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

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matlabbe
2019-09-18 20:55:48 -04:00
parent b2b1977f8b
commit 955660ba2a
6 changed files with 239 additions and 73 deletions
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68
guilib/src/ui/preferencesDialog.ui
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@@ -63,9 +63,9 @@
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>681</width>
<height>3071</height>
<y>-2150</y>
<width>680</width>
<height>3083</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
@@ -95,7 +95,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>16</number>
<number>5</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -3096,7 +3096,7 @@ 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>10</number>
<number>9</number>
</property>
<widget class="QWidget" name="page_32">
<layout class="QVBoxLayout" name="verticalLayout_63">
@@ -4062,7 +4062,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<string>RealSense2</string>
</property>
<layout class="QGridLayout" name="gridLayout_100" columnstretch="0,1">
<item row="2" column="1">
<item row="3" column="1">
<widget class="QLabel" name="label_549">
<property name="text">
<string>Stream width.</string>
@@ -4072,7 +4072,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="3" column="0">
<item row="4" column="0">
<widget class="QSpinBox" name="spinBox_rs2_height">
<property name="suffix">
<string> pix</string>
@@ -4082,7 +4082,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="4" column="0">
<item row="5" column="0">
<widget class="QSpinBox" name="spinBox_rs2_rate">
<property name="suffix">
<string> Hz</string>
@@ -4113,7 +4113,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="checkbox_rs2_irDepth">
<widget class="QCheckBox" name="checkbox_rs2_irMode">
<property name="text">
<string/>
</property>
@@ -4125,14 +4125,14 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<item row="1" column="1">
<widget class="QLabel" name="label_471">
<property name="text">
<string>Use IR for RGB image. Tracking will be more accurate (field-of-view of the IR camera is larger with less motion blur). Make sure to disable IR emitter. </string>
<string>IR mode: use IR camera instead of RGB camera. Tracking will be more accurate (field-of-view of the IR camera is larger with less motion blur). Make sure to disable IR emitter. </string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<item row="3" column="0">
<widget class="QSpinBox" name="spinBox_rs2_width">
<property name="suffix">
<string> pix</string>
@@ -4142,7 +4142,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="3" column="1">
<item row="4" column="1">
<widget class="QLabel" name="label_550">
<property name="text">
<string>Stream height.</string>
@@ -4152,7 +4152,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="5" column="0">
<item row="6" column="0">
<spacer name="verticalSpacer_71">
<property name="orientation">
<enum>Qt::Vertical</enum>
@@ -4165,7 +4165,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</spacer>
</item>
<item row="4" column="1">
<item row="5" column="1">
<widget class="QLabel" name="label_551">
<property name="text">
<string>Stream rate.</string>
@@ -4175,6 +4175,26 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_562">
<property name="text">
<string>Use depth image in IR mode (instead of right image).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QCheckBox" name="checkbox_rs2_irDepth">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>
@@ -6310,6 +6330,26 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="checkbox_publishInterIMU">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_563">
<property name="text">
<string>Publish inter IMU messages from the camera. IMU received between images will be published as separate topic.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
<item>