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Added MYNT EYE S support. Fixed StereoCameraModel rectification not done with non-square images, also updated to support fisheye model.

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This commit is contained in:
matlabbe
2020-04-30 00:57:47 -04:00
parent b3eee0d7bf
commit 14ec619b1e
20 changed files with 975 additions and 33 deletions
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46
guilib/src/PreferencesDialog.cpp
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@@ -335,6 +335,10 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
if (!CameraStereoTara::available())
{
_ui->comboBox_cameraStereo->setItemData(kSrcStereoTara - kSrcStereo, 0, Qt::UserRole - 1);
}
if (!CameraMyntEye::available())
{
_ui->comboBox_cameraStereo->setItemData(kSrcStereoMyntEye - kSrcStereo, 0, Qt::UserRole - 1);
}
_ui->openni2_exposure->setEnabled(CameraOpenNI2::exposureGainAvailable());
_ui->openni2_gain->setEnabled(CameraOpenNI2::exposureGainAvailable());
@@ -716,6 +720,9 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->checkbox_stereoRealSense2_odom, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkbox_stereoMyntEye_rectify, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkbox_stereoMyntEye_depth, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkbox_rgbd_colorOnly, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->spinBox_source_imageDecimation, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkbox_stereo_depthGenerated, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
@@ -1872,6 +1879,8 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->checkbox_stereoZed_odom->setChecked(false);
_ui->lineEdit_zedSvoPath->clear();
_ui->checkbox_stereoRealSense2_odom->setChecked(false);
_ui->checkbox_stereoMyntEye_rectify->setChecked(false);
_ui->checkbox_stereoMyntEye_depth->setChecked(false);
_ui->checkBox_cameraImages_timestamps->setChecked(false);
_ui->checkBox_cameraImages_syncTimeStamps->setChecked(true);
@@ -2317,6 +2326,11 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
_ui->checkbox_stereoRealSense2_odom->setChecked(settings.value("odom", _ui->checkbox_stereoRealSense2_odom->isChecked()).toBool());
settings.endGroup(); // StereoRealSense2
settings.beginGroup("MyntEye");
_ui->checkbox_stereoMyntEye_rectify->setChecked(settings.value("rectify", _ui->checkbox_stereoMyntEye_rectify->isChecked()).toBool());
_ui->checkbox_stereoMyntEye_depth->setChecked(settings.value("depth", _ui->checkbox_stereoMyntEye_depth->isChecked()).toBool());
settings.endGroup(); // StereoRealSense2
settings.beginGroup("Images");
_ui->source_images_lineEdit_path->setText(settings.value("path", _ui->source_images_lineEdit_path->text()).toString());
_ui->source_images_spinBox_startPos->setValue(settings.value("startPos",_ui->source_images_spinBox_startPos->value()).toInt());
@@ -2784,6 +2798,11 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.setValue("odom", _ui->checkbox_stereoRealSense2_odom->isChecked());
settings.endGroup(); // StereoRealSense2
settings.beginGroup("MyntEye");
settings.setValue("rectify", _ui->checkbox_stereoMyntEye_rectify->isChecked());
settings.setValue("depth", _ui->checkbox_stereoMyntEye_depth->isChecked());
settings.endGroup(); // MyntEye
settings.beginGroup("Images");
settings.setValue("path", _ui->source_images_lineEdit_path->text());
settings.setValue("startPos", _ui->source_images_spinBox_startPos->value());
@@ -4741,12 +4760,14 @@ void PreferencesDialog::updateSourceGrpVisibility()
_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoImages-kSrcStereo ||
_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoZed - kSrcStereo ||
_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoUsb - kSrcStereo ||
_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoRealSense2 - kSrcStereo));
_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoRealSense2 - kSrcStereo ||
_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoMyntEye - 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->groupBox_cameraStereoRealSense2->setVisible(_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoRealSense2 - kSrcStereo);
_ui->groupBox_cameraMyntEye->setVisible(_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoMyntEye - kSrcStereo);
_ui->stackedWidget_image->setVisible(_ui->comboBox_sourceType->currentIndex() == 2 &&
(_ui->source_comboBox_image_type->currentIndex() == kSrcImages-kSrcRGB ||
@@ -4773,7 +4794,8 @@ void PreferencesDialog::updateSourceGrpVisibility()
(_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() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoRealSense2 - kSrcStereo) || //T265
(_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoZed - kSrcStereo)); // ZEDm
(_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
_ui->stackedWidget_imuFilter->setVisible(_ui->comboBox_imuFilter_strategy->currentIndex() > 0);
_ui->groupBox_madgwickfilter->setVisible(_ui->comboBox_imuFilter_strategy->currentIndex() == 1);
_ui->groupBox_complementaryfilter->setVisible(_ui->comboBox_imuFilter_strategy->currentIndex() == 2);
@@ -5545,6 +5567,26 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
}
}
}
else if (driver == kSrcStereoMyntEye)
{
if(driver == kSrcStereoMyntEye && useRawImages)
{
QMessageBox::warning(this, tr("Calibration"),
tr("Using raw images for \"RealSense\" driver is not yet supported. "
"Factory calibration loaded from RealSense2 is used."), QMessageBox::Ok);
return 0;
}
else
{
camera = new CameraMyntEye(
this->getSourceDevice().toStdString(),
_ui->checkbox_stereoMyntEye_rectify->isChecked(),
_ui->checkbox_stereoMyntEye_depth->isChecked(),
this->getGeneralInputRate(),
this->getSourceLocalTransform());
((CameraMyntEye*)camera)->publishInterIMU(_ui->checkbox_publishInterIMU->isChecked());
}
}
else if(driver == kSrcRGBDImages)
{
camera = new CameraRGBDImages(