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CameraRealSense2: added IR-Depth mode option

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This commit is contained in:
matlabbe
2018-06-15 14:35:54 -04:00
parent eb4de8e724
commit 502d5e75e8
6 changed files with 117 additions and 54 deletions
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5
guilib/src/PreferencesDialog.cpp
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@@ -565,6 +565,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->comboBox_realsensePresetDepth, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkbox_realsenseOdom, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkbox_rs2_emitter, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkbox_rs2_irDepth, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->toolButton_cameraImages_timestamps, SIGNAL(clicked()), this, SLOT(selectSourceImagesStamps()));
connect(_ui->lineEdit_cameraImages_timestamps, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
@@ -1607,6 +1608,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->comboBox_realsensePresetDepth->setCurrentIndex(2);
_ui->checkbox_realsenseOdom->setChecked(false);
_ui->checkbox_rs2_emitter->setChecked(true);
_ui->checkbox_rs2_irDepth->setChecked(false);
_ui->lineEdit_openniOniPath->clear();
_ui->lineEdit_openni2OniPath->clear();
_ui->lineEdit_cameraRGBDImages_path_rgb->setText("");
@@ -2004,6 +2006,7 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
settings.beginGroup("RealSense2");
_ui->checkbox_rs2_emitter->setChecked(settings.value("emitter", _ui->checkbox_rs2_emitter->isChecked()).toBool());
_ui->checkbox_rs2_irDepth->setChecked(settings.value("irdepth", _ui->checkbox_rs2_irDepth->isChecked()).toBool());
settings.endGroup(); // RealSense
settings.beginGroup("RGBDImages");
@@ -2422,6 +2425,7 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.beginGroup("RealSense2");
settings.setValue("emitter", _ui->checkbox_rs2_emitter->isChecked());
settings.setValue("irdepth", _ui->checkbox_rs2_irDepth->isChecked());
settings.endGroup(); // RealSense2
settings.beginGroup("RGBDImages");
@@ -4980,6 +4984,7 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
this->getGeneralInputRate(),
this->getSourceLocalTransform());
((CameraRealSense2*)camera)->setEmitterEnabled(_ui->checkbox_rs2_emitter->isChecked());
((CameraRealSense2*)camera)->setIRDepthFormat(_ui->checkbox_rs2_irDepth->isChecked());
}
}
else if(driver == kSrcRGBDImages)

86
guilib/src/ui/preferencesDialog.ui
View File

@@ -24,6 +24,37 @@
<normaloff>:/images/RTAB-Map.ico</normaloff>:/images/RTAB-Map.ico</iconset>
</property>
<layout class="QGridLayout" name="gridLayout_49">
<item row="1" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_3">
<item>
<widget class="QRadioButton" name="radioButton_basic">
<property name="text">
<string>Basic</string>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QRadioButton" name="radioButton_advanced">
<property name="text">
<string>Advanced</string>
</property>
</widget>
</item>
<item>
<widget class="QDialogButtonBox" name="buttonBox_global">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="standardButtons">
<set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
</property>
</widget>
</item>
</layout>
</item>
<item row="0" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_2" stretch="0,1">
<property name="spacing">
@@ -63,7 +94,7 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-510</y>
<y>-439</y>
<width>680</width>
<height>2836</height>
</rect>
@@ -3834,7 +3865,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<property name="title">
<string>RealSense2</string>
</property>
<layout class="QGridLayout" name="gridLayout_100" rowstretch="0,1">
<layout class="QGridLayout" name="gridLayout_100" columnstretch="0,1">
<item row="0" column="0">
<widget class="QCheckBox" name="checkbox_rs2_emitter">
<property name="text">
@@ -3856,6 +3887,26 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="checkbox_rs2_irDepth">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_471">
<property name="text">
<string>Use IR for RGB image.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<spacer name="verticalSpacer_71">
<property name="orientation">
<enum>Qt::Vertical</enum>
@@ -17543,37 +17594,6 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
</item>
</layout>
</item>
<item row="1" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_3">
<item>
<widget class="QRadioButton" name="radioButton_basic">
<property name="text">
<string>Basic</string>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QRadioButton" name="radioButton_advanced">
<property name="text">
<string>Advanced</string>
</property>
</widget>
</item>
<item>
<widget class="QDialogButtonBox" name="buttonBox_global">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="standardButtons">
<set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
<customwidgets>