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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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102
guilib/src/PreferencesDialog.cpp
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@@ -39,6 +39,7 @@
#include "rtabmap/core/Parameters.h"
#include "rtabmap/core/Odometry.h"
#include "rtabmap/core/CameraOpenni.h"
#include "rtabmap/core/CameraFreenect.h"
#include "rtabmap/core/Memory.h"
#include "rtabmap/gui/LoopClosureViewer.h"
@@ -61,7 +62,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui(0),
_indexModel(0),
_initialized(false),
_odomCamera(0),
_odomCameraOpenNI(0),
_odomCameraFreenect(0),
_odomThread(0)
{
ULOGGER_DEBUG("");
@@ -208,6 +210,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->source_spinBox_databaseStartPos, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
//openni group
connect(_ui->groupBox_sourceOpenni, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->radioButton_openni, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->radioButton_freenect, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->lineEdit_openniDevice, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->lineEdit_openniLocalTransform, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
@@ -735,7 +739,9 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->source_spinBox_databaseStartPos->setValue(0);
_ui->groupBox_sourceOpenni->setChecked(true);
_ui->lineEdit_openniDevice->setText("#1");
_ui->radioButton_openni->setChecked(true);
_ui->radioButton_freenect->setChecked(false);
_ui->lineEdit_openniDevice->setText("");
_ui->lineEdit_openniLocalTransform->setText("0 0 0 -PI_2 0 -PI_2");
}
else if(groupBox->objectName() == _ui->groupBox_rtabmap_basic0->objectName())
@@ -969,6 +975,8 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
settings.beginGroup("Openni");
_ui->groupBox_sourceOpenni->setChecked(settings.value("openniUsed", _ui->groupBox_sourceOpenni->isChecked()).toBool());
_ui->radioButton_openni->setChecked(settings.value("openniType", _ui->radioButton_openni->isChecked()).toBool());
_ui->radioButton_freenect->setChecked(settings.value("freenectType", _ui->radioButton_freenect->isChecked()).toBool());
_ui->lineEdit_openniDevice->setText(settings.value("device",_ui->lineEdit_openniDevice->text()).toString());
_ui->lineEdit_openniLocalTransform->setText(settings.value("localTransform",_ui->lineEdit_openniLocalTransform->text()).toString());
settings.endGroup(); // Openni
@@ -1171,6 +1179,8 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath)
settings.beginGroup("Openni");
settings.setValue("openniUsed", _ui->groupBox_sourceOpenni->isChecked());
settings.setValue("openniType", _ui->radioButton_openni->isChecked());
settings.setValue("freenectType", _ui->radioButton_freenect->isChecked());
settings.setValue("device", _ui->lineEdit_openniDevice->text());
settings.setValue("localTransform", _ui->lineEdit_openniLocalTransform->text());
settings.endGroup();
@@ -1533,7 +1543,7 @@ void PreferencesDialog::selectSourceDatabase(bool user)
}
}
void PreferencesDialog::selectSourceOpenni(bool user)
void PreferencesDialog::selectSourceOpenni(bool openni)
{
ULOGGER_DEBUG("");
@@ -1541,8 +1551,8 @@ void PreferencesDialog::selectSourceOpenni(bool user)
{
int button = QMessageBox::information(this,
tr("Activate RGB-D SLAM?"),
tr("You've selected OpenNI camera as source input, "
"would you want to activate RGB-D SLAM mode?"),
tr("You've selected %1 camera as source input, "
"would you want to activate RGB-D SLAM mode?").arg(openni?"OpenNI":"Freenect"),
QMessageBox::Yes | QMessageBox::No);
if(button & QMessageBox::Yes)
{
@@ -1550,13 +1560,11 @@ void PreferencesDialog::selectSourceOpenni(bool user)
}
}
if(user)
{
// from user
_ui->groupBox_sourceOpenni->setChecked(true);
}
_ui->groupBox_sourceOpenni->setChecked(true);
_ui->radioButton_openni->setChecked(openni);
_ui->radioButton_freenect->setChecked(!openni);
if(user && _obsoletePanels)
if(_obsoletePanels)
{
_ui->groupBox_sourceImage->setChecked(false);
_ui->groupBox_sourceDatabase->setChecked(false);
@@ -2442,6 +2450,10 @@ int PreferencesDialog::getSourceDatabaseStartPos() const
{
return _ui->source_spinBox_databaseStartPos->value();
}
bool PreferencesDialog::getSourceFreenect() const
{
return _ui->radioButton_freenect->isChecked();
}
QString PreferencesDialog::getSourceOpenniDevice() const
{
return _ui->lineEdit_openniDevice->text();
@@ -2630,14 +2642,34 @@ void PreferencesDialog::testOdometry()
void PreferencesDialog::testOdometry(OdomType type)
{
UASSERT(_odomCamera == 0 && _odomThread == 0);
UASSERT(_odomCameraOpenNI == 0 && _odomCameraFreenect == 0 && _odomThread == 0);
_odomCamera = new CameraOpenni(
this->getSourceOpenniDevice().toStdString(),
this->getGeneralInputRate(),
this->getSourceOpenniLocalTransform());
if(this->getSourceFreenect())
{
_odomCameraFreenect = new CameraFreenect(
this->getSourceOpenniDevice().isEmpty()?0:atoi(this->getSourceOpenniDevice().toStdString().c_str()),
this->getGeneralInputRate(),
this->getSourceOpenniLocalTransform());
if(!_odomCameraFreenect->init())
{
delete _odomCameraFreenect;
_odomCameraFreenect = 0;
}
}
else
{
_odomCameraOpenNI = new CameraOpenni(
this->getSourceOpenniDevice().toStdString(),
this->getGeneralInputRate(),
this->getSourceOpenniLocalTransform());
if(!_odomCameraOpenNI->init())
{
delete _odomCameraOpenNI;
_odomCameraOpenNI = 0;
}
}
if(_odomCamera->init())
if(_odomCameraOpenNI || _odomCameraFreenect)
{
Odometry * odometry;
ParametersMap parameters = this->getAllParameters();
@@ -2673,7 +2705,14 @@ void PreferencesDialog::testOdometry(OdomType type)
UEventsManager::addHandler(_odomThread);
UEventsManager::addHandler(odomViewer);
UEventsManager::createPipe(_odomCamera, _odomThread, "CameraEvent");
if(_odomCameraFreenect)
{
UEventsManager::createPipe(_odomCameraFreenect, _odomThread, "CameraEvent");
}
else
{
UEventsManager::createPipe(_odomCameraOpenNI, _odomThread, "CameraEvent");
}
UEventsManager::createPipe(_odomThread, odomViewer, "OdometryEvent");
window->showNormal();
@@ -2683,24 +2722,35 @@ void PreferencesDialog::testOdometry(OdomType type)
QApplication::processEvents();
_odomThread->start();
_odomCamera->start();
if(_odomCameraFreenect)
{
_odomCameraFreenect->start();
}
else
{
_odomCameraOpenNI->start();
}
}
else
{
QMessageBox::warning(this, "Initialization failed!", tr("Openni camera initialization failed!"));
delete _odomCamera;
_odomCamera = 0;
QMessageBox::warning(this, "Initialization failed!", tr("RGB-D camera initialization failed!"));
}
}
void PreferencesDialog::cleanOdometryTest()
{
UDEBUG("");
if(_odomCamera)
if(_odomCameraOpenNI)
{
_odomCamera->kill();
delete _odomCamera;
_odomCamera = 0;
_odomCameraOpenNI->kill();
delete _odomCameraOpenNI;
_odomCameraOpenNI = 0;
}
if(_odomCameraFreenect)
{
_odomCameraFreenect->join(true);
delete _odomCameraFreenect;
_odomCameraFreenect = 0;
}
if(_odomThread)
{