mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 08:47:45 +08:00
GUI: Added new Freenect2 and StereoDC1394 source options.
This commit is contained in:
Mathieu Labbe
+77
-92
@@ -346,17 +346,21 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
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connect(_ui->actionOpenNI_PCL, SIGNAL(triggered()), this, SLOT(selectOpenni()));
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connect(_ui->actionOpenNI_PCL_ASUS, SIGNAL(triggered()), this, SLOT(selectOpenni()));
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connect(_ui->actionFreenect, SIGNAL(triggered()), this, SLOT(selectFreenect()));
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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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connect(_ui->actionOpenNI2, SIGNAL(triggered()), this, SLOT(selectOpenni2()));
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connect(_ui->actionOpenNI2_kinect, SIGNAL(triggered()), this, SLOT(selectOpenni2()));
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connect(_ui->actionOpenNI2_sense, SIGNAL(triggered()), this, SLOT(selectOpenni2()));
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connect(_ui->actionFreenect2, SIGNAL(triggered()), this, SLOT(selectFreenect2()));
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connect(_ui->actionStereoDC1394, SIGNAL(triggered()), this, SLOT(selectStereoDC1394()));
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_ui->actionFreenect->setEnabled(CameraFreenect::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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connect(_ui->actionOpenNI2_Sense, SIGNAL(triggered()), this, SLOT(selectOpenni2()));
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_ui->actionOpenNI2_Sense->setEnabled(CameraOpenNI2::available());
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connect(_ui->actionOpenNI2_kinect, SIGNAL(triggered()), this, SLOT(selectOpenni2()));
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_ui->actionOpenNI2_kinect->setEnabled(CameraOpenNI2::available());
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_ui->actionOpenNI2_sense->setEnabled(CameraOpenNI2::available());
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_ui->actionFreenect2->setEnabled(CameraFreenect2::available());
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_ui->actionStereoDC1394->setEnabled(CameraStereoDC1394::available());
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this->updateSelectSourceMenu();
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connect(_ui->actionSave_state, SIGNAL(triggered()), this, SLOT(saveFigures()));
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@@ -2221,14 +2225,16 @@ void MainWindow::updateSelectSourceMenu()
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_ui->actionDatabase->setChecked(_preferencesDialog->isSourceDatabaseUsed());
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_ui->actionOpenNI_PCL->setChecked(_preferencesDialog->isSourceOpenniUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_PCL);
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_ui->actionOpenNI_PCL_ASUS->setChecked(_preferencesDialog->isSourceOpenniUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_PCL);
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_ui->actionFreenect->setChecked(_preferencesDialog->isSourceOpenniUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcFreenect);
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_ui->actionOpenNI_CV->setChecked(_preferencesDialog->isSourceOpenniUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_CV);
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_ui->actionOpenNI_CV_ASUS->setChecked(_preferencesDialog->isSourceOpenniUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_CV_ASUS);
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_ui->actionOpenNI2->setChecked(_preferencesDialog->isSourceOpenniUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI2);
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_ui->actionOpenNI2_Sense->setChecked(_preferencesDialog->isSourceOpenniUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI2);
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_ui->actionOpenNI2_kinect->setChecked(_preferencesDialog->isSourceOpenniUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI2);
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_ui->actionOpenNI_PCL->setChecked(_preferencesDialog->isSourceRGBDUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_PCL);
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_ui->actionOpenNI_PCL_ASUS->setChecked(_preferencesDialog->isSourceRGBDUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_PCL);
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_ui->actionFreenect->setChecked(_preferencesDialog->isSourceRGBDUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcFreenect);
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_ui->actionOpenNI_CV->setChecked(_preferencesDialog->isSourceRGBDUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_CV);
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_ui->actionOpenNI_CV_ASUS->setChecked(_preferencesDialog->isSourceRGBDUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_CV_ASUS);
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_ui->actionOpenNI2->setChecked(_preferencesDialog->isSourceRGBDUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI2);
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_ui->actionOpenNI2_kinect->setChecked(_preferencesDialog->isSourceRGBDUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI2);
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_ui->actionOpenNI2_sense->setChecked(_preferencesDialog->isSourceRGBDUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI2);
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_ui->actionFreenect2->setChecked(_preferencesDialog->isSourceRGBDUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcFreenect2);
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_ui->actionStereoDC1394->setChecked(_preferencesDialog->isSourceRGBDUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcStereoDC1394);
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}
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void MainWindow::changeImgRateSetting()
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@@ -2555,7 +2561,7 @@ void MainWindow::startDetection()
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// Adjust pre-requirements
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if( !_preferencesDialog->isSourceImageUsed() &&
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!_preferencesDialog->isSourceDatabaseUsed() &&
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!_preferencesDialog->isSourceOpenniUsed())
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!_preferencesDialog->isSourceRGBDUsed())
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{
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QMessageBox::warning(this,
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tr("RTAB-Map"),
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@@ -2565,83 +2571,11 @@ void MainWindow::startDetection()
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return;
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}
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if(_preferencesDialog->isSourceOpenniUsed())
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if(_preferencesDialog->isSourceRGBDUsed())
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{
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//Create odometry thread if rgbd slam
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if(uStr2Bool(parameters.at(Parameters::kRGBDEnabled()).c_str()))
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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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delete _odomThread;
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}
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Odometry * odom;
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if(_preferencesDialog->getOdomStrategy() == 1)
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{
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odom = new OdometryOpticalFlow(parameters);
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}
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else
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{
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odom = new OdometryBOW(parameters);
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}
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_odomThread = new OdometryThread(odom);
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CameraRGBD * camera = _preferencesDialog->createCameraRGBD();
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UEventsManager::addHandler(_odomThread);
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_odomThread->start();
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}
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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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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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_preferencesDialog->getSourceOpenniFx(),
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_preferencesDialog->getSourceOpenniFy(),
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_preferencesDialog->getSourceOpenniCx(),
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_preferencesDialog->getSourceOpenniCy());
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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->getSourceOpenniDevice().toStdString(),
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_preferencesDialog->getGeneralInputRate(),
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_preferencesDialog->getSourceOpenniLocalTransform(),
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_preferencesDialog->getSourceOpenniFx(),
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_preferencesDialog->getSourceOpenniFy(),
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_preferencesDialog->getSourceOpenniCx(),
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_preferencesDialog->getSourceOpenniCy());
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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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_preferencesDialog->getSourceOpenniFx(),
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_preferencesDialog->getSourceOpenniFy(),
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_preferencesDialog->getSourceOpenniCx(),
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_preferencesDialog->getSourceOpenniCy());
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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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{
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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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_preferencesDialog->getSourceOpenniFx(),
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_preferencesDialog->getSourceOpenniFy(),
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_preferencesDialog->getSourceOpenniCx(),
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_preferencesDialog->getSourceOpenniCy());
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}
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else
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{
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UFATAL("RGBD Source type undefined!");
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}
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if(!camera->init())
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if(!camera->init(_preferencesDialog->getCameraInfoDir().toStdString()))
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{
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ULOGGER_WARN("init camera failed... ");
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QMessageBox::warning(this,
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@@ -2657,7 +2591,7 @@ void MainWindow::startDetection()
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}
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return;
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}
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else if(_preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI2)
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else if(dynamic_cast<CameraOpenNI2*>(camera) != 0)
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{
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((CameraOpenNI2*)camera)->setAutoWhiteBalance(_preferencesDialog->getSourceOpenni2AutoWhiteBalance());
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((CameraOpenNI2*)camera)->setAutoExposure(_preferencesDialog->getSourceOpenni2AutoExposure());
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@@ -2671,9 +2605,50 @@ void MainWindow::startDetection()
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camera->setMirroringEnabled(_preferencesDialog->isSourceMirroring());
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_camera = new CameraThread(camera);
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if(_odomThread)
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//Create odometry thread if rgbd slam
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if(uStr2Bool(parameters.at(Parameters::kRGBDEnabled()).c_str()))
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{
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UEventsManager::createPipe(_camera, _odomThread, "CameraEvent");
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// Require calibrated camera
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if(!camera->isCalibrated())
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{
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UWARN("Camera is not calibrated!");
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emit stateChanged(kInitialized);
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delete _camera;
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_camera = 0;
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int button = QMessageBox::question(this,
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tr("Camera is not calibrated!"),
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tr("RTAB-Map cannot run with an uncalibrated camera. Do you want to calibrate the camera now?"),
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QMessageBox::Yes | QMessageBox::No);
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if(button == QMessageBox::Yes)
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{
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QTimer::singleShot(0, _preferencesDialog, SLOT(calibrate()));
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}
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return;
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}
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else
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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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delete _odomThread;
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}
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Odometry * odom;
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if(_preferencesDialog->getOdomStrategy() == 1)
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{
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odom = new OdometryOpticalFlow(parameters);
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}
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else
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{
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odom = new OdometryBOW(parameters);
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}
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_odomThread = new OdometryThread(odom);
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UEventsManager::addHandler(_odomThread);
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UEventsManager::createPipe(_camera, _odomThread, "CameraEvent");
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_odomThread->start();
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}
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}
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}
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else if(_preferencesDialog->isSourceDatabaseUsed())
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@@ -3590,6 +3565,16 @@ void MainWindow::selectOpenni2()
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_preferencesDialog->selectSourceRGBD(PreferencesDialog::kSrcOpenNI2);
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}
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void MainWindow::selectFreenect2()
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{
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_preferencesDialog->selectSourceRGBD(PreferencesDialog::kSrcFreenect2);
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}
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void MainWindow::selectStereoDC1394()
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{
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_preferencesDialog->selectSourceRGBD(PreferencesDialog::kSrcStereoDC1394);
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}
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void MainWindow::dumpTheMemory()
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{
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