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Tara Camera added to Master branch (#331)

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* Tara Camera integration

* Update preferencesDialog.ui

* Update preferencesDialog.ui
This commit is contained in:
e-con Systems India Pvt Ltd
2018-10-31 20:27:07 +05:30
committed by matlabbe
parent bb4164a05d
commit 53513b6632
12 changed files with 415 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files

1
guilib/src/GuiLib.qrc
View File

@@ -35,5 +35,6 @@
<file>images/zr300.png</file>
<file>images/d435.png</file>
<file>images/d415.png</file>
<file>images/tara.png</file>
</qresource>
</RCC>

8
guilib/src/MainWindow.cpp
View File

@@ -434,6 +434,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent, bool sh
connect(_ui->actionStereoDC1394, SIGNAL(triggered()), this, SLOT(selectStereoDC1394()));
connect(_ui->actionStereoFlyCapture2, SIGNAL(triggered()), this, SLOT(selectStereoFlyCapture2()));
connect(_ui->actionStereoZed, SIGNAL(triggered()), this, SLOT(selectStereoZed()));
connect(_ui->actionStereoTara, SIGNAL(triggered()), this, SLOT(selectStereoTara()));
connect(_ui->actionStereoUsb, SIGNAL(triggered()), this, SLOT(selectStereoUsb()));
_ui->actionFreenect->setEnabled(CameraFreenect::available());
_ui->actionOpenNI_CV->setEnabled(CameraOpenNICV::available());
@@ -450,6 +451,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent, bool sh
_ui->actionStereoDC1394->setEnabled(CameraStereoDC1394::available());
_ui->actionStereoFlyCapture2->setEnabled(CameraStereoFlyCapture2::available());
_ui->actionStereoZed->setEnabled(CameraStereoZed::available());
_ui->actionStereoTara->setEnabled(CameraStereoTara::available());
this->updateSelectSourceMenu();
connect(_ui->actionPreferences, SIGNAL(triggered()), this, SLOT(openPreferences()));
@@ -4353,6 +4355,7 @@ void MainWindow::updateSelectSourceMenu()
_ui->actionStereoDC1394->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcDC1394);
_ui->actionStereoFlyCapture2->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcFlyCapture2);
_ui->actionStereoZed->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcStereoZed);
_ui->actionStereoTara->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcStereoTara);
_ui->actionStereoUsb->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcStereoUsb);
}
@@ -6065,6 +6068,11 @@ void MainWindow::selectStereoZed()
_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcStereoZed);
}
void MainWindow::selectStereoTara()
{
_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcStereoTara);
}
void MainWindow::selectStereoUsb()
{
_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcStereoUsb);

18
guilib/src/PreferencesDialog.cpp
View File

@@ -308,6 +308,10 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
{
_ui->comboBox_cameraStereo->setItemData(kSrcStereoZed - kSrcStereo, 0, Qt::UserRole - 1);
}
if (!CameraStereoTara::available())
{
_ui->comboBox_cameraStereo->setItemData(kSrcStereoTara - kSrcStereo, 0, Qt::UserRole - 1);
}
_ui->openni2_exposure->setEnabled(CameraOpenNI2::exposureGainAvailable());
_ui->openni2_gain->setEnabled(CameraOpenNI2::exposureGainAvailable());
@@ -4242,6 +4246,7 @@ void PreferencesDialog::updateStereoDisparityVisibility()
_ui->checkBox_stereo_rectify->setEnabled(
_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoImages - kSrcStereo ||
_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoUsb - kSrcStereo ||
_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoTara - kSrcStereo ||
_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoVideo - kSrcStereo ||
_ui->comboBox_cameraStereo->currentIndex() == kSrcDC1394 - kSrcStereo);
_ui->checkBox_stereo_rectify->setVisible(_ui->checkBox_stereo_rectify->isEnabled());
@@ -4379,6 +4384,7 @@ void PreferencesDialog::updateSourceGrpVisibility()
(_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoVideo-kSrcStereo ||
_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoImages-kSrcStereo ||
_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoZed - kSrcStereo ||
_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoTara - kSrcStereo ||
_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoUsb - 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);
@@ -5206,6 +5212,18 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
this->getSourceLocalTransform());
}
}
else if (driver == kSrcStereoTara)
{
camera = new CameraStereoTara(
this->getSourceDevice().isEmpty()?0:atoi(this->getSourceDevice().toStdString().c_str()),
_ui->checkBox_stereo_rectify->isChecked() && !useRawImages,
this->getGeneralInputRate(),
this->getSourceLocalTransform());
}
else if (driver == kSrcStereoZed)
{
UDEBUG("ZED");

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guilib/src/images/tara.png Normal file
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140
guilib/src/ui/mainWindow.ui
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@@ -246,8 +246,19 @@
<addaction name="actionStereoZed"/>
<addaction name="actionStereoUsb"/>
</widget>
<widget class="QMenu" name="menuTara_Camera">
<property name="title">
<string>Tara Camera</string>
</property>
<property name="icon">
<iconset resource="../GuiLib.qrc">
<normaloff>:/images/tara.png</normaloff>:/images/tara.png</iconset>
</property>
<addaction name="actionStereoTara"/>
</widget>
<addaction name="menuBumblebee2_2"/>
<addaction name="menuZed_camera"/>
<addaction name="menuTara_Camera"/>
</widget>
<addaction name="menuRGB_D_camera"/>
<addaction name="menuStereo_camera"/>
@@ -342,7 +353,16 @@
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -380,7 +400,16 @@
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -623,7 +652,16 @@
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -644,7 +682,16 @@
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -665,7 +712,16 @@
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -686,7 +742,16 @@
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
</layout>
@@ -704,7 +769,16 @@
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
</layout>
@@ -725,7 +799,16 @@
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -746,7 +829,16 @@
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -770,7 +862,16 @@
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -840,7 +941,16 @@
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -1405,6 +1515,14 @@
<string>RealSense2</string>
</property>
</action>
<action name="actionStereoTara">
<property name="checkable">
<bool>true</bool>
</property>
<property name="text">
<string>Tara Stereo USB Camera</string>
</property>
</action>
</widget>
<customwidgets>
<customwidget>

13
guilib/src/ui/preferencesDialog.ui
View File

@@ -94,10 +94,13 @@
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>680</width>
<height>2986</height>
<y>-57</y>
<width>681</width>
<height>2983</height>
</rect>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
<property name="spacing">
@@ -126,6 +129,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>5</number>
<number>11</number>
</property>
<widget class="QWidget" name="page_22">
@@ -2941,7 +2945,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<item>
<widget class="QStackedWidget" name="stackedWidget_src">
<property name="currentIndex">
<number>0</number>
<number>1</number>
</property>
<widget class="QWidget" name="page_41">
<layout class="QVBoxLayout" name="verticalLayout_64">
@@ -4146,6 +4150,11 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<string>Usb camera</string>
</property>
</item>
<item>
<property name="text">
<string>Tara Camera</string>
</property>
</item>
</widget>
</item>
<item row="0" column="2">