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Made Freenect dependency optional

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fixed some toro3d warnings

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1327 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-06-04 20:24:54 +00:00
parent 0d437d22d7
commit bb5e5c0084
10 changed files with 110 additions and 27 deletions
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19
guilib/src/MainWindow.cpp
View File

@@ -2012,10 +2012,19 @@ void MainWindow::startDetection()
if(!_cameraOpenKinect->init())
{
ULOGGER_WARN("init CameraOpenKinect failed... ");
QMessageBox::warning(this,
tr("RTAB-Map"),
tr("OpenKinect camera initialization failed..."));
ULOGGER_WARN("init CameraFreenect failed... ");
if(!_cameraOpenKinect->available())
{
QMessageBox::warning(this,
tr("RTAB-Map"),
tr("Freenect camera unavailable! RTAB-Map is not built with Freenect support (libfreenect)."));
}
else
{
QMessageBox::warning(this,
tr("RTAB-Map"),
tr("Freenect camera initialization failed!"));
}
emit stateChanged(kIdle);
delete _cameraOpenKinect;
_cameraOpenKinect = 0;
@@ -2043,7 +2052,7 @@ void MainWindow::startDetection()
ULOGGER_WARN("init CameraOpenni failed... ");
QMessageBox::warning(this,
tr("RTAB-Map"),
tr("Openni camera initialization failed..."));
tr("Openni camera initialization failed!"));
emit stateChanged(kIdle);
delete _cameraOpenni;
_cameraOpenni = 0;

19
guilib/src/PreferencesDialog.cpp
View File

@@ -2708,6 +2708,18 @@ void PreferencesDialog::testOdometry(OdomType type)
this->getSourceOpenniLocalTransform());
if(!_odomCameraFreenect->init())
{
if(!_odomCameraFreenect->available())
{
QMessageBox::warning(this,
tr("RTAB-Map"),
tr("Freenect camera unavailable! RTAB-Map is not built with Freenect support (libfreenect)."));
}
else
{
QMessageBox::warning(this,
tr("RTAB-Map"),
tr("Freenect camera initialization failed!"));
}
delete _odomCameraFreenect;
_odomCameraFreenect = 0;
}
@@ -2720,6 +2732,9 @@ void PreferencesDialog::testOdometry(OdomType type)
this->getSourceOpenniLocalTransform());
if(!_odomCameraOpenNI->init())
{
QMessageBox::warning(this,
tr("RTAB-Map"),
tr("OpenNI camera initialization failed!"));
delete _odomCameraOpenNI;
_odomCameraOpenNI = 0;
}
@@ -2787,10 +2802,6 @@ void PreferencesDialog::testOdometry(OdomType type)
_odomCameraOpenNI->start();
}
}
else
{
QMessageBox::warning(this, "Initialization failed!", tr("RGB-D camera initialization failed!"));
}
}
void PreferencesDialog::cleanOdometryTest()