourceImagesStartPos(),
this->getSourceImagesRefreshDir(),
this->getSourceVideoRectify(),
this->getGeneralInputRate(),
this->getSourceLocalTransform());
}