DBReader: added camera selection

corelib/include/rtabmap/core/DBReader.h

@@ -51,12 +51,14 @@ public:
 			 float frameRate = 0.0f,
 			 bool odometryIgnored = false,
 			 bool ignoreGoalDelay = false,
-			 bool goalsIgnored = false);
+			 bool goalsIgnored = false,
+			 int cameraIndex = -1);
 	DBReader(const std::list<std::string> & databasePaths,
 			 float frameRate = 0.0f,
 			 bool odometryIgnored = false,
 			 bool ignoreGoalDelay = false,
-			 bool goalsIgnored = false);
+			 bool goalsIgnored = false,
+			 int cameraIndex = -1);
 	virtual ~DBReader();
 
 	bool init(int startIndex=0);
@@ -73,6 +75,7 @@ private:
 	bool _odometryIgnored;
 	bool _ignoreGoalDelay;
 	bool _goalsIgnored;
+	int _cameraIndex;
 
 	DBDriver * _dbDriver;
 	UTimer _timer;

corelib/src/DBReader.cpp

@@ -46,12 +46,14 @@ DBReader::DBReader(const std::string & databasePath,
 				   float frameRate,
 				   bool odometryIgnored,
 				   bool ignoreGoalDelay,
-				   bool goalsIgnored) :
+				   bool goalsIgnored,
+				   int cameraIndex) :
 	_paths(uSplit(databasePath, ';')),
 	_frameRate(frameRate),
 	_odometryIgnored(odometryIgnored),
 	_ignoreGoalDelay(ignoreGoalDelay),
 	_goalsIgnored(goalsIgnored),
+	_cameraIndex(cameraIndex),
 	_dbDriver(0),
 	_currentId(_ids.end()),
 	_previousStamp(0),
@@ -63,12 +65,14 @@ DBReader::DBReader(const std::list<std::string> & databasePaths,
 				   float frameRate,
 				   bool odometryIgnored,
 				   bool ignoreGoalDelay,
-				   bool goalsIgnored) :
+				   bool goalsIgnored,
+				   int cameraIndex) :
    _paths(databasePaths),
    _frameRate(frameRate),
 	_odometryIgnored(odometryIgnored),
 	_ignoreGoalDelay(ignoreGoalDelay),
 	_goalsIgnored(goalsIgnored),
+	_cameraIndex(cameraIndex),
 	_dbDriver(0),
 	_currentId(_ids.end()),
 	_previousStamp(0),
@@ -368,6 +372,37 @@ OdometryEvent DBReader::getNextData()
 			if(!this->isKilled())
 			{
 				data.uncompressData();
+				if(data.cameraModels().size() > 1 &&
+					_cameraIndex >= 0)
+				{
+					if(_cameraIndex < (int)data.cameraModels().size())
+					{
+						// select one camera
+						int subImageWidth = data.imageRaw().cols/data.cameraModels().size();
+						UASSERT(!data.imageRaw().empty() &&
+								data.imageRaw().cols % data.cameraModels().size() == 0 &&
+								_cameraIndex*subImageWidth < data.imageRaw().cols);
+						data.setImageRaw(
+								cv::Mat(data.imageRaw(),
+								cv::Rect(_cameraIndex*subImageWidth, 0, subImageWidth, data.imageRaw().rows)).clone());
+
+						if(!data.depthOrRightRaw().empty())
+						{
+							UASSERT(data.depthOrRightRaw().cols % data.cameraModels().size() == 0 &&
+									subImageWidth == data.depthOrRightRaw().cols/(int)data.cameraModels().size() &&
+									_cameraIndex*subImageWidth < data.depthOrRightRaw().cols);
+							data.setDepthOrRightRaw(
+									cv::Mat(data.depthOrRightRaw(),
+									cv::Rect(_cameraIndex*subImageWidth, 0, subImageWidth, data.depthOrRightRaw().rows)).clone());
+						}
+						CameraModel model = data.cameraModels().at(_cameraIndex);
+						data.setCameraModel(model);
+					}
+					else
+					{
+						UWARN("DBReader: Camera index %d doesn't exist! Camera models = %d.", _cameraIndex, (int)data.cameraModels().size());
+					}
+				}
 				data.setId(seq);
 				data.setStamp(stamp);
 				data.setGroundTruth(groundTruth);

guilib/include/rtabmap/gui/PreferencesDialog.h

@@ -209,6 +209,7 @@ public:
 	bool getSourceDatabaseGoalsIgnored() const; //Database group
 	int getSourceDatabaseStartPos() const; //Database group
 	bool getSourceDatabaseStampsUsed() const;//Database group
+	int getSourceDatabaseCameraIndex() const; //Database group
 	bool isSourceRGBDColorOnly() const;
 	int getSourceImageDecimation() const;
 	bool isSourceStereoDepthGenerated() const;

guilib/src/MainWindow.cpp

@@ -3886,7 +3886,8 @@ void MainWindow::startDetection()
 								 _preferencesDialog->getSourceDatabaseStampsUsed()?-1:_preferencesDialog->getGeneralInputRate(),
 								 _preferencesDialog->getSourceDatabaseOdometryIgnored(),
 								 _preferencesDialog->getSourceDatabaseGoalDelayIgnored(),
-								 _preferencesDialog->getSourceDatabaseGoalsIgnored());
+								 _preferencesDialog->getSourceDatabaseGoalsIgnored(),
+								 _preferencesDialog->getSourceDatabaseCameraIndex());
 
 		//Create odometry thread if rgdb slam
 		if(uStr2Bool(parameters.at(Parameters::kRGBDEnabled()).c_str()) &&

guilib/src/PreferencesDialog.cpp

@@ -427,6 +427,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	connect(_ui->source_checkBox_ignoreGoals, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->source_spinBox_databaseStartPos, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->source_checkBox_useDbStamps, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
+	connect(_ui->source_spinBox_database_cameraIndex, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
 
 	//openni group
 	_ui->stackedWidget_rgbd->setCurrentIndex(_ui->comboBox_cameraRGBD->currentIndex());
@@ -1248,6 +1249,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
 		_ui->source_checkBox_ignoreGoalDelay->setChecked(true);
 		_ui->source_checkBox_ignoreGoals->setChecked(true);
 		_ui->source_spinBox_databaseStartPos->setValue(0);
+		_ui->source_spinBox_database_cameraIndex->setValue(-1);
 		_ui->source_checkBox_useDbStamps->setChecked(true);
 
 #ifdef _WIN32
@@ -1702,6 +1704,7 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
 	_ui->source_checkBox_ignoreGoalDelay->setChecked(settings.value("ignoreGoalDelay", _ui->source_checkBox_ignoreGoalDelay->isChecked()).toBool());
 	_ui->source_checkBox_ignoreGoals->setChecked(settings.value("ignoreGoals", _ui->source_checkBox_ignoreGoals->isChecked()).toBool());
 	_ui->source_spinBox_databaseStartPos->setValue(settings.value("startPos", _ui->source_spinBox_databaseStartPos->value()).toInt());
+	_ui->source_spinBox_database_cameraIndex->setValue(settings.value("cameraIndex", _ui->source_spinBox_database_cameraIndex->value()).toInt());
 	_ui->source_checkBox_useDbStamps->setChecked(settings.value("useDatabaseStamps", _ui->source_checkBox_useDbStamps->isChecked()).toBool());
 	settings.endGroup(); // Database
 
@@ -2109,6 +2112,7 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
 	settings.setValue("ignoreGoalDelay",   _ui->source_checkBox_ignoreGoalDelay->isChecked());
 	settings.setValue("ignoreGoals",       _ui->source_checkBox_ignoreGoals->isChecked());
 	settings.setValue("startPos",          _ui->source_spinBox_databaseStartPos->value());
+	settings.setValue("cameraIndex",       _ui->source_spinBox_database_cameraIndex->value());
 	settings.setValue("useDatabaseStamps", _ui->source_checkBox_useDbStamps->isChecked());
 	settings.endGroup(); // Database
 
@@ -2680,6 +2684,7 @@ void PreferencesDialog::selectSourceDatabase()
 		_ui->source_checkBox_ignoreOdometry->setChecked(r != QMessageBox::Yes);
 		_ui->source_database_lineEdit_path->setText(paths.size()==1?paths.front():paths.join(";"));
 		_ui->source_spinBox_databaseStartPos->setValue(0);
+		_ui->source_spinBox_database_cameraIndex->setValue(-1);
 		_ui->source_checkBox_useDbStamps->setChecked(true);
 	}
 }
@@ -3906,6 +3911,10 @@ 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();
@@ -4370,7 +4379,9 @@ void PreferencesDialog::testOdometry()
 	DBReader dbReader(_ui->source_database_lineEdit_path->text().toStdString(),
 					 _ui->source_checkBox_useDbStamps->isChecked()?-1:this->getGeneralInputRate(),
 					 true,
-					 true);
+					 true,
+					 true,
+					 _ui->source_spinBox_database_cameraIndex->value());
 	Camera * camera = 0;
 	if(this->getSourceType() == kSrcDatabase)
 	{
@@ -4464,8 +4475,10 @@ void PreferencesDialog::testCamera()
 		DBReader dbReader(_ui->source_database_lineEdit_path->text().toStdString(),
 						  _ui->source_checkBox_useDbStamps->isChecked()?-1:this->getGeneralInputRate(),
 						 true,
-						 true);
+						 true,
-		if(!dbReader.init())
+						 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;

guilib/src/ui/preferencesDialog.ui

@@ -63,9 +63,9 @@
           <property name="geometry">
            <rect>
             <x>0</x>
-            <y>0</y>
+            <y>-360</y>
-            <width>681</width>
+            <width>686</width>
-            <height>2044</height>
+            <height>2023</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
                 <enum>QFrame::Raised</enum>
                </property>
                <property name="currentIndex">
-                <number>14</number>
+                <number>3</number>
                </property>
                <widget class="QWidget" name="page_22">
                 <layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -2307,7 +2307,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                     <item>
                      <widget class="QStackedWidget" name="stackedWidget_src">
                       <property name="currentIndex">
-                       <number>1</number>
+                       <number>3</number>
                       </property>
                       <widget class="QWidget" name="page_41">
                        <layout class="QVBoxLayout" name="verticalLayout_64">
@@ -3813,7 +3813,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                              </property>
                             </widget>
                            </item>
-                           <item row="6" column="1">
+                           <item row="7" column="1">
                             <spacer name="verticalSpacer_35">
                              <property name="orientation">
                               <enum>Qt::Vertical</enum>
@@ -3859,7 +3859,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                               <number>0</number>
                              </property>
                              <property name="maximum">
-                              <number>999999999</number>
+                              <number>99999</number>
                              </property>
                             </widget>
                            </item>
@@ -3916,6 +3916,29 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                              </property>
                             </widget>
                            </item>
+                           <item row="6" column="0">
+                            <widget class="QSpinBox" name="source_spinBox_database_cameraIndex">
+                             <property name="minimum">
+                              <number>-1</number>
+                             </property>
+                             <property name="maximum">
+                              <number>9999</number>
+                             </property>
+                            </widget>
+                           </item>
+                           <item row="6" column="1">
+                            <widget class="QLabel" name="label_315">
+                             <property name="text">
+                              <string>Camera index. If the database contains multi-camera data, you can choose which camera to use. -1 means that all cameras are streamed.</string>
+                             </property>
+                             <property name="wordWrap">
+                              <bool>true</bool>
+                             </property>
+                             <property name="textInteractionFlags">
+                              <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                             </property>
+                            </widget>
+                           </item>
                           </layout>
                          </widget>
                         </item>