From 81b3b49f97cf47a08152a39c29336bc0895189a5 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@f169173b-cf89-36c8-b27e-44dbe73f0c83>
Date: Sat, 14 Jun 2014 17:01:14 +0000
Subject: [PATCH] Updated Source menu, sorted RGB-D choices by sensor type
 Fixed openni from opencv available() method

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1365 f169173b-cf89-36c8-b27e-44dbe73f0c83
---
 corelib/src/Camera.cpp      |  4 +---
 guilib/src/MainWindow.cpp   | 15 ++++----------
 guilib/src/ui/mainWindow.ui | 40 +++++++++++++++++++++++++++++--------
 3 files changed, 37 insertions(+), 22 deletions(-)

diff --git a/corelib/src/Camera.cpp b/corelib/src/Camera.cpp
index 00d569bd..34dbcf08 100644
--- a/corelib/src/Camera.cpp
+++ b/corelib/src/Camera.cpp
@@ -390,8 +390,7 @@ void CameraVideo::captureImage(cv::Mat & rgb, cv::Mat & depth, float & depthCons
 /////////////////////////
 bool CameraRGBD::available()
 {
-	printf("\nOpencV build: \n", cv::getBuildInformation().c_str());
-	return true;
+	return cv::getBuildInformation().find("OpenNI:                      YES") != std::string::npos;
 }
 
 CameraRGBD::CameraRGBD(float imageRate, bool asus) :
@@ -428,7 +427,6 @@ bool CameraRGBD::init()
 		UINFO("BASELINE           %f mm", _capture.get( CV_CAP_PROP_OPENNI_BASELINE ));
 		UINFO("FPS                %f", _capture.get( CV_CAP_PROP_FPS ));
 		UINFO("Focal              %f", _capture.get( CV_CAP_OPENNI_DEPTH_GENERATOR_FOCAL_LENGTH ));
-		UINFO("Focal2             %f", _capture.get( CV_CAP_PROP_OPENNI_FOCAL_LENGTH ));
 		UINFO("REGISTRATION       %f", _capture.get( CV_CAP_PROP_OPENNI_REGISTRATION ));
 		if(_capture.get( CV_CAP_PROP_OPENNI_REGISTRATION ) == 0.0)
 		{
diff --git a/guilib/src/MainWindow.cpp b/guilib/src/MainWindow.cpp
index 823618c5..1e6cf468 100644
--- a/guilib/src/MainWindow.cpp
+++ b/guilib/src/MainWindow.cpp
@@ -278,15 +278,6 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
 #endif
 
 	//Settings menu
-	QActionGroup * selectSourceImageGrp = new QActionGroup(this);
-	selectSourceImageGrp->addAction(_ui->actionUsbCamera);
-	selectSourceImageGrp->addAction(_ui->actionImageFiles);
-	selectSourceImageGrp->addAction(_ui->actionVideo);
-	selectSourceImageGrp->addAction(_ui->actionOpenNI);
-	selectSourceImageGrp->addAction(_ui->actionFreenect);
-	selectSourceImageGrp->addAction(_ui->actionOpenNI_CV);
-	selectSourceImageGrp->addAction(_ui->actionOpenNI_CV_ASUS);
-	selectSourceImageGrp->addAction(_ui->actionOpenNI2);
 	this->updateSelectSourceImageMenu(_preferencesDialog->getSourceImageType());
 	connect(_ui->actionImageFiles, SIGNAL(triggered()), this, SLOT(selectImages()));
 	connect(_ui->actionVideo, SIGNAL(triggered()), this, SLOT(selectVideo()));
@@ -294,7 +285,8 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
 	this->updateSelectSourceDatabase(_preferencesDialog->isSourceDatabaseUsed());
 	connect(_ui->actionDatabase, SIGNAL(triggered()), this, SLOT(selectDatabase()));
 	this->updateSelectSourceRGBDMenu(_preferencesDialog->isSourceOpenniUsed(), _preferencesDialog->getSourceRGBD());
-	connect(_ui->actionOpenNI, SIGNAL(triggered()), this, SLOT(selectOpenni()));
+	connect(_ui->actionOpenNI_PCL, SIGNAL(triggered()), this, SLOT(selectOpenni()));
+	connect(_ui->actionOpenNI_PCL_ASUS, SIGNAL(triggered()), this, SLOT(selectOpenni()));
 	connect(_ui->actionFreenect, SIGNAL(triggered()), this, SLOT(selectFreenect()));
 	_ui->actionFreenect->setEnabled(CameraFreenect::available());
 	connect(_ui->actionOpenNI_CV, SIGNAL(triggered()), this, SLOT(selectOpenniCv()));
@@ -1842,7 +1834,8 @@ void MainWindow::updateSelectSourceDatabase(bool used)
 
 void MainWindow::updateSelectSourceRGBDMenu(bool used, PreferencesDialog::Src src)
 {
-	_ui->actionOpenNI->setChecked(used && src == PreferencesDialog::kSrcOpenNI_PCL);
+	_ui->actionOpenNI_PCL->setChecked(used && src == PreferencesDialog::kSrcOpenNI_PCL);
+	_ui->actionOpenNI_PCL_ASUS->setChecked(used && src == PreferencesDialog::kSrcOpenNI_PCL);
 	_ui->actionFreenect->setChecked(used && src == PreferencesDialog::kSrcFreenect);
 	_ui->actionOpenNI_CV->setChecked(used && src == PreferencesDialog::kSrcOpenNI_CV);
 	_ui->actionOpenNI_CV_ASUS->setChecked(used && src == PreferencesDialog::kSrcOpenNI_CV_ASUS);
diff --git a/guilib/src/ui/mainWindow.ui b/guilib/src/ui/mainWindow.ui
index 78f94a54..a1e46c6c 100644
--- a/guilib/src/ui/mainWindow.ui
+++ b/guilib/src/ui/mainWindow.ui
@@ -80,7 +80,7 @@
      </property>
      <widget class="QMenu" name="menuImage">
       <property name="title">
-       <string>Image</string>
+       <string>Image-only</string>
       </property>
       <addaction name="actionUsbCamera"/>
       <addaction name="actionImageFiles"/>
@@ -90,15 +90,28 @@
       <property name="title">
        <string>RGB-D camera</string>
       </property>
-      <addaction name="actionOpenNI"/>
-      <addaction name="actionFreenect"/>
-      <addaction name="actionOpenNI_CV"/>
-      <addaction name="actionOpenNI_CV_ASUS"/>
-      <addaction name="actionOpenNI2"/>
+      <widget class="QMenu" name="menuKinect_for_Xbox_360">
+       <property name="title">
+        <string>Kinect for Xbox 360</string>
+       </property>
+       <addaction name="actionOpenNI_PCL"/>
+       <addaction name="actionFreenect"/>
+       <addaction name="actionOpenNI_CV"/>
+      </widget>
+      <widget class="QMenu" name="menuXtion_PRO_LIVE">
+       <property name="title">
+        <string>Xtion PRO LIVE</string>
+       </property>
+       <addaction name="actionOpenNI_PCL_ASUS"/>
+       <addaction name="actionOpenNI2"/>
+       <addaction name="actionOpenNI_CV_ASUS"/>
+      </widget>
+      <addaction name="menuKinect_for_Xbox_360"/>
+      <addaction name="menuXtion_PRO_LIVE"/>
      </widget>
+     <addaction name="menuRGB_D_camera"/>
      <addaction name="menuImage"/>
      <addaction name="actionDatabase"/>
-     <addaction name="menuRGB_D_camera"/>
     </widget>
     <addaction name="menuSelect_source"/>
     <addaction name="separator"/>
@@ -981,7 +994,7 @@
     <string>Take a screenshot</string>
    </property>
   </action>
-  <action name="actionOpenNI">
+  <action name="actionOpenNI_PCL">
    <property name="checkable">
     <bool>true</bool>
    </property>
@@ -1014,10 +1027,21 @@
    </property>
   </action>
   <action name="actionOpenNI2">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
    <property name="text">
     <string>OpenNI2</string>
    </property>
   </action>
+  <action name="actionOpenNI_PCL_ASUS">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>OpenNI-PCL</string>
+   </property>
+  </action>
  </widget>
  <customwidgets>
   <customwidget>