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Integrated DepthAI (gen2) (#696)

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* 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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37
guilib/src/PreferencesDialog.cpp
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@@ -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(