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

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

47
guilib/src/ui/preferencesDialog.ui
View File

@@ -63,7 +63,7 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-2150</y>
<y>-571</y>
<width>680</width>
<height>3083</height>
</rect>
@@ -4062,6 +4062,16 @@ 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="6" column="1">
<widget class="QLabel" name="label_565">
<property name="text">
<string>Dual Mode (D400+T265): Odometry is computed by T265 and RGB-D frames are from D400.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_549">
<property name="text">
@@ -4152,7 +4162,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="6" column="0">
<item row="8" column="0">
<spacer name="verticalSpacer_71">
<property name="orientation">
<enum>Qt::Vertical</enum>
@@ -4195,6 +4205,39 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QCheckBox" name="checkbox_rs2_dualMode">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QLineEdit" name="lineEdit_rs2_dualModeExtrinsics">
<property name="toolTip">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Format (3 values): x y z&lt;br/&gt;Format (6 values): x y z roll pitch yaw&lt;br/&gt;Format (7 values): x y z qx qy qz qw&lt;br/&gt;Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33&lt;br/&gt;Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz&lt;/p&gt;&lt;p&gt;KITTI: /base_link to /gray_camera = 0 0 1 -1 0 0 0 -1 0&lt;br/&gt;KITTI: /base_link to /color_camera = 0 0 1 0 -1 0 0 -0.06 0 -1 0 0&lt;br/&gt;KITTI: /base_footprint to /gray_camera = 0 0 1 0 -1 0 0 0 0 -1 0 1.67&lt;br/&gt;KITTI: /base_footprint to /color_camera = 0 0 1 0 -1 0 0 -0.06 0 -1 0 1.67&lt;/p&gt;&lt;p&gt;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&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="text">
<string>0.009 0.021 0.027 0.000 -0.018 0.005</string>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_566">
<property name="text">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Dual Mode extrinsics (T265's pose frame to D400's left IR camera). Default extrinsics match the 3D printed bracket &lt;a href=&quot; https://www.intelrealsense.com/depth-and-tracking-combined-get-started/&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;here&lt;/span&gt;&lt;/a&gt; (&lt;a href=&quot;https://github.com/IntelRealSense/realsense-ros/blob/occupancy-mapping/realsense2_camera/meshes/mount_t265_d435.stl&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;stl&lt;/span&gt;&lt;/a&gt;).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="openExternalLinks">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>