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Added CameraK4A driver (only MKV playback supported yet). Fixed build with realsense2 support on Windows. Preferences: added imu filtering parameters to ini file.

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This commit is contained in:
matlabbe
2019-07-09 20:48:09 -04:00
parent 63be7c85fc
commit 3c7719f6d8
22 changed files with 1426 additions and 508 deletions
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81
guilib/src/PreferencesDialog.cpp
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@@ -296,6 +296,10 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
{
_ui->comboBox_cameraRGBD->setItemData(kSrcK4W2 - kSrcRGBD, 0, Qt::UserRole - 1);
}
if (!CameraK4A::available())
{
_ui->comboBox_cameraRGBD->setItemData(kSrcK4A - kSrcRGBD, 0, Qt::UserRole - 1);
}
if (!CameraRealSense::available())
{
_ui->comboBox_cameraRGBD->setItemData(kSrcRealSense - kSrcRGBD, 0, Qt::UserRole - 1);
@@ -689,10 +693,12 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->pushButton_calibrate_simple, SIGNAL(clicked()), this, SLOT(calibrateSimple()));
connect(_ui->toolButton_openniOniPath, SIGNAL(clicked()), this, SLOT(selectSourceOniPath()));
connect(_ui->toolButton_openni2OniPath, SIGNAL(clicked()), this, SLOT(selectSourceOni2Path()));
connect(_ui->toolButton_k4a_mkv, SIGNAL(clicked()), this, SLOT(selectSourceMKVPath()));
connect(_ui->toolButton_source_distortionModel, SIGNAL(clicked()), this, SLOT(selectSourceDistortionModel()));
connect(_ui->toolButton_distortionModel, SIGNAL(clicked()), this, SLOT(visualizeDistortionModel()));
connect(_ui->lineEdit_openniOniPath, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->lineEdit_openni2OniPath, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->lineEdit_k4a_mkv, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->lineEdit_source_distortionModel, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->groupBox_bilateral, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->doubleSpinBox_bilateral_sigmaS, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
@@ -1780,6 +1786,8 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->spinBox_rs2_rate->setValue(60);
_ui->lineEdit_openniOniPath->clear();
_ui->lineEdit_openni2OniPath->clear();
_ui->checkbox_k4a_irDepth->setChecked(false);
_ui->lineEdit_k4a_mkv->clear();
_ui->lineEdit_cameraRGBDImages_path_rgb->setText("");
_ui->lineEdit_cameraRGBDImages_path_depth->setText("");
_ui->doubleSpinBox_cameraRGBDImages_scale->setValue(1.0);
@@ -2174,6 +2182,11 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
_ui->comboBox_k4w2Format->setCurrentIndex(settings.value("format", _ui->comboBox_k4w2Format->currentIndex()).toInt());
settings.endGroup(); // K4W2
settings.beginGroup("K4A");
_ui->checkbox_k4a_irDepth->setChecked(settings.value("ir", _ui->checkbox_k4a_irDepth->isChecked()).toBool());
_ui->lineEdit_k4a_mkv->setText(settings.value("mkvPath", _ui->lineEdit_k4a_mkv->text()).toString());
settings.endGroup(); // K4A
settings.beginGroup("RealSense");
_ui->comboBox_realsensePresetRGB->setCurrentIndex(settings.value("presetRGB", _ui->comboBox_realsensePresetRGB->currentIndex()).toInt());
_ui->comboBox_realsensePresetDepth->setCurrentIndex(settings.value("presetDepth", _ui->comboBox_realsensePresetDepth->currentIndex()).toInt());
@@ -2258,6 +2271,16 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
_ui->source_video_lineEdit_path->setText(settings.value("path", _ui->source_video_lineEdit_path->text()).toString());
settings.endGroup(); // video
settings.beginGroup("IMU");
_ui->comboBox_imuFilter_strategy->setCurrentIndex(settings.value("strategy", _ui->comboBox_imuFilter_strategy->currentIndex()).toInt());
_ui->doubleSpinBox_imuFilterMadgwickGain->setValue(settings.value("madgwick_gain", _ui->doubleSpinBox_imuFilterMadgwickGain->value()).toDouble());
_ui->doubleSpinBox_imuFilterMadgwickZeta->setValue(settings.value("madgwick_zeta", _ui->doubleSpinBox_imuFilterMadgwickZeta->value()).toDouble());
_ui->doubleSpinBox_imuFilterComplementaryGainAcc->setValue(settings.value("complementary_gain_acc", _ui->doubleSpinBox_imuFilterComplementaryGainAcc->value()).toDouble());
_ui->doubleSpinBox_imuFilterComplementaryBiasAlpha->setValue(settings.value("complementary_bias_alpha", _ui->doubleSpinBox_imuFilterComplementaryBiasAlpha->value()).toDouble());
_ui->checkBox_imuFilterComplementaryDoAdaptiveGain->setChecked(settings.value("complementary_adaptive_gain", _ui->checkBox_imuFilterComplementaryDoAdaptiveGain->isChecked()).toBool());
_ui->checkBox_imuFilterComplementaryDoBiasEstimation->setChecked(settings.value("complementary_biais_estimation", _ui->checkBox_imuFilterComplementaryDoBiasEstimation->isChecked()).toBool());
settings.endGroup();//IMU
settings.beginGroup("Scan");
_ui->checkBox_source_scanFromDepth->setChecked(settings.value("fromDepth", _ui->checkBox_source_scanFromDepth->isChecked()).toBool());
_ui->spinBox_source_scanDownsampleStep->setValue(settings.value("downsampleStep", _ui->spinBox_source_scanDownsampleStep->value()).toInt());
@@ -2614,6 +2637,11 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.setValue("format", _ui->comboBox_k4w2Format->currentIndex());
settings.endGroup(); // K4W2
settings.beginGroup("K4A");
settings.setValue("ir", _ui->checkbox_k4a_irDepth->isChecked());
settings.setValue("mkvPath", _ui->lineEdit_k4a_mkv->text());
settings.endGroup(); // K4A
settings.beginGroup("RealSense");
settings.setValue("presetRGB", _ui->comboBox_realsensePresetRGB->currentIndex());
settings.setValue("presetDepth", _ui->comboBox_realsensePresetDepth->currentIndex());
@@ -2696,6 +2724,16 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.setValue("path", _ui->source_video_lineEdit_path->text());
settings.endGroup(); // video
settings.beginGroup("IMU");
settings.setValue("strategy", _ui->comboBox_imuFilter_strategy->currentIndex());
settings.setValue("madgwick_gain", _ui->doubleSpinBox_imuFilterMadgwickGain->value());
settings.setValue("madgwick_zeta", _ui->doubleSpinBox_imuFilterMadgwickZeta->value());
settings.setValue("complementary_gain_acc", _ui->doubleSpinBox_imuFilterComplementaryGainAcc->value());
settings.setValue("complementary_bias_alpha", _ui->doubleSpinBox_imuFilterComplementaryBiasAlpha->value());
settings.setValue("complementary_adaptive_gain", _ui->checkBox_imuFilterComplementaryDoAdaptiveGain->isChecked());
settings.setValue("complementary_biais_estimation", _ui->checkBox_imuFilterComplementaryDoBiasEstimation->isChecked());
settings.endGroup();//IMU
settings.beginGroup("Scan");
settings.setValue("fromDepth", _ui->checkBox_source_scanFromDepth->isChecked());
settings.setValue("downsampleStep", _ui->spinBox_source_scanDownsampleStep->value());
@@ -3444,6 +3482,10 @@ void PreferencesDialog::selectSourceDriver(Src src)
{
_ui->lineEdit_openni2OniPath->clear();
}
else if (src == kSrcK4A)
{
_ui->lineEdit_k4a_mkv->clear();
}
}
else if(src >= kSrcStereo && src<kSrcRGB)
{
@@ -3835,6 +3877,20 @@ void PreferencesDialog::selectSourceOni2Path()
}
}
void PreferencesDialog::selectSourceMKVPath()
{
QString dir = _ui->lineEdit_k4a_mkv->text();
if (dir.isEmpty())
{
dir = getWorkingDirectory();
}
QString path = QFileDialog::getOpenFileName(this, tr("Select file"), _ui->lineEdit_k4a_mkv->text(), tr("K4A recording (*.mkv)"));
if (!path.isEmpty())
{
_ui->lineEdit_k4a_mkv->setText(path);
}
}
void PreferencesDialog::selectSourceSvoPath()
{
QString dir = _ui->lineEdit_zedSvoPath->text();
@@ -4530,6 +4586,7 @@ void PreferencesDialog::updateSourceGrpVisibility()
(_ui->comboBox_cameraRGBD->currentIndex() == kSrcOpenNI2-kSrcRGBD ||
_ui->comboBox_cameraRGBD->currentIndex() == kSrcFreenect2-kSrcRGBD ||
_ui->comboBox_cameraRGBD->currentIndex() == kSrcK4W2 - kSrcRGBD ||
_ui->comboBox_cameraRGBD->currentIndex() == kSrcK4A - kSrcRGBD ||
_ui->comboBox_cameraRGBD->currentIndex() == kSrcRealSense - kSrcRGBD ||
_ui->comboBox_cameraRGBD->currentIndex() == kSrcRGBDImages-kSrcRGBD ||
_ui->comboBox_cameraRGBD->currentIndex() == kSrcOpenNI_PCL-kSrcRGBD ||
@@ -4537,10 +4594,11 @@ void PreferencesDialog::updateSourceGrpVisibility()
_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);
_ui->groupBox_k4a->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcK4A - kSrcRGBD);
_ui->groupBox_realsense->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcRealSense - kSrcRGBD);
_ui->groupBox_realsense2->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcRealSense2 - kSrcRGBD);
_ui->groupBox_cameraRGBDImages->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcRGBDImages-kSrcRGBD);
_ui->groupBox_openni->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcOpenNI_PCL-kSrcRGBD);
_ui->groupBox_openni->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcOpenNI_PCL - kSrcRGBD);
_ui->stackedWidget_stereo->setVisible(_ui->comboBox_sourceType->currentIndex() == 1 &&
(_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoVideo-kSrcStereo ||
@@ -4576,6 +4634,7 @@ void PreferencesDialog::updateSourceGrpVisibility()
(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcRGBDImages-kSrcRGBD) ||
(_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoImages-kSrcStereo) ||
(_ui->comboBox_sourceType->currentIndex() == 2 && _ui->source_comboBox_image_type->currentIndex() == kSrcImages-kSrcRGB) ||
(_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
@@ -5259,6 +5318,26 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
this->getGeneralInputRate(),
this->getSourceLocalTransform());
}
else if (driver == kSrcK4A)
{
if (!_ui->lineEdit_k4a_mkv->text().isEmpty())
{
// playback
camera = new CameraK4A(
_ui->lineEdit_k4a_mkv->text().toStdString().c_str(),
this->getGeneralInputRate(),
this->getSourceLocalTransform());
}
else
{
camera = new CameraK4A(
this->getSourceDevice().isEmpty() ? 0 : atoi(this->getSourceDevice().toStdString().c_str()),
this->getGeneralInputRate(),
this->getSourceLocalTransform());
}
((CameraK4A*)camera)->setIRDepthFormat(_ui->checkbox_k4a_irDepth->isChecked());
}
else if (driver == kSrcRealSense)
{
if(useRawImages && _ui->comboBox_realsenseRGBSource->currentIndex()!=2)