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0.11.7: Added ZED sdk support

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This commit is contained in:
matlabbe
2016-05-31 19:09:49 -04:00
parent b2bb421063
commit 6f1f490370
31 changed files with 711 additions and 131 deletions
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9
guilib/src/CameraViewer.cpp
View File

@@ -47,12 +47,13 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
namespace rtabmap {
CameraViewer::CameraViewer(QWidget * parent) :
CameraViewer::CameraViewer(QWidget * parent, const ParametersMap & parameters) :
QDialog(parent),
imageView_(new ImageView(this)),
cloudView_(new CloudViewer(this)),
processingImages_(false),
validDecimationValue_(1)
validDecimationValue_(1),
parameters_(parameters)
{
qRegisterMetaType<rtabmap::SensorData>("rtabmap::SensorData");
@@ -146,12 +147,12 @@ void CameraViewer::showImage(const rtabmap::SensorData & data)
if(!data.imageRaw().empty() && !data.depthOrRightRaw().empty())
{
showCloudCheckbox_->setEnabled(true);
cloudView_->addCloud("cloud", util3d::cloudRGBFromSensorData(data, validDecimationValue_));
cloudView_->addCloud("cloud", util3d::cloudRGBFromSensorData(data, validDecimationValue_, 0, 0, 0, parameters_));
}
else if(!data.depthOrRightRaw().empty())
{
showCloudCheckbox_->setEnabled(true);
cloudView_->addCloud("cloud", util3d::cloudFromSensorData(data, validDecimationValue_));
cloudView_->addCloud("cloud", util3d::cloudFromSensorData(data, validDecimationValue_, 0, 0, 0, parameters_));
}
}
}

23
guilib/src/DatabaseViewer.cpp
View File

@@ -1509,7 +1509,7 @@ void DatabaseViewer::view3DMap()
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
UASSERT(data.imageRaw().empty() || data.imageRaw().type()==CV_8UC3 || data.imageRaw().type() == CV_8UC1);
UASSERT(data.depthOrRightRaw().empty() || data.depthOrRightRaw().type()==CV_8UC1 || data.depthOrRightRaw().type() == CV_16UC1 || data.depthOrRightRaw().type() == CV_32FC1);
cloud = util3d::cloudRGBFromSensorData(data, decimation, maxDepth);
cloud = util3d::cloudRGBFromSensorData(data, decimation, maxDepth, 0, 0, ui_->parameters_toolbox->getParameters());
if(cloud->size())
{
@@ -1733,7 +1733,7 @@ void DatabaseViewer::generate3DMap()
UASSERT(data.imageRaw().empty() || data.imageRaw().type()==CV_8UC3 || data.imageRaw().type() == CV_8UC1);
UASSERT(data.depthOrRightRaw().empty() || data.depthOrRightRaw().type()==CV_8UC1 || data.depthOrRightRaw().type() == CV_16UC1 || data.depthOrRightRaw().type() == CV_32FC1);
pcl::IndicesPtr validIndices(new std::vector<int>);
cloud = util3d::cloudRGBFromSensorData(data, decimation, maxDepth, 0, validIndices.get());
cloud = util3d::cloudRGBFromSensorData(data, decimation, maxDepth, 0, validIndices.get(), ui_->parameters_toolbox->getParameters());
if(assemble)
{
@@ -2275,7 +2275,7 @@ void DatabaseViewer::update(int value,
}
else
{
cloud = util3d::cloudRGBFromSensorData(data);
cloud = util3d::cloudRGBFromSensorData(data, 1, 0, 0, 0, ui_->parameters_toolbox->getParameters());
}
if(cloud->size())
{
@@ -2312,7 +2312,7 @@ void DatabaseViewer::update(int value,
else
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud;
cloud = util3d::cloudFromSensorData(data);
cloud = util3d::cloudFromSensorData(data, 1, 0, 0, 0, ui_->parameters_toolbox->getParameters());
if(cloud->size())
{
view3D->addCloud("0", cloud);
@@ -2945,11 +2945,11 @@ void DatabaseViewer::updateConstraintView(
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudFrom, cloudTo;
if(!dataFrom.imageRaw().empty() && !dataFrom.depthOrRightRaw().empty())
{
cloudFrom=util3d::cloudRGBFromSensorData(dataFrom, 1);
cloudFrom=util3d::cloudRGBFromSensorData(dataFrom, 1, 0, 0, 0, ui_->parameters_toolbox->getParameters());
}
if(!dataTo.imageRaw().empty() && !dataTo.depthOrRightRaw().empty())
{
cloudTo=util3d::cloudRGBFromSensorData(dataTo, 1);
cloudTo=util3d::cloudRGBFromSensorData(dataTo, 1, 0, 0, 0, ui_->parameters_toolbox->getParameters());
}
if(cloudFrom.get() && cloudFrom->size())
@@ -3346,7 +3346,8 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
ui_->spinBox_projDecimation->value(),
ui_->doubleSpinBox_projMaxDepth->value(),
ui_->doubleSpinBox_projMinDepth->value(),
validIndices.get());
validIndices.get(),
ui_->parameters_toolbox->getParameters());
UASSERT(ui_->doubleSpinBox_gridCellSize->value() > 0);
cloud = util3d::voxelize(cloud, validIndices, ui_->doubleSpinBox_gridCellSize->value());
@@ -3793,12 +3794,16 @@ void DatabaseViewer::refineConstraint(int from, int to, bool silent, bool update
dataFrom,
ui_->spinBox_icp_decimation->value(),
ui_->doubleSpinBox_icp_maxDepth->value(),
ui_->doubleSpinBox_icp_minDepth->value());
ui_->doubleSpinBox_icp_minDepth->value(),
0,
ui_->parameters_toolbox->getParameters());
pcl::PointCloud<pcl::PointXYZ>::Ptr cloudTo = util3d::cloudFromSensorData(
dataTo,
ui_->spinBox_icp_decimation->value(),
ui_->doubleSpinBox_icp_maxDepth->value(),
ui_->doubleSpinBox_icp_minDepth->value());
ui_->doubleSpinBox_icp_minDepth->value(),
0,
ui_->parameters_toolbox->getParameters());
int maxLaserScans = cloudFrom->size();
dataFrom.setLaserScanRaw(util3d::laserScanFromPointCloud(*util3d::removeNaNFromPointCloud(cloudFrom), Transform()), maxLaserScans, 0);
dataTo.setLaserScanRaw(util3d::laserScanFromPointCloud(*util3d::removeNaNFromPointCloud(cloudTo), Transform()), maxLaserScans, 0);

18
guilib/src/ExportCloudsDialog.cpp
View File

@@ -337,7 +337,8 @@ void ExportCloudsDialog::exportClouds(
const std::map<int, int> & mapIds,
const QMap<int, Signature> & cachedSignatures,
const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > & createdClouds,
const QString & workingDirectory)
const QString & workingDirectory,
const ParametersMap & parameters)
{
std::map<int, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr> clouds;
std::map<int, pcl::PolygonMesh::Ptr> meshes;
@@ -351,6 +352,7 @@ void ExportCloudsDialog::exportClouds(
cachedSignatures,
createdClouds,
workingDirectory,
parameters,
clouds,
meshes,
textureMeshes))
@@ -387,7 +389,8 @@ void ExportCloudsDialog::viewClouds(
const std::map<int, int> & mapIds,
const QMap<int, Signature> & cachedSignatures,
const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > & createdClouds,
const QString & workingDirectory)
const QString & workingDirectory,
const ParametersMap & parameters)
{
std::map<int, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr> clouds;
std::map<int, pcl::PolygonMesh::Ptr> meshes;
@@ -401,6 +404,7 @@ void ExportCloudsDialog::viewClouds(
cachedSignatures,
createdClouds,
workingDirectory,
parameters,
clouds,
meshes,
textureMeshes))
@@ -517,6 +521,7 @@ bool ExportCloudsDialog::getExportedClouds(
const QMap<int, Signature> & cachedSignatures,
const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > & createdClouds,
const QString & workingDirectory,
const ParametersMap & parameters,
std::map<int, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr> & cloudsWithNormals,
std::map<int, pcl::PolygonMesh::Ptr> & meshes,
std::map<int, pcl::TextureMesh::Ptr> & textureMeshes)
@@ -550,7 +555,8 @@ bool ExportCloudsDialog::getExportedClouds(
std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > clouds = this->getClouds(
poses,
cachedSignatures,
createdClouds);
createdClouds,
parameters);
pcl::PointCloud<pcl::PointXYZ>::Ptr rawAssembledCloud(new pcl::PointCloud<pcl::PointXYZ>);
std::vector<int> rawCameraIndices;
@@ -1006,7 +1012,8 @@ bool ExportCloudsDialog::getExportedClouds(
std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > ExportCloudsDialog::getClouds(
const std::map<int, Transform> & poses,
const QMap<int, Signature> & cachedSignatures,
const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > & createdClouds) const
const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > & createdClouds,
const ParametersMap & parameters) const
{
std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > clouds;
int i=0;
@@ -1038,7 +1045,8 @@ std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::Indic
_ui->spinBox_decimation->value(),
_ui->doubleSpinBox_maxDepth->value(),
_ui->doubleSpinBox_minDepth->value(),
indices.get());
indices.get(),
parameters);
// Don't voxelize if we create organized mesh
if(!(_ui->comboBox_pipeline->currentIndex()==0 && _ui->groupBox_meshing->isChecked()))

11
guilib/src/ExportCloudsDialog.h
View File

@@ -33,6 +33,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <QtCore/QSettings>
#include <rtabmap/core/Signature.h>
#include <rtabmap/core/Parameters.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
@@ -63,14 +64,16 @@ public:
const std::map<int, int> & mapIds,
const QMap<int, Signature> & cachedSignatures,
const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > & createdClouds,
const QString & workingDirectory);
const QString & workingDirectory,
const ParametersMap & parameters);
void viewClouds(
const std::map<int, Transform> & poses,
const std::map<int, int> & mapIds,
const QMap<int, Signature> & cachedSignatures,
const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > & createdClouds,
const QString & workingDirectory);
const QString & workingDirectory,
const ParametersMap & parameters);
signals:
void configChanged();
@@ -86,13 +89,15 @@ private:
std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > getClouds(
const std::map<int, Transform> & poses,
const QMap<int, Signature> & cachedSignatures,
const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > & createdClouds) const;
const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > & createdClouds,
const ParametersMap & parameters) const;
bool getExportedClouds(
const std::map<int, Transform> & poses,
const std::map<int, int> & mapIds,
const QMap<int, Signature> & cachedSignatures,
const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > & createdClouds,
const QString & workingDirectory,
const ParametersMap & parameters,
std::map<int, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr> & clouds,
std::map<int, pcl::PolygonMesh::Ptr> & meshes,
std::map<int, pcl::TextureMesh::Ptr> & textureMeshes);

3
guilib/src/GuiLib.qrc
View File

@@ -29,6 +29,7 @@
<file>images/sense.png</file>
<file>images/xtion_pro_live.png</file>
<file>images/bumblebee2.png</file>
<file>images/webcam.png</file>
<file>images/webcam.png</file>
<file>images/zed.png</file>
</qresource>
</RCC>

6
guilib/src/LoopClosureViewer.cpp
View File

@@ -67,7 +67,7 @@ void LoopClosureViewer::setData(const Signature & sA, const Signature & sB)
}
}
void LoopClosureViewer::updateView(const Transform & transform)
void LoopClosureViewer::updateView(const Transform & transform, const ParametersMap & parameters)
{
if(sA_.id()>0 && sB_.id()>0)
{
@@ -106,8 +106,8 @@ void LoopClosureViewer::updateView(const Transform & transform)
if(!t.isNull())
{
//cloud 3d
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudA, cloudB;
cloudA = util3d::cloudRGBFromSensorData(sA_.sensorData(), decimation, maxDepth, minDepth);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudA, cloudB;
cloudA = util3d::cloudRGBFromSensorData(sA_.sensorData(), decimation, maxDepth, minDepth, 0, parameters);
cloudB = util3d::cloudRGBFromSensorData(sB_.sensorData(), decimation, maxDepth, minDepth, 0, parameters);
//cloud 2d

34
guilib/src/MainWindow.cpp
View File

@@ -399,6 +399,8 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
connect(_ui->actionFreenect2, SIGNAL(triggered()), this, SLOT(selectFreenect2()));
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->actionStereoUsb, SIGNAL(triggered()), this, SLOT(selectStereoUsb()));
_ui->actionFreenect->setEnabled(CameraFreenect::available());
_ui->actionOpenNI_CV->setEnabled(CameraOpenNICV::available());
_ui->actionOpenNI_CV_ASUS->setEnabled(CameraOpenNICV::available());
@@ -408,6 +410,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_ui->actionFreenect2->setEnabled(CameraFreenect2::available());
_ui->actionStereoDC1394->setEnabled(CameraStereoDC1394::available());
_ui->actionStereoFlyCapture2->setEnabled(CameraStereoFlyCapture2::available());
_ui->actionStereoZed->setEnabled(CameraStereoZed::available());
this->updateSelectSourceMenu();
connect(_ui->actionPreferences, SIGNAL(triggered()), this, SLOT(openPreferences()));
@@ -884,7 +887,8 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom)
_preferencesDialog->getCloudDecimation(1),
_preferencesDialog->getCloudMaxDepth(1),
_preferencesDialog->getCloudMinDepth(1),
indices.get());
indices.get(),
_preferencesDialog->getAllParameters());
if(indices->size())
{
cloud = util3d::transformPointCloud(cloud, pose);
@@ -1587,7 +1591,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
if(_ui->dockWidget_loopClosureViewer->isVisible())
{
UTimer loopTimer;
_loopClosureViewer->updateView();
_loopClosureViewer->updateView(Transform(), _preferencesDialog->getAllParameters());
UINFO("Updating loop closure cloud view time=%fs", loopTimer.elapsed());
_ui->statsToolBox->updateStat("GUI/RGB-D closure view/ms", stat.refImageId(), int(loopTimer.elapsed()*1000.0f));
}
@@ -2219,7 +2223,8 @@ void MainWindow::createAndAddCloudToMap(int nodeId, const Transform & pose, int
_preferencesDialog->getCloudDecimation(0),
_preferencesDialog->getCloudMaxDepth(0),
_preferencesDialog->getCloudMinDepth(0),
indices.get());
indices.get(),
_preferencesDialog->getAllParameters());
//compute normals
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloud = util3d::computeNormals(cloudWithoutNormals, 10);
@@ -2560,7 +2565,7 @@ Transform MainWindow::alignPosesToGroundTruth(
Transform t = Transform::getIdentity();
if(groundTruth.size() && poses.size())
{
unsigned int maxSize = poses.size()>groundTruth.size()?poses.size():groundTruth.size();
unsigned int maxSize = poses.size()>groundTruth.size()? (unsigned int)poses.size(): (unsigned int)groundTruth.size();
pcl::PointCloud<pcl::PointXYZ> cloud1, cloud2;
cloud1.resize(maxSize);
cloud2.resize(maxSize);
@@ -3240,7 +3245,10 @@ void MainWindow::updateSelectSourceMenu()
_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcDatabase ||
_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcImages ||
_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcVideo ||
_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcStereoImages);
_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcStereoImages ||
_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcStereoVideo ||
_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcRGBDImages
);
_ui->actionOpenNI_PCL->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcOpenNI_PCL);
_ui->actionOpenNI_PCL_ASUS->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcOpenNI_PCL);
@@ -3253,6 +3261,8 @@ void MainWindow::updateSelectSourceMenu()
_ui->actionFreenect2->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcFreenect2);
_ui->actionStereoDC1394->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcDC1394);
_ui->actionStereoFlyCapture2->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcFlyCapture2);
_ui->actionStereoZed->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcStereoZed);
_ui->actionStereoUsb->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcStereoUsb);
}
void MainWindow::changeImgRateSetting()
@@ -4449,7 +4459,15 @@ void MainWindow::selectStereoFlyCapture2()
{
_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcFlyCapture2);
}
void MainWindow::selectStereoZed()
{
_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcStereoZed);
}
void MainWindow::selectStereoUsb()
{
_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcStereoUsb);
}
void MainWindow::dumpTheMemory()
{
@@ -5089,7 +5107,8 @@ void MainWindow::exportClouds()
_currentMapIds,
_cachedSignatures,
_createdClouds,
_preferencesDialog->getWorkingDirectory());
_preferencesDialog->getWorkingDirectory(),
_preferencesDialog->getAllParameters());
}
void MainWindow::viewClouds()
@@ -5104,7 +5123,8 @@ void MainWindow::viewClouds()
_currentMapIds,
_cachedSignatures,
_createdClouds,
_preferencesDialog->getWorkingDirectory());
_preferencesDialog->getWorkingDirectory(),
_preferencesDialog->getAllParameters());
}

15
guilib/src/OdometryViewer.cpp
View File

@@ -49,7 +49,14 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
namespace rtabmap {
OdometryViewer::OdometryViewer(int maxClouds, int decimation, float voxelSize, float maxDepth, int qualityWarningThr, QWidget * parent) :
OdometryViewer::OdometryViewer(
int maxClouds,
int decimation,
float voxelSize,
float maxDepth,
int qualityWarningThr,
QWidget * parent,
const ParametersMap & parameters) :
QDialog(parent),
imageView_(new ImageView(this)),
cloudView_(new CloudViewer(this)),
@@ -59,7 +66,8 @@ OdometryViewer::OdometryViewer(int maxClouds, int decimation, float voxelSize, f
lastOdomPose_(Transform::getIdentity()),
qualityWarningThr_(qualityWarningThr),
id_(0),
validDecimationValue_(1)
validDecimationValue_(1),
parameters_(parameters)
{
qRegisterMetaType<rtabmap::OdometryEvent>("rtabmap::OdometryEvent");
@@ -241,7 +249,8 @@ void OdometryViewer::processData(const rtabmap::OdometryEvent & odom)
validDecimationValue_,
0,
0,
validIndices.get());
validIndices.get(),
parameters_);
if(voxelSpin_->value())
{

50
guilib/src/PreferencesDialog.cpp
View File

@@ -237,6 +237,11 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
{
_ui->comboBox_cameraStereo->setItemData(1, 0, Qt::UserRole - 1);
}
if (!CameraStereoZed::available())
{
_ui->comboBox_cameraRGBD->setItemData(7, 0, Qt::UserRole - 1);
_ui->comboBox_cameraStereo->setItemData(4, 0, Qt::UserRole - 1);
}
_ui->openni2_exposure->setEnabled(CameraOpenNI2::exposureGainAvailable());
_ui->openni2_gain->setEnabled(CameraOpenNI2::exposureGainAvailable());
@@ -466,6 +471,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->lineEdit_cameraStereoVideo_path, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkBox_stereoVideo_rectify, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkBox_stereoZed_computeDisparity, SIGNAL(stateChanged(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()));
@@ -1271,6 +1278,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->checkBox_stereoImages_rectify->setChecked(false);
_ui->lineEdit_cameraStereoVideo_path->setText("");
_ui->checkBox_stereoVideo_rectify->setChecked(false);
_ui->checkBox_stereoZed_computeDisparity->setChecked(true);
_ui->checkBox_cameraImages_timestamps->setChecked(false);
_ui->checkBox_cameraImages_syncTimeStamps->setChecked(true);
@@ -1595,6 +1603,11 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
_ui->checkBox_stereoVideo_rectify->setChecked(settings.value("rectify",_ui->checkBox_stereoVideo_rectify->isChecked()).toBool());
settings.endGroup(); // StereoVideo
settings.beginGroup("StereoZed");
_ui->checkBox_stereoZed_computeDisparity->setChecked(settings.value("compute_disp", _ui->checkBox_stereoZed_computeDisparity->isChecked()).toBool());
settings.endGroup(); // StereoZed
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());
@@ -1979,6 +1992,12 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.setValue("rectify", _ui->checkBox_stereoVideo_rectify->isChecked());
settings.endGroup(); // StereoVideo
settings.beginGroup("StereoZed");
settings.setValue("compute_disp", _ui->checkBox_stereoZed_computeDisparity->isChecked());
settings.endGroup(); // StereoZed
settings.beginGroup("Images");
settings.setValue("path", _ui->source_images_lineEdit_path->text());
settings.setValue("startPos", _ui->source_images_spinBox_startPos->value());
@@ -2556,17 +2575,16 @@ void PreferencesDialog::selectSourceDriver(Src src)
else if(src >= kSrcStereo && src<kSrcRGB)
{
_ui->comboBox_sourceType->setCurrentIndex(1);
_ui->comboBox_cameraRGBD->setCurrentIndex(src - kSrcStereo);
_ui->comboBox_cameraStereo->setCurrentIndex(src - kSrcStereo);
}
else if(src >= kSrcRGB && src<kSrcDatabase)
{
_ui->comboBox_sourceType->setCurrentIndex(2);
_ui->comboBox_cameraRGBD->setCurrentIndex(src - kSrcRGB);
_ui->source_comboBox_image_type->setCurrentIndex(src - kSrcRGB);
}
else if(src >= kSrcDatabase)
{
_ui->comboBox_sourceType->setCurrentIndex(3);
_ui->comboBox_cameraRGBD->setCurrentIndex(src - kSrcDatabase);
}
if(validateForm())
@@ -3427,8 +3445,13 @@ void PreferencesDialog::updateSourceGrpVisibility()
_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->stackedWidget_stereo->setVisible(_ui->comboBox_sourceType->currentIndex() == 1 && (_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoVideo-kSrcStereo || _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoImages-kSrcStereo));
_ui->stackedWidget_stereo->setVisible(_ui->comboBox_sourceType->currentIndex() == 1 &&
(_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoVideo-kSrcStereo ||
_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoImages-kSrcStereo ||
_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoZed - 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_cameraStereoZed->setVisible(_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoZed - kSrcStereo);
_ui->stackedWidget_image->setVisible(_ui->comboBox_sourceType->currentIndex() == 2 && (_ui->source_comboBox_image_type->currentIndex() == kSrcImages-kSrcRGB || _ui->source_comboBox_image_type->currentIndex() == kSrcVideo-kSrcRGB));
_ui->source_groupBox_images->setVisible(_ui->comboBox_sourceType->currentIndex() == 2 && _ui->source_comboBox_image_type->currentIndex() == kSrcImages-kSrcRGB);
@@ -3948,6 +3971,13 @@ Camera * PreferencesDialog::createCamera(bool useRawImages)
_ui->lineEdit_cameraImages_timestamps->text().toStdString(),
_ui->checkBox_cameraImages_syncTimeStamps->isChecked());
}
else if (driver == kSrcStereoUsb)
{
camera = new CameraStereoVideo(
this->getSourceDevice().isEmpty() ? 0 : atoi(this->getSourceDevice().toStdString().c_str()),
this->getGeneralInputRate(),
this->getSourceLocalTransform());
}
else if(driver == kSrcStereoVideo)
{
camera = new CameraStereoVideo(
@@ -3956,6 +3986,13 @@ Camera * PreferencesDialog::createCamera(bool useRawImages)
this->getGeneralInputRate(),
this->getSourceLocalTransform());
}
else if (driver == kSrcStereoZed)
{
camera = new CameraStereoZed(
_ui->checkBox_stereoZed_computeDisparity->isChecked(),
this->getGeneralInputRate(),
this->getSourceLocalTransform());
}
else if(driver == kSrcUsbDevice)
{
camera = new CameraVideo(
@@ -4219,7 +4256,8 @@ void PreferencesDialog::testOdometry()
0.0f,
_ui->doubleSpinBox_maxDepth_odom->value(),
this->getOdomQualityWarnThr(),
this);
this,
this->getAllParameters());
odomViewer->setWindowTitle(tr("Odometry viewer"));
odomViewer->resize(1280, 480+QPushButton().minimumHeight());
odomViewer->registerToEventsManager();
@@ -4269,7 +4307,7 @@ void PreferencesDialog::testOdometry()
void PreferencesDialog::testCamera()
{
CameraViewer * window = new CameraViewer(this);
CameraViewer * window = new CameraViewer(this, this->getAllParameters());
window->setWindowTitle(tr("Camera viewer"));
window->resize(1280, 480+QPushButton().minimumHeight());
window->registerToEventsManager();

BIN
guilib/src/images/zed.png Normal file
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Width:  |  Height:  |  Size: 2.6 KiB

34
guilib/src/ui/mainWindow.ui
View File

@@ -7,7 +7,7 @@
<x>0</x>
<y>0</y>
<width>1012</width>
<height>711</height>
<height>712</height>
</rect>
</property>
<property name="windowTitle">
@@ -27,7 +27,7 @@
<x>0</x>
<y>0</y>
<width>1012</width>
<height>25</height>
<height>21</height>
</rect>
</property>
<widget class="QMenu" name="menuFile">
@@ -190,7 +190,19 @@
<addaction name="actionStereoDC1394"/>
<addaction name="actionStereoFlyCapture2"/>
</widget>
<widget class="QMenu" name="menuZed_camera">
<property name="title">
<string>Zed camera</string>
</property>
<property name="icon">
<iconset resource="../GuiLib.qrc">
<normaloff>:/images/zed.png</normaloff>:/images/zed.png</iconset>
</property>
<addaction name="actionStereoZed"/>
<addaction name="actionStereoUsb"/>
</widget>
<addaction name="menuBumblebee2_2"/>
<addaction name="menuZed_camera"/>
</widget>
<addaction name="menuRGB_D_camera"/>
<addaction name="menuStereo_camera"/>
@@ -1325,7 +1337,7 @@
<bool>true</bool>
</property>
<property name="text">
<string>More options...</string>
<string>More Options...</string>
</property>
</action>
<action name="actionLabel_current_location">
@@ -1391,6 +1403,22 @@
<string>Anchor clouds to ground truth</string>
</property>
</action>
<action name="actionStereoZed">
<property name="checkable">
<bool>true</bool>
</property>
<property name="text">
<string>Zed sdk</string>
</property>
</action>
<action name="actionStereoUsb">
<property name="checkable">
<bool>true</bool>
</property>
<property name="text">
<string>Stereo Usb Camera</string>
</property>
</action>
</widget>
<customwidgets>
<customwidget>

186
guilib/src/ui/preferencesDialog.ui
View File

@@ -64,15 +64,24 @@
<rect>
<x>0</x>
<y>0</y>
<width>686</width>
<height>2023</height>
<width>685</width>
<height>1826</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_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>
@@ -86,7 +95,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>11</number>
<number>3</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -2006,7 +2015,7 @@ 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>3</number>
<number>1</number>
</property>
<widget class="QWidget" name="page_41">
<layout class="QVBoxLayout" name="verticalLayout_64">
@@ -2182,7 +2191,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>306</height>
<height>0</height>
</size>
</property>
</spacer>
@@ -2199,7 +2208,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>306</height>
<height>0</height>
</size>
</property>
</spacer>
@@ -2216,7 +2225,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>306</height>
<height>0</height>
</size>
</property>
</spacer>
@@ -2730,7 +2739,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<item>
<widget class="QLabel" name="label_46">
<property name="text">
<string>Grabber for stereo devices (i.e., Bumblebee2).</string>
<string>Grabber for stereo devices (i.e., Bumblebee2, Zed camera).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -2764,6 +2773,16 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<string>Video (Side-by-Side)</string>
</property>
</item>
<item>
<property name="text">
<string>ZED sdk</string>
</property>
</item>
<item>
<property name="text">
<string>Usb camera (Side-by-Side)</string>
</property>
</item>
</widget>
</item>
<item row="0" column="2">
@@ -2798,7 +2817,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<item>
<widget class="QStackedWidget" name="stackedWidget_stereo">
<property name="currentIndex">
<number>3</number>
<number>5</number>
</property>
<widget class="QWidget" name="page_49">
<layout class="QVBoxLayout" name="verticalLayout_91">
@@ -2810,7 +2829,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>306</height>
<height>0</height>
</size>
</property>
</spacer>
@@ -2827,7 +2846,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>306</height>
<height>0</height>
</size>
</property>
</spacer>
@@ -2943,7 +2962,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<widget class="QWidget" name="page_50">
<layout class="QVBoxLayout" name="verticalLayout_78">
<item>
<widget class="QGroupBox" name="groupBox_cameraStereoImages_2">
<widget class="QGroupBox" name="groupBox_cameraStereoVideo">
<property name="sizePolicy">
<sizepolicy hsizetype="Ignored" vsizetype="Ignored">
<horstretch>0</horstretch>
@@ -3006,6 +3025,79 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</item>
</layout>
</widget>
<widget class="QWidget" name="page_59">
<layout class="QVBoxLayout" name="verticalLayout_101">
<item>
<widget class="QGroupBox" name="groupBox_cameraStereoZed">
<property name="sizePolicy">
<sizepolicy hsizetype="Ignored" vsizetype="Ignored">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="title">
<string>Zed sdk</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_102">
<item>
<layout class="QGridLayout" name="gridLayout_37" columnstretch="0,1">
<item row="0" column="0">
<widget class="QCheckBox" name="checkBox_stereoZed_computeDisparity">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_272">
<property name="text">
<string>Compute disparity with the GPU (using Zed sdk approach). Note that &quot;Generate disparity image...&quot; above will be ignored if set.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
</layout>
</item>
<item>
<spacer name="verticalSpacer_54">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
<widget class="QWidget" name="page_60">
<layout class="QVBoxLayout" name="verticalLayout_103">
<item>
<spacer name="verticalSpacer_53">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>217</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</widget>
</item>
</layout>
@@ -3069,7 +3161,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<item>
<widget class="QStackedWidget" name="stackedWidget_image">
<property name="currentIndex">
<number>1</number>
<number>0</number>
</property>
<widget class="QWidget" name="page_7">
<layout class="QVBoxLayout" name="verticalLayout_30">
@@ -3422,7 +3514,16 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<string>Directory of images (optional settings)</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_93">
<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>
@@ -8579,7 +8680,16 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
<widget class="QWidget" name="page_54">
<layout class="QVBoxLayout" name="verticalLayout_85">
<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>
@@ -8719,7 +8829,16 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
</widget>
<widget class="QWidget" name="page_55">
<layout class="QVBoxLayout" name="verticalLayout_86">
<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>
@@ -8877,7 +8996,16 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
<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>
@@ -8957,7 +9085,16 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
<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>
@@ -9069,7 +9206,16 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
<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>