CameraFreenect2: added pipelineName parameter

corelib/include/rtabmap/core/CameraRGBD.h

@@ -263,7 +263,8 @@ public:
 					float maxDepth = 12.0f,
 					bool bilateralFiltering = true,
 					bool edgeAwareFiltering = true,
-					bool noiseFiltering = true);
+					bool noiseFiltering = true,
+					const std::string & pipelineName = "");
 	virtual ~CameraFreenect2();
 
 	virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
@@ -287,6 +288,7 @@ private:
 	bool bilateralFiltering_;
 	bool edgeAwareFiltering_;
 	bool noiseFiltering_;
+	std::string pipelineName_;
 #endif
 };
 

corelib/src/CameraRGBD.cpp

@@ -1343,7 +1343,8 @@ CameraFreenect2::CameraFreenect2(
 	float maxDepth,
 	bool bilateralFiltering,
 	bool edgeAwareFiltering,
-	bool noiseFiltering) :
+	bool noiseFiltering,
+	const std::string & pipelineName) :
 		Camera(imageRate, localTransform)
 #ifdef RTABMAP_FREENECT2
         ,
@@ -1357,7 +1358,8 @@ CameraFreenect2::CameraFreenect2(
 		maxKinect2Depth_(maxDepth),
 		bilateralFiltering_(bilateralFiltering),
 		edgeAwareFiltering_(edgeAwareFiltering),
-		noiseFiltering_(noiseFiltering)
+		noiseFiltering_(noiseFiltering),
+		pipelineName_(pipelineName)
 #endif
 {
 #ifdef RTABMAP_FREENECT2
@@ -1410,6 +1412,72 @@ CameraFreenect2::~CameraFreenect2()
 #endif
 }
 
+libfreenect2::PacketPipeline *createPacketPipelineByName(const std::string & name)
+{
+	std::string availablePipelines;
+#if defined(LIBFREENECT2_WITH_OPENGL_SUPPORT)
+	availablePipelines += "gl ";
+	if (name == "gl")
+	{
+		UINFO("Using 'gl' pipeline.");
+		return new libfreenect2::OpenGLPacketPipeline();
+	}
+#endif
+#if defined(LIBFREENECT2_WITH_CUDA_SUPPORT)
+	availablePipelines += "cuda cudakde ";
+	if (name == "cuda")
+	{
+		UINFO("Using 'cuda' pipeline.");
+		return new libfreenect2::CudaPacketPipeline();
+	}
+	if (name == "cudakde")
+	{
+		UINFO("Using 'cudakde' pipeline.");
+		return new libfreenect2::CudaKdePacketPipeline();
+	}
+#endif
+#if defined(LIBFREENECT2_WITH_OPENCL_SUPPORT)
+	availablePipelines += "cl clkde ";
+	if (name == "cl")
+	{
+		UINFO("Using 'cl' pipeline.");
+		return new libfreenect2::OpenCLPacketPipeline();
+	}
+	if (name == "clkde")
+	{
+		UINFO("Using 'clkde' pipeline.");
+		return new libfreenect2::OpenCLKdePacketPipeline();
+	}
+#endif
+	availablePipelines += "cpu";
+	if (name == "cpu")
+	{
+		UINFO("Using 'cpu' pipeline.");
+		return new libfreenect2::CpuPacketPipeline();
+	}
+
+	if (!name.empty())
+	{
+		UERROR("'%s' pipeline is not available. Available pipelines are: \"%s\". Default one is used instead (first one in the list).", 
+			name.c_str(), availablePipelines.c_str());
+	}
+
+	// create default pipeline
+#if defined(LIBFREENECT2_WITH_OPENGL_SUPPORT)
+	UINFO("Using 'gl' pipeline.");
+	return new libfreenect2::OpenGLPacketPipeline();
+#elif defined(LIBFREENECT2_WITH_CUDA_SUPPORT)
+	UINFO("Using 'cuda' pipeline.");
+	return new libfreenect2::CudaPacketPipeline();
+#elif defined(LIBFREENECT2_WITH_OPENCL_SUPPORT)
+	UINFO("Using 'cl' pipeline.");
+	return new libfreenect2::OpenCLPacketPipeline();
+#else
+	UINFO("Using 'cpu' pipeline.");
+	return new libfreenect2::CpuPacketPipeline();
+#endif
+}
+
 bool CameraFreenect2::init(const std::string & calibrationFolder, const std::string & cameraName)
 {
 #ifdef RTABMAP_FREENECT2
@@ -1426,20 +1494,7 @@ bool CameraFreenect2::init(const std::string & calibrationFolder, const std::str
 		reg_ = 0;
 	}
 
-	libfreenect2::PacketPipeline * pipeline;
+	libfreenect2::PacketPipeline * pipeline = createPacketPipelineByName(pipelineName_);
-#ifdef LIBFREENECT2_WITH_CUDA_SUPPORT
-	pipeline = new libfreenect2::CudaPacketPipeline();
-#else
-#ifdef LIBFREENECT2_WITH_OPENGL_SUPPORT
-	pipeline = new libfreenect2::OpenGLPacketPipeline();
-#else
-#ifdef LIBFREENECT2_WITH_OPENCL_SUPPORT
-	pipeline = new libfreenect2::OpenCLPacketPipeline();
-#else
-	pipeline = new libfreenect2::CpuPacketPipeline();
-#endif
-#endif
-#endif
 
 	if(deviceId_ <= 0)
 	{

corelib/src/Rtabmap.cpp

@@ -2820,15 +2820,13 @@ void Rtabmap::setWorkingDirectory(std::string path)
 		ULOGGER_DEBUG("Comparing new working directory path \"%s\" with \"%s\"", path.c_str(), _wDir.c_str());
 		if(path.compare(_wDir) != 0)
 		{
+			if (_foutFloat || _foutInt)
+			{
+				UWARN("Working directory has been changed from \"%s\" with \"%s\", new log files will be created.",
+					path.c_str(), _wDir.c_str());
+			}
 			_wDir = path;
-			if(_memory)
+			setupLogFiles();
-			{
-				this->resetMemory();
-			}
-			else
-			{
-				setupLogFiles();
-			}
 		}
 	}
 	else if(path.empty())

guilib/src/MainWindow.cpp

@@ -3821,15 +3821,6 @@ void MainWindow::applyPrefSettings(const rtabmap::ParametersMap & parameters, bo
 
 		if(_state != kIdle && parametersModified.size())
 		{
-			if(parametersModified.erase(Parameters::kRtabmapWorkingDirectory()) &&
-				_state != kMonitoring &&
-				_state != kMonitoringPaused)
-			{
-				QMessageBox::information(this, tr("Working memory changed"),
-						tr("The working directory can't be changed while the "
-								"detector is running (state=%1). This will be "
-								"applied when the detector will stop.").arg(_state));
-			}
 			if(postParamEvent)
 			{
 				this->post(new ParamEvent(parametersModified));

guilib/src/PreferencesDialog.cpp

@@ -520,6 +520,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	connect(_ui->checkBox_freenect2BilateralFiltering, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->checkBox_freenect2EdgeAwareFiltering, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->checkBox_freenect2NoiseFiltering, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
+	connect(_ui->lineEdit_freenect2Pipeline, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->comboBox_realsensePresetRGB, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->comboBox_realsensePresetDepth, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->checkbox_realsenseOdom, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
@@ -1516,6 +1517,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
 		_ui->checkBox_freenect2BilateralFiltering->setChecked(true);
 		_ui->checkBox_freenect2EdgeAwareFiltering->setChecked(true);
 		_ui->checkBox_freenect2NoiseFiltering->setChecked(true);
+		_ui->lineEdit_freenect2Pipeline->setText("");
 		_ui->comboBox_realsensePresetRGB->setCurrentIndex(0);
 		_ui->comboBox_realsensePresetDepth->setCurrentIndex(2);
 		_ui->checkbox_realsenseOdom->setChecked(false);
@@ -1888,6 +1890,7 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
 	_ui->checkBox_freenect2BilateralFiltering->setChecked(settings.value("bilateralFiltering", _ui->checkBox_freenect2BilateralFiltering->isChecked()).toBool());
 	_ui->checkBox_freenect2EdgeAwareFiltering->setChecked(settings.value("edgeAwareFiltering", _ui->checkBox_freenect2EdgeAwareFiltering->isChecked()).toBool());
 	_ui->checkBox_freenect2NoiseFiltering->setChecked(settings.value("noiseFiltering", _ui->checkBox_freenect2NoiseFiltering->isChecked()).toBool());
+	_ui->lineEdit_freenect2Pipeline->setText(settings.value("pipeline", _ui->lineEdit_freenect2Pipeline->text()).toString());
 	settings.endGroup(); // Freenect2
 
 	settings.beginGroup("RealSense");
@@ -2279,6 +2282,7 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
 	settings.setValue("bilateralFiltering", _ui->checkBox_freenect2BilateralFiltering->isChecked());
 	settings.setValue("edgeAwareFiltering", _ui->checkBox_freenect2EdgeAwareFiltering->isChecked());
 	settings.setValue("noiseFiltering",     _ui->checkBox_freenect2NoiseFiltering->isChecked());
+	settings.setValue("pipeline",           _ui->lineEdit_freenect2Pipeline->text());
 	settings.endGroup(); // Freenect2
 
 	settings.beginGroup("RealSense");
@@ -4740,7 +4744,8 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
 			_ui->doubleSpinBox_freenect2MaxDepth->value(),
 			_ui->checkBox_freenect2BilateralFiltering->isChecked(),
 			_ui->checkBox_freenect2EdgeAwareFiltering->isChecked(),
-			_ui->checkBox_freenect2NoiseFiltering->isChecked());
+			_ui->checkBox_freenect2NoiseFiltering->isChecked(),
+			_ui->lineEdit_freenect2Pipeline->text().toStdString());
 	}
 	else if (driver == kSrcRealSense)
 	{

guilib/src/ui/preferencesDialog.ui

@@ -63,16 +63,25 @@
           <property name="geometry">
            <rect>
             <x>0</x>
-            <y>0</y>
+            <y>-317</y>
-            <width>673</width>
+            <width>677</width>
-            <height>2749</height>
+            <height>2682</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_16">
            <property name="spacing">
             <number>0</number>
            </property>
-           <property name="margin">
+           <property name="leftMargin">
+            <number>0</number>
+           </property>
+           <property name="topMargin">
+            <number>0</number>
+           </property>
+           <property name="rightMargin">
+            <number>0</number>
+           </property>
+           <property name="bottomMargin">
             <number>0</number>
            </property>
            <item>
@@ -86,7 +95,7 @@
                 <enum>QFrame::Raised</enum>
                </property>
                <property name="currentIndex">
-                <number>12</number>
+                <number>5</number>
                </property>
                <widget class="QWidget" name="page_22">
                 <layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -2741,7 +2750,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                     <item>
                      <widget class="QStackedWidget" name="stackedWidget_src">
                       <property name="currentIndex">
-                       <number>1</number>
+                       <number>0</number>
                       </property>
                       <widget class="QWidget" name="page_41">
                        <layout class="QVBoxLayout" name="verticalLayout_64">
@@ -2851,7 +2860,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                            <item>
                             <widget class="QStackedWidget" name="stackedWidget_rgbd">
                              <property name="currentIndex">
-                              <number>7</number>
+                              <number>5</number>
                              </property>
                              <widget class="QWidget" name="page_32">
                               <layout class="QVBoxLayout" name="verticalLayout_63">
@@ -3150,10 +3159,10 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                                   <string>Freenect2</string>
                                  </property>
                                  <layout class="QGridLayout" name="gridLayout_56" columnstretch="0,1">
-                                  <item row="0" column="1">
+                                  <item row="4" column="1">
-                                   <widget class="QLabel" name="label_230">
+                                   <widget class="QLabel" name="label_269">
                                     <property name="text">
-                                     <string>Format.</string>
+                                     <string>Depth edge aware filtering.</string>
                                     </property>
                                     <property name="wordWrap">
                                      <bool>true</bool>
@@ -3163,18 +3172,15 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                                     </property>
                                    </widget>
                                   </item>
-                                  <item row="6" column="0">
+                                  <item row="2" column="0">
-                                   <spacer name="verticalSpacer_32">
+                                   <widget class="QDoubleSpinBox" name="doubleSpinBox_freenect2MaxDepth">
-                                    <property name="orientation">
+                                    <property name="maximum">
-                                     <enum>Qt::Vertical</enum>
+                                     <double>65.000000000000000</double>
                                     </property>
-                                    <property name="sizeHint" stdset="0">
+                                    <property name="value">
-                                     <size>
+                                     <double>12.000000000000000</double>
-                                      <width>20</width>
-                                      <height>0</height>
-                                     </size>
                                     </property>
-                                   </spacer>
+                                   </widget>
                                   </item>
                                   <item row="0" column="0">
                                    <widget class="QComboBox" name="comboBox_freenect2Format">
@@ -3208,6 +3214,16 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                                     </item>
                                    </widget>
                                   </item>
+                                  <item row="3" column="0">
+                                   <widget class="QCheckBox" name="checkBox_freenect2BilateralFiltering">
+                                    <property name="text">
+                                     <string/>
+                                    </property>
+                                    <property name="checked">
+                                     <bool>true</bool>
+                                    </property>
+                                   </widget>
+                                  </item>
                                   <item row="3" column="1">
                                    <widget class="QLabel" name="label_268">
                                     <property name="text">
@@ -3221,6 +3237,16 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                                     </property>
                                    </widget>
                                   </item>
+                                  <item row="4" column="0">
+                                   <widget class="QCheckBox" name="checkBox_freenect2EdgeAwareFiltering">
+                                    <property name="text">
+                                     <string/>
+                                    </property>
+                                    <property name="checked">
+                                     <bool>true</bool>
+                                    </property>
+                                   </widget>
+                                  </item>
                                   <item row="1" column="1">
                                    <widget class="QLabel" name="label_266">
                                     <property name="text">
@@ -3234,10 +3260,10 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                                     </property>
                                    </widget>
                                   </item>
-                                  <item row="4" column="1">
+                                  <item row="0" column="1">
-                                   <widget class="QLabel" name="label_269">
+                                   <widget class="QLabel" name="label_230">
                                     <property name="text">
-                                     <string>Depth edge aware filtering.</string>
+                                     <string>Format.</string>
                                     </property>
                                     <property name="wordWrap">
                                      <bool>true</bool>
@@ -3247,33 +3273,42 @@ 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="7" column="0">
-                                   <widget class="QDoubleSpinBox" name="doubleSpinBox_freenect2MaxDepth">
+                                   <spacer name="verticalSpacer_32">
+                                    <property name="orientation">
+                                     <enum>Qt::Vertical</enum>
+                                    </property>
+                                    <property name="sizeHint" stdset="0">
+                                     <size>
+                                      <width>20</width>
+                                      <height>0</height>
+                                     </size>
+                                    </property>
+                                   </spacer>
+                                  </item>
+                                  <item row="1" column="0">
+                                   <widget class="QDoubleSpinBox" name="doubleSpinBox_freenect2MinDepth">
                                     <property name="maximum">
-                                     <double>65.000000000000000</double>
+                                     <double>64.000000000000000</double>
+                                    </property>
+                                    <property name="singleStep">
+                                     <double>0.100000000000000</double>
                                     </property>
                                     <property name="value">
-                                     <double>12.000000000000000</double>
+                                     <double>0.300000000000000</double>
                                     </property>
                                    </widget>
                                   </item>
-                                  <item row="3" column="0">
+                                  <item row="5" column="1">
-                                   <widget class="QCheckBox" name="checkBox_freenect2BilateralFiltering">
+                                   <widget class="QLabel" name="label_270">
                                     <property name="text">
-                                     <string/>
+                                     <string>Depth noise filtering.</string>
                                     </property>
-                                    <property name="checked">
+                                    <property name="wordWrap">
                                      <bool>true</bool>
                                     </property>
-                                   </widget>
+                                    <property name="textInteractionFlags">
-                                  </item>
+                                     <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
-                                  <item row="4" column="0">
-                                   <widget class="QCheckBox" name="checkBox_freenect2EdgeAwareFiltering">
-                                    <property name="text">
-                                     <string/>
-                                    </property>
-                                    <property name="checked">
-                                     <bool>true</bool>
                                     </property>
                                    </widget>
                                   </item>
@@ -3290,19 +3325,6 @@ 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="QDoubleSpinBox" name="doubleSpinBox_freenect2MinDepth">
-                                    <property name="maximum">
-                                     <double>64.000000000000000</double>
-                                    </property>
-                                    <property name="singleStep">
-                                     <double>0.100000000000000</double>
-                                    </property>
-                                    <property name="value">
-                                     <double>0.300000000000000</double>
-                                    </property>
-                                   </widget>
-                                  </item>
                                   <item row="5" column="0">
                                    <widget class="QCheckBox" name="checkBox_freenect2NoiseFiltering">
                                     <property name="text">
@@ -3313,10 +3335,10 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                                     </property>
                                    </widget>
                                   </item>
-                                  <item row="5" column="1">
+                                  <item row="6" column="1">
-                                   <widget class="QLabel" name="label_270">
+                                   <widget class="QLabel" name="label_434">
                                     <property name="text">
-                                     <string>Depth noise filtering.</string>
+                                     <string>Pipeline, any one of &quot;gl cl clkde cuda cudakde cpu&quot;. If empty, default one is used. Depending on how libfreenect2 was built, the selected pipeline may not be available.</string>
                                     </property>
                                     <property name="wordWrap">
                                      <bool>true</bool>
@@ -3326,6 +3348,13 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                                     </property>
                                    </widget>
                                   </item>
+                                  <item row="6" column="0">
+                                   <widget class="QLineEdit" name="lineEdit_freenect2Pipeline">
+                                    <property name="text">
+                                     <string/>
+                                    </property>
+                                   </widget>
+                                  </item>
                                  </layout>
                                 </widget>
                                </item>
@@ -4561,7 +4590,16 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                        <string>Directory of images (optional settings)</string>
                       </property>
                       <layout class="QVBoxLayout" name="verticalLayout_93">
-                       <property name="margin">
+                       <property name="leftMargin">
+                        <number>0</number>
+                       </property>
+                       <property name="topMargin">
+                        <number>0</number>
+                       </property>
+                       <property name="rightMargin">
+                        <number>0</number>
+                       </property>
+                       <property name="bottomMargin">
                         <number>0</number>
                        </property>
                        <item>
@@ -12710,7 +12748,16 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
                       </property>
                       <widget class="QWidget" name="page_54">
                        <layout class="QVBoxLayout" name="verticalLayout_85">
-                        <property name="margin">
+                        <property name="leftMargin">
+                         <number>0</number>
+                        </property>
+                        <property name="topMargin">
+                         <number>0</number>
+                        </property>
+                        <property name="rightMargin">
+                         <number>0</number>
+                        </property>
+                        <property name="bottomMargin">
                          <number>0</number>
                         </property>
                         <item>
@@ -12850,7 +12897,16 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
                       </widget>
                       <widget class="QWidget" name="page_55">
                        <layout class="QVBoxLayout" name="verticalLayout_86">
-                        <property name="margin">
+                        <property name="leftMargin">
+                         <number>0</number>
+                        </property>
+                        <property name="topMargin">
+                         <number>0</number>
+                        </property>
+                        <property name="rightMargin">
+                         <number>0</number>
+                        </property>
+                        <property name="bottomMargin">
                          <number>0</number>
                         </property>
                         <item>
@@ -13008,7 +13064,16 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
                         <property name="spacing">
                          <number>0</number>
                         </property>
-                        <property name="margin">
+                        <property name="leftMargin">
+                         <number>0</number>
+                        </property>
+                        <property name="topMargin">
+                         <number>0</number>
+                        </property>
+                        <property name="rightMargin">
+                         <number>0</number>
+                        </property>
+                        <property name="bottomMargin">
                          <number>0</number>
                         </property>
                         <item>
@@ -13088,7 +13153,16 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
                         <property name="spacing">
                          <number>0</number>
                         </property>
-                        <property name="margin">
+                        <property name="leftMargin">
+                         <number>0</number>
+                        </property>
+                        <property name="topMargin">
+                         <number>0</number>
+                        </property>
+                        <property name="rightMargin">
+                         <number>0</number>
+                        </property>
+                        <property name="bottomMargin">
                          <number>0</number>
                         </property>
                         <item>
@@ -13200,7 +13274,16 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
                         <property name="spacing">
                          <number>0</number>
                         </property>
-                        <property name="margin">
+                        <property name="leftMargin">
+                         <number>0</number>
+                        </property>
+                        <property name="topMargin">
+                         <number>0</number>
+                        </property>
+                        <property name="rightMargin">
+                         <number>0</number>
+                        </property>
+                        <property name="bottomMargin">
                          <number>0</number>
                         </property>
                         <item>