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rtabmap: support two usb devices for stereo input

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This commit is contained in:
matlabbe
2018-05-29 15:43:02 -04:00
parent b6b0b9a984
commit 055cccd151
2 changed files with 74 additions and 20 deletions
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31
guilib/src/PreferencesDialog.cpp
View File

@@ -606,6 +606,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->lineEdit_cameraStereoVideo_path, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->lineEdit_cameraStereoVideo_path_2, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->spinBox_stereo_right_device, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->comboBox_stereoZed_resolution, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->comboBox_stereoZed_quality, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->comboBox_stereoZed_quality, SIGNAL(currentIndexChanged(int)), this, SLOT(updateStereoDisparityVisibility()));
@@ -1616,6 +1618,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->spinBox_cameraStereoImages_startIndex->setValue(0);
_ui->lineEdit_cameraStereoVideo_path->setText("");
_ui->lineEdit_cameraStereoVideo_path_2->setText("");
_ui->spinBox_stereo_right_device->setValue(-1);
_ui->comboBox_stereoZed_resolution->setCurrentIndex(2);
_ui->comboBox_stereoZed_quality->setCurrentIndex(1);
_ui->checkbox_stereoZed_selfCalibration->setChecked(false);
@@ -2009,6 +2012,7 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
settings.beginGroup("StereoVideo");
_ui->lineEdit_cameraStereoVideo_path->setText(settings.value("path", _ui->lineEdit_cameraStereoVideo_path->text()).toString());
_ui->lineEdit_cameraStereoVideo_path_2->setText(settings.value("path2", _ui->lineEdit_cameraStereoVideo_path_2->text()).toString());
_ui->spinBox_stereo_right_device->setValue(settings.value("device2", _ui->spinBox_stereo_right_device->value()).toInt());
settings.endGroup(); // StereoVideo
settings.beginGroup("StereoZed");
@@ -2422,6 +2426,7 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.beginGroup("StereoVideo");
settings.setValue("path", _ui->lineEdit_cameraStereoVideo_path->text());
settings.setValue("path2", _ui->lineEdit_cameraStereoVideo_path_2->text());
settings.setValue("device2", _ui->spinBox_stereo_right_device->value());
settings.endGroup(); // StereoVideo
settings.beginGroup("StereoZed");
@@ -4262,9 +4267,11 @@ void PreferencesDialog::updateSourceGrpVisibility()
_ui->stackedWidget_stereo->setVisible(_ui->comboBox_sourceType->currentIndex() == 1 &&
(_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoVideo-kSrcStereo ||
_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoImages-kSrcStereo ||
_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoZed - kSrcStereo));
_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoZed - kSrcStereo ||
_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoUsb - kSrcStereo));
_ui->groupBox_cameraStereoImages->setVisible(_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoImages-kSrcStereo);
_ui->groupBox_cameraStereoVideo->setVisible(_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoVideo - kSrcStereo);
_ui->groupBox_cameraStereoUsb->setVisible(_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoUsb - kSrcStereo);
_ui->groupBox_cameraStereoZed->setVisible(_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoZed - kSrcStereo);
_ui->stackedWidget_image->setVisible(_ui->comboBox_sourceType->currentIndex() == 2 && (_ui->source_comboBox_image_type->currentIndex() == kSrcImages-kSrcRGB || _ui->source_comboBox_image_type->currentIndex() == kSrcVideo-kSrcRGB));
@@ -5019,11 +5026,23 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
}
else if (driver == kSrcStereoUsb)
{
camera = new CameraStereoVideo(
this->getSourceDevice().isEmpty() ? 0 : atoi(this->getSourceDevice().toStdString().c_str()),
_ui->checkBox_stereo_rectify->isChecked() && !useRawImages,
this->getGeneralInputRate(),
this->getSourceLocalTransform());
if(_ui->spinBox_stereo_right_device->value()>=0)
{
camera = new CameraStereoVideo(
this->getSourceDevice().isEmpty() ? 0 : atoi(this->getSourceDevice().toStdString().c_str()),
_ui->spinBox_stereo_right_device->value(),
_ui->checkBox_stereo_rectify->isChecked() && !useRawImages,
this->getGeneralInputRate(),
this->getSourceLocalTransform());
}
else
{
camera = new CameraStereoVideo(
this->getSourceDevice().isEmpty() ? 0 : atoi(this->getSourceDevice().toStdString().c_str()),
_ui->checkBox_stereo_rectify->isChecked() && !useRawImages,
this->getGeneralInputRate(),
this->getSourceLocalTransform());
}
}
else if(driver == kSrcStereoVideo)
{

63
guilib/src/ui/preferencesDialog.ui
View File

@@ -63,7 +63,7 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-4</y>
<y>-363</y>
<width>681</width>
<height>2811</height>
</rect>
@@ -95,7 +95,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>7</number>
<number>5</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -3881,7 +3881,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</item>
<item>
<property name="text">
<string>Usb camera (Side-by-Side)</string>
<string>Usb camera</string>
</property>
</item>
</widget>
@@ -3958,7 +3958,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<item>
<widget class="QStackedWidget" name="stackedWidget_stereo">
<property name="currentIndex">
<number>2</number>
<number>5</number>
</property>
<widget class="QWidget" name="page_49">
<layout class="QVBoxLayout" name="verticalLayout_91">
@@ -4411,19 +4411,54 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</layout>
</widget>
<widget class="QWidget" name="page_60">
<layout class="QVBoxLayout" name="verticalLayout_103">
<layout class="QVBoxLayout" name="verticalLayout_86">
<item>
<spacer name="verticalSpacer_53">
<property name="orientation">
<enum>Qt::Vertical</enum>
<widget class="QGroupBox" name="groupBox_cameraStereoUsb">
<property name="sizePolicy">
<sizepolicy hsizetype="Ignored" vsizetype="Ignored">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>217</height>
</size>
<property name="title">
<string>Usb Camera</string>
</property>
</spacer>
<layout class="QGridLayout" name="gridLayout_99" columnstretch="0,1">
<item row="1" column="0">
<spacer name="verticalSpacer_70">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_470">
<property name="text">
<string>Optional right device ID. It should be -1 if the stereo camera streams side-by-side images.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QSpinBox" name="spinBox_stereo_right_device">
<property name="minimum">
<number>-1</number>
</property>
</widget>
</item>
</layout>
</widget>
</item>
</layout>
</widget>