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Fixed build without xvisio sdk, Added xvisio camera option in main menu.

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This commit is contained in:
matlabbe
2024-06-09 11:13:29 -07:00
parent b37f7d6351
commit 80a4ce02c9
8 changed files with 196 additions and 148 deletions
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1
guilib/src/GuiLib.qrc
View File

@@ -45,5 +45,6 @@
<file>images/oakd_lite.png</file>
<file>images/astra.png</file>
<file>images/oakdpro.png</file>
<file>images/seer_sense_DS80.png</file>
</qresource>
</RCC>

8
guilib/src/MainWindow.cpp
View File

@@ -469,6 +469,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent, bool sh
connect(_ui->actionDepthAI_oakd, SIGNAL(triggered()), this, SLOT(selectDepthAIOAKD()));
connect(_ui->actionDepthAI_oakdlite, SIGNAL(triggered()), this, SLOT(selectDepthAIOAKDLite()));
connect(_ui->actionDepthAI_oakdpro, SIGNAL(triggered()), this, SLOT(selectDepthAIOAKDPro()));
connect(_ui->actionXvisio_SeerSense, SIGNAL(triggered()), this, SLOT(selectXvisioSeerSense()));
connect(_ui->actionVelodyne_VLP_16, SIGNAL(triggered()), this, SLOT(selectVLP16()));
_ui->actionFreenect->setEnabled(CameraFreenect::available());
_ui->actionOpenNI_CV->setEnabled(CameraOpenNICV::available());
@@ -495,6 +496,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent, bool sh
_ui->actionDepthAI_oakd->setEnabled(CameraDepthAI::available());
_ui->actionDepthAI_oakdlite->setEnabled(CameraDepthAI::available());
_ui->actionDepthAI_oakdpro->setEnabled(CameraDepthAI::available());
_ui->actionXvisio_SeerSense->setEnabled(CameraSeerSense::available());
this->updateSelectSourceMenu();
connect(_ui->actionPreferences, SIGNAL(triggered()), this, SLOT(openPreferences()));
@@ -5299,6 +5301,7 @@ void MainWindow::updateSelectSourceMenu()
_ui->actionDepthAI_oakd->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcStereoDepthAI);
_ui->actionDepthAI_oakdlite->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcStereoDepthAI);
_ui->actionDepthAI_oakdpro->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcStereoDepthAI);
_ui->actionXvisio_SeerSense->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcSeerSense);
_ui->actionVelodyne_VLP_16->setChecked(_preferencesDialog->getLidarSourceDriver() == PreferencesDialog::kSrcLidarVLP16);
}
@@ -7228,6 +7231,11 @@ void MainWindow::selectDepthAIOAKDPro()
_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcStereoDepthAI, 2); // variant 2=IMU+color
}
void MainWindow::selectXvisioSeerSense()
{
_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcSeerSense);
}
void MainWindow::selectVLP16()
{
_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcLidarVLP16);

2
guilib/src/PreferencesDialog.cpp
View File

@@ -6813,7 +6813,7 @@ Camera * PreferencesDialog::createCamera(
{
UDEBUG("SeerSense");
camera = new CameraSeerSense(
getOdomSourceDriver() == kSrcSeerSense,
getOdomSourceDriver() == kSrcSeerSense || odomOnly,
this->getGeneralInputRate(),
this->getSourceLocalTransform());
camera->setInterIMUPublishing(

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guilib/src/images/seer_sense_DS80.png Normal file
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19
guilib/src/ui/mainWindow.ui
View File

@@ -229,6 +229,16 @@
</property>
<addaction name="actionOpenNI2_orbbec"/>
</widget>
<widget class="QMenu" name="menuXvisio_SeerSense">
<property name="title">
<string>Xvisio SeerSense</string>
</property>
<property name="icon">
<iconset resource="../GuiLib.qrc">
<normaloff>:/images/seer_sense_DS80.png</normaloff>:/images/seer_sense_DS80.png</iconset>
</property>
<addaction name="actionXvisio_SeerSense"/>
</widget>
<addaction name="menuKinect_for_Xbox_360"/>
<addaction name="menuXtion_PRO_LIVE"/>
<addaction name="menuOrbbec_Astra"/>
@@ -240,6 +250,7 @@
<addaction name="menuRealSense_SR300"/>
<addaction name="menuRealSense_D435"/>
<addaction name="menuRealSense_L515"/>
<addaction name="menuXvisio_SeerSense"/>
</widget>
<widget class="QMenu" name="menuStereo_camera">
<property name="title">
@@ -1730,6 +1741,14 @@
<string>Velodyne VLP-16</string>
</property>
</action>
<action name="actionXvisio_SeerSense">
<property name="checkable">
<bool>true</bool>
</property>
<property name="text">
<string>Xvisio</string>
</property>
</action>
</widget>
<customwidgets>
<customwidget>

311
guilib/src/ui/preferencesDialog.ui
View File

@@ -63,7 +63,7 @@
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<y>-640</y>
<width>713</width>
<height>4653</height>
</rect>
@@ -95,7 +95,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>11</number>
<number>5</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,0">
@@ -3424,7 +3424,7 @@ 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">
@@ -3516,10 +3516,10 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</item>
<item>
<property name="text">
<string>SeerSense</string>
</property>
</item>
<property name="text">
<string>Xvisio SeerSense</string>
</property>
</item>
</widget>
</item>
<item row="0" column="1">
@@ -3540,7 +3540,7 @@ 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>4</number>
<number>11</number>
</property>
<widget class="QWidget" name="page_32">
<layout class="QVBoxLayout" name="verticalLayout_63">
@@ -3652,22 +3652,62 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<property name="title">
<string>OpenNI 2</string>
</property>
<layout class="QGridLayout" name="gridLayout_54" columnstretch="0,0,1">
<item row="0" column="2">
<widget class="QLabel" name="label_231">
<layout class="QGridLayout" name="gridLayout_54" columnstretch="0,0,0">
<item row="1" column="2">
<widget class="QLabel" name="label_217">
<property name="text">
<string>Path to a *.ONI file.</string>
<string>Auto white balance.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLineEdit" name="lineEdit_openni2OniPath">
<item row="2" column="2">
<widget class="QLabel" name="label_218">
<property name="text">
<string>Auto exposure.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QSpinBox" name="openni2_exposure">
<property name="maximum">
<number>65535</number>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QCheckBox" name="openni2_stampsIdsUsed">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="9" column="2">
<widget class="QLabel" name="label_641">
<property name="text">
<string>Depth decimation.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="2">
<widget class="QLabel" name="label_220">
<property name="text">
<string>Gain.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="0">
@@ -3677,10 +3717,10 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QLabel" name="label_217">
<item row="8" column="2">
<widget class="QLabel" name="label_436">
<property name="text">
<string>Auto white balance.</string>
<string>IR-Depth vertical shift. Positive toward up, negative toward down.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -3697,103 +3737,6 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QLabel" name="label_218">
<property name="text">
<string>Auto exposure.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QCheckBox" name="openni2_autoExposure">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QLabel" name="label_219">
<property name="text">
<string>Exposure.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QSpinBox" name="openni2_exposure">
<property name="maximum">
<number>65535</number>
</property>
</widget>
</item>
<item row="4" column="2">
<widget class="QLabel" name="label_220">
<property name="text">
<string>Gain.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QSpinBox" name="openni2_gain">
<property name="maximum">
<number>1000</number>
</property>
<property name="value">
<number>100</number>
</property>
</widget>
</item>
<item row="5" column="2">
<widget class="QLabel" name="label_264">
<property name="text">
<string>Use timestamps and frame IDs from OpenNI2.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QCheckBox" name="openni2_stampsIdsUsed">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="6" column="2">
<widget class="QLabel" name="label_223">
<property name="text">
<string>Mirroring.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QCheckBox" name="openni2_mirroring">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="7" column="2">
<widget class="QLabel" name="label_435">
<property name="text">
@@ -3804,29 +3747,6 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QSpinBox" name="openni2_hshift">
<property name="suffix">
<string> pix</string>
</property>
<property name="minimum">
<number>-9999</number>
</property>
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
<item row="8" column="2">
<widget class="QLabel" name="label_436">
<property name="text">
<string>IR-Depth vertical shift. Positive toward up, negative toward down.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QSpinBox" name="openni2_vshift">
<property name="suffix">
@@ -3840,16 +3760,6 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="9" column="2">
<widget class="QLabel" name="label_641">
<property name="text">
<string>Depth decimation.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="9" column="1">
<widget class="QSpinBox" name="openni2_depth_decimation">
<property name="suffix">
@@ -3863,6 +3773,96 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QLabel" name="label_219">
<property name="text">
<string>Exposure.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="5" column="2">
<widget class="QLabel" name="label_264">
<property name="text">
<string>Use timestamps and frame IDs from OpenNI2.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="6" column="2">
<widget class="QLabel" name="label_223">
<property name="text">
<string>Mirroring.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QSpinBox" name="openni2_gain">
<property name="maximum">
<number>1000</number>
</property>
<property name="value">
<number>100</number>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QCheckBox" name="openni2_mirroring">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLineEdit" name="lineEdit_openni2OniPath">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_231">
<property name="text">
<string>Path to a *.ONI file.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QSpinBox" name="openni2_hshift">
<property name="suffix">
<string> pix</string>
</property>
<property name="minimum">
<number>-9999</number>
</property>
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QCheckBox" name="openni2_autoExposure">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>
@@ -4919,6 +4919,23 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</item>
</layout>
</widget>
<widget class="QWidget" name="page_99">
<layout class="QVBoxLayout" name="verticalLayout_180">
<item>
<spacer name="verticalSpacer_3">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</widget>
</item>
</layout>