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RealSense: added depthScaledToRGBSize option to be able to feed ORB_SLAM2 with depth and RGB images with same size #287.

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This commit is contained in:
matlabbe
2018-06-19 13:53:03 -04:00
parent c91431410e
commit 973bf93c77
5 changed files with 41 additions and 8 deletions
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5
guilib/src/PreferencesDialog.cpp
View File

@@ -564,6 +564,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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()));
connect(_ui->checkbox_realsenseDepthScaledToRGBSize, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkbox_rs2_emitter, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkbox_rs2_irDepth, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
@@ -1607,6 +1608,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->comboBox_realsensePresetRGB->setCurrentIndex(0);
_ui->comboBox_realsensePresetDepth->setCurrentIndex(2);
_ui->checkbox_realsenseOdom->setChecked(false);
_ui->checkbox_realsenseDepthScaledToRGBSize->setChecked(false);
_ui->checkbox_rs2_emitter->setChecked(true);
_ui->checkbox_rs2_irDepth->setChecked(false);
_ui->lineEdit_openniOniPath->clear();
@@ -2002,6 +2004,7 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
_ui->comboBox_realsensePresetRGB->setCurrentIndex(settings.value("presetRGB", _ui->comboBox_realsensePresetRGB->currentIndex()).toInt());
_ui->comboBox_realsensePresetDepth->setCurrentIndex(settings.value("presetDepth", _ui->comboBox_realsensePresetDepth->currentIndex()).toInt());
_ui->checkbox_realsenseOdom->setChecked(settings.value("odom", _ui->checkbox_realsenseOdom->isChecked()).toBool());
_ui->checkbox_realsenseDepthScaledToRGBSize->setChecked(settings.value("depthScaled", _ui->checkbox_realsenseDepthScaledToRGBSize->isChecked()).toBool());
settings.endGroup(); // RealSense
settings.beginGroup("RealSense2");
@@ -2421,6 +2424,7 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.setValue("presetRGB", _ui->comboBox_realsensePresetRGB->currentIndex());
settings.setValue("presetDepth", _ui->comboBox_realsensePresetDepth->currentIndex());
settings.setValue("odom", _ui->checkbox_realsenseOdom->isChecked());
settings.setValue("depthScaled", _ui->checkbox_realsenseDepthScaledToRGBSize->isChecked());
settings.endGroup(); // RealSense
settings.beginGroup("RealSense2");
@@ -4966,6 +4970,7 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
_ui->checkbox_realsenseOdom->isChecked(),
this->getGeneralInputRate(),
this->getSourceLocalTransform());
((CameraRealSense*)camera)->setDepthScaledToRGBSize(_ui->checkbox_realsenseDepthScaledToRGBSize->isChecked());
}
}
else if (driver == kSrcRealSense2)

33
guilib/src/ui/preferencesDialog.ui
View File

@@ -94,9 +94,9 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-439</y>
<width>680</width>
<height>2836</height>
<y>-396</y>
<width>681</width>
<height>2811</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
@@ -2978,7 +2978,7 @@ 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>9</number>
<number>6</number>
</property>
<widget class="QWidget" name="page_32">
<layout class="QVBoxLayout" name="verticalLayout_63">
@@ -3526,7 +3526,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<string>RealSense</string>
</property>
<layout class="QGridLayout" name="gridLayout_73" columnstretch="0,1">
<item row="3" column="0">
<item row="4" column="0">
<spacer name="verticalSpacer_51">
<property name="orientation">
<enum>Qt::Vertical</enum>
@@ -3632,6 +3632,29 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_realsenseOdom_2">
<property name="text">
<string>Depth image scaled to RGB image size.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QCheckBox" name="checkbox_realsenseDepthScaledToRGBSize">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>