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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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19
guilib/src/PreferencesDialog.cpp
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@@ -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);