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

Browse Source 
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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189
guilib/src/PreferencesDialog.cpp
View File

@@ -38,8 +38,7 @@
#include "rtabmap/core/Rtabmap.h"
#include "rtabmap/core/Parameters.h"
#include "rtabmap/core/Odometry.h"
#include "rtabmap/core/CameraOpenni.h"
#include "rtabmap/core/CameraFreenect.h"
#include "rtabmap/core/CameraRGBD.h"
#include "rtabmap/core/CameraThread.h"
#include "rtabmap/core/Camera.h"
#include "rtabmap/core/Memory.h"
@@ -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)
{