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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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25
guilib/src/PreferencesDialog.cpp
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@@ -238,6 +238,10 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->radioButton_freenect->setEnabled(CameraFreenect::available());
connect(_ui->radioButton_opennicv, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->radioButton_opennicvasus, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteSourcePanel()));
_ui->radioButton_opennicv->setEnabled(CameraRGBD::available());
_ui->radioButton_opennicvasus->setEnabled(CameraRGBD::available());
connect(_ui->radioButton_openni2, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteSourcePanel()));
_ui->radioButton_openni2->setEnabled(CameraOpenNI2::available());
connect(_ui->lineEdit_openniDevice, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->lineEdit_openniLocalTransform, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
@@ -1611,6 +1615,7 @@ void PreferencesDialog::selectSourceRGBD(Src src)
_ui->radioButton_freenect->setChecked(src == kSrcFreenect);
_ui->radioButton_opennicv->setChecked(src == kSrcOpenNI_CV);
_ui->radioButton_opennicvasus->setChecked(src == kSrcOpenNI_CV_ASUS);
_ui->radioButton_openni2->setChecked(src == kSrcOpenNI2);
if(_obsoletePanels)
{
@@ -2533,6 +2538,10 @@ PreferencesDialog::Src PreferencesDialog::getSourceRGBD() const
{
return kSrcOpenNI_CV_ASUS;
}
else if (_ui->radioButton_openni2->isChecked())
{
return kSrcOpenNI2;
}
else
{
return kSrcOpenNI_PCL;
@@ -2752,11 +2761,23 @@ void PreferencesDialog::testOdometry(OdomType type)
_odomCameraFreenect = 0;
}
}
else if(this->getSourceRGBD() == kSrcOpenNI_CV || this->getSourceRGBD() == kSrcOpenNI_CV_ASUS)
else if(this->getSourceRGBD() == kSrcOpenNI_CV ||
this->getSourceRGBD() == kSrcOpenNI_CV_ASUS ||
this->getSourceRGBD() == kSrcOpenNI2)
{
Camera * camera = new CameraRGBD(
Camera * camera = 0;
if(this->getSourceRGBD() == kSrcOpenNI2)
{
camera = new CameraOpenNI2(
this->getGeneralInputRate());
}
else
{
camera = new CameraRGBD(
this->getGeneralInputRate(),
this->getSourceRGBD() == kSrcOpenNI_CV_ASUS);
}
camera->setLocalTransform(this->getSourceOpenniLocalTransform());
_odomCameraOpenNICv = new CameraThread(camera);
if(!_odomCameraOpenNICv->init())