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Refactoring CameraRGBD class (now including OpenNI, OpenNI2, OpenNI from OpenCV and Freenect)

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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
2014-06-15 03:31:35 +00:00
parent 81b3b49f97
commit c18f1501d4
25 changed files with 1248 additions and 1579 deletions
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2
guilib/include/rtabmap/gui/MainWindow.h
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@@ -205,8 +205,6 @@ private:
State _state;
rtabmap::CameraThread * _camera;
rtabmap::DBReader * _dbReader;
rtabmap::CameraOpenni * _cameraOpenni;
rtabmap::CameraFreenect * _cameraOpenKinect;
rtabmap::OdometryThread * _odomThread;
SrcType _srcType;

9
guilib/include/rtabmap/gui/PreferencesDialog.h
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@@ -49,8 +49,6 @@ class QDoubleSpinBox;
namespace rtabmap {
class CameraOpenni;
class CameraFreenect;
class OdometryThread;
class CameraThread;
class Signature;
@@ -151,12 +149,10 @@ public:
bool isSourceDatabaseUsed() const;
bool isSourceOpenniUsed() const;
OdomType getOdometryType() const;
bool getGeneralAutoRestart() const;
int getSourceImageType() const;
QString getSourceImageTypeStr() const;
int getSourceWidth() const;
int getSourceHeight() const;
int getFramesDropped() const;
QString getSourceImagesPath() const; //Images group
QString getSourceImagesSuffix() const; //Images group
int getSourceImagesSuffixIndex() const; //Images group
@@ -196,7 +192,6 @@ public slots:
void setInputRate(double value);
void setDetectionRate(double value);
void setHardThr(int value);
void setAutoRestart(bool value);
void setTimeLimit(float value);
void setSLAMMode(bool enabled);
void selectSourceImage(Src src = kSrcUndef);
@@ -279,9 +274,7 @@ private:
QProgressDialog * _progressDialog;
//Odometry test
CameraOpenni * _odomCameraOpenNI;
CameraFreenect * _odomCameraFreenect;
CameraThread * _odomCameraOpenNICv;
CameraThread * _cameraThread;
OdometryThread * _odomThread;
QVector<QCheckBox*> _3dRenderingShowClouds;