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Added Freenect camera source

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1310 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-06-03 04:42:08 +00:00
parent c53d918422
commit acd208fc6a
14 changed files with 647 additions and 90 deletions
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5
guilib/include/rtabmap/gui/MainWindow.h
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@@ -37,6 +37,7 @@ namespace rtabmap {
class CameraThread;
class DBReader;
class CameraOpenni;
class CameraFreenect;
class OdometryThread;
class CloudViewer;
}
@@ -113,6 +114,7 @@ private slots:
void selectStream();
void selectDatabase();
void selectOpenni();
void selectFreenect();
void dumpTheMemory();
void dumpThePrediction();
void downloadAllClouds();
@@ -175,7 +177,7 @@ private:
void setupMainLayout(bool vertical);
void updateSelectSourceImageMenu(int type);
void updateSelectSourceDatabase(bool used);
void updateSelectSourceOpenni(bool used);
void updateSelectSourceOpenniMenu(bool used, bool openni);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr createAssembledCloud();
pcl::PointCloud<pcl::PointXYZRGB>::Ptr createCloud(
@@ -201,6 +203,7 @@ private:
rtabmap::CameraThread * _camera;
rtabmap::DBReader * _dbReader;
rtabmap::CameraOpenni * _cameraOpenni;
rtabmap::CameraFreenect * _cameraOpenKinect;
rtabmap::OdometryThread * _odomThread;
SrcType _srcType;

7
guilib/include/rtabmap/gui/PreferencesDialog.h
View File

@@ -50,6 +50,7 @@ class QDoubleSpinBox;
namespace rtabmap {
class CameraOpenni;
class CameraFreenect;
class OdometryThread;
class Signature;
class LoopClosureViewer;
@@ -155,6 +156,7 @@ public:
QString getSourceDatabasePath() const; //Database group
bool getSourceDatabaseOdometryIgnored() const; //Database group
int getSourceDatabaseStartPos() const; //Database group
bool getSourceFreenect() const; // Openni group
QString getSourceOpenniDevice() const; //Openni group
Transform getSourceOpenniLocalTransform() const; //Openni group
@@ -188,7 +190,7 @@ public slots:
void setSLAMMode(bool enabled);
void selectSourceImage(Src src = kSrcUndef);
void selectSourceDatabase(bool user = false);
void selectSourceOpenni(bool user = false);
void selectSourceOpenni(bool openni);
private slots:
void closeDialog ( QAbstractButton * button );
@@ -266,7 +268,8 @@ private:
QProgressDialog * _progressDialog;
//Odometry test
CameraOpenni * _odomCamera;
CameraOpenni * _odomCameraOpenNI;
CameraFreenect * _odomCameraFreenect;
OdometryThread * _odomThread;
QVector<QCheckBox*> _3dRenderingShowClouds;