From 0d500ff1bf0e95796014b759593b196159cdea37 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Tue, 5 May 2015 19:43:25 -0400
Subject: [PATCH] Calibration Freeenct2: switching images by default

---
 guilib/include/rtabmap/gui/CalibrationDialog.h | 3 ++-
 guilib/src/CalibrationDialog.cpp               | 9 ++++++++-
 guilib/src/PreferencesDialog.cpp               | 1 +
 tools/Calibration/main.cpp                     | 5 ++++-
 4 files changed, 15 insertions(+), 3 deletions(-)

diff --git a/guilib/include/rtabmap/gui/CalibrationDialog.h b/guilib/include/rtabmap/gui/CalibrationDialog.h
index 37ff0044..bb617456 100644
--- a/guilib/include/rtabmap/gui/CalibrationDialog.h
+++ b/guilib/include/rtabmap/gui/CalibrationDialog.h
@@ -47,7 +47,7 @@ class RTABMAPGUI_EXP CalibrationDialog  : public QDialog, public UEventsHandler
 	Q_OBJECT;
 
 public:
-	CalibrationDialog(bool stereo = false, const QString & savingDirectory = ".", QWidget * parent = 0);
+	CalibrationDialog(bool stereo = false, const QString & savingDirectory = ".", bool switchImages = false, QWidget * parent = 0);
 	virtual ~CalibrationDialog();
 
 	bool isCalibrated() const {return models_[0].isValid() && (stereo_?models_[1].isValid():true);}
@@ -58,6 +58,7 @@ public:
 	void saveSettings(QSettings & settings, const QString & group = "") const;
 	void loadSettings(QSettings & settings, const QString & group = "");
 
+	void setSwitchedImages(bool switched);
 	void setStereoMode(bool stereo);
 	void setSavingDirectory(const QString & savingDirectory) {savingDirectory_ = savingDirectory;}
 
diff --git a/guilib/src/CalibrationDialog.cpp b/guilib/src/CalibrationDialog.cpp
index 796806c7..5a722b09 100644
--- a/guilib/src/CalibrationDialog.cpp
+++ b/guilib/src/CalibrationDialog.cpp
@@ -46,7 +46,7 @@ namespace rtabmap {
 
 #define COUNT_MIN 40
 
-CalibrationDialog::CalibrationDialog(bool stereo, const QString & savingDirectory, QWidget * parent) :
+CalibrationDialog::CalibrationDialog(bool stereo, const QString & savingDirectory, bool switchImages, QWidget * parent) :
 	QDialog(parent),
 	stereo_(stereo),
 	savingDirectory_(savingDirectory),
@@ -91,6 +91,8 @@ CalibrationDialog::CalibrationDialog(bool stereo, const QString & savingDirector
 
 	ui_->radioButton_raw->setChecked(true);
 
+	ui_->checkBox_switchImages->setChecked(switchImages);
+
 	this->setStereoMode(stereo_);
 }
 
@@ -136,6 +138,11 @@ void CalibrationDialog::loadSettings(QSettings & settings, const QString & group
 	}
 }
 
+void CalibrationDialog::setSwitchedImages(bool switched)
+{
+	ui_->checkBox_switchImages->setChecked(switched);
+}
+
 void CalibrationDialog::setStereoMode(bool stereo)
 {
 	this->restart();
diff --git a/guilib/src/PreferencesDialog.cpp b/guilib/src/PreferencesDialog.cpp
index 99c646ee..d14b1f00 100644
--- a/guilib/src/PreferencesDialog.cpp
+++ b/guilib/src/PreferencesDialog.cpp
@@ -3523,6 +3523,7 @@ void PreferencesDialog::calibrate()
 		}
 	}
 	_calibrationDialog->setStereoMode(true);
+	_calibrationDialog->setSwitchedImages(dynamic_cast<CameraFreenect2*>(camera) != 0);
 	_calibrationDialog->setSavingDirectory(this->getCameraInfoDir());
 	_calibrationDialog->registerToEventsManager();
 
diff --git a/tools/Calibration/main.cpp b/tools/Calibration/main.cpp
index ffe82dfd..b93b1080 100644
--- a/tools/Calibration/main.cpp
+++ b/tools/Calibration/main.cpp
@@ -128,6 +128,8 @@ int main(int argc, char * argv[])
 	UINFO("Using device %d", device);
 	UINFO("Stereo: %s", stereo?"true":"false");
 
+	bool switchImages = false;
+
 	rtabmap::Camera * cameraUsb = 0;
 	rtabmap::CameraRGBD * camera = 0;
 	if(driver == -1)
@@ -181,6 +183,7 @@ int main(int argc, char * argv[])
 			UERROR("Not built with Freenect2 support...");
 			exit(-1);
 		}
+		switchImages = true;
 		camera = new rtabmap::CameraFreenect2(0, rtabmap::CameraFreenect2::kTypeRGBIR);
 	}
 	else if(driver == 6)
@@ -230,7 +233,7 @@ int main(int argc, char * argv[])
 	}
 
 	QApplication app(argc, argv);
-	rtabmap::CalibrationDialog dialog(stereo);
+	rtabmap::CalibrationDialog dialog(stereo, ".", switchImages);
 	dialog.registerToEventsManager();
 
 	dialog.show();