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add CameraSeerSense to guilib

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This commit is contained in:
Borong Yuan
2024-05-30 16:55:37 +08:00
parent ce0c806d75
commit 0ad1d0ad69
9 changed files with 146 additions and 77 deletions
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1
guilib/src/AboutDialog.cpp
View File

@@ -155,6 +155,7 @@ AboutDialog::AboutDialog(QWidget * parent) :
_ui->label_mynteye->setText(CameraMyntEye::available() ? "Yes" : "No");
_ui->label_depthai->setText(CameraDepthAI::available() ? "Yes" : "No");
_ui->label_depthai_license->setEnabled(CameraDepthAI::available());
_ui->label_xvsdk->setText(CameraSeerSense::available() ? "Yes" : "No");
_ui->label_toro->setText(Optimizer::isAvailable(Optimizer::kTypeTORO)?"Yes":"No");
_ui->label_toro_license->setEnabled(Optimizer::isAvailable(Optimizer::kTypeTORO)?true:false);

16
guilib/src/PreferencesDialog.cpp
View File

@@ -422,6 +422,10 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
{
_ui->comboBox_cameraStereo->setItemData(kSrcStereoDepthAI - kSrcStereo, 0, Qt::UserRole - 1);
}
if (!CameraSeerSense::available())
{
_ui->comboBox_cameraRGBD->setItemData(kSrcSeerSense - kSrcRGBD, 0, Qt::UserRole - 1);
}
_ui->openni2_exposure->setEnabled(CameraOpenNI2::exposureGainAvailable());
_ui->openni2_gain->setEnabled(CameraOpenNI2::exposureGainAvailable());
@@ -5620,7 +5624,8 @@ void PreferencesDialog::updateSourceGrpVisibility()
_ui->comboBox_cameraRGBD->currentIndex() == kSrcRealSense - kSrcRGBD ||
_ui->comboBox_cameraRGBD->currentIndex() == kSrcRGBDImages-kSrcRGBD ||
_ui->comboBox_cameraRGBD->currentIndex() == kSrcOpenNI_PCL-kSrcRGBD ||
_ui->comboBox_cameraRGBD->currentIndex() == kSrcRealSense2-kSrcRGBD));
_ui->comboBox_cameraRGBD->currentIndex() == kSrcRealSense2-kSrcRGBD ||
_ui->comboBox_cameraRGBD->currentIndex() == kSrcSeerSense-kSrcRGBD));
_ui->groupBox_openni2->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcOpenNI2-kSrcRGBD);
_ui->groupBox_freenect2->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcFreenect2-kSrcRGBD);
_ui->groupBox_k4w2->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcK4W2 - kSrcRGBD);
@@ -5695,6 +5700,7 @@ void PreferencesDialog::updateSourceGrpVisibility()
(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcFreenect - kSrcRGBD) || //Kinect360
(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcK4A - kSrcRGBD) || //K4A
(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcRealSense2 - kSrcRGBD) || //D435i
(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcSeerSense - kSrcRGBD) ||
(_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoRealSense2 - kSrcStereo) || //T265
(_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoZed - kSrcStereo) || // ZEDm, ZED2
(_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoMyntEye - kSrcStereo) || // MYNT EYE S
@@ -6797,6 +6803,14 @@ Camera * PreferencesDialog::createCamera(
((CameraDepthAI*)camera)->setSuperPointDetector(_ui->doubleSpinBox_sptorch_threshold->value(), _ui->checkBox_sptorch_nms->isChecked(), _ui->spinBox_sptorch_minDistance->value());
}
}
else if (driver == kSrcSeerSense)
{
UDEBUG("SeerSense");
camera = new CameraSeerSense(
this->getGeneralInputRate(),
this->getSourceLocalTransform());
((CameraSeerSense*)camera)->setIMU(true, _ui->checkbox_publishInterIMU->isChecked());
}
else if(driver == kSrcUsbDevice)
{
camera = new CameraVideo(

159
guilib/src/ui/aboutDialog.ui
View File

@@ -195,7 +195,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="43" column="0">
<item row="44" column="0">
<widget class="QLabel" name="label_46">
<property name="text">
<string>With VINS-Fusion :</string>
@@ -215,7 +215,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="44" column="2">
<item row="45" column="2">
<widget class="QLabel" name="label_openvins_license">
<property name="text">
<string>GPLv3</string>
@@ -235,7 +235,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="44" column="0">
<item row="45" column="0">
<widget class="QLabel" name="label_47">
<property name="text">
<string>With OpenVINS :</string>
@@ -258,7 +258,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="27" column="1">
<item row="28" column="1">
<widget class="QLabel" name="label_mrpt">
<property name="text">
<string/>
@@ -271,7 +271,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="22" column="1">
<item row="23" column="1">
<widget class="QLabel" name="label_toro">
<property name="text">
<string/>
@@ -284,7 +284,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="35" column="1">
<item row="36" column="1">
<widget class="QLabel" name="label_aliceVision">
<property name="text">
<string/>
@@ -307,7 +307,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="27" column="2">
<item row="28" column="2">
<widget class="QLabel" name="label_mrpt_license">
<property name="text">
<string>BSD</string>
@@ -317,7 +317,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="37" column="1">
<item row="38" column="1">
<widget class="QLabel" name="label_viso2">
<property name="text">
<string/>
@@ -350,7 +350,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="44" column="1">
<item row="45" column="1">
<widget class="QLabel" name="label_openvins">
<property name="text">
<string/>
@@ -373,7 +373,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="34" column="1">
<item row="35" column="1">
<widget class="QLabel" name="label_openchisel">
<property name="text">
<string/>
@@ -409,7 +409,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="26" column="0">
<item row="27" column="0">
<widget class="QLabel" name="label_40">
<property name="text">
<string>With Ceres :</string>
@@ -419,7 +419,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="39" column="2">
<item row="40" column="2">
<widget class="QLabel" name="label_orbslam_license">
<property name="text">
<string>GPLv3</string>
@@ -429,7 +429,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="22" column="0">
<item row="23" column="0">
<widget class="QLabel" name="label_77">
<property name="text">
<string>With TORO :</string>
@@ -439,7 +439,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="24" column="0">
<item row="25" column="0">
<widget class="QLabel" name="label_19">
<property name="text">
<string>With GTSAM :</string>
@@ -492,7 +492,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="42" column="1">
<item row="43" column="1">
<widget class="QLabel" name="label_msckf">
<property name="text">
<string/>
@@ -505,7 +505,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="42" column="2">
<item row="43" column="2">
<widget class="QLabel" name="label_msckf_license">
<property name="text">
<string>Penn Software License</string>
@@ -525,7 +525,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="28" column="0">
<item row="29" column="0">
<widget class="QLabel" name="label_29">
<property name="text">
<string>With libpointmatcher :</string>
@@ -535,7 +535,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="28" column="1">
<item row="29" column="1">
<widget class="QLabel" name="label_libpointmatcher">
<property name="text">
<string/>
@@ -591,7 +591,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="37" column="0">
<item row="38" column="0">
<widget class="QLabel" name="label_26">
<property name="text">
<string>With Viso2 :</string>
@@ -601,7 +601,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="36" column="0">
<item row="37" column="0">
<widget class="QLabel" name="label_25">
<property name="text">
<string>With FOVIS :</string>
@@ -621,7 +621,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="41" column="1">
<item row="42" column="1">
<widget class="QLabel" name="label_loam">
<property name="text">
<string/>
@@ -634,7 +634,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="41" column="2">
<item row="42" column="2">
<widget class="QLabel" name="label_loam_license">
<property name="text">
<string>BSD</string>
@@ -644,7 +644,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="33" column="1">
<item row="34" column="1">
<widget class="QLabel" name="label_cputsdf">
<property name="text">
<string/>
@@ -667,7 +667,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="23" column="0">
<item row="24" column="0">
<widget class="QLabel" name="label_14">
<property name="text">
<string>With g2o :</string>
@@ -687,7 +687,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="36" column="2">
<item row="37" column="2">
<widget class="QLabel" name="label_fovis_license">
<property name="text">
<string>GPLv2</string>
@@ -717,7 +717,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="33" column="2">
<item row="34" column="2">
<widget class="QLabel" name="label_cputsdf_license">
<property name="text">
<string>BSD</string>
@@ -727,7 +727,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="31" column="0">
<item row="32" column="0">
<widget class="QLabel" name="label_20">
<property name="text">
<string>With Octomap :</string>
@@ -737,7 +737,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="31" column="2">
<item row="32" column="2">
<widget class="QLabel" name="label_octomap_license">
<property name="text">
<string>BSD</string>
@@ -760,7 +760,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="29" column="1">
<item row="30" column="1">
<widget class="QLabel" name="label_cccorelib">
<property name="text">
<string/>
@@ -786,7 +786,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="32" column="0">
<item row="33" column="0">
<widget class="QLabel" name="label_28">
<property name="text">
<string>With GridMap :</string>
@@ -842,7 +842,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="41" column="0">
<item row="42" column="0">
<widget class="QLabel" name="label_36">
<property name="text">
<string>With loam_velodyne :</string>
@@ -865,7 +865,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="39" column="0">
<item row="40" column="0">
<widget class="QLabel" name="label_orbslam_title">
<property name="text">
<string>With ORB SLAM 2 :</string>
@@ -898,7 +898,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="32" column="2">
<item row="33" column="2">
<widget class="QLabel" name="label_gridmap_license">
<property name="text">
<string>BSD</string>
@@ -908,7 +908,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="29" column="0">
<item row="30" column="0">
<widget class="QLabel" name="label_45">
<property name="text">
<string>With CCCoreLib :</string>
@@ -918,7 +918,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="26" column="2">
<item row="27" column="2">
<widget class="QLabel" name="label_ceres_license">
<property name="text">
<string>BSD</string>
@@ -948,7 +948,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="32" column="1">
<item row="33" column="1">
<widget class="QLabel" name="label_gridmap">
<property name="text">
<string/>
@@ -961,7 +961,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="33" column="0">
<item row="34" column="0">
<widget class="QLabel" name="label_24">
<property name="text">
<string>With CPU-TSDF :</string>
@@ -971,7 +971,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="26" column="1">
<item row="27" column="1">
<widget class="QLabel" name="label_ceres">
<property name="text">
<string/>
@@ -994,7 +994,17 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="38" column="0">
<item row="22" column="0">
<widget class="QLabel" name="label_71">
<property name="text">
<string>With XVisio SDK :</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="39" column="0">
<widget class="QLabel" name="label_27">
<property name="text">
<string>With DVO :</string>
@@ -1004,7 +1014,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="40" column="1">
<item row="41" column="1">
<widget class="QLabel" name="label_okvis">
<property name="text">
<string/>
@@ -1017,7 +1027,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="28" column="2">
<item row="29" column="2">
<widget class="QLabel" name="label_libpointmatcher_license">
<property name="text">
<string>BSD</string>
@@ -1027,7 +1037,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="23" column="1">
<item row="24" column="1">
<widget class="QLabel" name="label_g2o">
<property name="text">
<string/>
@@ -1053,7 +1063,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="43" column="2">
<item row="44" column="2">
<widget class="QLabel" name="label_vins_fusion_license">
<property name="text">
<string>GPLv3</string>
@@ -1076,7 +1086,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="35" column="0">
<item row="36" column="0">
<widget class="QLabel" name="label_41">
<property name="text">
<string>With AliceVision :</string>
@@ -1086,7 +1096,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="25" column="1">
<item row="26" column="1">
<widget class="QLabel" name="label_cvsba">
<property name="text">
<string/>
@@ -1158,7 +1168,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="39" column="1">
<item row="40" column="1">
<widget class="QLabel" name="label_orbslam">
<property name="text">
<string/>
@@ -1171,7 +1181,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="27" column="0">
<item row="28" column="0">
<widget class="QLabel" name="label_48">
<property name="text">
<string>With MRPT :</string>
@@ -1181,7 +1191,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="40" column="0">
<item row="41" column="0">
<widget class="QLabel" name="label_35">
<property name="text">
<string>With OKVIS :</string>
@@ -1204,7 +1214,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="38" column="1">
<item row="39" column="1">
<widget class="QLabel" name="label_dvo">
<property name="text">
<string/>
@@ -1217,7 +1227,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="23" column="2">
<item row="24" column="2">
<widget class="QLabel" name="label_g2o_license">
<property name="text">
<string>BSD</string>
@@ -1260,7 +1270,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="37" column="2">
<item row="38" column="2">
<widget class="QLabel" name="label_viso2_license">
<property name="text">
<string>GPLv3</string>
@@ -1270,7 +1280,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="25" column="2">
<item row="26" column="2">
<widget class="QLabel" name="label_cvsba_license">
<property name="text">
<string>GPLv2</string>
@@ -1280,7 +1290,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="40" column="2">
<item row="41" column="2">
<widget class="QLabel" name="label_okvis_license">
<property name="text">
<string>BSD</string>
@@ -1300,7 +1310,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="38" column="2">
<item row="39" column="2">
<widget class="QLabel" name="label_dvo_license">
<property name="text">
<string>GPLv3</string>
@@ -1343,7 +1353,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="43" column="1">
<item row="44" column="1">
<widget class="QLabel" name="label_vins_fusion">
<property name="text">
<string/>
@@ -1366,7 +1376,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="34" column="0">
<item row="35" column="0">
<widget class="QLabel" name="label_30">
<property name="text">
<string>With OpenChisel :</string>
@@ -1376,7 +1386,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="36" column="1">
<item row="37" column="1">
<widget class="QLabel" name="label_fovis">
<property name="text">
<string/>
@@ -1389,7 +1399,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="31" column="1">
<item row="32" column="1">
<widget class="QLabel" name="label_octomap">
<property name="text">
<string/>
@@ -1402,7 +1412,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="25" column="0">
<item row="26" column="0">
<widget class="QLabel" name="label_18">
<property name="text">
<string>With cvsba :</string>
@@ -1435,6 +1445,19 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="22" column="1">
<widget class="QLabel" name="label_xvsdk">
<property name="text">
<string/>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="13" column="0">
<widget class="QLabel" name="label_33">
<property name="text">
@@ -1468,7 +1491,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="29" column="2">
<item row="30" column="2">
<widget class="QLabel" name="label_cccorelib_license">
<property name="text">
<string>GPLv2</string>
@@ -1491,7 +1514,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="35" column="2">
<item row="36" column="2">
<widget class="QLabel" name="label_aliceVision_license">
<property name="text">
<string>MPL2</string>
@@ -1501,7 +1524,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="24" column="2">
<item row="25" column="2">
<widget class="QLabel" name="label_gtsam_license">
<property name="text">
<string>BSD</string>
@@ -1511,7 +1534,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="24" column="1">
<item row="25" column="1">
<widget class="QLabel" name="label_gtsam">
<property name="text">
<string/>
@@ -1534,7 +1557,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="42" column="0">
<item row="43" column="0">
<widget class="QLabel" name="label_34">
<property name="text">
<string>With MSCKF :</string>
@@ -1557,7 +1580,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="22" column="2">
<item row="23" column="2">
<widget class="QLabel" name="label_toro_license">
<property name="text">
<string>Creative Commons [Attribution-NonCommercial-ShareAlike]</string>
@@ -1577,7 +1600,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="30" column="2">
<item row="31" column="2">
<widget class="QLabel" name="label_open3d_license">
<property name="text">
<string>MIT</string>
@@ -1587,7 +1610,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="30" column="0">
<item row="31" column="0">
<widget class="QLabel" name="label_49">
<property name="text">
<string>With Open3D :</string>
@@ -1597,7 +1620,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="30" column="1">
<item row="31" column="1">
<widget class="QLabel" name="label_open3d">
<property name="text">
<string/>

5
guilib/src/ui/preferencesDialog.ui
View File

@@ -3515,6 +3515,11 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<string>Kinect for Azure</string>
</property>
</item>
<item>
<property name="text">
<string>SeerSense</string>
</property>
</item>
</widget>
</item>
<item row="0" column="1">