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Added OpenNI2 camera

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1363 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-06-13 23:44:38 +00:00
parent b85263c377
commit a943083e0b
12 changed files with 986 additions and 623 deletions
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30
guilib/src/MainWindow.cpp
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@@ -286,6 +286,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
selectSourceImageGrp->addAction(_ui->actionFreenect);
selectSourceImageGrp->addAction(_ui->actionOpenNI_CV);
selectSourceImageGrp->addAction(_ui->actionOpenNI_CV_ASUS);
selectSourceImageGrp->addAction(_ui->actionOpenNI2);
this->updateSelectSourceImageMenu(_preferencesDialog->getSourceImageType());
connect(_ui->actionImageFiles, SIGNAL(triggered()), this, SLOT(selectImages()));
connect(_ui->actionVideo, SIGNAL(triggered()), this, SLOT(selectVideo()));
@@ -298,6 +299,10 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_ui->actionFreenect->setEnabled(CameraFreenect::available());
connect(_ui->actionOpenNI_CV, SIGNAL(triggered()), this, SLOT(selectOpenniCv()));
connect(_ui->actionOpenNI_CV_ASUS, SIGNAL(triggered()), this, SLOT(selectOpenniCvAsus()));
_ui->actionOpenNI_CV->setEnabled(CameraRGBD::available());
_ui->actionOpenNI_CV_ASUS->setEnabled(CameraRGBD::available());
connect(_ui->actionOpenNI2, SIGNAL(triggered()), this, SLOT(selectOpenni2()));
_ui->actionOpenNI2->setEnabled(CameraOpenNI2::available());
connect(_ui->actionSave_state, SIGNAL(triggered()), this, SLOT(saveFigures()));
connect(_ui->actionLoad_state, SIGNAL(triggered()), this, SLOT(loadFigures()));
@@ -1841,6 +1846,7 @@ void MainWindow::updateSelectSourceRGBDMenu(bool used, PreferencesDialog::Src sr
_ui->actionFreenect->setChecked(used && src == PreferencesDialog::kSrcFreenect);
_ui->actionOpenNI_CV->setChecked(used && src == PreferencesDialog::kSrcOpenNI_CV);
_ui->actionOpenNI_CV_ASUS->setChecked(used && src == PreferencesDialog::kSrcOpenNI_CV_ASUS);
_ui->actionOpenNI2->setChecked(used && src == PreferencesDialog::kSrcOpenNI2);
}
void MainWindow::changeImgRateSetting()
@@ -2068,11 +2074,22 @@ void MainWindow::startDetection()
}
}
else if(_preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_CV ||
_preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_CV_ASUS)
_preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_CV_ASUS ||
_preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI2)
{
Camera * camera = new CameraRGBD(
_preferencesDialog->getGeneralInputRate(),
_preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_CV_ASUS);
Camera * camera = 0;
if(_preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI2)
{
camera = new CameraOpenNI2(
_preferencesDialog->getGeneralInputRate());
}
else
{
camera = new CameraRGBD(
_preferencesDialog->getGeneralInputRate(),
_preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_CV_ASUS);
}
camera->setLocalTransform(_preferencesDialog->getSourceOpenniLocalTransform());
if(!camera->init())
@@ -2620,6 +2637,11 @@ void MainWindow::selectOpenniCvAsus()
_preferencesDialog->selectSourceRGBD(PreferencesDialog::kSrcOpenNI_CV_ASUS);
}
void MainWindow::selectOpenni2()
{
_preferencesDialog->selectSourceRGBD(PreferencesDialog::kSrcOpenNI2);
}
void MainWindow::dumpTheMemory()
{