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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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50
guilib/src/PreferencesDialog.cpp
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@@ -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();