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Added resolution parameters for Usb camera and realsense2 sources

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This commit is contained in:
matlabbe
2019-05-15 19:21:32 -04:00
parent f8a8e55e7e
commit 71f7515775
6 changed files with 219 additions and 18 deletions
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35
guilib/src/PreferencesDialog.cpp
View File

@@ -568,6 +568,9 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->source_images_spinBox_startPos, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->source_images_spinBox_maxFrames, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->comboBox_cameraImages_bayerMode, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
// usb group
connect(_ui->spinBox_usbcam_streamWidth, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->spinBox_usbcam_streamHeight, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
//video group
connect(_ui->source_video_toolButton_selectSource, SIGNAL(clicked()), this, SLOT(selectSourceVideoPath()));
connect(_ui->source_video_lineEdit_path, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
@@ -614,6 +617,9 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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()));
connect(_ui->spinBox_rs2_width, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->spinBox_rs2_height, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->spinBox_rs2_rate, SIGNAL(valueChanged(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()));
@@ -1696,6 +1702,8 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->source_comboBox_image_type->setCurrentIndex(kSrcUsbDevice-kSrcUsbDevice);
_ui->source_images_spinBox_startPos->setValue(0);
_ui->source_images_spinBox_maxFrames->setValue(0);
_ui->spinBox_usbcam_streamWidth->setValue(0);
_ui->spinBox_usbcam_streamHeight->setValue(0);
_ui->checkBox_rgb_rectify->setChecked(false);
_ui->comboBox_cameraImages_bayerMode->setCurrentIndex(0);
@@ -1763,6 +1771,9 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->comboBox_realsenseRGBSource->setCurrentIndex(0);
_ui->checkbox_rs2_emitter->setChecked(true);
_ui->checkbox_rs2_irDepth->setChecked(false);
_ui->spinBox_rs2_width->setValue(640);
_ui->spinBox_rs2_height->setValue(480);
_ui->spinBox_rs2_rate->setValue(30);
_ui->lineEdit_openniOniPath->clear();
_ui->lineEdit_openni2OniPath->clear();
_ui->lineEdit_cameraRGBDImages_path_rgb->setText("");
@@ -2170,6 +2181,9 @@ 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());
_ui->spinBox_rs2_width->setValue(settings.value("width", _ui->spinBox_rs2_width->value()).toInt());
_ui->spinBox_rs2_height->setValue(settings.value("height", _ui->spinBox_rs2_height->value()).toInt());
_ui->spinBox_rs2_rate->setValue(settings.value("rate", _ui->spinBox_rs2_rate->value()).toInt());
settings.endGroup(); // RealSense
settings.beginGroup("RGBDImages");
@@ -2231,6 +2245,11 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
_ui->spinBox_cameraImages_max_imu_rate->setValue(settings.value("imu_rate", _ui->spinBox_cameraImages_max_imu_rate->value()).toInt());
settings.endGroup(); // images
settings.beginGroup("UsbCam");
_ui->spinBox_usbcam_streamWidth->setValue(settings.value("width", _ui->spinBox_usbcam_streamWidth->value()).toInt());
_ui->spinBox_usbcam_streamHeight->setValue(settings.value("height", _ui->spinBox_usbcam_streamHeight->value()).toInt());
settings.endGroup(); // UsbCam
settings.beginGroup("Video");
_ui->source_video_lineEdit_path->setText(settings.value("path", _ui->source_video_lineEdit_path->text()).toString());
settings.endGroup(); // video
@@ -2602,6 +2621,9 @@ 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.setValue("width", _ui->spinBox_rs2_width->value());
settings.setValue("height", _ui->spinBox_rs2_height->value());
settings.setValue("rate", _ui->spinBox_rs2_rate->value());
settings.endGroup(); // RealSense2
settings.beginGroup("RGBDImages");
@@ -2661,6 +2683,11 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.setValue("imu_rate", _ui->spinBox_cameraImages_max_imu_rate->value());
settings.endGroup(); // images
settings.beginGroup("UsbCam");
settings.setValue("width", _ui->spinBox_usbcam_streamWidth->value());
settings.setValue("height", _ui->spinBox_usbcam_streamHeight->value());
settings.endGroup(); // UsbCam
settings.beginGroup("Video");
settings.setValue("path", _ui->source_video_lineEdit_path->text());
settings.endGroup(); // video
@@ -4523,9 +4550,13 @@ void PreferencesDialog::updateSourceGrpVisibility()
_ui->groupBox_cameraStereoZed->setVisible(_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoZed - kSrcStereo);
_ui->groupBox_cameraStereoRealSense2->setVisible(_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoRealSense2 - 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->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_comboBox_image_type->currentIndex() == kSrcUsbDevice-kSrcRGB));
_ui->source_groupBox_images->setVisible(_ui->comboBox_sourceType->currentIndex() == 2 && _ui->source_comboBox_image_type->currentIndex() == kSrcImages-kSrcRGB);
_ui->source_groupBox_video->setVisible(_ui->comboBox_sourceType->currentIndex() == 2 && _ui->source_comboBox_image_type->currentIndex() == kSrcVideo-kSrcRGB);
_ui->source_groupBox_usbcam->setVisible(_ui->comboBox_sourceType->currentIndex() == 2 && _ui->source_comboBox_image_type->currentIndex() == kSrcUsbDevice-kSrcRGB);
_ui->groupBox_sourceImages_optional->setVisible(
(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcRGBDImages-kSrcRGBD) ||
@@ -5270,6 +5301,7 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
{
((CameraRealSense2*)camera)->setEmitterEnabled(_ui->checkbox_rs2_emitter->isChecked());
((CameraRealSense2*)camera)->setIRDepthFormat(_ui->checkbox_rs2_irDepth->isChecked());
((CameraRealSense2*)camera)->setResolution(_ui->spinBox_rs2_width->value(), _ui->spinBox_rs2_height->value(), _ui->spinBox_rs2_rate->value());
}
}
}
@@ -5434,6 +5466,7 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
_ui->checkBox_rgb_rectify->isChecked() && !useRawImages,
this->getGeneralInputRate(),
this->getSourceLocalTransform());
((CameraVideo*)camera)->setResolution(_ui->spinBox_usbcam_streamWidth->value(), _ui->spinBox_usbcam_streamHeight->value());
}
else if(driver == kSrcVideo)
{

129
guilib/src/ui/preferencesDialog.ui
View File

@@ -63,7 +63,7 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-1977</y>
<y>0</y>
<width>680</width>
<height>3082</height>
</rect>
@@ -2962,7 +2962,7 @@ 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>1</number>
<number>0</number>
</property>
<widget class="QWidget" name="page_41">
<layout class="QVBoxLayout" name="verticalLayout_64">
@@ -3091,7 +3091,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<item>
<widget class="QStackedWidget" name="stackedWidget_rgbd">
<property name="currentIndex">
<number>6</number>
<number>9</number>
</property>
<widget class="QWidget" name="page_32">
<layout class="QVBoxLayout" name="verticalLayout_63">
@@ -4057,6 +4057,36 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<string>RealSense2</string>
</property>
<layout class="QGridLayout" name="gridLayout_100" columnstretch="0,1">
<item row="2" column="1">
<widget class="QLabel" name="label_549">
<property name="text">
<string>Stream width.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QSpinBox" name="spinBox_rs2_height">
<property name="suffix">
<string> pix</string>
</property>
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QSpinBox" name="spinBox_rs2_rate">
<property name="suffix">
<string> Hz</string>
</property>
<property name="maximum">
<number>999</number>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QCheckBox" name="checkbox_rs2_emitter">
<property name="text">
@@ -4098,6 +4128,26 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</widget>
</item>
<item row="2" column="0">
<widget class="QSpinBox" name="spinBox_rs2_width">
<property name="suffix">
<string> pix</string>
</property>
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_550">
<property name="text">
<string>Stream height.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="5" column="0">
<spacer name="verticalSpacer_71">
<property name="orientation">
<enum>Qt::Vertical</enum>
@@ -4110,6 +4160,16 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</spacer>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_551">
<property name="text">
<string>Stream rate.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>
@@ -4289,7 +4349,7 @@ 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>5</number>
<number>7</number>
</property>
<widget class="QWidget" name="page_49">
<layout class="QVBoxLayout" name="verticalLayout_91">
@@ -4970,10 +5030,65 @@ 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">
<item>
<widget class="QGroupBox" name="source_groupBox_usbcam">
<property name="title">
<string>USB Camera</string>
</property>
<layout class="QGridLayout" name="gridLayout_112" columnstretch="0,1">
<item row="1" column="0">
<widget class="QSpinBox" name="spinBox_usbcam_streamHeight">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>10000</number>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_553">
<property name="text">
<string>Stream height (0 for default resolution).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_552">
<property name="text">
<string>Stream width (0 for default resolution).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QSpinBox" name="spinBox_usbcam_streamWidth">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>10000</number>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_8">
<property name="orientation">
@@ -4981,7 +5096,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
<property name="sizeHint" stdset="0">
<size>
<width>0</width>
<width>20</width>
<height>0</height>
</size>
</property>
@@ -7929,7 +8044,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<item row="0" column="1">
<widget class="QLabel" name="label_similarity">
<property name="text">
<string>T_similarity : Similarity threshold. Values must be &gt;=0.0 ans &lt;=1.0.</string>
<string>T_similarity : Similarity threshold. Values must be &gt;=0.0 and &lt;=1.0.</string>
</property>
<property name="wordWrap">
<bool>true</bool>