i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-03 10:00:23 +08:00
Code Issues Packages Projects Releases Wiki Activity

CameraRealSense2: added stereo ir support for D400 cameras, added publishInterIMU parameter (required for VINS fusion).

Browse Source
This commit is contained in:
matlabbe
2019-09-18 20:55:48 -04:00
parent b2b1977f8b
commit 955660ba2a
6 changed files with 239 additions and 73 deletions
Download Patch File Download Diff File Expand all files Collapse all files

13
guilib/src/PreferencesDialog.cpp
View File

@@ -626,6 +626,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->checkbox_realsenseDepthScaledToRGBSize, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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_irMode, 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()));
@@ -714,6 +715,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->comboBox_imuFilter_strategy, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->comboBox_imuFilter_strategy, SIGNAL(currentIndexChanged(int)), _ui->stackedWidget_imuFilter, SLOT(setCurrentIndex(int)));
_ui->stackedWidget_imuFilter->setCurrentIndex(_ui->comboBox_imuFilter_strategy->currentIndex());
connect(_ui->checkbox_publishInterIMU, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkBox_source_scanFromDepth, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->spinBox_source_scanDownsampleStep, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
@@ -1790,7 +1792,8 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->checkbox_realsenseDepthScaledToRGBSize->setChecked(false);
_ui->comboBox_realsenseRGBSource->setCurrentIndex(0);
_ui->checkbox_rs2_emitter->setChecked(true);
_ui->checkbox_rs2_irDepth->setChecked(false);
_ui->checkbox_rs2_irMode->setChecked(false);
_ui->checkbox_rs2_irDepth->setChecked(true);
_ui->spinBox_rs2_width->setValue(848);
_ui->spinBox_rs2_height->setValue(480);
_ui->spinBox_rs2_rate->setValue(60);
@@ -1849,6 +1852,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->doubleSpinBox_imuFilterComplementaryBiasAlpha->setValue(Parameters::defaultImuFilterComplementaryBiasAlpha());
_ui->checkBox_imuFilterComplementaryDoAdaptiveGain->setChecked(Parameters::defaultImuFilterComplementaryDoAdpativeGain());
_ui->checkBox_imuFilterComplementaryDoBiasEstimation->setChecked(Parameters::defaultImuFilterComplementaryDoBiasEstimation());
_ui->checkbox_publishInterIMU->setChecked(false);
_ui->checkBox_source_scanFromDepth->setChecked(false);
_ui->spinBox_source_scanDownsampleStep->setValue(1);
@@ -2217,6 +2221,7 @@ 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_irMode->setChecked(settings.value("ir", _ui->checkbox_rs2_irMode->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());
@@ -2299,6 +2304,7 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
_ui->doubleSpinBox_imuFilterComplementaryBiasAlpha->setValue(settings.value("complementary_bias_alpha", _ui->doubleSpinBox_imuFilterComplementaryBiasAlpha->value()).toDouble());
_ui->checkBox_imuFilterComplementaryDoAdaptiveGain->setChecked(settings.value("complementary_adaptive_gain", _ui->checkBox_imuFilterComplementaryDoAdaptiveGain->isChecked()).toBool());
_ui->checkBox_imuFilterComplementaryDoBiasEstimation->setChecked(settings.value("complementary_biais_estimation", _ui->checkBox_imuFilterComplementaryDoBiasEstimation->isChecked()).toBool());
_ui->checkbox_publishInterIMU->setChecked(settings.value("publish_inter_imu", _ui->checkbox_publishInterIMU->isChecked()).toBool());
settings.endGroup();//IMU
settings.beginGroup("Scan");
@@ -2673,6 +2679,7 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.beginGroup("RealSense2");
settings.setValue("emitter", _ui->checkbox_rs2_emitter->isChecked());
settings.setValue("ir", _ui->checkbox_rs2_irMode->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());
@@ -2753,6 +2760,7 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.setValue("complementary_bias_alpha", _ui->doubleSpinBox_imuFilterComplementaryBiasAlpha->value());
settings.setValue("complementary_adaptive_gain", _ui->checkBox_imuFilterComplementaryDoAdaptiveGain->isChecked());
settings.setValue("complementary_biais_estimation", _ui->checkBox_imuFilterComplementaryDoBiasEstimation->isChecked());
settings.setValue("publish_inter_imu", _ui->checkbox_publishInterIMU->isChecked());
settings.endGroup();//IMU
settings.beginGroup("Scan");
@@ -5410,6 +5418,7 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
this->getSourceDevice().toStdString(),
this->getGeneralInputRate(),
this->getSourceLocalTransform());
((CameraRealSense2*)camera)->publishInterIMU(_ui->checkbox_publishInterIMU->isChecked());
if(driver == kSrcStereoRealSense2)
{
((CameraRealSense2*)camera)->setImagesRectified(_ui->checkBox_stereo_rectify->isChecked() && !useRawImages);
@@ -5418,7 +5427,7 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
else
{
((CameraRealSense2*)camera)->setEmitterEnabled(_ui->checkbox_rs2_emitter->isChecked());
((CameraRealSense2*)camera)->setIRDepthFormat(_ui->checkbox_rs2_irDepth->isChecked());
((CameraRealSense2*)camera)->setIRFormat(_ui->checkbox_rs2_irMode->isChecked(), _ui->checkbox_rs2_irDepth->isChecked());
((CameraRealSense2*)camera)->setResolution(_ui->spinBox_rs2_width->value(), _ui->spinBox_rs2_height->value(), _ui->spinBox_rs2_rate->value());
}
}