diff --git a/corelib/WebcamCapture/main.cpp b/corelib/WebcamCapture/main.cpp
index c67ba933..c7a376a6 100644
--- a/corelib/WebcamCapture/main.cpp
+++ b/corelib/WebcamCapture/main.cpp
@@ -37,7 +37,6 @@ void showUsage()
" -device #: Id of the webcam (default 0)\n"
" -width #: Image width (default 640)\n"
" -height #: Image height (default 480)\n"
- " -rawSize Resize image after capturing the with default size\n"
" -fps #.#: Frame rate (Hz) (default 2.0)\n"
" -hide : Image not shown while capturing (default true)\n"
" -dir \"path\": Path of the images saved (default \"./imagesCaptured\")\n"
@@ -122,7 +121,6 @@ int main(int argc, char * argv[])
int usbDevice = 0;
int imageWidth = 640;
int imageHeight = 480;
- bool rawSize = false;
float imageRate = 2.0;
int startId = 1;
std::string extension = "jpg";
@@ -217,7 +215,6 @@ int main(int argc, char * argv[])
" device=%d\n"
" width=%d\n"
" height=%d\n"
- " rawSize=%s\n"
" hz=%f\n"
" show=%s\n"
" dir=%s\n"
@@ -227,7 +224,6 @@ int main(int argc, char * argv[])
usbDevice,
imageWidth,
imageHeight,
- uBool2str(rawSize).c_str(),
imageRate,
uBool2str(show).c_str(),
targetDirectory.c_str(),
@@ -237,7 +233,7 @@ int main(int argc, char * argv[])
UDirectory::makeDir(targetDirectory);
- rtabmap::CameraVideo cam(usbDevice, rawSize, imageRate, false, imageWidth, imageHeight);
+ rtabmap::CameraVideo cam(usbDevice, imageRate, false, imageWidth, imageHeight);
if(!cam.init())
{
printf("Can't initialize the camera...\n");
diff --git a/corelib/include/rtabmap/core/Camera.h b/corelib/include/rtabmap/core/Camera.h
index badef748..b5cd2d84 100644
--- a/corelib/include/rtabmap/core/Camera.h
+++ b/corelib/include/rtabmap/core/Camera.h
@@ -176,7 +176,6 @@ public:
public:
CameraVideo(int usbDevice = 0,
- bool rawImageSizeCaptured = false,
float imageRate = 0,
bool autoRestart = false,
unsigned int imageWidth = 0,
@@ -200,7 +199,6 @@ private:
// Usb camera
int _usbDevice;
- bool _rawImageSizeCaptured;
};
diff --git a/corelib/src/Camera.cpp b/corelib/src/Camera.cpp
index 1800cd49..03a1ff3d 100644
--- a/corelib/src/Camera.cpp
+++ b/corelib/src/Camera.cpp
@@ -438,7 +438,6 @@ IplImage * CameraImages::takeImage()
// CameraVideo
/////////////////////////
CameraVideo::CameraVideo(int usbDevice,
- bool rawImageSizeCaptured,
float imageRate,
bool autoRestart,
unsigned int imageWidth,
@@ -446,8 +445,7 @@ CameraVideo::CameraVideo(int usbDevice,
Camera(imageRate, autoRestart, imageWidth, imageHeight),
_capture(0),
_src(kUsbDevice),
- _usbDevice(usbDevice),
- _rawImageSizeCaptured(rawImageSizeCaptured)
+ _usbDevice(usbDevice)
{
}
@@ -485,7 +483,7 @@ bool CameraVideo::init()
{
ULOGGER_DEBUG("CameraVideo::init() Usb device initialization on device %d with imgSize=[%d,%d]", _usbDevice, getImageWidth(), getImageHeight());
_capture = cvCaptureFromCAM(_usbDevice);
- if(_capture && getImageWidth() && getImageHeight() && !_rawImageSizeCaptured)
+ if(_capture && getImageWidth() && getImageHeight())
{
cvSetCaptureProperty(_capture, CV_CAP_PROP_FRAME_WIDTH, double(getImageWidth()));
cvSetCaptureProperty(_capture, CV_CAP_PROP_FRAME_HEIGHT, double(getImageHeight()));
diff --git a/guilib/include/rtabmap/gui/PreferencesDialog.h b/guilib/include/rtabmap/gui/PreferencesDialog.h
index 8848d9e2..fdc09d3b 100644
--- a/guilib/include/rtabmap/gui/PreferencesDialog.h
+++ b/guilib/include/rtabmap/gui/PreferencesDialog.h
@@ -111,7 +111,6 @@ public:
bool getSourceImagesRefreshDir() const; //Images group
QString getSourceVideoPath() const; //Video group
int getSourceUsbDeviceId() const; //UsbDevice group
- bool isSourceUsbRawImageSizeCaptured() const; //UsbDevice group
QString getSourceDatabasePath() const; //Database group
bool getSourceDatabaseIgnoreChildren() const; //Database group
diff --git a/guilib/src/MainWindow.cpp b/guilib/src/MainWindow.cpp
index ac685ee4..97557c79 100644
--- a/guilib/src/MainWindow.cpp
+++ b/guilib/src/MainWindow.cpp
@@ -992,7 +992,6 @@ void MainWindow::startDetection()
{
_camera = new CameraVideo(
_preferencesDialog->getSourceUsbDeviceId(),
- _preferencesDialog->isSourceUsbRawImageSizeCaptured(),
_preferencesDialog->getGeneralImageRate(),
_preferencesDialog->getGeneralAutoRestart(),
_preferencesDialog->getSourceWidth(),
diff --git a/guilib/src/PreferencesDialog.cpp b/guilib/src/PreferencesDialog.cpp
index 412e8358..040e178e 100644
--- a/guilib/src/PreferencesDialog.cpp
+++ b/guilib/src/PreferencesDialog.cpp
@@ -85,7 +85,6 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->general_checkBox_autoRestart, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
//usbDevice group
connect(_ui->source_usbDevice_spinBox_id, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
- connect(_ui->general_checkBox_rawImageSizeCaptured, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->source_spinBox_imgWidth, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->source_spinBox_imgheight, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
//images group
@@ -521,7 +520,6 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
//usbDevice group
settings.beginGroup("usbDevice");
_ui->source_usbDevice_spinBox_id->setValue(settings.value("id",_ui->source_usbDevice_spinBox_id->value()).toInt());
- _ui->general_checkBox_rawImageSizeCaptured->setChecked(settings.value("rawImageSizeCaptured", _ui->general_checkBox_rawImageSizeCaptured->isChecked()).toBool());
settings.endGroup(); // usbDevice
//images group
settings.beginGroup("images");
@@ -661,7 +659,6 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath)
//usbDevice group
settings.beginGroup("usbDevice");
settings.setValue("id", _ui->source_usbDevice_spinBox_id->value());
- settings.setValue("rawImageSizeCaptured", _ui->general_checkBox_rawImageSizeCaptured->isChecked());
settings.endGroup(); //usbDevice
//images group
settings.beginGroup("images");
@@ -1532,10 +1529,6 @@ int PreferencesDialog::getSourceUsbDeviceId() const
{
return _ui->source_usbDevice_spinBox_id->value();
}
-bool PreferencesDialog::isSourceUsbRawImageSizeCaptured() const
-{
- return _ui->general_checkBox_rawImageSizeCaptured->isChecked();
-}
QString PreferencesDialog::getSourceDatabasePath() const
{
return _ui->source_database_lineEdit_path->text();
diff --git a/guilib/src/ui/preferencesDialog.ui b/guilib/src/ui/preferencesDialog.ui
index 884b1d5e..c5644910 100644
--- a/guilib/src/ui/preferencesDialog.ui
+++ b/guilib/src/ui/preferencesDialog.ui
@@ -579,24 +579,6 @@ when using the file type, logs are saved in Logrtabmap.txt (located in the worki
- -
-
-
-
-
-
-
- -
-
-
- Raw image size captured.
-If false, the usb driver is configured with the image width/height above. If true, the image is resized after the capture.
-
-
- true
-
-
-
@@ -1071,7 +1053,7 @@ We can edit how will like the prediction used in the Bayes filter when there is
0
0
- 26
+ 98
78