DBReader now inherits from Camera (so that CameraThread's post processing stuff can be used with a database stream)

guilib/include/rtabmap/gui/MainWindow.h

@@ -47,9 +47,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 namespace rtabmap {
 class CameraThread;
-class DBReader;
-class CameraOpenni;
-class CameraFreenect;
 class OdometryThread;
 class CloudViewer;
 class LoopClosureViewer;
@@ -254,7 +251,6 @@ private:
 
 	State _state;
 	rtabmap::CameraThread * _camera;
-	rtabmap::DBReader * _dbReader;
 	rtabmap::OdometryThread * _odomThread;
 
 	//Dialogs

guilib/include/rtabmap/gui/PreferencesDialog.h

@@ -203,13 +203,7 @@ public:
 	QString getSourceDriverStr() const;
 	QString getSourceDevice() const;
 
-	QString getSourceDatabasePath() const; //Database group
-	bool getSourceDatabaseOdometryIgnored() const; //Database group
-	bool getSourceDatabaseGoalDelayIgnored() const; //Database group
-	bool getSourceDatabaseGoalsIgnored() const; //Database group
-	int getSourceDatabaseStartPos() const; //Database group
-	bool getSourceDatabaseStampsUsed() const;//Database group
-	int getSourceDatabaseCameraIndex() const; //Database group
+	bool getSourceDatabaseStampsUsed() const;
 	bool isSourceRGBDColorOnly() const;
 	int getSourceImageDecimation() const;
 	bool isSourceStereoDepthGenerated() const;

guilib/src/MainWindow.cpp

@@ -126,7 +126,6 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
 	_ui(0),
 	_state(kIdle),
 	_camera(0),
-	_dbReader(0),
 	_odomThread(0),
 	_preferencesDialog(0),
 	_aboutDialog(0),
@@ -671,12 +670,6 @@ void MainWindow::closeEvent(QCloseEvent* event)
 			delete _camera;
 			_camera = 0;
 		}
-		if(_dbReader)
-		{
-			UERROR("DBReader must be already deleted here!");
-			delete _dbReader;
-			_dbReader = 0;
-		}
 		if(_odomThread)
 		{
 			UERROR("OdomThread must be already deleted here!");
@@ -3131,12 +3124,16 @@ void MainWindow::applyPrefSettings(PreferencesDialog::PANEL_FLAGS flags)
 
 		if(_camera)
 		{
-			_camera->setImageRate(_preferencesDialog->getGeneralInputRate());
-		}
-		if(_dbReader)
-		{
-			_dbReader->setFrameRate( _preferencesDialog->getSourceDatabaseStampsUsed()?-1:_preferencesDialog->getGeneralInputRate());
+			if(dynamic_cast<DBReader*>(_camera->camera()) != 0)
+			{
+				_camera->setImageRate( _preferencesDialog->getSourceDatabaseStampsUsed()?-1:_preferencesDialog->getGeneralInputRate());
+			}
+			else
+			{
+				_camera->setImageRate(_preferencesDialog->getGeneralInputRate());
+			}
 		}
+
 	}//This will update the statistics toolbox
 
 	if(flags & PreferencesDialog::kPanelGeneral)
@@ -3798,15 +3795,6 @@ void MainWindow::startDetection()
 		emit stateChanged(kInitialized);
 		return;
 	}
-	if(_dbReader != 0)
-	{
-		QMessageBox::warning(this,
-							 tr("RTAB-Map"),
-							 tr("A database reader is running, stop it first."));
-		UWARN("_dbReader is not null... it must be stopped first");
-		emit stateChanged(kInitialized);
-		return;
-	}
 
 	// Adjust pre-requirements
 	if(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcUndef)
@@ -3820,56 +3808,58 @@ void MainWindow::startDetection()
 	}
 
 
-	if(_preferencesDialog->getSourceDriver() < PreferencesDialog::kSrcDatabase)
+	Camera * camera = _preferencesDialog->createCamera();
+	if(!camera)
 	{
-		Camera * camera = _preferencesDialog->createCamera();
-		if(!camera)
+		emit stateChanged(kInitialized);
+		return;
+	}
+
+	_camera = new CameraThread(camera, parameters);
+	_camera->setMirroringEnabled(_preferencesDialog->isSourceMirroring());
+	_camera->setColorOnly(_preferencesDialog->isSourceRGBDColorOnly());
+	_camera->setImageDecimation(_preferencesDialog->getSourceImageDecimation());
+	_camera->setStereoToDepth(_preferencesDialog->isSourceStereoDepthGenerated());
+	_camera->setScanFromDepth(
+			_preferencesDialog->isSourceScanFromDepth(),
+			_preferencesDialog->getSourceScanFromDepthDecimation(),
+			_preferencesDialog->getSourceScanFromDepthMaxDepth(),
+			_preferencesDialog->getSourceScanVoxelSize(),
+			_preferencesDialog->getSourceScanNormalsK());
+
+	//Create odometry thread if rgbd slam
+	if(uStr2Bool(parameters.at(Parameters::kRGBDEnabled()).c_str()))
+	{
+		// Require calibrated camera
+		if(!camera->isCalibrated())
 		{
+			UWARN("Camera is not calibrated!");
 			emit stateChanged(kInitialized);
+			delete _camera;
+			_camera = 0;
+
+			int button = QMessageBox::question(this,
+					tr("Camera is not calibrated!"),
+					tr("RTAB-Map cannot run with an uncalibrated camera. Do you want to calibrate the camera now?"),
+					 QMessageBox::Yes | QMessageBox::No);
+			if(button == QMessageBox::Yes)
+			{
+				QTimer::singleShot(0, _preferencesDialog, SLOT(calibrate()));
+			}
 			return;
 		}
-
-		_camera = new CameraThread(camera, parameters);
-		_camera->setMirroringEnabled(_preferencesDialog->isSourceMirroring());
-		_camera->setColorOnly(_preferencesDialog->isSourceRGBDColorOnly());
-		_camera->setImageDecimation(_preferencesDialog->getSourceImageDecimation());
-		_camera->setStereoToDepth(_preferencesDialog->isSourceStereoDepthGenerated());
-		_camera->setScanFromDepth(
-				_preferencesDialog->isSourceScanFromDepth(),
-				_preferencesDialog->getSourceScanFromDepthDecimation(),
-				_preferencesDialog->getSourceScanFromDepthMaxDepth(),
-				_preferencesDialog->getSourceScanVoxelSize(),
-				_preferencesDialog->getSourceScanNormalsK());
-
-		//Create odometry thread if rgbd slam
-		if(uStr2Bool(parameters.at(Parameters::kRGBDEnabled()).c_str()))
+		else
 		{
-			// Require calibrated camera
-			if(!camera->isCalibrated())
+			if(_odomThread)
 			{
-				UWARN("Camera is not calibrated!");
-				emit stateChanged(kInitialized);
-				delete _camera;
-				_camera = 0;
-
-				int button = QMessageBox::question(this,
-						tr("Camera is not calibrated!"),
-						tr("RTAB-Map cannot run with an uncalibrated camera. Do you want to calibrate the camera now?"),
-						 QMessageBox::Yes | QMessageBox::No);
-				if(button == QMessageBox::Yes)
-				{
-					QTimer::singleShot(0, _preferencesDialog, SLOT(calibrate()));
-				}
-				return;
+				UERROR("OdomThread must be already deleted here?!");
+				delete _odomThread;
+				_odomThread = 0;
 			}
-			else
+
+			DBReader* dbReader = dynamic_cast<DBReader*>(camera);
+			if(dbReader == 0 || dbReader->isOdometryIgnored())
 			{
-				if(_odomThread)
-				{
-					UERROR("OdomThread must be already deleted here?!");
-					delete _odomThread;
-					_odomThread = 0;
-				}
 				Odometry * odom = Odometry::create(parameters);
 				_odomThread = new OdometryThread(odom, _preferencesDialog->getOdomBufferSize());
 
@@ -3880,65 +3870,10 @@ void MainWindow::startDetection()
 			}
 		}
 	}
-	else if(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcDatabase)
+
+	if(_dataRecorder && _camera)
 	{
-		_dbReader = new DBReader(_preferencesDialog->getSourceDatabasePath().toStdString(),
-								 _preferencesDialog->getSourceDatabaseStampsUsed()?-1:_preferencesDialog->getGeneralInputRate(),
-								 _preferencesDialog->getSourceDatabaseOdometryIgnored(),
-								 _preferencesDialog->getSourceDatabaseGoalDelayIgnored(),
-								 _preferencesDialog->getSourceDatabaseGoalsIgnored(),
-								 _preferencesDialog->getSourceDatabaseCameraIndex());
-
-		//Create odometry thread if rgdb slam
-		if(uStr2Bool(parameters.at(Parameters::kRGBDEnabled()).c_str()) &&
-		   _preferencesDialog->getSourceDatabaseOdometryIgnored())
-		{
-			if(_odomThread)
-			{
-				UERROR("OdomThread must be already deleted here?!");
-				delete _odomThread;
-			}
-			Odometry * odom = Odometry::create(parameters);
-			_odomThread = new OdometryThread(odom, _preferencesDialog->getOdomBufferSize());
-
-			UEventsManager::addHandler(_odomThread);
-			_odomThread->start();
-		}
-
-		if(!_dbReader->init(_preferencesDialog->getSourceDatabaseStartPos()))
-		{
-			ULOGGER_WARN("init DBReader failed... ");
-			QMessageBox::warning(this,
-								   tr("RTAB-Map"),
-								   tr("Database reader initialization failed..."));
-			emit stateChanged(kInitialized);
-			delete _dbReader;
-			_dbReader = 0;
-			if(_odomThread)
-			{
-				delete _odomThread;
-				_odomThread = 0;
-			}
-			return;
-		}
-
-		if(_odomThread)
-		{
-			UEventsManager::createPipe(_dbReader, _odomThread, "CameraEvent");
-			UEventsManager::createPipe(_dbReader, this, "CameraEvent");
-		}
-	}
-
-	if(_dataRecorder)
-	{
-		if(_camera)
-		{
-			UEventsManager::createPipe(_camera, _dataRecorder, "CameraEvent");
-		}
-		else if(_dbReader)
-		{
-			UEventsManager::createPipe(_dbReader, _dataRecorder, "CameraEvent");
-		}
+		UEventsManager::createPipe(_camera, _dataRecorder, "CameraEvent");
 	}
 
 	_lastOdomPose.setNull();
@@ -3964,7 +3899,7 @@ void MainWindow::startDetection()
 // Could not be in the main thread here! (see handleEvents())
 void MainWindow::pauseDetection()
 {
-	if(_camera || _dbReader)
+	if(_camera)
 	{
 		if(_state == kPaused && (QApplication::keyboardModifiers() & Qt::ShiftModifier))
 		{
@@ -3998,14 +3933,13 @@ void MainWindow::pauseDetection()
 
 void MainWindow::stopDetection()
 {
-	if(!_camera && !_dbReader && !_odomThread)
+	if(!_camera && !_odomThread)
 	{
 		return;
 	}
 
 	if(_state == kDetecting &&
-			( (_camera && _camera->isRunning()) ||
-			  (_dbReader && _dbReader->isRunning()) ) )
+	   (_camera && _camera->isRunning()) )
 	{
 		QMessageBox::StandardButton button = QMessageBox::question(this, tr("Stopping process..."), tr("Are you sure you want to stop the process?"), QMessageBox::Yes|QMessageBox::No, QMessageBox::No);
 
@@ -4022,11 +3956,6 @@ void MainWindow::stopDetection()
 		_camera->join(true);
 	}
 
-	if(_dbReader)
-	{
-		_dbReader->join(true);
-	}
-
 	if(_odomThread)
 	{
 		_ui->actionReset_Odometry->setEnabled(false);
@@ -4039,11 +3968,6 @@ void MainWindow::stopDetection()
 		delete _camera;
 		_camera = 0;
 	}
-	if(_dbReader)
-	{
-		delete _dbReader;
-		_dbReader = 0;
-	}
 	if(_odomThread)
 	{
 		delete _odomThread;
@@ -5923,11 +5847,6 @@ void MainWindow::changeState(MainWindow::State newState)
 		{
 			_camera->start();
 		}
-
-		if(_dbReader)
-		{
-			_dbReader->start();
-		}
 		break;
 
 	case kPaused:
@@ -5959,11 +5878,6 @@ void MainWindow::changeState(MainWindow::State newState)
 			{
 				_camera->start();
 			}
-
-			if(_dbReader)
-			{
-				_dbReader->start();
-			}
 		}
 		else if(_state == kDetecting)
 		{
@@ -5993,11 +5907,6 @@ void MainWindow::changeState(MainWindow::State newState)
 			{
 				_camera->join(true);
 			}
-
-			if(_dbReader)
-			{
-				_dbReader->join(true);
-			}
 		}
 		break;
 	case kMonitoring:

guilib/src/PreferencesDialog.cpp

@@ -3520,7 +3520,7 @@ void PreferencesDialog::updateSourceGrpVisibility()
 	_ui->groupBox_sourceRGB->setVisible(_ui->comboBox_sourceType->currentIndex() == 2);
 	_ui->groupBox_sourceDatabase->setVisible(_ui->comboBox_sourceType->currentIndex() == 3);
 
-	_ui->groupBox_scanFromDepth->setVisible(_ui->comboBox_sourceType->currentIndex() <= 1);
+	_ui->groupBox_scanFromDepth->setVisible(_ui->comboBox_sourceType->currentIndex() <= 1 || _ui->comboBox_sourceType->currentIndex() == 3);
 
 	_ui->stackedWidget_rgbd->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 &&
 			(_ui->comboBox_cameraRGBD->currentIndex() == kSrcOpenNI2-kSrcRGBD ||
@@ -3549,7 +3549,7 @@ void PreferencesDialog::updateSourceGrpVisibility()
 			(_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoImages-kSrcStereo) ||
 			(_ui->comboBox_sourceType->currentIndex() == 2 && _ui->source_comboBox_image_type->currentIndex() == kSrcImages-kSrcRGB));
 
-	_ui->groupBox_scan->setVisible(_ui->comboBox_sourceType->currentIndex() != 3);
+	//_ui->groupBox_scan->setVisible(_ui->comboBox_sourceType->currentIndex() != 3);
 
 	_ui->groupBox_depthFromScan->setVisible(_ui->comboBox_sourceType->currentIndex() == 2 && _ui->source_comboBox_image_type->currentIndex() == kSrcImages-kSrcRGB);
 }
@@ -3891,30 +3891,6 @@ Transform PreferencesDialog::getLaserLocalTransform() const
 	return t;
 }
 
-QString PreferencesDialog::getSourceDatabasePath() const
-{
-	return _ui->source_database_lineEdit_path->text();
-}
-bool PreferencesDialog::getSourceDatabaseOdometryIgnored() const
-{
-	return _ui->source_checkBox_ignoreOdometry->isChecked();
-}
-bool PreferencesDialog::getSourceDatabaseGoalDelayIgnored() const
-{
-	return _ui->source_checkBox_ignoreGoalDelay->isChecked();
-}
-bool PreferencesDialog::getSourceDatabaseGoalsIgnored() const
-{
-	return _ui->source_checkBox_ignoreGoals->isChecked();
-}
-int PreferencesDialog::getSourceDatabaseStartPos() const
-{
-	return _ui->source_spinBox_databaseStartPos->value();
-}
-int PreferencesDialog::getSourceDatabaseCameraIndex() const
-{
-	return _ui->source_spinBox_database_cameraIndex->value();
-}
 bool PreferencesDialog::getSourceDatabaseStampsUsed() const
 {
 	return _ui->source_checkBox_useDbStamps->isChecked();
@@ -4193,8 +4169,13 @@ Camera * PreferencesDialog::createCamera(bool useRawImages)
 	}
 	else if(driver == kSrcDatabase)
 	{
-		UERROR("Call directly DBReader for kSrcDatabase.");
-		return 0;
+		camera = new DBReader(_ui->source_database_lineEdit_path->text().toStdString(),
+				_ui->source_checkBox_useDbStamps->isChecked()?-1:this->getGeneralInputRate(),
+				_ui->source_checkBox_ignoreOdometry->isChecked(),
+				_ui->source_checkBox_ignoreGoalDelay->isChecked(),
+				_ui->source_checkBox_ignoreGoals->isChecked(),
+				_ui->source_spinBox_databaseStartPos->value(),
+				_ui->source_spinBox_database_cameraIndex->value());
 	}
 	else
 	{
@@ -4376,30 +4357,11 @@ void PreferencesDialog::setSLAMMode(bool enabled)
 
 void PreferencesDialog::testOdometry()
 {
-	DBReader dbReader(_ui->source_database_lineEdit_path->text().toStdString(),
-					 _ui->source_checkBox_useDbStamps->isChecked()?-1:this->getGeneralInputRate(),
-					 true,
-					 true,
-					 true,
-					 _ui->source_spinBox_database_cameraIndex->value());
-	Camera * camera = 0;
-	if(this->getSourceType() == kSrcDatabase)
+	Camera * camera = this->createCamera();
+	if(!camera)
 	{
-		if(!dbReader.init())
-		{
-			QMessageBox::warning(this, tr("Camera viewer"), tr("Failed to initialize the database reader!"));
-			return;
-		}
+		return;
 	}
-	else
-	{
-		camera = this->createCamera();
-		if(!camera)
-		{
-			return;
-		}
-	}
-
 
 	ParametersMap parameters = this->getAllParameters();
 	Odometry * odometry = Odometry::create(parameters);
@@ -4420,9 +4382,42 @@ void PreferencesDialog::testOdometry()
 	odomViewer->resize(1280, 480+QPushButton().minimumHeight());
 	odomViewer->registerToEventsManager();
 
+	CameraThread cameraThread(camera, this->getAllParameters()); // take ownership of camera
+	cameraThread.setMirroringEnabled(isSourceMirroring());
+	cameraThread.setColorOnly(_ui->checkbox_rgbd_colorOnly->isChecked());
+	cameraThread.setImageDecimation(_ui->spinBox_source_imageDecimation->value());
+	cameraThread.setStereoToDepth(_ui->checkbox_stereo_depthGenerated->isChecked());
+	cameraThread.setScanFromDepth(
+			_ui->groupBox_scanFromDepth->isChecked(),
+			_ui->spinBox_cameraScanFromDepth_decimation->value(),
+			_ui->doubleSpinBox_cameraSCanFromDepth_maxDepth->value(),
+			_ui->doubleSpinBox_cameraImages_scanVoxelSize->value(),
+			_ui->spinBox_cameraImages_scanNormalsK->value());
+	UEventsManager::createPipe(&cameraThread, &odomThread, "CameraEvent");
+	UEventsManager::createPipe(&odomThread, odomViewer, "OdometryEvent");
+	UEventsManager::createPipe(odomViewer, &odomThread, "OdometryResetEvent");
+
+	odomThread.start();
+	cameraThread.start();
+
+	odomViewer->exec();
+	delete odomViewer;
+
+	cameraThread.join(true);
+	odomThread.join(true);
+}
+
+void PreferencesDialog::testCamera()
+{
+	CameraViewer * window = new CameraViewer(this, this->getAllParameters());
+	window->setWindowTitle(tr("Camera viewer"));
+	window->resize(1280, 480+QPushButton().minimumHeight());
+	window->registerToEventsManager();
+
+	Camera * camera = this->createCamera();
 	if(camera)
 	{
-		CameraThread cameraThread(camera, this->getAllParameters()); // take ownership of camera
+		CameraThread cameraThread(camera, this->getAllParameters());
 		cameraThread.setMirroringEnabled(isSourceMirroring());
 		cameraThread.setColorOnly(_ui->checkbox_rgbd_colorOnly->isChecked());
 		cameraThread.setImageDecimation(_ui->spinBox_source_imageDecimation->value());
@@ -4433,97 +4428,19 @@ void PreferencesDialog::testOdometry()
 				_ui->doubleSpinBox_cameraSCanFromDepth_maxDepth->value(),
 				_ui->doubleSpinBox_cameraImages_scanVoxelSize->value(),
 				_ui->spinBox_cameraImages_scanNormalsK->value());
-		UEventsManager::createPipe(&cameraThread, &odomThread, "CameraEvent");
-		UEventsManager::createPipe(&odomThread, odomViewer, "OdometryEvent");
-		UEventsManager::createPipe(odomViewer, &odomThread, "OdometryResetEvent");
+		UEventsManager::createPipe(&cameraThread, window, "CameraEvent");
 
-		odomThread.start();
 		cameraThread.start();
-
-		odomViewer->exec();
-		delete odomViewer;
-
+		window->exec();
+		delete window;
 		cameraThread.join(true);
-		odomThread.join(true);
 	}
 	else
 	{
-		UEventsManager::createPipe(&dbReader, &odomThread, "CameraEvent");
-		UEventsManager::createPipe(&odomThread, odomViewer, "OdometryEvent");
-		UEventsManager::createPipe(odomViewer, &odomThread, "OdometryResetEvent");
-
-		odomThread.start();
-		dbReader.start();
-
-		odomViewer->exec();
-		delete odomViewer;
-
-		dbReader.join(true);
-		odomThread.join(true);
+		delete window;
 	}
 }
 
-void PreferencesDialog::testCamera()
-{
-	CameraViewer * window = new CameraViewer(this, this->getAllParameters());
-	window->setWindowTitle(tr("Camera viewer"));
-	window->resize(1280, 480+QPushButton().minimumHeight());
-	window->registerToEventsManager();
-
-	if(this->getSourceType() == kSrcDatabase)
-	{
-		DBReader dbReader(_ui->source_database_lineEdit_path->text().toStdString(),
-						  _ui->source_checkBox_useDbStamps->isChecked()?-1:this->getGeneralInputRate(),
-						 true,
-						 true,
-						 true,
-						 _ui->source_spinBox_database_cameraIndex->value());
-		if(!dbReader.init(_ui->source_images_spinBox_startPos->value()))
-		{
-			QMessageBox::warning(this, tr("Camera viewer"), tr("Failed to initialize the database reader!"));
-			delete window;
-		}
-		else
-		{
-			UEventsManager::createPipe(&dbReader, window, "CameraEvent");
-
-			dbReader.start();
-			window->exec();
-			delete window;
-			dbReader.join(true);
-		}
-	}
-	else
-	{
-		Camera * camera = this->createCamera();
-		if(camera)
-		{
-			CameraThread cameraThread(camera, this->getAllParameters());
-			cameraThread.setMirroringEnabled(isSourceMirroring());
-			cameraThread.setColorOnly(_ui->checkbox_rgbd_colorOnly->isChecked());
-			cameraThread.setImageDecimation(_ui->spinBox_source_imageDecimation->value());
-			cameraThread.setStereoToDepth(_ui->checkbox_stereo_depthGenerated->isChecked());
-			cameraThread.setScanFromDepth(
-					_ui->groupBox_scanFromDepth->isChecked(),
-					_ui->spinBox_cameraScanFromDepth_decimation->value(),
-					_ui->doubleSpinBox_cameraSCanFromDepth_maxDepth->value(),
-					_ui->doubleSpinBox_cameraImages_scanVoxelSize->value(),
-					_ui->spinBox_cameraImages_scanNormalsK->value());
-			UEventsManager::createPipe(&cameraThread, window, "CameraEvent");
-
-			cameraThread.start();
-			window->exec();
-			delete window;
-			cameraThread.join(true);
-		}
-		else
-		{
-			delete window;
-		}
-	}
-
-}
-
 void PreferencesDialog::calibrate()
 {
 	if(this->getSourceType() == kSrcDatabase)