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CameraK4W2: added depth to color registration. For CameraFreenect2, kTypeColor2DepthSD is now used by default.

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This commit is contained in:
matlabbe
2017-11-06 22:59:12 -05:00
parent 7dabfdc207
commit 8cdd138143
5 changed files with 363 additions and 106 deletions
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14
guilib/src/PreferencesDialog.cpp
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@@ -527,6 +527,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->checkBox_freenect2EdgeAwareFiltering, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkBox_freenect2NoiseFiltering, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->lineEdit_freenect2Pipeline, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->comboBox_k4w2Format, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->comboBox_realsensePresetRGB, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->comboBox_realsensePresetDepth, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkbox_realsenseOdom, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
@@ -1519,13 +1520,14 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->openni2_stampsIdsUsed->setChecked(false);
_ui->openni2_hshift->setValue(0);
_ui->openni2_vshift->setValue(0);
_ui->comboBox_freenect2Format->setCurrentIndex(0);
_ui->comboBox_freenect2Format->setCurrentIndex(1);
_ui->doubleSpinBox_freenect2MinDepth->setValue(0.3);
_ui->doubleSpinBox_freenect2MaxDepth->setValue(12.0);
_ui->checkBox_freenect2BilateralFiltering->setChecked(true);
_ui->checkBox_freenect2EdgeAwareFiltering->setChecked(true);
_ui->checkBox_freenect2NoiseFiltering->setChecked(true);
_ui->lineEdit_freenect2Pipeline->setText("");
_ui->comboBox_k4w2Format->setCurrentIndex(1);
_ui->comboBox_realsensePresetRGB->setCurrentIndex(0);
_ui->comboBox_realsensePresetDepth->setCurrentIndex(2);
_ui->checkbox_realsenseOdom->setChecked(false);
@@ -1903,6 +1905,10 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
_ui->lineEdit_freenect2Pipeline->setText(settings.value("pipeline", _ui->lineEdit_freenect2Pipeline->text()).toString());
settings.endGroup(); // Freenect2
settings.beginGroup("K4W2");
_ui->comboBox_k4w2Format->setCurrentIndex(settings.value("format", _ui->comboBox_k4w2Format->currentIndex()).toInt());
settings.endGroup(); // K4W2
settings.beginGroup("RealSense");
_ui->comboBox_realsensePresetRGB->setCurrentIndex(settings.value("presetRGB", _ui->comboBox_realsensePresetRGB->currentIndex()).toInt());
_ui->comboBox_realsensePresetDepth->setCurrentIndex(settings.value("presetDepth", _ui->comboBox_realsensePresetDepth->currentIndex()).toInt());
@@ -2301,6 +2307,10 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.setValue("pipeline", _ui->lineEdit_freenect2Pipeline->text());
settings.endGroup(); // Freenect2
settings.beginGroup("K4W2");
settings.setValue("format", _ui->comboBox_k4w2Format->currentIndex());
settings.endGroup(); // K4W2
settings.beginGroup("RealSense");
settings.setValue("presetRGB", _ui->comboBox_realsensePresetRGB->currentIndex());
settings.setValue("presetDepth", _ui->comboBox_realsensePresetDepth->currentIndex());
@@ -4138,6 +4148,7 @@ void PreferencesDialog::updateSourceGrpVisibility()
_ui->comboBox_cameraRGBD->currentIndex() == kSrcOpenNI_PCL-kSrcRGBD));
_ui->groupBox_openni2->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcOpenNI2-kSrcRGBD);
_ui->groupBox_freenect2->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcFreenect2-kSrcRGBD);
_ui->groupBox_k4w2->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcK4W2 - kSrcRGBD);
_ui->groupBox_realsense->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcRealSense - kSrcRGBD);
_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);
@@ -4768,6 +4779,7 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
{
camera = new CameraK4W2(
this->getSourceDevice().isEmpty() ? 0 : atoi(this->getSourceDevice().toStdString().c_str()),
(CameraK4W2::Type)_ui->comboBox_k4w2Format->currentIndex(),
this->getGeneralInputRate(),
this->getSourceLocalTransform());
}