i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 09:30:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

Added D415 icon

Browse Source
This commit is contained in:
matlabbe
2018-09-15 11:37:02 -04:00
parent 5f6dd0846d
commit 0cf37fbbf1
7 changed files with 39 additions and 115 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
corelib/include/rtabmap/core/OdometryOkvis.h
View File

@@ -55,12 +55,12 @@ private:
#ifdef RTABMAP_OKVIS #ifdef RTABMAP_OKVIS
OkvisCallbackHandler * okvisCallbackHandler_; OkvisCallbackHandler * okvisCallbackHandler_;
okvis::ThreadedKFVio * okvisEstimator_; okvis::ThreadedKFVio * okvisEstimator_;
int imagesProcessed_;
bool initGravity_;
#endif #endif
ParametersMap okvisParameters_; ParametersMap okvisParameters_;
IMU lastImu_; // only used for initialization IMU lastImu_; // only used for initialization
int imagesProcessed_;
Transform previousPose_; Transform previousPose_;
bool initGravity_;
}; };
} }

6
corelib/src/OdometryOkvis.cpp
View File

@@ -131,11 +131,11 @@ OdometryOkvis::OdometryOkvis(const ParametersMap & parameters) :
#ifdef RTABMAP_OKVIS #ifdef RTABMAP_OKVIS
okvisCallbackHandler_(new OkvisCallbackHandler), okvisCallbackHandler_(new OkvisCallbackHandler),
okvisEstimator_(0), okvisEstimator_(0),
imagesProcessed_(0),
initGravity_(false),
#endif #endif
okvisParameters_(parameters), okvisParameters_(parameters),
imagesProcessed_(0), previousPose_(Transform::getIdentity())
previousPose_(Transform::getIdentity()),
initGravity_(false)
{ {
#ifdef RTABMAP_OKVIS #ifdef RTABMAP_OKVIS
Parameters::parse(parameters, Parameters::kOdomOKVISConfigPath(), configFilename_); Parameters::parse(parameters, Parameters::kOdomOKVISConfigPath(), configFilename_);

1
guilib/src/GuiLib.qrc
View File

@@ -34,5 +34,6 @@
<file>images/r200.png</file> <file>images/r200.png</file>
<file>images/zr300.png</file> <file>images/zr300.png</file>
<file>images/d435.png</file> <file>images/d435.png</file>
<file>images/d415.png</file>
</qresource> </qresource>
</RCC> </RCC>

3
guilib/src/MainWindow.cpp
View File

@@ -429,6 +429,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent, bool sh
connect(_ui->actionKinect_for_Windows_SDK_v2, SIGNAL(triggered()), this, SLOT(selectK4W2())); connect(_ui->actionKinect_for_Windows_SDK_v2, SIGNAL(triggered()), this, SLOT(selectK4W2()));
connect(_ui->actionRealSense_R200, SIGNAL(triggered()), this, SLOT(selectRealSense())); connect(_ui->actionRealSense_R200, SIGNAL(triggered()), this, SLOT(selectRealSense()));
connect(_ui->actionRealSense_ZR300, SIGNAL(triggered()), this, SLOT(selectRealSense())); connect(_ui->actionRealSense_ZR300, SIGNAL(triggered()), this, SLOT(selectRealSense()));
connect(_ui->actionRealSense2_D415, SIGNAL(triggered()), this, SLOT(selectRealSense2()));
connect(_ui->actionRealSense2_D435, SIGNAL(triggered()), this, SLOT(selectRealSense2())); connect(_ui->actionRealSense2_D435, SIGNAL(triggered()), this, SLOT(selectRealSense2()));
connect(_ui->actionStereoDC1394, SIGNAL(triggered()), this, SLOT(selectStereoDC1394())); connect(_ui->actionStereoDC1394, SIGNAL(triggered()), this, SLOT(selectStereoDC1394()));
connect(_ui->actionStereoFlyCapture2, SIGNAL(triggered()), this, SLOT(selectStereoFlyCapture2())); connect(_ui->actionStereoFlyCapture2, SIGNAL(triggered()), this, SLOT(selectStereoFlyCapture2()));
@@ -444,6 +445,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent, bool sh
_ui->actionKinect_for_Windows_SDK_v2->setEnabled(CameraK4W2::available()); _ui->actionKinect_for_Windows_SDK_v2->setEnabled(CameraK4W2::available());
_ui->actionRealSense_R200->setEnabled(CameraRealSense::available()); _ui->actionRealSense_R200->setEnabled(CameraRealSense::available());
_ui->actionRealSense_ZR300->setEnabled(CameraRealSense::available()); _ui->actionRealSense_ZR300->setEnabled(CameraRealSense::available());
_ui->actionRealSense2_D415->setEnabled(CameraRealSense2::available());
_ui->actionRealSense2_D435->setEnabled(CameraRealSense2::available()); _ui->actionRealSense2_D435->setEnabled(CameraRealSense2::available());
_ui->actionStereoDC1394->setEnabled(CameraStereoDC1394::available()); _ui->actionStereoDC1394->setEnabled(CameraStereoDC1394::available());
_ui->actionStereoFlyCapture2->setEnabled(CameraStereoFlyCapture2::available()); _ui->actionStereoFlyCapture2->setEnabled(CameraStereoFlyCapture2::available());
@@ -4283,6 +4285,7 @@ void MainWindow::updateSelectSourceMenu()
_ui->actionKinect_for_Windows_SDK_v2->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcK4W2); _ui->actionKinect_for_Windows_SDK_v2->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcK4W2);
_ui->actionRealSense_R200->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcRealSense); _ui->actionRealSense_R200->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcRealSense);
_ui->actionRealSense_ZR300->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcRealSense); _ui->actionRealSense_ZR300->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcRealSense);
_ui->actionRealSense2_D415->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcRealSense2);
_ui->actionRealSense2_D435->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcRealSense2); _ui->actionRealSense2_D435->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcRealSense2);
_ui->actionStereoDC1394->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcDC1394); _ui->actionStereoDC1394->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcDC1394);
_ui->actionStereoFlyCapture2->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcFlyCapture2); _ui->actionStereoFlyCapture2->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcFlyCapture2);

BIN
guilib/src/images/d415.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 3.4 KiB

BIN
guilib/src/images/d435.png
View File

Binary file not shown.
Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 2.6 KiB

After

Width:  |  Height:  |  Size: 4.7 KiB

140
guilib/src/ui/mainWindow.ui
View File

@@ -197,12 +197,23 @@
</property> </property>
<addaction name="actionRealSense2_D435"/> <addaction name="actionRealSense2_D435"/>
</widget> </widget>
<widget class="QMenu" name="menuRealSense_D415">
<property name="title">
<string>RealSense D415</string>
</property>
<property name="icon">
<iconset resource="../GuiLib.qrc">
<normaloff>:/images/d415.png</normaloff>:/images/d415.png</iconset>
</property>
<addaction name="actionRealSense2_D415"/>
</widget>
<addaction name="menuKinect_for_Xbox_360"/> <addaction name="menuKinect_for_Xbox_360"/>
<addaction name="menuXtion_PRO_LIVE"/> <addaction name="menuXtion_PRO_LIVE"/>
<addaction name="menuSense_3D_scanner"/> <addaction name="menuSense_3D_scanner"/>
<addaction name="menuKinect_v2"/> <addaction name="menuKinect_v2"/>
<addaction name="menuRealSense_R200"/> <addaction name="menuRealSense_R200"/>
<addaction name="menuRealSense_ZR300"/> <addaction name="menuRealSense_ZR300"/>
<addaction name="menuRealSense_D415"/>
<addaction name="menuRealSense_D435"/> <addaction name="menuRealSense_D435"/>
</widget> </widget>
<widget class="QMenu" name="menuStereo_camera"> <widget class="QMenu" name="menuStereo_camera">
@@ -331,16 +342,7 @@
<property name="spacing"> <property name="spacing">
<number>0</number> <number>0</number>
</property> </property>
<property name="leftMargin"> <property name="margin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number> <number>0</number>
</property> </property>
<item> <item>
@@ -378,16 +380,7 @@
<property name="spacing"> <property name="spacing">
<number>0</number> <number>0</number>
</property> </property>
<property name="leftMargin"> <property name="margin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number> <number>0</number>
</property> </property>
<item> <item>
@@ -630,16 +623,7 @@
<property name="spacing"> <property name="spacing">
<number>0</number> <number>0</number>
</property> </property>
<property name="leftMargin"> <property name="margin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number> <number>0</number>
</property> </property>
<item> <item>
@@ -660,16 +644,7 @@
<property name="spacing"> <property name="spacing">
<number>0</number> <number>0</number>
</property> </property>
<property name="leftMargin"> <property name="margin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number> <number>0</number>
</property> </property>
<item> <item>
@@ -690,16 +665,7 @@
<property name="spacing"> <property name="spacing">
<number>0</number> <number>0</number>
</property> </property>
<property name="leftMargin"> <property name="margin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number> <number>0</number>
</property> </property>
<item> <item>
@@ -720,16 +686,7 @@
<property name="spacing"> <property name="spacing">
<number>0</number> <number>0</number>
</property> </property>
<property name="leftMargin"> <property name="margin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number> <number>0</number>
</property> </property>
</layout> </layout>
@@ -747,16 +704,7 @@
<property name="spacing"> <property name="spacing">
<number>0</number> <number>0</number>
</property> </property>
<property name="leftMargin"> <property name="margin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number> <number>0</number>
</property> </property>
</layout> </layout>
@@ -777,16 +725,7 @@
<property name="spacing"> <property name="spacing">
<number>0</number> <number>0</number>
</property> </property>
<property name="leftMargin"> <property name="margin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number> <number>0</number>
</property> </property>
<item> <item>
@@ -807,16 +746,7 @@
<property name="spacing"> <property name="spacing">
<number>0</number> <number>0</number>
</property> </property>
<property name="leftMargin"> <property name="margin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number> <number>0</number>
</property> </property>
<item> <item>
@@ -840,16 +770,7 @@
<property name="spacing"> <property name="spacing">
<number>0</number> <number>0</number>
</property> </property>
<property name="leftMargin"> <property name="margin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number> <number>0</number>
</property> </property>
<item> <item>
@@ -919,16 +840,7 @@
<property name="spacing"> <property name="spacing">
<number>0</number> <number>0</number>
</property> </property>
<property name="leftMargin"> <property name="margin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number> <number>0</number>
</property> </property>
<item> <item>
@@ -1485,6 +1397,14 @@
<string>RealSense2</string> <string>RealSense2</string>
</property> </property>
</action> </action>
<action name="actionRealSense2_D415">
<property name="checkable">
<bool>true</bool>
</property>
<property name="text">
<string>RealSense2</string>
</property>
</action>
</widget> </widget>
<customwidgets> <customwidgets>
<customwidget> <customwidget>