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Integrated DepthAI (gen2) (#696)

Browse Source 
* Added OAK-D camera support (DepthAI)

* Fixed build without DepthAI dependency

* Added minimum version 2 for depthai

* fixed trusty build
This commit is contained in:
matlabbe
2021-03-07 12:27:21 -05:00
committed by GitHub
parent ab8f0e2b34
commit 351c659beb
22 changed files with 869 additions and 78 deletions
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1
guilib/include/rtabmap/gui/MainWindow.h
View File

@@ -184,6 +184,7 @@ protected Q_SLOTS:
void selectStereoTara();
void selectStereoUsb();
void selectMyntEyeS();
void selectDepthAI();
void dumpTheMemory();
void dumpThePrediction();
void sendGoal();

1
guilib/include/rtabmap/gui/PreferencesDialog.h
View File

@@ -106,6 +106,7 @@ public:
kSrcStereoRealSense2 = 107,
kSrcStereoMyntEye = 108,
kSrcStereoZedOC = 109,
kSrcStereoDepthAI = 110,
kSrcRGB = 200,
kSrcUsbDevice = 200,

2
guilib/src/AboutDialog.cpp
View File

@@ -146,6 +146,8 @@ AboutDialog::AboutDialog(QWidget * parent) :
_ui->label_k4w2->setText(CameraK4W2::available() ? "Yes" : "No");
_ui->label_k4a->setText(CameraK4A::available() ? "Yes" : "No");
_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_toro->setText(Optimizer::isAvailable(Optimizer::kTypeTORO)?"Yes":"No");
_ui->label_toro_license->setEnabled(Optimizer::isAvailable(Optimizer::kTypeTORO)?true:false);

5
guilib/src/CalibrationDialog.cpp
View File

@@ -874,11 +874,12 @@ void CalibrationDialog::calibrate()
stereoModel_.baseline(), ui_->doubleSpinBox_stereoBaseline->value());
cv::Mat P = stereoModel_.right().P().clone();
P.at<double>(0,3) = -P.at<double>(0,0)*ui_->doubleSpinBox_stereoBaseline->value();
double scale = ui_->doubleSpinBox_stereoBaseline->value() / stereoModel_.baseline();
stereoModel_ = StereoCameraModel(
stereoModel_.name(),
stereoModel_.left().imageSize(),stereoModel_.left().K_raw(), stereoModel_.left().D_raw(), stereoModel_.left().R(), stereoModel_.left().P(),
stereoModel_.right().imageSize(), stereoModel_.right().K_raw(), stereoModel_.right().D_raw(), stereoModel_.right().R(), P,
stereoModel_.R(), stereoModel_.T(), stereoModel_.E(), stereoModel_.F(), stereoModel_.localTransform());
stereoModel_.R(), stereoModel_.T()*scale, stereoModel_.E(), stereoModel_.F(), stereoModel_.localTransform());
}
std::stringstream strR1, strP1, strR2, strP2;
@@ -901,7 +902,7 @@ void CalibrationDialog::calibrate()
QMessageBox::warning(this, tr("Stereo Calibration"),
tr("\"fx\" after stereo rectification (%1) is not close from original "
"calibration (%2), the difference would have to be under 5. You may "
"restart the calibration.")
"restart the calibration or keep it as is.")
.arg(stereoModel_.left().P().at<double>(0,0))
.arg(stereoModel_.left().K_raw().at<double>(0,0)));
}

1
guilib/src/GuiLib.qrc
View File

@@ -41,5 +41,6 @@
<file>images/sr300.png</file>
<file>images/mynteyes.png</file>
<file>images/l515.png</file>
<file>images/oakd.png</file>
</qresource>
</RCC>

8
guilib/src/MainWindow.cpp
View File

@@ -445,6 +445,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent, bool sh
connect(_ui->actionStereoUsb, SIGNAL(triggered()), this, SLOT(selectStereoUsb()));
connect(_ui->actionRealSense2_T265, SIGNAL(triggered()), this, SLOT(selectRealSense2Stereo()));
connect(_ui->actionMYNT_EYE_S_SDK, SIGNAL(triggered()), this, SLOT(selectMyntEyeS()));
connect(_ui->actionDepthAI, SIGNAL(triggered()), this, SLOT(selectDepthAI()));
_ui->actionFreenect->setEnabled(CameraFreenect::available());
_ui->actionOpenNI_CV->setEnabled(CameraOpenNICV::available());
_ui->actionOpenNI_CV_ASUS->setEnabled(CameraOpenNICV::available());
@@ -466,6 +467,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent, bool sh
_ui->actionZed_Open_Capture->setEnabled(CameraStereoZedOC::available());
_ui->actionStereoTara->setEnabled(CameraStereoTara::available());
_ui->actionMYNT_EYE_S_SDK->setEnabled(CameraMyntEye::available());
_ui->actionDepthAI->setEnabled(CameraDepthAI::available());
this->updateSelectSourceMenu();
connect(_ui->actionPreferences, SIGNAL(triggered()), this, SLOT(openPreferences()));
@@ -4808,6 +4810,7 @@ void MainWindow::updateSelectSourceMenu()
_ui->actionStereoUsb->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcStereoUsb);
_ui->actionRealSense2_T265->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcStereoRealSense2);
_ui->actionMYNT_EYE_S_SDK->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcStereoMyntEye);
_ui->actionDepthAI->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcStereoDepthAI);
}
void MainWindow::changeImgRateSetting()
@@ -6594,6 +6597,11 @@ void MainWindow::selectMyntEyeS()
_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcStereoMyntEye);
}
void MainWindow::selectDepthAI()
{
_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcStereoDepthAI);
}
void MainWindow::dumpTheMemory()
{
this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdDumpMemory));

37
guilib/src/PreferencesDialog.cpp
View File

@@ -371,6 +371,10 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
{
_ui->comboBox_cameraStereo->setItemData(kSrcStereoZedOC - kSrcStereo, 0, Qt::UserRole - 1);
}
if (!CameraDepthAI::available())
{
_ui->comboBox_cameraStereo->setItemData(kSrcStereoDepthAI - kSrcStereo, 0, Qt::UserRole - 1);
}
_ui->openni2_exposure->setEnabled(CameraOpenNI2::exposureGainAvailable());
_ui->openni2_gain->setEnabled(CameraOpenNI2::exposureGainAvailable());
@@ -769,6 +773,10 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->spinBox_stereoMyntEye_contrast, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->spinBox_stereoMyntEye_irControl, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->comboBox_depthai_resolution, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkBox_depthai_depth, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->spinBox_depthai_confidence, SIGNAL(valueChanged(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()));
@@ -1980,6 +1988,9 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->spinBox_stereoMyntEye_brightness->setValue(120);
_ui->spinBox_stereoMyntEye_contrast->setValue(116);
_ui->spinBox_stereoMyntEye_irControl->setValue(0);
_ui->comboBox_depthai_resolution->setCurrentIndex(1);
_ui->checkBox_depthai_depth->setChecked(false);
_ui->spinBox_depthai_confidence->setValue(200);
_ui->checkBox_cameraImages_configForEachFrame->setChecked(false);
_ui->checkBox_cameraImages_timestamps->setChecked(false);
@@ -2447,6 +2458,12 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
_ui->spinBox_stereoMyntEye_irControl->setValue(settings.value("ir_control", _ui->spinBox_stereoMyntEye_irControl->value()).toInt());
settings.endGroup(); // MyntEye
settings.beginGroup("DepthAI");
_ui->comboBox_depthai_resolution->setCurrentIndex(settings.value("resolution", _ui->comboBox_depthai_resolution->currentIndex()).toInt());
_ui->checkBox_depthai_depth->setChecked(settings.value("depth", _ui->checkBox_depthai_depth->isChecked()).toBool());
_ui->spinBox_depthai_confidence->setValue(settings.value("confidence", _ui->spinBox_depthai_confidence->value()).toInt());
settings.endGroup(); // DepthAI
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());
@@ -2935,6 +2952,12 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.setValue("ir_control", _ui->spinBox_stereoMyntEye_irControl->value());
settings.endGroup(); // MyntEye
settings.beginGroup("DepthAI");
settings.setValue("resolution", _ui->comboBox_depthai_resolution->currentIndex());
settings.setValue("depth", _ui->checkBox_depthai_depth->isChecked());
settings.setValue("confidence", _ui->spinBox_depthai_confidence->value());
settings.endGroup(); // DepthAI
settings.beginGroup("Images");
settings.setValue("path", _ui->source_images_lineEdit_path->text());
settings.setValue("startPos", _ui->source_images_spinBox_startPos->value());
@@ -5009,7 +5032,8 @@ void PreferencesDialog::updateSourceGrpVisibility()
_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoUsb - kSrcStereo ||
_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoRealSense2 - kSrcStereo ||
_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoMyntEye - kSrcStereo ||
_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoZedOC - kSrcStereo));
_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoZedOC - kSrcStereo ||
_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoDepthAI - 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);
@@ -5017,6 +5041,7 @@ void PreferencesDialog::updateSourceGrpVisibility()
_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->groupBox_cameraStereoZedOC->setVisible(_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoZedOC - kSrcStereo);
_ui->groupBox_cameraDepthAI->setVisible(_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoDepthAI - kSrcStereo);
_ui->stackedWidget_image->setVisible(_ui->comboBox_sourceType->currentIndex() == 2 &&
(_ui->source_comboBox_image_type->currentIndex() == kSrcImages-kSrcRGB ||
@@ -6028,6 +6053,16 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
this->getGeneralInputRate(),
this->getSourceLocalTransform());
}
else if (driver == kSrcStereoDepthAI)
{
UDEBUG("DepthAI");
camera = new CameraDepthAI(
this->getSourceDevice().toStdString().c_str(),
_ui->comboBox_depthai_resolution->currentIndex(),
this->getGeneralInputRate(),
this->getSourceLocalTransform());
((CameraDepthAI*)camera)->setOutputDepth(_ui->checkBox_depthai_depth->isChecked(), _ui->spinBox_depthai_confidence->value());
}
else if(driver == kSrcUsbDevice)
{
camera = new CameraVideo(

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guilib/src/images/oakd.png Normal file
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141
guilib/src/ui/aboutDialog.ui
View File

@@ -162,9 +162,9 @@ p, li { white-space: pre-wrap; }
<property name="geometry">
<rect>
<x>0</x>
<y>-239</y>
<y>-228</y>
<width>596</width>
<height>906</height>
<height>929</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_2">
@@ -188,14 +188,14 @@ p, li { white-space: pre-wrap; }
<item row="16" column="0">
<widget class="QLabel" name="label_21">
<property name="text">
<string>With stereo Zed SDK :</string>
<string>With Zed SDK :</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="31" column="0">
<item row="32" column="0">
<widget class="QLabel" name="label_25">
<property name="text">
<string>With FOVIS :</string>
@@ -205,7 +205,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="31" column="2">
<item row="32" column="2">
<widget class="QLabel" name="label_fovis_license">
<property name="text">
<string>GPLv2</string>
@@ -251,7 +251,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="35" column="0">
<item row="36" column="0">
<widget class="QLabel" name="label_35">
<property name="text">
<string>With OKVIS :</string>
@@ -261,7 +261,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="33" column="1">
<item row="34" column="1">
<widget class="QLabel" name="label_dvo">
<property name="text">
<string/>
@@ -307,7 +307,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="35" column="1">
<item row="36" column="1">
<widget class="QLabel" name="label_okvis">
<property name="text">
<string/>
@@ -320,7 +320,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="37" column="0">
<item row="38" column="0">
<widget class="QLabel" name="label_34">
<property name="text">
<string>With MSCKF :</string>
@@ -330,7 +330,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="27" column="1">
<item row="28" column="1">
<widget class="QLabel" name="label_octomap">
<property name="text">
<string/>
@@ -343,7 +343,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="37" column="1">
<item row="38" column="1">
<widget class="QLabel" name="label_msckf">
<property name="text">
<string/>
@@ -399,7 +399,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="28" column="0">
<item row="29" column="0">
<widget class="QLabel" name="label_24">
<property name="text">
<string>With CPU-TSDF :</string>
@@ -419,7 +419,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="32" column="0">
<item row="33" column="0">
<widget class="QLabel" name="label_26">
<property name="text">
<string>With Viso2 :</string>
@@ -429,7 +429,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="34" column="0">
<item row="35" column="0">
<widget class="QLabel" name="label_28">
<property name="text">
<string>With ORB SLAM 2 :</string>
@@ -449,7 +449,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="34" column="1">
<item row="35" column="1">
<widget class="QLabel" name="label_orbslam2">
<property name="text">
<string/>
@@ -472,7 +472,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="32" column="2">
<item row="33" column="2">
<widget class="QLabel" name="label_viso2_license">
<property name="text">
<string>GPLv3</string>
@@ -492,7 +492,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="27" column="0">
<item row="28" column="0">
<widget class="QLabel" name="label_20">
<property name="text">
<string>With Octomap :</string>
@@ -502,7 +502,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="21" column="0">
<item row="22" column="0">
<widget class="QLabel" name="label_77">
<property name="text">
<string>With TORO :</string>
@@ -512,7 +512,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="31" column="1">
<item row="32" column="1">
<widget class="QLabel" name="label_fovis">
<property name="text">
<string/>
@@ -525,7 +525,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="27" column="2">
<item row="28" column="2">
<widget class="QLabel" name="label_octomap_license">
<property name="text">
<string>BSD</string>
@@ -578,7 +578,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="28" column="1">
<item row="29" column="1">
<widget class="QLabel" name="label_cputsdf">
<property name="text">
<string/>
@@ -601,7 +601,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="24" column="0">
<item row="25" column="0">
<widget class="QLabel" name="label_18">
<property name="text">
<string>With cvsba :</string>
@@ -611,7 +611,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="22" column="0">
<item row="23" column="0">
<widget class="QLabel" name="label_14">
<property name="text">
<string>With g2o :</string>
@@ -621,7 +621,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="24" column="1">
<item row="25" column="1">
<widget class="QLabel" name="label_cvsba">
<property name="text">
<string/>
@@ -644,7 +644,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="23" column="1">
<item row="24" column="1">
<widget class="QLabel" name="label_gtsam">
<property name="text">
<string/>
@@ -670,7 +670,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="23" column="0">
<item row="24" column="0">
<widget class="QLabel" name="label_19">
<property name="text">
<string>With GTSAM :</string>
@@ -736,7 +736,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="26" column="0">
<item row="27" column="0">
<widget class="QLabel" name="label_29">
<property name="text">
<string>With libpointmatcher :</string>
@@ -746,7 +746,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="22" column="1">
<item row="23" column="1">
<widget class="QLabel" name="label_g2o">
<property name="text">
<string/>
@@ -795,7 +795,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="37" column="2">
<item row="38" column="2">
<widget class="QLabel" name="label_msckf_license">
<property name="text">
<string>Penn Software License</string>
@@ -818,7 +818,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="33" column="2">
<item row="34" column="2">
<widget class="QLabel" name="label_dvo_license">
<property name="text">
<string>GPLv3</string>
@@ -828,7 +828,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="36" column="0">
<item row="37" column="0">
<widget class="QLabel" name="label_36">
<property name="text">
<string>With loam_velodyne :</string>
@@ -861,7 +861,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="29" column="1">
<item row="30" column="1">
<widget class="QLabel" name="label_openchisel">
<property name="text">
<string/>
@@ -874,7 +874,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="23" column="2">
<item row="24" column="2">
<widget class="QLabel" name="label_gtsam_license">
<property name="text">
<string>BSD</string>
@@ -884,7 +884,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="26" column="1">
<item row="27" column="1">
<widget class="QLabel" name="label_libpointmatcher">
<property name="text">
<string/>
@@ -897,7 +897,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="36" column="1">
<item row="37" column="1">
<widget class="QLabel" name="label_loam">
<property name="text">
<string/>
@@ -920,7 +920,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="33" column="0">
<item row="34" column="0">
<widget class="QLabel" name="label_27">
<property name="text">
<string>With DVO :</string>
@@ -930,7 +930,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="32" column="1">
<item row="33" column="1">
<widget class="QLabel" name="label_viso2">
<property name="text">
<string/>
@@ -943,7 +943,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="34" column="2">
<item row="35" column="2">
<widget class="QLabel" name="label_orbslam2_license">
<property name="text">
<string>GPLv3</string>
@@ -953,7 +953,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="29" column="0">
<item row="30" column="0">
<widget class="QLabel" name="label_30">
<property name="text">
<string>With OpenChisel :</string>
@@ -976,7 +976,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="21" column="1">
<item row="22" column="1">
<widget class="QLabel" name="label_toro">
<property name="text">
<string/>
@@ -989,7 +989,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="22" column="2">
<item row="23" column="2">
<widget class="QLabel" name="label_g2o_license">
<property name="text">
<string>BSD</string>
@@ -999,7 +999,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="35" column="2">
<item row="36" column="2">
<widget class="QLabel" name="label_okvis_license">
<property name="text">
<string>BSD</string>
@@ -1009,7 +1009,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="36" column="2">
<item row="37" column="2">
<widget class="QLabel" name="label_loam_license">
<property name="text">
<string>BSD</string>
@@ -1039,7 +1039,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="26" column="2">
<item row="27" column="2">
<widget class="QLabel" name="label_libpointmatcher_license">
<property name="text">
<string>BSD</string>
@@ -1049,7 +1049,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="28" column="2">
<item row="29" column="2">
<widget class="QLabel" name="label_cputsdf_license">
<property name="text">
<string>BSD</string>
@@ -1069,7 +1069,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="24" column="2">
<item row="25" column="2">
<widget class="QLabel" name="label_cvsba_license">
<property name="text">
<string>GPLv2</string>
@@ -1079,7 +1079,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="21" column="2">
<item row="22" column="2">
<widget class="QLabel" name="label_toro_license">
<property name="text">
<string>Creative Commons [Attribution-NonCommercial-ShareAlike]</string>
@@ -1191,7 +1191,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="25" column="0">
<item row="26" column="0">
<widget class="QLabel" name="label_40">
<property name="text">
<string>With Ceres :</string>
@@ -1201,7 +1201,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="25" column="2">
<item row="26" column="2">
<widget class="QLabel" name="label_ceres_license">
<property name="text">
<string>BSD</string>
@@ -1211,7 +1211,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="25" column="1">
<item row="26" column="1">
<widget class="QLabel" name="label_ceres">
<property name="text">
<string/>
@@ -1224,7 +1224,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="30" column="0">
<item row="31" column="0">
<widget class="QLabel" name="label_41">
<property name="text">
<string>With AliceVision :</string>
@@ -1234,7 +1234,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="30" column="1">
<item row="31" column="1">
<widget class="QLabel" name="label_aliceVision">
<property name="text">
<string/>
@@ -1247,7 +1247,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="30" column="2">
<item row="31" column="2">
<widget class="QLabel" name="label_aliceVision_license">
<property name="text">
<string>MPL2</string>
@@ -1349,7 +1349,7 @@ p, li { white-space: pre-wrap; }
<item row="17" column="0">
<widget class="QLabel" name="label_44">
<property name="text">
<string>With stereo Zed Open Capture :</string>
<string>With Zed Open Capture :</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -1379,6 +1379,39 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="21" column="0">
<widget class="QLabel" name="label_70">
<property name="text">
<string>With DepthAI :</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="21" column="2">
<widget class="QLabel" name="label_depthai_license">
<property name="text">
<string>MIT</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="21" column="1">
<widget class="QLabel" name="label_depthai">
<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>
</layout>
</item>
</layout>

19
guilib/src/ui/mainWindow.ui
View File

@@ -300,11 +300,22 @@
</property>
<addaction name="actionMYNT_EYE_S_SDK"/>
</widget>
<widget class="QMenu" name="menuOAK_D">
<property name="title">
<string>OAK-D</string>
</property>
<property name="icon">
<iconset resource="../GuiLib.qrc">
<normaloff>:/images/oakd.png</normaloff>:/images/oakd.png</iconset>
</property>
<addaction name="actionDepthAI"/>
</widget>
<addaction name="menuBumblebee2_2"/>
<addaction name="menuZed_camera"/>
<addaction name="menuTara_Camera"/>
<addaction name="menuRealSense_T265"/>
<addaction name="menuMynt_Eye_S"/>
<addaction name="menuOAK_D"/>
</widget>
<addaction name="menuRGB_D_camera"/>
<addaction name="menuStereo_camera"/>
@@ -1626,6 +1637,14 @@
<string>Zed Open Capture</string>
</property>
</action>
<action name="actionDepthAI">
<property name="checkable">
<bool>true</bool>
</property>
<property name="text">
<string>DepthAI</string>
</property>
</action>
</widget>
<customwidgets>
<customwidget>

155
guilib/src/ui/preferencesDialog.ui
View File

@@ -63,7 +63,7 @@
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<y>-265</y>
<width>686</width>
<height>3357</height>
</rect>
@@ -95,7 +95,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>12</number>
<number>5</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -4821,6 +4821,11 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<string>ZED Open Capture</string>
</property>
</item>
<item>
<property name="text">
<string>DepthAI</string>
</property>
</item>
</widget>
</item>
<item row="0" column="2">
@@ -4901,7 +4906,7 @@ 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>9</number>
<number>10</number>
</property>
<widget class="QWidget" name="page_49">
<layout class="QVBoxLayout" name="verticalLayout_91">
@@ -5481,7 +5486,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
<height>0</height>
</size>
</property>
</spacer>
@@ -5771,19 +5776,6 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</item>
</widget>
</item>
<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_624">
<property name="text">
@@ -5800,6 +5792,135 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</layout>
</widget>
</item>
<item>
<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>
</layout>
</widget>
<widget class="QWidget" name="page_89">
<layout class="QVBoxLayout" name="verticalLayout_155">
<item>
<widget class="QGroupBox" name="groupBox_cameraDepthAI">
<property name="sizePolicy">
<sizepolicy hsizetype="Ignored" vsizetype="Ignored">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="title">
<string>DepthAI</string>
</property>
<layout class="QGridLayout" name="gridLayout_120" columnstretch="0,1">
<item row="0" column="1">
<widget class="QLabel" name="label_626">
<property name="text">
<string>Resolution.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_625">
<property name="text">
<string>Output depth.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="checkBox_depthai_depth">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QComboBox" name="comboBox_depthai_resolution">
<property name="currentIndex">
<number>1</number>
</property>
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
</property>
<item>
<property name="text">
<string>720p</string>
</property>
</item>
<item>
<property name="text">
<string>800p</string>
</property>
</item>
<item>
<property name="text">
<string>400p</string>
</property>
</item>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_627">
<property name="text">
<string>Depth confidence.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QSpinBox" name="spinBox_depthai_confidence">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>255</number>
</property>
<property name="value">
<number>200</number>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_72">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</widget>