i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-03 01:50:24 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

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)