i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-03 10:00:23 +08:00
Code Issues Packages Projects Releases Wiki Activity

RealSense: fixed color rectification. Fixed ZR300 odometry frame.

Browse Source
This commit is contained in:
matlabbe
2018-09-26 20:51:12 -04:00
parent 0c2287df77
commit 5e08da51aa
7 changed files with 625 additions and 152 deletions
Download Patch File Download Diff File Expand all files Collapse all files

11
guilib/src/PreferencesDialog.cpp
View File

@@ -574,6 +574,7 @@ 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_realsenseDepthScaledToRGBSize, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->comboBox_realsenseRGBSource, SIGNAL(currentIndexChanged(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()));
@@ -1662,6 +1663,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->comboBox_realsensePresetDepth->setCurrentIndex(2);
_ui->checkbox_realsenseOdom->setChecked(false);
_ui->checkbox_realsenseDepthScaledToRGBSize->setChecked(false);
_ui->comboBox_realsenseRGBSource->setCurrentIndex(0);
_ui->checkbox_rs2_emitter->setChecked(true);
_ui->checkbox_rs2_irDepth->setChecked(false);
_ui->lineEdit_openniOniPath->clear();
@@ -2061,6 +2063,7 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
_ui->comboBox_realsensePresetDepth->setCurrentIndex(settings.value("presetDepth", _ui->comboBox_realsensePresetDepth->currentIndex()).toInt());
_ui->checkbox_realsenseOdom->setChecked(settings.value("odom", _ui->checkbox_realsenseOdom->isChecked()).toBool());
_ui->checkbox_realsenseDepthScaledToRGBSize->setChecked(settings.value("depthScaled", _ui->checkbox_realsenseDepthScaledToRGBSize->isChecked()).toBool());
_ui->comboBox_realsenseRGBSource->setCurrentIndex(settings.value("rgbSource", _ui->comboBox_realsenseRGBSource->currentIndex()).toInt());
settings.endGroup(); // RealSense
settings.beginGroup("RealSense2");
@@ -2484,6 +2487,7 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.setValue("presetDepth", _ui->comboBox_realsensePresetDepth->currentIndex());
settings.setValue("odom", _ui->checkbox_realsenseOdom->isChecked());
settings.setValue("depthScaled", _ui->checkbox_realsenseDepthScaledToRGBSize->isChecked());
settings.setValue("rgbSource", _ui->comboBox_realsenseRGBSource->currentIndex());
settings.endGroup(); // RealSense
settings.beginGroup("RealSense2");
@@ -5021,10 +5025,10 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
}
else if (driver == kSrcRealSense)
{
if(useRawImages)
if(useRawImages && _ui->comboBox_realsenseRGBSource->currentIndex()!=2)
{
QMessageBox::warning(this, tr("Calibration"),
tr("Using raw images for \"RealSense\" driver is not yet supported. "
tr("Using raw images for \"RealSense\" driver is not yet supported for color and infrared streams. "
"Factory calibration loaded from RealSense is used."), QMessageBox::Ok);
return 0;
}
@@ -5038,6 +5042,7 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
this->getGeneralInputRate(),
this->getSourceLocalTransform());
((CameraRealSense*)camera)->setDepthScaledToRGBSize(_ui->checkbox_realsenseDepthScaledToRGBSize->isChecked());
((CameraRealSense*)camera)->setRGBSource((CameraRealSense::RGBSource)_ui->comboBox_realsenseRGBSource->currentIndex());
}
}
else if (driver == kSrcRealSense2)
@@ -5824,7 +5829,7 @@ void PreferencesDialog::calibrate()
}
bool freenect2 = driver == kSrcFreenect2;
_calibrationDialog->setStereoMode(this->getSourceType() != kSrcRGB, freenect2?"rgb":"left", freenect2?"depth":"right"); // RGB+Depth or left+right
_calibrationDialog->setStereoMode(this->getSourceType() != kSrcRGB && driver != kSrcRealSense, freenect2?"rgb":"left", freenect2?"depth":"right"); // RGB+Depth or left+right
_calibrationDialog->setSwitchedImages(freenect2);
_calibrationDialog->setSavingDirectory(this->getCameraInfoDir());
_calibrationDialog->registerToEventsManager();