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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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142
guilib/src/MainWindow.cpp
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@@ -66,6 +66,7 @@
//RGB-D stuff
#include "rtabmap/core/CameraOpenni.h"
#include "rtabmap/core/CameraFreenect.h"
#include "rtabmap/core/Odometry.h"
#include "rtabmap/core/OdometryEvent.h"
#include "rtabmap/core/util3d.h"
@@ -97,6 +98,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_camera(0),
_dbReader(0),
_cameraOpenni(0),
_cameraOpenKinect(0),
_odomThread(0),
_srcType(kSrcUndefined),
_preferencesDialog(0),
@@ -280,15 +282,17 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
selectSourceImageGrp->addAction(_ui->actionUsbCamera);
selectSourceImageGrp->addAction(_ui->actionImageFiles);
selectSourceImageGrp->addAction(_ui->actionVideo);
selectSourceImageGrp->addAction(_ui->actionOpenni_RGBD);
selectSourceImageGrp->addAction(_ui->actionOpenNI);
selectSourceImageGrp->addAction(_ui->actionFreenect);
this->updateSelectSourceImageMenu(_preferencesDialog->getSourceImageType());
connect(_ui->actionImageFiles, SIGNAL(triggered()), this, SLOT(selectImages()));
connect(_ui->actionVideo, SIGNAL(triggered()), this, SLOT(selectVideo()));
connect(_ui->actionUsbCamera, SIGNAL(triggered()), this, SLOT(selectStream()));
this->updateSelectSourceDatabase(_preferencesDialog->isSourceDatabaseUsed());
connect(_ui->actionDatabase, SIGNAL(triggered()), this, SLOT(selectDatabase()));
this->updateSelectSourceOpenni(_preferencesDialog->isSourceOpenniUsed());
connect(_ui->actionOpenni_RGBD, SIGNAL(triggered()), this, SLOT(selectOpenni()));
this->updateSelectSourceOpenniMenu(_preferencesDialog->isSourceOpenniUsed(), !_preferencesDialog->getSourceFreenect());
connect(_ui->actionOpenNI, SIGNAL(triggered()), this, SLOT(selectOpenni()));
connect(_ui->actionFreenect, SIGNAL(triggered()), this, SLOT(selectFreenect()));
connect(_ui->actionSave_state, SIGNAL(triggered()), this, SLOT(saveFigures()));
connect(_ui->actionLoad_state, SIGNAL(triggered()), this, SLOT(loadFigures()));
@@ -418,6 +422,12 @@ void MainWindow::closeEvent(QCloseEvent* event)
delete _cameraOpenni;
_cameraOpenni = 0;
}
if(_cameraOpenKinect)
{
UERROR("CameraOpenKinect must be already deleted here!");
delete _cameraOpenKinect;
_cameraOpenKinect = 0;
}
if(_odomThread)
{
UERROR("OdomThread must be already deleted here!");
@@ -1475,7 +1485,7 @@ void MainWindow::applyPrefSettings(PreferencesDialog::PANEL_FLAGS flags)
_ui->doubleSpinBox_stats_imgRate->setValue(_preferencesDialog->getGeneralInputRate());
this->updateSelectSourceImageMenu(_preferencesDialog->getSourceImageType());
this->updateSelectSourceDatabase(_preferencesDialog->isSourceDatabaseUsed());
this->updateSelectSourceOpenni(_preferencesDialog->isSourceOpenniUsed());
this->updateSelectSourceOpenniMenu(_preferencesDialog->isSourceOpenniUsed(), !_preferencesDialog->getSourceFreenect());
QString src;
if(_preferencesDialog->isSourceImageUsed())
{
@@ -1501,6 +1511,11 @@ void MainWindow::applyPrefSettings(PreferencesDialog::PANEL_FLAGS flags)
{
_cameraOpenni->setFrameRate(_preferencesDialog->getGeneralInputRate());
}
if(_cameraOpenKinect)
{
_cameraOpenKinect->setFrameRate(_preferencesDialog->getGeneralInputRate());
}
}
if(flags & PreferencesDialog::kPanelGeneral)
@@ -1786,9 +1801,10 @@ void MainWindow::updateSelectSourceDatabase(bool used)
_ui->actionDatabase->setChecked(used);
}
void MainWindow::updateSelectSourceOpenni(bool used)
void MainWindow::updateSelectSourceOpenniMenu(bool used, bool openni)
{
_ui->actionOpenni_RGBD->setChecked(used);
_ui->actionOpenNI->setChecked(used && openni);
_ui->actionFreenect->setChecked(used && !openni);
}
void MainWindow::changeImgRateSetting()
@@ -1923,6 +1939,15 @@ void MainWindow::startDetection()
emit stateChanged(kIdle);
return;
}
if(_cameraOpenKinect != 0)
{
QMessageBox::warning(this,
tr("RTAB-Map"),
tr("A Freenect camera is running, stop it first."));
UWARN("_cameraOpenKinect is not null... it must be stopped first");
emit stateChanged(kIdle);
return;
}
// Adjust pre-requirements
if( !_preferencesDialog->isSourceImageUsed() &&
@@ -1969,31 +1994,61 @@ void MainWindow::startDetection()
_odomThread->start();
}
// With odomtry, go as fast as we can
_cameraOpenni = new CameraOpenni(
_preferencesDialog->getSourceOpenniDevice().toStdString(),
_preferencesDialog->getGeneralInputRate(),
_preferencesDialog->getSourceOpenniLocalTransform());
if(!_cameraOpenni->init())
if(_preferencesDialog->getSourceFreenect())
{
ULOGGER_WARN("init CameraOpenni failed... ");
QMessageBox::warning(this,
tr("RTAB-Map"),
tr("Openni camera initialization failed..."));
emit stateChanged(kIdle);
delete _cameraOpenni;
_cameraOpenni = 0;
_cameraOpenKinect = new CameraFreenect(
_preferencesDialog->getSourceOpenniDevice().isEmpty()?0:atoi(_preferencesDialog->getSourceOpenniDevice().toStdString().c_str()),
_preferencesDialog->getGeneralInputRate(),
_preferencesDialog->getSourceOpenniLocalTransform());
if(!_cameraOpenKinect->init())
{
ULOGGER_WARN("init CameraOpenKinect failed... ");
QMessageBox::warning(this,
tr("RTAB-Map"),
tr("OpenKinect camera initialization failed..."));
emit stateChanged(kIdle);
delete _cameraOpenKinect;
_cameraOpenKinect = 0;
if(_odomThread)
{
delete _odomThread;
_odomThread = 0;
}
return;
}
if(_odomThread)
{
delete _odomThread;
_odomThread = 0;
UEventsManager::createPipe(_cameraOpenKinect, _odomThread, "CameraEvent");
}
return;
}
if(_odomThread)
else
{
UEventsManager::createPipe(_cameraOpenni, _odomThread, "CameraEvent");
_cameraOpenni = new CameraOpenni(
_preferencesDialog->getSourceOpenniDevice().toStdString(),
_preferencesDialog->getGeneralInputRate(),
_preferencesDialog->getSourceOpenniLocalTransform());
if(!_cameraOpenni->init())
{
ULOGGER_WARN("init CameraOpenni failed... ");
QMessageBox::warning(this,
tr("RTAB-Map"),
tr("Openni camera initialization failed..."));
emit stateChanged(kIdle);
delete _cameraOpenni;
_cameraOpenni = 0;
if(_odomThread)
{
delete _odomThread;
_odomThread = 0;
}
return;
}
if(_odomThread)
{
UEventsManager::createPipe(_cameraOpenni, _odomThread, "CameraEvent");
}
}
}
else if(_preferencesDialog->isSourceDatabaseUsed())
@@ -2149,7 +2204,7 @@ void MainWindow::startDetection()
// Could not be in the main thread here! (see handleEvents())
void MainWindow::pauseDetection()
{
if(_camera || _dbReader || _cameraOpenni)
if(_camera || _dbReader || _cameraOpenni || _cameraOpenKinect)
{
if(_state == kPaused && (QApplication::keyboardModifiers() & Qt::ShiftModifier))
{
@@ -2183,7 +2238,7 @@ void MainWindow::pauseDetection()
void MainWindow::stopDetection()
{
if(_state == kIdle || (!_camera && !_dbReader && !_cameraOpenni))
if(_state == kIdle || (!_camera && !_dbReader && !_cameraOpenni && !_cameraOpenKinect))
{
return;
}
@@ -2191,7 +2246,8 @@ void MainWindow::stopDetection()
if(_state == kDetecting &&
( (_camera && _camera->isRunning()) ||
(_dbReader && _dbReader->isRunning()) ||
(_cameraOpenni && _cameraOpenni->isRunning())) )
(_cameraOpenni && _cameraOpenni->isRunning()) ||
(_cameraOpenKinect && _cameraOpenKinect->isRunning()) ) )
{
QMessageBox::StandardButton button = QMessageBox::question(this, tr("Stopping process..."), tr("Are you sure you want to stop the process?"), QMessageBox::Yes|QMessageBox::No, QMessageBox::No);
@@ -2218,6 +2274,11 @@ void MainWindow::stopDetection()
_cameraOpenni->kill();
}
if(_cameraOpenKinect)
{
_cameraOpenKinect->join(true);
}
if(_odomThread)
{
_ui->actionReset_Odometry->setEnabled(false);
@@ -2240,6 +2301,11 @@ void MainWindow::stopDetection()
delete _cameraOpenni;
_cameraOpenni = 0;
}
if(_cameraOpenKinect)
{
delete _cameraOpenKinect;
_cameraOpenKinect = 0;
}
if(_odomThread)
{
delete _odomThread;
@@ -2479,6 +2545,11 @@ void MainWindow::selectOpenni()
_preferencesDialog->selectSourceOpenni(true);
}
void MainWindow::selectFreenect()
{
_preferencesDialog->selectSourceOpenni(false);
}
void MainWindow::dumpTheMemory()
{
@@ -3552,6 +3623,11 @@ void MainWindow::changeState(MainWindow::State newState)
{
_cameraOpenni->start();
}
if(_cameraOpenKinect)
{
_cameraOpenKinect->start();
}
break;
case kPaused:
@@ -3585,6 +3661,11 @@ void MainWindow::changeState(MainWindow::State newState)
{
_cameraOpenni->start();
}
if(_cameraOpenKinect)
{
_cameraOpenKinect->start();
}
}
else if(_state == kDetecting)
{
@@ -3616,6 +3697,11 @@ void MainWindow::changeState(MainWindow::State newState)
{
_cameraOpenni->pause();
}
if(_cameraOpenKinect)
{
_cameraOpenKinect->join(true);
}
}
break;
case kMonitoring: