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MainWindow: added driver options to differentiate between cameras having IMU or not (D400 vs D435i, ZED vs Zedm and Zed2). Enabled imu filtering by default for Freenect driver (Kinect XBOX360).

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This commit is contained in:
matlabbe
2021-01-08 01:10:23 -05:00
parent a67dbc26f2
commit 792c967d46
4 changed files with 49 additions and 6 deletions
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16
guilib/src/MainWindow.cpp
View File

@@ -436,10 +436,12 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent, bool sh
connect(_ui->actionRealSense_ZR300, SIGNAL(triggered()), this, SLOT(selectRealSense()));
connect(_ui->actionRealSense2_SR300, SIGNAL(triggered()), this, SLOT(selectRealSense2()));
connect(_ui->actionRealSense2_D400, SIGNAL(triggered()), this, SLOT(selectRealSense2()));
connect(_ui->actionRealSense2_IMU, SIGNAL(triggered()), this, SLOT(selectRealSense2i()));
connect(_ui->actionRealSense2_L515, SIGNAL(triggered()), this, SLOT(selectRealSense2L515()));
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->actionZed_sdk_IMU, SIGNAL(triggered()), this, SLOT(selectStereoZedi()));
connect(_ui->actionStereoTara, SIGNAL(triggered()), this, SLOT(selectStereoTara()));
connect(_ui->actionStereoUsb, SIGNAL(triggered()), this, SLOT(selectStereoUsb()));
connect(_ui->actionRealSense2_T265, SIGNAL(triggered()), this, SLOT(selectRealSense2Stereo()));
@@ -457,11 +459,13 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent, bool sh
_ui->actionRealSense_ZR300->setEnabled(CameraRealSense::available());
_ui->actionRealSense2_SR300->setEnabled(CameraRealSense2::available());
_ui->actionRealSense2_D400->setEnabled(CameraRealSense2::available());
_ui->actionRealSense2_IMU->setEnabled(CameraRealSense2::available());
_ui->actionRealSense2_L515->setEnabled(CameraRealSense2::available());
_ui->actionRealSense2_T265->setEnabled(CameraRealSense2::available());
_ui->actionStereoDC1394->setEnabled(CameraStereoDC1394::available());
_ui->actionStereoFlyCapture2->setEnabled(CameraStereoFlyCapture2::available());
_ui->actionStereoZed->setEnabled(CameraStereoZed::available());
_ui->actionZed_sdk_IMU->setEnabled(CameraStereoZed::available());
_ui->actionStereoTara->setEnabled(CameraStereoTara::available());
_ui->actionMYNT_EYE_S_SDK->setEnabled(CameraMyntEye::available());
this->updateSelectSourceMenu();
@@ -4730,10 +4734,12 @@ void MainWindow::updateSelectSourceMenu()
_ui->actionRealSense_ZR300->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcRealSense);
_ui->actionRealSense2_SR300->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcRealSense2);
_ui->actionRealSense2_D400->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcRealSense2);
_ui->actionRealSense2_IMU->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcRealSense2);
_ui->actionRealSense2_L515->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcRealSense2);
_ui->actionStereoDC1394->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcDC1394);
_ui->actionStereoFlyCapture2->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcFlyCapture2);
_ui->actionStereoZed->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcStereoZed);
_ui->actionZed_sdk_IMU->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcStereoZed);
_ui->actionStereoTara->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcStereoTara);
_ui->actionStereoUsb->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcStereoUsb);
_ui->actionRealSense2_T265->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcStereoRealSense2);
@@ -6481,10 +6487,14 @@ void MainWindow::selectRealSense2()
{
_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcRealSense2);
}
void MainWindow::selectRealSense2L515()
void MainWindow::selectRealSense2i()
{
_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcRealSense2, 1);
}
void MainWindow::selectRealSense2L515()
{
_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcRealSense2, 2);
}
void MainWindow::selectRealSense2Stereo()
{
@@ -6504,6 +6514,10 @@ void MainWindow::selectStereoZed()
{
_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcStereoZed);
}
void MainWindow::selectStereoZedi()
{
_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcStereoZed, 1);
}
void MainWindow::selectStereoTara()
{

19
guilib/src/PreferencesDialog.cpp
View File

@@ -3723,13 +3723,22 @@ void PreferencesDialog::updateParameters(const ParametersMap & parameters, bool
void PreferencesDialog::selectSourceDriver(Src src, int variant)
{
_ui->comboBox_imuFilter_strategy->setCurrentIndex(0);
this->setParameter(Parameters::kOptimizerGravitySigma(), uNumber2Str(Parameters::defaultOptimizerGravitySigma()));
this->setParameter(Parameters::kOptimizerGravitySigma(), "0.0");
if(src >= kSrcRGBD && src<kSrcStereo)
{
_ui->comboBox_sourceType->setCurrentIndex(0);
_ui->comboBox_cameraRGBD->setCurrentIndex(src - kSrcRGBD);
if(src == kSrcOpenNI_PCL)
if(src == kSrcFreenect)
{
if(Optimizer::isAvailable(Optimizer::kTypeG2O) || Optimizer::isAvailable(Optimizer::kTypeGTSAM))
{
// enable IMU
_ui->comboBox_imuFilter_strategy->setCurrentIndex(1);
this->setParameter(Parameters::kOptimizerGravitySigma(), "0.3");
}
}
else if(src == kSrcOpenNI_PCL)
{
_ui->lineEdit_openniOniPath->clear();
}
@@ -3749,7 +3758,7 @@ void PreferencesDialog::selectSourceDriver(Src src, int variant)
}
else if (src == kSrcRealSense2)
{
if(variant > 0) // L515
if(variant > 1) // L515
{
_ui->spinBox_rs2_width->setValue(1280);
_ui->spinBox_rs2_height->setValue(720);
@@ -3761,7 +3770,7 @@ void PreferencesDialog::selectSourceDriver(Src src, int variant)
_ui->spinBox_rs2_height->setValue(480);
_ui->spinBox_rs2_rate->setValue(60);
}
if(Optimizer::isAvailable(Optimizer::kTypeG2O) || Optimizer::isAvailable(Optimizer::kTypeGTSAM))
if(variant>0 && (Optimizer::isAvailable(Optimizer::kTypeG2O) || Optimizer::isAvailable(Optimizer::kTypeGTSAM)))
{
// enable IMU
_ui->comboBox_imuFilter_strategy->setCurrentIndex(1);
@@ -3775,7 +3784,7 @@ void PreferencesDialog::selectSourceDriver(Src src, int variant)
_ui->comboBox_cameraStereo->setCurrentIndex(src - kSrcStereo);
if(Optimizer::isAvailable(Optimizer::kTypeG2O) || Optimizer::isAvailable(Optimizer::kTypeGTSAM))
{
if(src == kSrcStereoZed) // Zedm, Zed2
if(src == kSrcStereoZed && variant>0) // Zedm, Zed2
{
// enable IMU (zed sends already quaternion)
_ui->comboBox_imuFilter_strategy->setCurrentIndex(0);

18
guilib/src/ui/mainWindow.ui
View File

@@ -207,6 +207,7 @@
<normaloff>:/images/d435.png</normaloff>:/images/d435.png</iconset>
</property>
<addaction name="actionRealSense2_D400"/>
<addaction name="actionRealSense2_IMU"/>
</widget>
<widget class="QMenu" name="menuRealSense_SR300">
<property name="title">
@@ -267,6 +268,7 @@
<normaloff>:/images/zed.png</normaloff>:/images/zed.png</iconset>
</property>
<addaction name="actionStereoZed"/>
<addaction name="actionZed_sdk_IMU"/>
<addaction name="actionStereoUsb"/>
</widget>
<widget class="QMenu" name="menuTara_Camera">
@@ -1617,6 +1619,22 @@
<string>RealSense2</string>
</property>
</action>
<action name="actionZed_sdk_IMU">
<property name="checkable">
<bool>true</bool>
</property>
<property name="text">
<string>Zed sdk (Zedm, Zed2)</string>
</property>
</action>
<action name="actionRealSense2_IMU">
<property name="checkable">
<bool>true</bool>
</property>
<property name="text">
<string>RealSense2 (D435i)</string>
</property>
</action>
</widget>
<customwidgets>
<customwidget>