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Added interpolate parameter to util3d::getDepth()

Browse Source 
Added Reset calibration button
Added Sense 3D scanner input source

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1625 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-07-30 17:42:58 +00:00
parent d3599f7937
commit 8e65812324
8 changed files with 199 additions and 48 deletions
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1
guilib/include/rtabmap/gui/PreferencesDialog.h
View File

@@ -228,6 +228,7 @@ private slots:
void cleanOdometryTest();
void testOdometry();
void calibrate();
void resetCalibration();
protected:
virtual void showEvent ( QShowEvent * event );

2
guilib/src/MainWindow.cpp
View File

@@ -297,6 +297,8 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_ui->actionOpenNI_CV_ASUS->setEnabled(CameraOpenNICV::available());
connect(_ui->actionOpenNI2, SIGNAL(triggered()), this, SLOT(selectOpenni2()));
_ui->actionOpenNI2->setEnabled(CameraOpenNI2::available());
connect(_ui->actionOpenNI2_Sense, SIGNAL(triggered()), this, SLOT(selectOpenni2()));
_ui->actionOpenNI2_Sense->setEnabled(CameraOpenNI2::available());
connect(_ui->actionSave_state, SIGNAL(triggered()), this, SLOT(saveFigures()));
connect(_ui->actionLoad_state, SIGNAL(triggered()), this, SLOT(loadFigures()));

32
guilib/src/PreferencesDialog.cpp
View File

@@ -242,6 +242,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->doubleSpinBox_openniCx, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->doubleSpinBox_openniCy, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->pushButton_calibrate, SIGNAL(clicked()), this, SLOT(calibrate()));
connect(_ui->pushButton_calibrate_reset, SIGNAL(clicked()), this, SLOT(resetCalibration()));
//Rtabmap basic
@@ -1655,7 +1656,7 @@ void PreferencesDialog::selectSourceRGBD(Src src)
tr("Activate RGB-D SLAM?"),
tr("You've selected RGB-D camera as source input, "
"would you want to activate RGB-D SLAM mode?"),
QMessageBox::Yes | QMessageBox::No);
QMessageBox::Yes | QMessageBox::No, QMessageBox::Yes);
if(button & QMessageBox::Yes)
{
_ui->general_checkBox_activateRGBD->setChecked(true);
@@ -1673,6 +1674,27 @@ void PreferencesDialog::selectSourceRGBD(Src src)
{
_ui->groupBox_sourceImage->setChecked(false);
_ui->groupBox_sourceDatabase->setChecked(false);
if(_ui->doubleSpinBox_openniFx->value() != 0 ||
_ui->doubleSpinBox_openniFy->value() != 0 ||
_ui->doubleSpinBox_openniCx->value() != 0 ||
_ui->doubleSpinBox_openniCy->value() != 0 )
{
int button = QMessageBox::information(this,
tr("Calibration detected"),
tr("Some calibration values (fx=%1, fy=%2, cx=%3, cy=%4) are set.\n"
"Do you want to reset them to factory defaults?")
.arg(_ui->doubleSpinBox_openniFx->value())
.arg(_ui->doubleSpinBox_openniFy->value())
.arg(_ui->doubleSpinBox_openniCx->value())
.arg(_ui->doubleSpinBox_openniCy->value()),
QMessageBox::Yes | QMessageBox::No, QMessageBox::Yes);
if(button & QMessageBox::Yes)
{
this->resetCalibration();
}
}
if(validateForm())
{
this->writeSettings();
@@ -2988,4 +3010,12 @@ void PreferencesDialog::calibrate()
}
}
void PreferencesDialog::resetCalibration()
{
_ui->doubleSpinBox_openniFx->setValue(0);
_ui->doubleSpinBox_openniFy->setValue(0);
_ui->doubleSpinBox_openniCx->setValue(0);
_ui->doubleSpinBox_openniCy->setValue(0);
}
}

14
guilib/src/ui/mainWindow.ui
View File

@@ -27,7 +27,7 @@
<x>0</x>
<y>0</y>
<width>1012</width>
<height>25</height>
<height>21</height>
</rect>
</property>
<widget class="QMenu" name="menuFile">
@@ -110,8 +110,15 @@
<addaction name="actionOpenNI2"/>
<addaction name="actionOpenNI_CV_ASUS"/>
</widget>
<widget class="QMenu" name="menuSense_3D_scanner">
<property name="title">
<string>Sense 3D scanner</string>
</property>
<addaction name="actionOpenNI2_Sense"/>
</widget>
<addaction name="menuKinect_for_Xbox_360"/>
<addaction name="menuXtion_PRO_LIVE"/>
<addaction name="menuSense_3D_scanner"/>
</widget>
<addaction name="menuRGB_D_camera"/>
<addaction name="menuImage"/>
@@ -1056,6 +1063,11 @@
<string>View scans...</string>
</property>
</action>
<action name="actionOpenNI2_Sense">
<property name="text">
<string>OpenNI2</string>
</property>
</action>
</widget>
<customwidgets>
<customwidget>

69
guilib/src/ui/preferencesDialog.ui
View File

@@ -64,8 +64,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>732</width>
<height>1198</height>
<width>736</width>
<height>751</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>1</number>
<number>0</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29">
@@ -287,14 +287,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
<property name="title">
<string>Save/load settings</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_9">
<item>
<widget class="QPushButton" name="pushButton_saveConfig">
<property name="text">
<string>Save settings (*.ini) ...</string>
</property>
</widget>
</item>
<layout class="QHBoxLayout" name="horizontalLayout_9">
<item>
<widget class="QPushButton" name="pushButton_loadConfig">
<property name="text">
@@ -302,6 +295,13 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="pushButton_saveConfig">
<property name="text">
<string>Save settings (*.ini) ...</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="pushButton_resetConfig">
<property name="text">
@@ -309,6 +309,19 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_4">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
@@ -1821,11 +1834,35 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</layout>
</item>
<item>
<widget class="QPushButton" name="pushButton_calibrate">
<property name="text">
<string>Calibrate</string>
</property>
</widget>
<layout class="QHBoxLayout" name="horizontalLayout_8">
<item>
<widget class="QPushButton" name="pushButton_calibrate">
<property name="text">
<string>Calibrate</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="pushButton_calibrate_reset">
<property name="text">
<string>Reset</string>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_3">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
</layout>
</widget>