mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 09:30:25 +08:00
CameraRealSense2: Added Dual Mode (T265+D400)
This commit is contained in:
matlabbe
@@ -631,6 +631,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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connect(_ui->spinBox_rs2_width, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->spinBox_rs2_height, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->spinBox_rs2_rate, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->checkbox_rs2_dualMode, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->lineEdit_rs2_dualModeExtrinsics, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->toolButton_cameraImages_timestamps, SIGNAL(clicked()), this, SLOT(selectSourceImagesStamps()));
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connect(_ui->lineEdit_cameraImages_timestamps, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
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@@ -1797,6 +1799,8 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
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_ui->spinBox_rs2_width->setValue(848);
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_ui->spinBox_rs2_height->setValue(480);
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_ui->spinBox_rs2_rate->setValue(60);
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_ui->checkbox_rs2_dualMode->setChecked(false);
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_ui->lineEdit_rs2_dualModeExtrinsics->setText("0.009 0.021 0.027 0 -0.018 0.005");
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_ui->lineEdit_openniOniPath->clear();
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_ui->lineEdit_openni2OniPath->clear();
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_ui->checkbox_k4a_irDepth->setChecked(false);
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@@ -2226,6 +2230,8 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
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_ui->spinBox_rs2_width->setValue(settings.value("width", _ui->spinBox_rs2_width->value()).toInt());
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_ui->spinBox_rs2_height->setValue(settings.value("height", _ui->spinBox_rs2_height->value()).toInt());
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_ui->spinBox_rs2_rate->setValue(settings.value("rate", _ui->spinBox_rs2_rate->value()).toInt());
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_ui->checkbox_rs2_dualMode->setChecked(settings.value("dual_mode", _ui->checkbox_rs2_dualMode->isChecked()).toBool());
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_ui->lineEdit_rs2_dualModeExtrinsics->setText(settings.value("dual_mode_extrinsics", _ui->lineEdit_rs2_dualModeExtrinsics->text()).toString());
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settings.endGroup(); // RealSense
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settings.beginGroup("RGBDImages");
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@@ -2684,6 +2690,8 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
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settings.setValue("width", _ui->spinBox_rs2_width->value());
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settings.setValue("height", _ui->spinBox_rs2_height->value());
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settings.setValue("rate", _ui->spinBox_rs2_rate->value());
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settings.setValue("dual_mode", _ui->checkbox_rs2_dualMode->isChecked());
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settings.setValue("dual_mode_extrinsics", _ui->lineEdit_rs2_dualModeExtrinsics->text());
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settings.endGroup(); // RealSense2
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settings.beginGroup("RGBDImages");
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@@ -5429,6 +5437,7 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
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((CameraRealSense2*)camera)->setEmitterEnabled(_ui->checkbox_rs2_emitter->isChecked());
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((CameraRealSense2*)camera)->setIRFormat(_ui->checkbox_rs2_irMode->isChecked(), _ui->checkbox_rs2_irDepth->isChecked());
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((CameraRealSense2*)camera)->setResolution(_ui->spinBox_rs2_width->value(), _ui->spinBox_rs2_height->value(), _ui->spinBox_rs2_rate->value());
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((CameraRealSense2*)camera)->setDualMode(_ui->checkbox_rs2_dualMode->isChecked(), Transform::fromString(_ui->lineEdit_rs2_dualModeExtrinsics->text().toStdString()));
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}
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}
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}
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@@ -63,7 +63,7 @@
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>-2150</y>
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<y>-571</y>
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<width>680</width>
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<height>3083</height>
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</rect>
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@@ -4062,6 +4062,16 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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<string>RealSense2</string>
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</property>
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<layout class="QGridLayout" name="gridLayout_100" columnstretch="0,1">
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<item row="6" column="1">
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<widget class="QLabel" name="label_565">
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<property name="text">
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<string>Dual Mode (D400+T265): Odometry is computed by T265 and RGB-D frames are from D400.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item row="3" column="1">
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<widget class="QLabel" name="label_549">
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<property name="text">
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@@ -4152,7 +4162,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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</property>
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</widget>
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</item>
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<item row="6" column="0">
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<item row="8" column="0">
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<spacer name="verticalSpacer_71">
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<property name="orientation">
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<enum>Qt::Vertical</enum>
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@@ -4195,6 +4205,39 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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</property>
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</widget>
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</item>
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<item row="6" column="0">
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<widget class="QCheckBox" name="checkbox_rs2_dualMode">
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<property name="text">
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<string/>
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</property>
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<property name="checked">
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<bool>false</bool>
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</property>
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</widget>
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</item>
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<item row="7" column="0">
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<widget class="QLineEdit" name="lineEdit_rs2_dualModeExtrinsics">
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<property name="toolTip">
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<string><html><head/><body><p>Format (3 values): x y z<br/>Format (6 values): x y z roll pitch yaw<br/>Format (7 values): x y z qx qy qz qw<br/>Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33<br/>Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz</p><p>KITTI: /base_link to /gray_camera = 0 0 1 -1 0 0 0 -1 0<br/>KITTI: /base_link to /color_camera = 0 0 1 0 -1 0 0 -0.06 0 -1 0 0<br/>KITTI: /base_footprint to /gray_camera = 0 0 1 0 -1 0 0 0 0 -1 0 1.67<br/>KITTI: /base_footprint to /color_camera = 0 0 1 0 -1 0 0 -0.06 0 -1 0 1.67</p><p>EuRoC MAV: /base_link to /cam0 = T_BS*T_SC0 = -0.0257742 0.00375623 0.999661 0.00981073 -0.999557 -0.0149672 -0.0257155 0.064677 0.0148655 -0.999881 0.00414038 -0.0216401</p></body></html></string>
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</property>
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<property name="text">
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<string>0.009 0.021 0.027 0.000 -0.018 0.005</string>
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</property>
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</widget>
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</item>
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<item row="7" column="1">
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<widget class="QLabel" name="label_566">
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<property name="text">
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<string><html><head/><body><p>Dual Mode extrinsics (T265's pose frame to D400's left IR camera). Default extrinsics match the 3D printed bracket <a href=" https://www.intelrealsense.com/depth-and-tracking-combined-get-started/"><span style=" text-decoration: underline; color:#0000ff;">here</span></a> (<a href="https://github.com/IntelRealSense/realsense-ros/blob/occupancy-mapping/realsense2_camera/meshes/mount_t265_d435.stl"><span style=" text-decoration: underline; color:#0000ff;">stl</span></a>).</p></body></html></string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="openExternalLinks">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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</layout>
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</widget>
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</item>
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