mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 01:20:25 +08:00
Refactoring CameraRGBD class (now including OpenNI, OpenNI2, OpenNI from OpenCV and Freenect)
Added tool to test RGB-D camera: rtabmap-rgbd_camera Fixed Freenect corrupted depth image (after some time) git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1366 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
@@ -205,8 +205,6 @@ private:
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State _state;
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rtabmap::CameraThread * _camera;
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rtabmap::DBReader * _dbReader;
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rtabmap::CameraOpenni * _cameraOpenni;
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rtabmap::CameraFreenect * _cameraOpenKinect;
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rtabmap::OdometryThread * _odomThread;
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SrcType _srcType;
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@@ -49,8 +49,6 @@ class QDoubleSpinBox;
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namespace rtabmap {
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class CameraOpenni;
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class CameraFreenect;
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class OdometryThread;
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class CameraThread;
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class Signature;
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@@ -151,12 +149,10 @@ public:
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bool isSourceDatabaseUsed() const;
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bool isSourceOpenniUsed() const;
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OdomType getOdometryType() const;
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bool getGeneralAutoRestart() const;
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int getSourceImageType() const;
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QString getSourceImageTypeStr() const;
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int getSourceWidth() const;
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int getSourceHeight() const;
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int getFramesDropped() const;
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QString getSourceImagesPath() const; //Images group
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QString getSourceImagesSuffix() const; //Images group
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int getSourceImagesSuffixIndex() const; //Images group
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@@ -196,7 +192,6 @@ public slots:
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void setInputRate(double value);
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void setDetectionRate(double value);
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void setHardThr(int value);
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void setAutoRestart(bool value);
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void setTimeLimit(float value);
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void setSLAMMode(bool enabled);
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void selectSourceImage(Src src = kSrcUndef);
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@@ -279,9 +274,7 @@ private:
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QProgressDialog * _progressDialog;
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//Odometry test
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CameraOpenni * _odomCameraOpenNI;
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CameraFreenect * _odomCameraFreenect;
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CameraThread * _odomCameraOpenNICv;
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CameraThread * _cameraThread;
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OdometryThread * _odomThread;
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QVector<QCheckBox*> _3dRenderingShowClouds;
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@@ -65,8 +65,7 @@
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#include <QtGui/QInputDialog>
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//RGB-D stuff
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#include "rtabmap/core/CameraOpenni.h"
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#include "rtabmap/core/CameraFreenect.h"
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#include "rtabmap/core/CameraRGBD.h"
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#include "rtabmap/core/Odometry.h"
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#include "rtabmap/core/OdometryEvent.h"
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#include "rtabmap/core/util3d.h"
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@@ -97,8 +96,6 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
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_state(kIdle),
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_camera(0),
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_dbReader(0),
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_cameraOpenni(0),
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_cameraOpenKinect(0),
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_odomThread(0),
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_srcType(kSrcUndefined),
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_preferencesDialog(0),
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@@ -291,8 +288,8 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
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_ui->actionFreenect->setEnabled(CameraFreenect::available());
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connect(_ui->actionOpenNI_CV, SIGNAL(triggered()), this, SLOT(selectOpenniCv()));
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connect(_ui->actionOpenNI_CV_ASUS, SIGNAL(triggered()), this, SLOT(selectOpenniCvAsus()));
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_ui->actionOpenNI_CV->setEnabled(CameraRGBD::available());
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_ui->actionOpenNI_CV_ASUS->setEnabled(CameraRGBD::available());
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_ui->actionOpenNI_CV->setEnabled(CameraOpenNICV::available());
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_ui->actionOpenNI_CV_ASUS->setEnabled(CameraOpenNICV::available());
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connect(_ui->actionOpenNI2, SIGNAL(triggered()), this, SLOT(selectOpenni2()));
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_ui->actionOpenNI2->setEnabled(CameraOpenNI2::available());
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@@ -420,18 +417,6 @@ void MainWindow::closeEvent(QCloseEvent* event)
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delete _dbReader;
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_dbReader = 0;
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}
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if(_cameraOpenni)
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{
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UERROR("CameraOpenni must be already deleted here!");
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delete _cameraOpenni;
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_cameraOpenni = 0;
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}
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if(_cameraOpenKinect)
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{
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UERROR("CameraOpenKinect must be already deleted here!");
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delete _cameraOpenKinect;
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_cameraOpenKinect = 0;
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}
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if(_odomThread)
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{
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UERROR("OdomThread must be already deleted here!");
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@@ -1530,23 +1515,12 @@ void MainWindow::applyPrefSettings(PreferencesDialog::PANEL_FLAGS flags)
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if(_camera)
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{
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_camera->getCamera()->setImageRate(_preferencesDialog->getGeneralInputRate());
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_camera->setAutoRestart(_preferencesDialog->getGeneralAutoRestart());
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_camera->setImageRate(_preferencesDialog->getGeneralInputRate());
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}
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if(_dbReader)
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{
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_dbReader->setFrameRate(_preferencesDialog->getGeneralInputRate());
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}
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if(_cameraOpenni)
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{
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_cameraOpenni->setFrameRate(_preferencesDialog->getGeneralInputRate());
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}
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if(_cameraOpenKinect)
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{
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_cameraOpenKinect->setFrameRate(_preferencesDialog->getGeneralInputRate());
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}
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}
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if(flags & PreferencesDialog::kPanelGeneral)
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@@ -1965,24 +1939,6 @@ void MainWindow::startDetection()
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emit stateChanged(kIdle);
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return;
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}
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if(_cameraOpenni != 0)
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{
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QMessageBox::warning(this,
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tr("RTAB-Map"),
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tr("An Openni camera is running, stop it first."));
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UWARN("_cameraOpenni is not null... it must be stopped first");
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emit stateChanged(kIdle);
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return;
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}
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if(_cameraOpenKinect != 0)
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{
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QMessageBox::warning(this,
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tr("RTAB-Map"),
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tr("A Freenect camera is running, stop it first."));
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UWARN("_cameraOpenKinect is not null... it must be stopped first");
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emit stateChanged(kIdle);
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return;
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}
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// Adjust pre-requirements
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if( !_preferencesDialog->isSourceImageUsed() &&
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@@ -2029,112 +1985,61 @@ void MainWindow::startDetection()
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_odomThread->start();
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}
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if(_preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcFreenect)
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CameraRGBD * camera = 0;
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if(_preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_PCL)
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{
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_cameraOpenKinect = new CameraFreenect(
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_preferencesDialog->getSourceOpenniDevice().isEmpty()?0:atoi(_preferencesDialog->getSourceOpenniDevice().toStdString().c_str()),
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_preferencesDialog->getGeneralInputRate(),
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_preferencesDialog->getSourceOpenniLocalTransform());
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if(!_cameraOpenKinect->init())
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{
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ULOGGER_WARN("init CameraFreenect failed... ");
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if(!_cameraOpenKinect->available())
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{
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QMessageBox::warning(this,
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tr("RTAB-Map"),
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tr("Freenect camera unavailable! RTAB-Map is not built with Freenect support (libfreenect)."));
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}
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else
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{
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QMessageBox::warning(this,
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tr("RTAB-Map"),
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tr("Freenect camera initialization failed!"));
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}
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emit stateChanged(kIdle);
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delete _cameraOpenKinect;
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_cameraOpenKinect = 0;
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if(_odomThread)
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{
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delete _odomThread;
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_odomThread = 0;
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}
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return;
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}
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if(_odomThread)
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{
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UEventsManager::createPipe(_cameraOpenKinect, _odomThread, "CameraEvent");
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}
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camera = new CameraOpenni(
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_preferencesDialog->getSourceOpenniDevice().toStdString(),
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_preferencesDialog->getGeneralInputRate(),
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_preferencesDialog->getSourceOpenniLocalTransform());
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}
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else if(_preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI2)
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{
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camera = new CameraOpenNI2(
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_preferencesDialog->getGeneralInputRate(),
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_preferencesDialog->getSourceOpenniLocalTransform());
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}
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else if(_preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcFreenect)
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{
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camera = new CameraFreenect(
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_preferencesDialog->getSourceOpenniDevice().isEmpty()?0:atoi(_preferencesDialog->getSourceOpenniDevice().toStdString().c_str()),
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_preferencesDialog->getGeneralInputRate(),
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_preferencesDialog->getSourceOpenniLocalTransform());
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}
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else if(_preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_CV ||
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_preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_CV_ASUS ||
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_preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI2)
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_preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_CV_ASUS)
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{
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Camera * camera = 0;
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if(_preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI2)
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{
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camera = new CameraOpenNI2(
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_preferencesDialog->getGeneralInputRate());
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}
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else
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{
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camera = new CameraRGBD(
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_preferencesDialog->getGeneralInputRate(),
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_preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_CV_ASUS);
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}
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camera->setLocalTransform(_preferencesDialog->getSourceOpenniLocalTransform());
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if(!camera->init())
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{
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ULOGGER_WARN("init camera failed... ");
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QMessageBox::warning(this,
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tr("RTAB-Map"),
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tr("Camera initialization failed..."));
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emit stateChanged(kIdle);
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delete camera;
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camera = 0;
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if(_odomThread)
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{
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delete _odomThread;
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_odomThread = 0;
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}
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return;
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}
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_camera = new CameraThread(camera);
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if(_odomThread)
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{
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UEventsManager::createPipe(_camera, _odomThread, "CameraEvent");
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}
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camera = new CameraOpenNICV(
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_preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_CV_ASUS,
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_preferencesDialog->getGeneralInputRate(),
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_preferencesDialog->getSourceOpenniLocalTransform());
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}
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else
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{
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_cameraOpenni = new CameraOpenni(
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_preferencesDialog->getSourceOpenniDevice().toStdString(),
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_preferencesDialog->getGeneralInputRate(),
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_preferencesDialog->getSourceOpenniLocalTransform());
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UFATAL("RGBD Source type undefined!");
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}
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if(!_cameraOpenni->init())
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{
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ULOGGER_WARN("init CameraOpenni failed... ");
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QMessageBox::warning(this,
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tr("RTAB-Map"),
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tr("Openni camera initialization failed!"));
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emit stateChanged(kIdle);
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delete _cameraOpenni;
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_cameraOpenni = 0;
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if(_odomThread)
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{
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delete _odomThread;
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_odomThread = 0;
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}
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return;
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}
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if(!camera->init())
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{
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ULOGGER_WARN("init camera failed... ");
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QMessageBox::warning(this,
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tr("RTAB-Map"),
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tr("Camera initialization failed..."));
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emit stateChanged(kIdle);
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delete camera;
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camera = 0;
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if(_odomThread)
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{
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UEventsManager::createPipe(_cameraOpenni, _odomThread, "CameraEvent");
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delete _odomThread;
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_odomThread = 0;
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}
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return;
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}
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_camera = new CameraThread(camera);
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if(_odomThread)
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{
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UEventsManager::createPipe(_camera, _odomThread, "CameraEvent");
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}
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}
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else if(_preferencesDialog->isSourceDatabaseUsed())
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@@ -2211,9 +2116,7 @@ void MainWindow::startDetection()
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_preferencesDialog->getSourceImagesRefreshDir(),
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_preferencesDialog->getGeneralInputRate(),
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_preferencesDialog->getSourceWidth(),
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_preferencesDialog->getSourceHeight(),
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_preferencesDialog->getFramesDropped()
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);
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_preferencesDialog->getSourceHeight());
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}
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else if(sourceType == 2)
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{
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@@ -2221,8 +2124,7 @@ void MainWindow::startDetection()
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_preferencesDialog->getSourceVideoPath().toStdString(),
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_preferencesDialog->getGeneralInputRate(),
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_preferencesDialog->getSourceWidth(),
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_preferencesDialog->getSourceHeight(),
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_preferencesDialog->getFramesDropped());
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_preferencesDialog->getSourceHeight());
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}
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else //if(sourceType == 0)
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{
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@@ -2230,8 +2132,7 @@ void MainWindow::startDetection()
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_preferencesDialog->getSourceUsbDeviceId(),
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_preferencesDialog->getGeneralInputRate(),
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_preferencesDialog->getSourceWidth(),
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_preferencesDialog->getSourceHeight(),
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_preferencesDialog->getFramesDropped());
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_preferencesDialog->getSourceHeight());
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}
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if(!camera->init())
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@@ -2274,7 +2175,7 @@ void MainWindow::startDetection()
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// Could not be in the main thread here! (see handleEvents())
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void MainWindow::pauseDetection()
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{
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if(_camera || _dbReader || _cameraOpenni || _cameraOpenKinect)
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if(_camera || _dbReader)
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{
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if(_state == kPaused && (QApplication::keyboardModifiers() & Qt::ShiftModifier))
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{
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@@ -2308,16 +2209,14 @@ void MainWindow::pauseDetection()
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void MainWindow::stopDetection()
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{
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if(_state == kIdle || (!_camera && !_dbReader && !_cameraOpenni && !_cameraOpenKinect))
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if(_state == kIdle || (!_camera && !_dbReader))
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{
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return;
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}
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if(_state == kDetecting &&
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( (_camera && _camera->isRunning()) ||
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(_dbReader && _dbReader->isRunning()) ||
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(_cameraOpenni && _cameraOpenni->isRunning()) ||
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(_cameraOpenKinect && _cameraOpenKinect->isRunning()) ) )
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(_dbReader && _dbReader->isRunning()) ) )
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{
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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);
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@@ -2339,16 +2238,6 @@ void MainWindow::stopDetection()
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_dbReader->join(true);
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}
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if(_cameraOpenni)
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{
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_cameraOpenni->kill();
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}
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if(_cameraOpenKinect)
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{
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_cameraOpenKinect->join(true);
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}
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if(_odomThread)
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{
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_ui->actionReset_Odometry->setEnabled(false);
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@@ -2366,16 +2255,6 @@ void MainWindow::stopDetection()
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delete _dbReader;
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_dbReader = 0;
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}
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if(_cameraOpenni)
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{
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delete _cameraOpenni;
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_cameraOpenni = 0;
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}
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if(_cameraOpenKinect)
|
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{
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delete _cameraOpenKinect;
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_cameraOpenKinect = 0;
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}
|
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if(_odomThread)
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{
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delete _odomThread;
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@@ -3815,16 +3694,6 @@ void MainWindow::changeState(MainWindow::State newState)
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{
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_dbReader->start();
|
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}
|
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|
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if(_cameraOpenni)
|
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{
|
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_cameraOpenni->start();
|
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}
|
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|
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if(_cameraOpenKinect)
|
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{
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_cameraOpenKinect->start();
|
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}
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break;
|
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|
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case kPaused:
|
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@@ -3853,16 +3722,6 @@ void MainWindow::changeState(MainWindow::State newState)
|
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{
|
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_dbReader->start();
|
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}
|
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|
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if(_cameraOpenni)
|
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{
|
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_cameraOpenni->start();
|
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}
|
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|
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if(_cameraOpenKinect)
|
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{
|
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_cameraOpenKinect->start();
|
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}
|
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}
|
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else if(_state == kDetecting)
|
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{
|
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@@ -3889,16 +3748,6 @@ void MainWindow::changeState(MainWindow::State newState)
|
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{
|
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_dbReader->join(true);
|
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}
|
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|
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if(_cameraOpenni)
|
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{
|
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_cameraOpenni->pause();
|
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}
|
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|
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if(_cameraOpenKinect)
|
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{
|
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_cameraOpenKinect->join(true);
|
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}
|
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}
|
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break;
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case kMonitoring:
|
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|
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@@ -49,7 +49,7 @@ OdometryViewer::OdometryViewer(int maxClouds, int decimation, float voxelSize, i
|
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void OdometryViewer::processData()
|
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{
|
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rtabmap::Image data;
|
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int quality;
|
||||
int quality = 0;
|
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dataMutex_.lock();
|
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if(data_.size())
|
||||
{
|
||||
|
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@@ -38,8 +38,7 @@
|
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#include "rtabmap/core/Rtabmap.h"
|
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#include "rtabmap/core/Parameters.h"
|
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#include "rtabmap/core/Odometry.h"
|
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#include "rtabmap/core/CameraOpenni.h"
|
||||
#include "rtabmap/core/CameraFreenect.h"
|
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#include "rtabmap/core/CameraRGBD.h"
|
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#include "rtabmap/core/CameraThread.h"
|
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#include "rtabmap/core/Camera.h"
|
||||
#include "rtabmap/core/Memory.h"
|
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@@ -64,9 +63,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
|
||||
_ui(0),
|
||||
_indexModel(0),
|
||||
_initialized(false),
|
||||
_odomCameraOpenNI(0),
|
||||
_odomCameraFreenect(0),
|
||||
_odomCameraOpenNICv(0),
|
||||
_cameraThread(0),
|
||||
_odomThread(0)
|
||||
{
|
||||
ULOGGER_DEBUG("");
|
||||
@@ -210,12 +207,10 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
|
||||
_ui->stackedWidget_image->setCurrentIndex(_ui->source_comboBox_image_type->currentIndex());
|
||||
connect(_ui->source_comboBox_image_type, SIGNAL(currentIndexChanged(int)), _ui->stackedWidget_image, SLOT(setCurrentIndex(int)));
|
||||
connect(_ui->source_comboBox_image_type, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
|
||||
connect(_ui->general_checkBox_autoRestart, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
|
||||
//usbDevice group
|
||||
connect(_ui->source_usbDevice_spinBox_id, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
|
||||
connect(_ui->source_spinBox_imgWidth, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
|
||||
connect(_ui->source_spinBox_imgheight, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
|
||||
connect(_ui->source_spinBox_framesDropped, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
|
||||
//images group
|
||||
connect(_ui->source_images_toolButton_selectSource, SIGNAL(clicked()), this, SLOT(selectSourceImage()));
|
||||
connect(_ui->source_images_lineEdit_path, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
|
||||
@@ -238,8 +233,8 @@ 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());
|
||||
_ui->radioButton_opennicv->setEnabled(CameraOpenNICV::available());
|
||||
_ui->radioButton_opennicvasus->setEnabled(CameraOpenNICV::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()));
|
||||
@@ -765,8 +760,6 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
|
||||
_ui->groupBox_sourceImage->setChecked(false);
|
||||
_ui->source_spinBox_imgWidth->setValue(0);
|
||||
_ui->source_spinBox_imgheight->setValue(0);
|
||||
_ui->source_spinBox_framesDropped->setValue(0);
|
||||
_ui->general_checkBox_autoRestart->setChecked(false);
|
||||
_ui->source_images_spinBox_startPos->setValue(1);
|
||||
_ui->source_images_refreshDir->setChecked(false);
|
||||
|
||||
@@ -987,11 +980,9 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
|
||||
settings.beginGroup("Camera");
|
||||
_ui->groupBox_sourceImage->setChecked(settings.value("imageUsed", _ui->groupBox_sourceImage->isChecked()).toBool());
|
||||
_ui->general_doubleSpinBox_imgRate->setValue(settings.value("imgRate", _ui->general_doubleSpinBox_imgRate->value()).toDouble());
|
||||
_ui->general_checkBox_autoRestart->setChecked(settings.value("autoRestart", _ui->general_checkBox_autoRestart->isChecked()).toBool());
|
||||
_ui->source_comboBox_image_type->setCurrentIndex(settings.value("type", _ui->source_comboBox_image_type->currentIndex()).toInt());
|
||||
_ui->source_spinBox_imgWidth->setValue(settings.value("imgWidth",_ui->source_spinBox_imgWidth->value()).toInt());
|
||||
_ui->source_spinBox_imgheight->setValue(settings.value("imgHeight",_ui->source_spinBox_imgheight->value()).toInt());
|
||||
_ui->source_spinBox_framesDropped->setValue(settings.value("framesDropped",_ui->source_spinBox_framesDropped->value()).toInt());
|
||||
//usbDevice group
|
||||
settings.beginGroup("usbDevice");
|
||||
_ui->source_usbDevice_spinBox_id->setValue(settings.value("id",_ui->source_usbDevice_spinBox_id->value()).toInt());
|
||||
@@ -1196,11 +1187,9 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath)
|
||||
settings.beginGroup("Camera");
|
||||
settings.setValue("imageUsed", _ui->groupBox_sourceImage->isChecked());
|
||||
settings.setValue("imgRate", _ui->general_doubleSpinBox_imgRate->value());
|
||||
settings.setValue("autoRestart", _ui->general_checkBox_autoRestart->isChecked());
|
||||
settings.setValue("type", _ui->source_comboBox_image_type->currentIndex());
|
||||
settings.setValue("imgWidth", _ui->source_spinBox_imgWidth->value());
|
||||
settings.setValue("imgHeight", _ui->source_spinBox_imgheight->value());
|
||||
settings.setValue("framesDropped", _ui->source_spinBox_framesDropped->value());
|
||||
//usbDevice group
|
||||
settings.beginGroup("usbDevice");
|
||||
settings.setValue("id", _ui->source_usbDevice_spinBox_id->value());
|
||||
@@ -2467,10 +2456,6 @@ PreferencesDialog::OdomType PreferencesDialog::getOdometryType() const
|
||||
return kOdomICP;
|
||||
}
|
||||
|
||||
bool PreferencesDialog::getGeneralAutoRestart() const
|
||||
{
|
||||
return _ui->general_checkBox_autoRestart->isChecked();
|
||||
}
|
||||
int PreferencesDialog::getSourceImageType() const
|
||||
{
|
||||
return _ui->source_comboBox_image_type->currentIndex();
|
||||
@@ -2487,10 +2472,6 @@ int PreferencesDialog::getSourceHeight() const
|
||||
{
|
||||
return _ui->source_spinBox_imgheight->value();
|
||||
}
|
||||
int PreferencesDialog::getFramesDropped() const
|
||||
{
|
||||
return _ui->source_spinBox_framesDropped->value();
|
||||
}
|
||||
QString PreferencesDialog::getSourceImagesPath() const
|
||||
{
|
||||
return _ui->source_images_lineEdit_path->text();
|
||||
@@ -2666,23 +2647,6 @@ void PreferencesDialog::setDetectionRate(double value)
|
||||
}
|
||||
}
|
||||
|
||||
void PreferencesDialog::setAutoRestart(bool value)
|
||||
{
|
||||
ULOGGER_DEBUG("autoRestart=%d", value);
|
||||
if(_ui->general_checkBox_autoRestart->isChecked() != value)
|
||||
{
|
||||
_ui->general_checkBox_autoRestart->setChecked(value);
|
||||
if(validateForm())
|
||||
{
|
||||
this->writeSettings();
|
||||
}
|
||||
else
|
||||
{
|
||||
this->readSettingsBegin();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void PreferencesDialog::setTimeLimit(float value)
|
||||
{
|
||||
ULOGGER_DEBUG("timeLimit=%fs", value);
|
||||
@@ -2735,77 +2699,53 @@ void PreferencesDialog::testOdometry()
|
||||
|
||||
void PreferencesDialog::testOdometry(OdomType type)
|
||||
{
|
||||
UASSERT(_odomCameraOpenNI == 0 && _odomCameraFreenect == 0 && _odomThread == 0 && _odomCameraOpenNICv == 0);
|
||||
UASSERT(_odomThread == 0 && _cameraThread == 0);
|
||||
|
||||
if(this->getSourceRGBD() == kSrcFreenect)
|
||||
CameraRGBD * camera = 0;
|
||||
if(this->getSourceRGBD() == kSrcOpenNI_PCL)
|
||||
{
|
||||
_odomCameraFreenect = new CameraFreenect(
|
||||
this->getSourceOpenniDevice().isEmpty()?0:atoi(this->getSourceOpenniDevice().toStdString().c_str()),
|
||||
this->getGeneralInputRate(),
|
||||
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;
|
||||
}
|
||||
camera = new CameraOpenni(
|
||||
this->getSourceOpenniDevice().toStdString(),
|
||||
this->getGeneralInputRate(),
|
||||
this->getSourceOpenniLocalTransform());
|
||||
}
|
||||
else if(this->getSourceRGBD() == kSrcOpenNI_CV ||
|
||||
this->getSourceRGBD() == kSrcOpenNI_CV_ASUS ||
|
||||
this->getSourceRGBD() == kSrcOpenNI2)
|
||||
else if(this->getSourceRGBD() == kSrcOpenNI2)
|
||||
{
|
||||
Camera * camera = 0;
|
||||
if(this->getSourceRGBD() == kSrcOpenNI2)
|
||||
{
|
||||
camera = new CameraOpenNI2(
|
||||
this->getGeneralInputRate());
|
||||
camera = new CameraOpenNI2(
|
||||
this->getGeneralInputRate(),
|
||||
this->getSourceOpenniLocalTransform());
|
||||
|
||||
}
|
||||
else
|
||||
{
|
||||
camera = new CameraRGBD(
|
||||
this->getGeneralInputRate(),
|
||||
this->getSourceRGBD() == kSrcOpenNI_CV_ASUS);
|
||||
}
|
||||
camera->setLocalTransform(this->getSourceOpenniLocalTransform());
|
||||
_odomCameraOpenNICv = new CameraThread(camera);
|
||||
if(!_odomCameraOpenNICv->init())
|
||||
{
|
||||
QMessageBox::warning(this,
|
||||
tr("RTAB-Map"),
|
||||
tr("OpenNI-CV camera initialization failed!"));
|
||||
delete _odomCameraOpenNICv;
|
||||
_odomCameraOpenNICv = 0;
|
||||
}
|
||||
}
|
||||
else if(this->getSourceRGBD() == kSrcFreenect)
|
||||
{
|
||||
camera = new CameraFreenect(
|
||||
this->getSourceOpenniDevice().isEmpty()?0:atoi(this->getSourceOpenniDevice().toStdString().c_str()),
|
||||
this->getGeneralInputRate(),
|
||||
this->getSourceOpenniLocalTransform());
|
||||
}
|
||||
else if(this->getSourceRGBD() == kSrcOpenNI_CV || this->getSourceRGBD() == kSrcOpenNI_CV_ASUS)
|
||||
{
|
||||
camera = new CameraOpenNICV(
|
||||
this->getSourceRGBD() == kSrcOpenNI_CV_ASUS,
|
||||
this->getGeneralInputRate(),
|
||||
this->getSourceOpenniLocalTransform());
|
||||
}
|
||||
else
|
||||
{
|
||||
_odomCameraOpenNI = new CameraOpenni(
|
||||
this->getSourceOpenniDevice().toStdString(),
|
||||
this->getGeneralInputRate(),
|
||||
this->getSourceOpenniLocalTransform());
|
||||
if(!_odomCameraOpenNI->init())
|
||||
{
|
||||
QMessageBox::warning(this,
|
||||
tr("RTAB-Map"),
|
||||
tr("OpenNI camera initialization failed!"));
|
||||
delete _odomCameraOpenNI;
|
||||
_odomCameraOpenNI = 0;
|
||||
}
|
||||
UFATAL("RGBD Source type undefined!");
|
||||
}
|
||||
|
||||
if(_odomCameraOpenNI || _odomCameraFreenect || _odomCameraOpenNICv)
|
||||
if(!camera->init())
|
||||
{
|
||||
QMessageBox::warning(this,
|
||||
tr("RTAB-Map"),
|
||||
tr("RGBD camera initialization failed!"));
|
||||
delete camera;
|
||||
camera = 0;
|
||||
}
|
||||
|
||||
|
||||
if(camera)
|
||||
{
|
||||
Odometry * odometry;
|
||||
ParametersMap parameters = this->getAllParameters();
|
||||
@@ -2841,18 +2781,8 @@ void PreferencesDialog::testOdometry(OdomType type)
|
||||
UEventsManager::addHandler(_odomThread);
|
||||
UEventsManager::addHandler(odomViewer);
|
||||
|
||||
if(_odomCameraFreenect)
|
||||
{
|
||||
UEventsManager::createPipe(_odomCameraFreenect, _odomThread, "CameraEvent");
|
||||
}
|
||||
else if(_odomCameraOpenNICv)
|
||||
{
|
||||
UEventsManager::createPipe(_odomCameraOpenNICv, _odomThread, "CameraEvent");
|
||||
}
|
||||
else
|
||||
{
|
||||
UEventsManager::createPipe(_odomCameraOpenNI, _odomThread, "CameraEvent");
|
||||
}
|
||||
_cameraThread = new CameraThread(camera);
|
||||
UEventsManager::createPipe(_cameraThread, _odomThread, "CameraEvent");
|
||||
UEventsManager::createPipe(_odomThread, odomViewer, "OdometryEvent");
|
||||
|
||||
window->showNormal();
|
||||
@@ -2862,41 +2792,18 @@ void PreferencesDialog::testOdometry(OdomType type)
|
||||
QApplication::processEvents();
|
||||
|
||||
_odomThread->start();
|
||||
if(_odomCameraFreenect)
|
||||
{
|
||||
_odomCameraFreenect->start();
|
||||
}
|
||||
else if(_odomCameraOpenNICv)
|
||||
{
|
||||
_odomCameraOpenNICv->start();
|
||||
}
|
||||
else
|
||||
{
|
||||
_odomCameraOpenNI->start();
|
||||
}
|
||||
_cameraThread->start();
|
||||
}
|
||||
}
|
||||
|
||||
void PreferencesDialog::cleanOdometryTest()
|
||||
{
|
||||
UDEBUG("");
|
||||
if(_odomCameraOpenNI)
|
||||
if(_cameraThread)
|
||||
{
|
||||
_odomCameraOpenNI->kill();
|
||||
delete _odomCameraOpenNI;
|
||||
_odomCameraOpenNI = 0;
|
||||
}
|
||||
if(_odomCameraFreenect)
|
||||
{
|
||||
_odomCameraFreenect->join(true);
|
||||
delete _odomCameraFreenect;
|
||||
_odomCameraFreenect = 0;
|
||||
}
|
||||
if(_odomCameraOpenNICv)
|
||||
{
|
||||
_odomCameraOpenNICv->join(true);
|
||||
delete _odomCameraOpenNICv;
|
||||
_odomCameraOpenNICv = 0;
|
||||
_cameraThread->join(true);
|
||||
delete _cameraThread;
|
||||
_cameraThread = 0;
|
||||
}
|
||||
if(_odomThread)
|
||||
{
|
||||
|
||||
@@ -7,7 +7,7 @@
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<width>908</width>
|
||||
<height>406</height>
|
||||
<height>494</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="sizePolicy">
|
||||
@@ -63,9 +63,9 @@
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>0</x>
|
||||
<y>-331</y>
|
||||
<width>609</width>
|
||||
<height>657</height>
|
||||
<y>0</y>
|
||||
<width>707</width>
|
||||
<height>752</height>
|
||||
</rect>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_16">
|
||||
@@ -1363,21 +1363,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QCheckBox" name="general_checkBox_autoRestart">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="label_6">
|
||||
<property name="text">
|
||||
<string>Auto restart.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QLabel" name="label_10">
|
||||
<property name="text">
|
||||
<string>Image width (set to 0 to use the default size of the source).</string>
|
||||
@@ -1387,7 +1373,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<item row="2" column="1">
|
||||
<widget class="QLabel" name="label_11">
|
||||
<property name="text">
|
||||
<string>Image height (set to 0 to use the default size of the source).</string>
|
||||
@@ -1397,7 +1383,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<item row="1" column="0">
|
||||
<widget class="QSpinBox" name="source_spinBox_imgWidth">
|
||||
<property name="minimum">
|
||||
<number>0</number>
|
||||
@@ -1413,7 +1399,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="0">
|
||||
<item row="2" column="0">
|
||||
<widget class="QSpinBox" name="source_spinBox_imgheight">
|
||||
<property name="minimum">
|
||||
<number>0</number>
|
||||
@@ -1429,46 +1415,6 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="0">
|
||||
<widget class="QCheckBox" name="general_checkBox_cameraKeypoints">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="1">
|
||||
<widget class="QLabel" name="label_13">
|
||||
<property name="text">
|
||||
<string>Keypoints extraction post threatement.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="1">
|
||||
<widget class="QLabel" name="label_128">
|
||||
<property name="text">
|
||||
<string>Frames dropped (ignore X frames after each frame acquired, used to decrease source framerate)</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="0">
|
||||
<widget class="QSpinBox" name="source_spinBox_framesDropped">
|
||||
<property name="minimum">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>999999999</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>0</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
|
||||
Reference in New Issue
Block a user