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CameraThread: Added stereo to depth option. Added parameter "Mem/SaveDepth16Format".

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This commit is contained in:
matlabbe
2015-08-27 17:16:12 -04:00
parent 0651d5dfbd
commit ce2bbd8feb
16 changed files with 343 additions and 230 deletions
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11
guilib/src/PreferencesDialog.cpp
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@@ -392,6 +392,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->checkBox_stereoVideo_rectify, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkbox_rgbd_colorOnly, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkbox_stereo_depthGenerated, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->pushButton_calibrate, SIGNAL(clicked()), this, SLOT(calibrate()));
connect(_ui->pushButton_calibrate_simple, SIGNAL(clicked()), this, SLOT(calibrateSimple()));
connect(_ui->toolButton_openniOniPath, SIGNAL(clicked()), this, SLOT(selectSourceOniPath()));
@@ -444,6 +445,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
// Memory
_ui->general_checkBox_keepRawData->setObjectName(Parameters::kMemImageKept().c_str());
_ui->general_checkBox_keepBinaryData->setObjectName(Parameters::kMemBinDataKept().c_str());
_ui->general_checkBox_saveDepth16bits->setObjectName(Parameters::kMemSaveDepth16Format().c_str());
_ui->general_checkBox_keepNotLinkedNodes->setObjectName(Parameters::kMemNotLinkedNodesKept().c_str());
_ui->general_spinBox_maxStMemSize->setObjectName(Parameters::kMemSTMSize().c_str());
_ui->doubleSpinBox_similarityThreshold->setObjectName(Parameters::kMemRehearsalSimilarity().c_str());
@@ -1105,6 +1107,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
}
_ui->checkbox_rgbd_colorOnly->setChecked(false);
_ui->checkbox_stereo_depthGenerated->setChecked(false);
_ui->openni2_autoWhiteBalance->setChecked(true);
_ui->openni2_autoExposure->setChecked(true);
_ui->openni2_exposure->setValue(0);
@@ -1367,6 +1370,7 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
settings.beginGroup("stereo");
_ui->comboBox_cameraStereo->setCurrentIndex(settings.value("driver", _ui->comboBox_cameraStereo->currentIndex()).toInt());
_ui->checkbox_stereo_depthGenerated->setChecked(settings.value("depthGenerated", _ui->checkbox_stereo_depthGenerated->isChecked()).toBool());
settings.endGroup(); // stereo
settings.beginGroup("rgb");
@@ -1678,6 +1682,7 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.beginGroup("stereo");
settings.setValue("driver", _ui->comboBox_cameraStereo->currentIndex());
settings.setValue("depthGenerated", _ui->checkbox_stereo_depthGenerated->isChecked());
settings.endGroup(); // stereo
settings.beginGroup("rgb");
@@ -3447,6 +3452,10 @@ bool PreferencesDialog::isSourceRGBDColorOnly() const
{
return _ui->checkbox_rgbd_colorOnly->isChecked();
}
bool PreferencesDialog::isSourceStereoDepthGenerated() const
{
return _ui->checkbox_stereo_depthGenerated->isChecked();
}
Camera * PreferencesDialog::createCamera(bool useRawImages)
{
@@ -3826,6 +3835,7 @@ void PreferencesDialog::testOdometry(int type)
CameraThread cameraThread(camera); // take ownership of camera
cameraThread.setMirroringEnabled(isSourceMirroring());
cameraThread.setColorOnly(_ui->checkbox_rgbd_colorOnly->isChecked());
cameraThread.setStereoToDepth(_ui->checkbox_stereo_depthGenerated->isChecked());
UEventsManager::createPipe(&cameraThread, &odomThread, "CameraEvent");
UEventsManager::createPipe(&odomThread, odomViewer, "OdometryEvent");
UEventsManager::createPipe(odomViewer, &odomThread, "OdometryResetEvent");
@@ -3892,6 +3902,7 @@ void PreferencesDialog::testCamera()
CameraThread cameraThread(camera);
cameraThread.setMirroringEnabled(isSourceMirroring());
cameraThread.setColorOnly(_ui->checkbox_rgbd_colorOnly->isChecked());
cameraThread.setStereoToDepth(_ui->checkbox_stereo_depthGenerated->isChecked());
UEventsManager::createPipe(&cameraThread, window, "CameraEvent");
cameraThread.start();