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Refactored Camera classes and Preferences->Source menu

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This commit is contained in:
matlabbe
2015-06-26 18:21:32 -04:00
parent 6f1df94b18
commit 6df403ed42
39 changed files with 3543 additions and 3388 deletions
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guilib/include/rtabmap/gui/PreferencesDialog.h
+41 -30
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@@ -59,7 +59,7 @@ namespace rtabmap {
class Signature;
class LoopClosureViewer;
class CameraRGBD;
class Camera;
class CalibrationDialog;
class RTABMAPGUI_EXP PreferencesDialog : public QDialog
@@ -79,19 +79,27 @@ public:
Q_DECLARE_FLAGS(PANEL_FLAGS, PanelFlag);
enum Src {
kSrcUndef,
kSrcUsbDevice,
kSrcImages,
kSrcVideo,
kSrcOpenNI_PCL,
kSrcFreenect,
kSrcOpenNI_CV,
kSrcOpenNI_CV_ASUS,
kSrcOpenNI2,
kSrcFreenect2,
kSrcStereoDC1394,
kSrcStereoFlyCapture2,
kSrcStereoImages
kSrcUndef = -1,
kSrcRGBD = 0,
kSrcOpenNI_PCL = 0,
kSrcFreenect = 1,
kSrcOpenNI_CV = 2,
kSrcOpenNI_CV_ASUS = 3,
kSrcOpenNI2 = 4,
kSrcFreenect2 = 5,
kSrcStereo = 100,
kSrcDC1394 = 100,
kSrcFlyCapture2 = 101,
kSrcStereoImages = 102,
kSrcRGB = 200,
kSrcUsbDevice = 200,
kSrcImages = 201,
kSrcVideo = 202,
kSrcDatabase = 300
};
public:
@@ -100,6 +108,7 @@ public:
virtual QString getIniFilePath() const;
void init();
void setCurrentPanelToSource();
// save stuff
void saveSettings();
@@ -162,26 +171,23 @@ public:
// source panel
double getGeneralInputRate() const;
bool isSourceMirroring() const;
bool isSourceImageUsed() const;
bool isSourceDatabaseUsed() const;
bool isSourceRGBDUsed() const;
PreferencesDialog::Src getSourceImageType() const;
QString getSourceImageTypeStr() const;
int getSourceWidth() const;
int getSourceHeight() const;
QString getCalibrationName() const;
PreferencesDialog::Src getSourceType() const;
PreferencesDialog::Src getSourceDriver() const;
QString getSourceDriverStr() const;
QString getSourceDevice() const;
QString getSourceImagesPath() const; //Images group
QString getSourceImagesSuffix() const; //Images group
int getSourceImagesSuffixIndex() const; //Images group
int getSourceImagesStartPos() const; //Images group
bool getSourceImagesRefreshDir() const; //Images group
QString getSourceVideoPath() const; //Video group
int getSourceUsbDeviceId() const; //UsbDevice group
QString getSourceDatabasePath() const; //Database group
bool getSourceDatabaseOdometryIgnored() const; //Database group
bool getSourceDatabaseGoalDelayIgnored() const; //Database group
int getSourceDatabaseStartPos() const; //Database group
bool getSourceDatabaseStampsUsed() const;//Database group
Src getSourceRGBD() const; // Openni group
bool getSourceOpenni2AutoWhiteBalance() const; //Openni group
bool getSourceOpenni2AutoExposure() const; //Openni group
int getSourceOpenni2Exposure() const; //Openni group
@@ -189,9 +195,8 @@ public:
bool getSourceOpenni2Mirroring() const; //Openni group
int getSourceFreenect2Format() const; //Openni group
bool isSourceRGBDColorOnly() const;
QString getSourceOpenniDevice() const; //Openni group
Transform getSourceOpenniLocalTransform() const; //Openni group
CameraRGBD * createCameraRGBD(bool forCalibration = false); // return camera should be deleted if not null
Transform getSourceLocalTransform() const; //Openni group
Camera * createCamera(bool useRawImages = false); // return camera should be deleted if not null
int getIgnoredDCComponents() const;
@@ -221,9 +226,7 @@ public slots:
void setDetectionRate(double value);
void setTimeLimit(float value);
void setSLAMMode(bool enabled);
void selectSourceImage(Src src = kSrcUndef);
void selectSourceDatabase(bool user = false);
void selectSourceRGBD(Src src = kSrcUndef);
void selectSourceDriver(Src src);
void calibrate();
private slots:
@@ -251,11 +254,19 @@ private slots:
void setupTreeView();
void updateBasicParameter();
void openDatabaseViewer();
void selectSourceDatabase();
void selectSourceStereoImagesStamps();
void selectSourceStereoImagesPath();
void selectSourceImagesPath();
void selectSourceVideoPath();
void selectSourceOniPath();
void selectSourceOni2Path();
void updateSourceGrpVisibility();
void updateRGBDCameraGroupBoxVisibility();
void updateRGBCameraGroupBoxVisibility();
void updateStereoCameraGroupBoxVisibility();
void testOdometry();
void testRGBDCamera();
void testCamera();
protected:
virtual void showEvent ( QShowEvent * event );