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 Dual Mode (T265+D400)

Browse Source
This commit is contained in:
matlabbe
2019-10-03 21:06:33 -04:00
parent 3ab5ec218b
commit 9cb1e4bbc5
6 changed files with 228 additions and 66 deletions
Download Patch File Download Diff File Expand all files Collapse all files

9
guilib/src/PreferencesDialog.cpp
View File

@@ -631,6 +631,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->spinBox_rs2_width, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->spinBox_rs2_height, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->spinBox_rs2_rate, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkbox_rs2_dualMode, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->lineEdit_rs2_dualModeExtrinsics, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->toolButton_cameraImages_timestamps, SIGNAL(clicked()), this, SLOT(selectSourceImagesStamps()));
connect(_ui->lineEdit_cameraImages_timestamps, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
@@ -1797,6 +1799,8 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->spinBox_rs2_width->setValue(848);
_ui->spinBox_rs2_height->setValue(480);
_ui->spinBox_rs2_rate->setValue(60);
_ui->checkbox_rs2_dualMode->setChecked(false);
_ui->lineEdit_rs2_dualModeExtrinsics->setText("0.009 0.021 0.027 0 -0.018 0.005");
_ui->lineEdit_openniOniPath->clear();
_ui->lineEdit_openni2OniPath->clear();
_ui->checkbox_k4a_irDepth->setChecked(false);
@@ -2226,6 +2230,8 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
_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());
_ui->spinBox_rs2_rate->setValue(settings.value("rate", _ui->spinBox_rs2_rate->value()).toInt());
_ui->checkbox_rs2_dualMode->setChecked(settings.value("dual_mode", _ui->checkbox_rs2_dualMode->isChecked()).toBool());
_ui->lineEdit_rs2_dualModeExtrinsics->setText(settings.value("dual_mode_extrinsics", _ui->lineEdit_rs2_dualModeExtrinsics->text()).toString());
settings.endGroup(); // RealSense
settings.beginGroup("RGBDImages");
@@ -2684,6 +2690,8 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.setValue("width", _ui->spinBox_rs2_width->value());
settings.setValue("height", _ui->spinBox_rs2_height->value());
settings.setValue("rate", _ui->spinBox_rs2_rate->value());
settings.setValue("dual_mode", _ui->checkbox_rs2_dualMode->isChecked());
settings.setValue("dual_mode_extrinsics", _ui->lineEdit_rs2_dualModeExtrinsics->text());
settings.endGroup(); // RealSense2
settings.beginGroup("RGBDImages");
@@ -5429,6 +5437,7 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
((CameraRealSense2*)camera)->setEmitterEnabled(_ui->checkbox_rs2_emitter->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());
((CameraRealSense2*)camera)->setDualMode(_ui->checkbox_rs2_dualMode->isChecked(), Transform::fromString(_ui->lineEdit_rs2_dualModeExtrinsics->text().toStdString()));
}
}
}