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Added librealsense support #100

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This commit is contained in:
matlabbe
2016-07-26 18:39:34 -04:00
parent dbb29c7661
commit 9d09c509ab
17 changed files with 821 additions and 155 deletions
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guilib/include/rtabmap/gui/MainWindow.h
+1
View File
@@ -150,6 +150,7 @@ private slots:
void selectOpenniCvAsus();
void selectOpenni2();
void selectFreenect2();
void selectRealSense();
void selectStereoDC1394();
void selectStereoFlyCapture2();
void selectStereoZed();
guilib/include/rtabmap/gui/PreferencesDialog.h
+2 -1
View File
@@ -89,7 +89,8 @@ public:
kSrcOpenNI_CV_ASUS = 3,
kSrcOpenNI2 = 4,
kSrcFreenect2 = 5,
kSrcRGBDImages = 6,
kSrcRealSense = 6,
kSrcRGBDImages = 7,
kSrcStereo = 100,
kSrcDC1394 = 100,
guilib/src/AboutDialog.cpp
+1
View File
@@ -62,6 +62,7 @@ AboutDialog::AboutDialog(QWidget * parent) :
_ui->label_freenect->setText(CameraFreenect::available()?"Yes":"No");
_ui->label_openni2->setText(CameraOpenNI2::available()?"Yes":"No");
_ui->label_freenect2->setText(CameraFreenect2::available()?"Yes":"No");
_ui->label_realsense->setText(CameraRealSense::available() ? "Yes" : "No");
_ui->label_dc1394->setText(CameraStereoDC1394::available()?"Yes":"No");
_ui->label_flycapture2->setText(CameraStereoFlyCapture2::available()?"Yes":"No");
_ui->label_zed->setText(CameraStereoZed::available()?"Yes":"No");
guilib/src/ImageView.cpp
+2 -3
View File
@@ -745,11 +745,10 @@ void ImageView::setImageDepth(const QImage & imageDepth)
_image.width() > _imageDepth.width() &&
_image.height() > _imageDepth.height() &&
_image.width() % _imageDepth.width() == 0 &&
_image.height() % _imageDepth.height() == 0 &&
_image.width() / _imageDepth.width() == _image.height() / _imageDepth.height())
_image.height() % _imageDepth.height() == 0)
{
// scale depth to rgb
_imageDepth = _imageDepth.scaledToWidth(_image.width());
_imageDepth = _imageDepth.scaled(_image.size());
}
if(_graphicsView->isVisible())
guilib/src/MainWindow.cpp
+8
View File
@@ -405,6 +405,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
connect(_ui->actionOpenNI2_kinect, SIGNAL(triggered()), this, SLOT(selectOpenni2()));
connect(_ui->actionOpenNI2_sense, SIGNAL(triggered()), this, SLOT(selectOpenni2()));
connect(_ui->actionFreenect2, SIGNAL(triggered()), this, SLOT(selectFreenect2()));
connect(_ui->actionRealSense, SIGNAL(triggered()), this, SLOT(selectRealSense()));
connect(_ui->actionStereoDC1394, SIGNAL(triggered()), this, SLOT(selectStereoDC1394()));
connect(_ui->actionStereoFlyCapture2, SIGNAL(triggered()), this, SLOT(selectStereoFlyCapture2()));
connect(_ui->actionStereoZed, SIGNAL(triggered()), this, SLOT(selectStereoZed()));
@@ -416,6 +417,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_ui->actionOpenNI2_kinect->setEnabled(CameraOpenNI2::available());
_ui->actionOpenNI2_sense->setEnabled(CameraOpenNI2::available());
_ui->actionFreenect2->setEnabled(CameraFreenect2::available());
_ui->actionRealSense->setEnabled(CameraRealSense::available());
_ui->actionStereoDC1394->setEnabled(CameraStereoDC1394::available());
_ui->actionStereoFlyCapture2->setEnabled(CameraStereoFlyCapture2::available());
_ui->actionStereoZed->setEnabled(CameraStereoZed::available());
@@ -3585,6 +3587,7 @@ void MainWindow::updateSelectSourceMenu()
_ui->actionOpenNI2_kinect->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcOpenNI2);
_ui->actionOpenNI2_sense->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcOpenNI2);
_ui->actionFreenect2->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcFreenect2);
_ui->actionRealSense->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcRealSense);
_ui->actionStereoDC1394->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcDC1394);
_ui->actionStereoFlyCapture2->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcFlyCapture2);
_ui->actionStereoZed->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcStereoZed);
@@ -4756,6 +4759,11 @@ void MainWindow::selectFreenect2()
_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcFreenect2);
}
void MainWindow::selectRealSense()
{
_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcRealSense);
}
void MainWindow::selectStereoDC1394()
{
_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcDC1394);
guilib/src/PreferencesDialog.cpp
+29
View File
@@ -235,6 +235,10 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
{
_ui->comboBox_cameraRGBD->setItemData(5, 0, Qt::UserRole - 1);
}
if (!CameraRealSense::available())
{
_ui->comboBox_cameraRGBD->setItemData(6, 0, Qt::UserRole - 1);
}
if(!CameraStereoDC1394::available())
{
_ui->comboBox_cameraStereo->setItemData(0, 0, Qt::UserRole - 1);
@@ -459,6 +463,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->checkBox_freenect2BilateralFiltering, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkBox_freenect2EdgeAwareFiltering, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkBox_freenect2NoiseFiltering, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->comboBox_realsensePresetRGB, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->comboBox_realsensePresetDepth, SIGNAL(currentIndexChanged(int)), 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()));
@@ -1306,6 +1312,8 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->checkBox_freenect2BilateralFiltering->setChecked(true);
_ui->checkBox_freenect2EdgeAwareFiltering->setChecked(true);
_ui->checkBox_freenect2NoiseFiltering->setChecked(true);
_ui->comboBox_realsensePresetRGB->setCurrentIndex(0);
_ui->comboBox_realsensePresetDepth->setCurrentIndex(2);
_ui->lineEdit_openniOniPath->clear();
_ui->lineEdit_openni2OniPath->clear();
_ui->lineEdit_cameraRGBDImages_path_rgb->setText("");
@@ -1648,6 +1656,11 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
_ui->checkBox_freenect2NoiseFiltering->setChecked(settings.value("noiseFiltering", _ui->checkBox_freenect2NoiseFiltering->isChecked()).toBool());
settings.endGroup(); // Freenect2
settings.beginGroup("RealSense");
_ui->comboBox_realsensePresetRGB->setCurrentIndex(settings.value("presetRGB", _ui->comboBox_realsensePresetRGB->currentIndex()).toInt());
_ui->comboBox_realsensePresetDepth->setCurrentIndex(settings.value("presetDepth", _ui->comboBox_realsensePresetDepth->currentIndex()).toInt());
settings.endGroup(); // RealSense
settings.beginGroup("RGBDImages");
_ui->lineEdit_cameraRGBDImages_path_rgb->setText(settings.value("path_rgb", _ui->lineEdit_cameraRGBDImages_path_rgb->text()).toString());
_ui->lineEdit_cameraRGBDImages_path_depth->setText(settings.value("path_depth", _ui->lineEdit_cameraRGBDImages_path_depth->text()).toString());
@@ -2061,6 +2074,11 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.setValue("noiseFiltering", _ui->checkBox_freenect2NoiseFiltering->isChecked());
settings.endGroup(); // Freenect2
settings.beginGroup("RealSense");
settings.setValue("presetRGB", _ui->comboBox_realsensePresetRGB->currentIndex());
settings.setValue("presetDepth", _ui->comboBox_realsensePresetDepth->currentIndex());
settings.endGroup(); // RealSense
settings.beginGroup("RGBDImages");
settings.setValue("path_rgb", _ui->lineEdit_cameraRGBDImages_path_rgb->text());
settings.setValue("path_depth", _ui->lineEdit_cameraRGBDImages_path_depth->text());
@@ -3573,10 +3591,12 @@ void PreferencesDialog::updateSourceGrpVisibility()
_ui->stackedWidget_rgbd->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 &&
(_ui->comboBox_cameraRGBD->currentIndex() == kSrcOpenNI2-kSrcRGBD ||
_ui->comboBox_cameraRGBD->currentIndex() == kSrcFreenect2-kSrcRGBD ||
_ui->comboBox_cameraRGBD->currentIndex() == kSrcRealSense - kSrcRGBD ||
_ui->comboBox_cameraRGBD->currentIndex() == kSrcRGBDImages-kSrcRGBD ||
_ui->comboBox_cameraRGBD->currentIndex() == kSrcOpenNI_PCL-kSrcRGBD));
_ui->groupBox_openni2->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcOpenNI2-kSrcRGBD);
_ui->groupBox_freenect2->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcFreenect2-kSrcRGBD);
_ui->groupBox_realsense->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcRealSense - kSrcRGBD);
_ui->groupBox_cameraRGBDImages->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcRGBDImages-kSrcRGBD);
_ui->groupBox_openni->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcOpenNI_PCL-kSrcRGBD);
@@ -4081,6 +4101,15 @@ Camera * PreferencesDialog::createCamera(bool useRawImages)
_ui->checkBox_freenect2EdgeAwareFiltering->isChecked(),
_ui->checkBox_freenect2NoiseFiltering->isChecked());
}
else if (driver == kSrcRealSense)
{
camera = new CameraRealSense(
this->getSourceDevice().isEmpty() ? 0 : atoi(this->getSourceDevice().toStdString().c_str()),
_ui->comboBox_realsensePresetRGB->currentIndex(),
_ui->comboBox_realsensePresetDepth->currentIndex(),
this->getGeneralInputRate(),
this->getSourceLocalTransform());
}
else if(driver == kSrcRGBDImages)
{
camera = new CameraRGBDImages(
guilib/src/ui/aboutDialog.ui
+138 -121
View File
@@ -82,23 +82,6 @@ p, li { white-space: pre-wrap; }
</item>
<item>
<layout class="QGridLayout" name="gridLayout" columnstretch="0,1">
<item row="8" column="1">
<widget class="QLabel" name="label_opencv_version">
<property name="text">
<string/>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="9" column="0">
<widget class="QLabel" name="label_11">
<property name="text">
<string>PCL version :</string>
</property>
</widget>
</item>
<item row="9" column="1">
<widget class="QLabel" name="label_pcl_version">
<property name="text">
@@ -109,41 +92,6 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="10" column="0">
<widget class="QLabel" name="label_12">
<property name="text">
<string>With Freenect :</string>
</property>
</widget>
</item>
<item row="11" column="0">
<widget class="QLabel" name="label_13">
<property name="text">
<string>With OpenNI2 :</string>
</property>
</widget>
</item>
<item row="13" column="0">
<widget class="QLabel" name="label_16">
<property name="text">
<string>With stereo dc1394 :</string>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QLabel" name="label_6">
<property name="text">
<string>Version :</string>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_4">
<property name="text">
<string>Links :</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_2">
<property name="text">
@@ -151,33 +99,6 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_HomePage_2">
<property name="text">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;a href=&quot;http://github.com/introlab/rtabmap&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;Source page&lt;/span&gt;&lt;/a&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
<property name="openExternalLinks">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_8">
<property name="text">
<string>Mathieu Labbé, matlabbe@gmail.com</string>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_version">
<property name="text">
@@ -205,6 +126,13 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="10" column="0">
<widget class="QLabel" name="label_12">
<property name="text">
<string>With Freenect :</string>
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QLabel" name="label_7">
<property name="text">
@@ -212,13 +140,27 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="16" column="0">
<item row="3" column="0">
<widget class="QLabel" name="label_4">
<property name="text">
<string>Links :</string>
</property>
</widget>
</item>
<item row="17" column="0">
<widget class="QLabel" name="label_14">
<property name="text">
<string>With g2o :</string>
</property>
</widget>
</item>
<item row="14" column="0">
<widget class="QLabel" name="label_16">
<property name="text">
<string>With stereo dc1394 :</string>
</property>
</widget>
</item>
<item row="10" column="1">
<widget class="QLabel" name="label_freenect">
<property name="text">
@@ -239,7 +181,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="16" column="1">
<item row="17" column="1">
<widget class="QLabel" name="label_g2o">
<property name="text">
<string/>
@@ -256,13 +198,71 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="14" column="0">
<item row="15" column="0">
<widget class="QLabel" name="label_17">
<property name="text">
<string>With stereo FlyCapture2 :</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_8">
<property name="text">
<string>Mathieu Labbé, matlabbe@gmail.com</string>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="9" column="0">
<widget class="QLabel" name="label_11">
<property name="text">
<string>PCL version :</string>
</property>
</widget>
</item>
<item row="11" column="0">
<widget class="QLabel" name="label_13">
<property name="text">
<string>With OpenNI2 :</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_HomePage_2">
<property name="text">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;a href=&quot;http://github.com/introlab/rtabmap&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;Source page&lt;/span&gt;&lt;/a&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
<property name="openExternalLinks">
<bool>true</bool>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QLabel" name="label_6">
<property name="text">
<string>Version :</string>
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QLabel" name="label_opencv_version">
<property name="text">
<string/>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="12" column="1">
<widget class="QLabel" name="label_freenect2">
<property name="text">
@@ -273,34 +273,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="13" column="1">
<widget class="QLabel" name="label_dc1394">
<property name="text">
<string/>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="14" column="1">
<widget class="QLabel" name="label_flycapture2">
<property name="text">
<string/>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="18" column="0">
<widget class="QLabel" name="label_18">
<property name="text">
<string>With cvsba :</string>
</property>
</widget>
</item>
<item row="18" column="1">
<item row="19" column="1">
<widget class="QLabel" name="label_cvsba">
<property name="text">
<string/>
@@ -310,14 +283,48 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="17" column="0">
<item row="16" column="0">
<widget class="QLabel" name="label_21">
<property name="text">
<string>With stereo Zed :</string>
</property>
</widget>
</item>
<item row="18" column="0">
<widget class="QLabel" name="label_19">
<property name="text">
<string>With GTSAM :</string>
</property>
</widget>
</item>
<item row="17" column="1">
<item row="20" column="1">
<widget class="QLabel" name="label_octomap">
<property name="text">
<string/>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="16" column="1">
<widget class="QLabel" name="label_zed">
<property name="text">
<string/>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="20" column="0">
<widget class="QLabel" name="label_20">
<property name="text">
<string>With Octomap :</string>
</property>
</widget>
</item>
<item row="18" column="1">
<widget class="QLabel" name="label_gtsam">
<property name="text">
<string/>
@@ -328,14 +335,14 @@ p, li { white-space: pre-wrap; }
</widget>
</item>
<item row="19" column="0">
<widget class="QLabel" name="label_20">
<widget class="QLabel" name="label_18">
<property name="text">
<string>With Octomap :</string>
<string>With cvsba :</string>
</property>
</widget>
</item>
<item row="19" column="1">
<widget class="QLabel" name="label_octomap">
<item row="14" column="1">
<widget class="QLabel" name="label_dc1394">
<property name="text">
<string/>
</property>
@@ -344,15 +351,25 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="15" column="0">
<widget class="QLabel" name="label_21">
<item row="15" column="1">
<widget class="QLabel" name="label_flycapture2">
<property name="text">
<string>With stereo Zed :</string>
<string/>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="15" column="1">
<widget class="QLabel" name="label_zed">
<item row="13" column="0">
<widget class="QLabel" name="label_22">
<property name="text">
<string>With RealSense :</string>
</property>
</widget>
</item>
<item row="13" column="1">
<widget class="QLabel" name="label_realsense">
<property name="text">
<string/>
</property>
guilib/src/ui/mainWindow.ui
+126 -12
View File
@@ -27,7 +27,7 @@
<x>0</x>
<y>0</y>
<width>1012</width>
<height>25</height>
<height>21</height>
</rect>
</property>
<widget class="QMenu" name="menuFile">
@@ -167,10 +167,17 @@
</property>
<addaction name="actionFreenect2"/>
</widget>
<widget class="QMenu" name="menuRealSense_R200">
<property name="title">
<string>RealSense R200</string>
</property>
<addaction name="actionRealSense"/>
</widget>
<addaction name="menuKinect_for_Xbox_360"/>
<addaction name="menuXtion_PRO_LIVE"/>
<addaction name="menuSense_3D_scanner"/>
<addaction name="menuKinect_v2"/>
<addaction name="menuRealSense_R200"/>
</widget>
<widget class="QMenu" name="menuStereo_camera">
<property name="title">
@@ -298,7 +305,16 @@
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -336,7 +352,16 @@
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -579,7 +604,16 @@
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -600,7 +634,16 @@
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -621,7 +664,16 @@
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -642,7 +694,16 @@
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
</layout>
@@ -660,7 +721,16 @@
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
</layout>
@@ -681,7 +751,16 @@
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -702,7 +781,16 @@
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -726,7 +814,16 @@
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -796,7 +893,16 @@
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -1326,6 +1432,14 @@
<string>Export octomap...</string>
</property>
</action>
<action name="actionRealSense">
<property name="checkable">
<bool>true</bool>
</property>
<property name="text">
<string>RealSense</string>
</property>
</action>
</widget>
<customwidgets>
<customwidget>
guilib/src/ui/preferencesDialog.ui
+182 -12
View File
@@ -64,15 +64,24 @@
<rect>
<x>0</x>
<y>0</y>
<width>686</width>
<height>2023</height>
<width>685</width>
<height>1896</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -86,7 +95,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>0</number>
<number>5</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -2401,7 +2410,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<item>
<widget class="QStackedWidget" name="stackedWidget_src">
<property name="currentIndex">
<number>1</number>
<number>0</number>
</property>
<widget class="QWidget" name="page_41">
<layout class="QVBoxLayout" name="verticalLayout_64">
@@ -2464,6 +2473,11 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<string>Freenect2</string>
</property>
</item>
<item>
<property name="text">
<string>RealSense</string>
</property>
</item>
<item>
<property name="text">
<string>Images</string>
@@ -2506,7 +2520,7 @@ 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>0</number>
<number>6</number>
</property>
<widget class="QWidget" name="page_32">
<layout class="QVBoxLayout" name="verticalLayout_63">
@@ -2986,6 +3000,108 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</item>
</layout>
</widget>
<widget class="QWidget" name="page_63">
<layout class="QVBoxLayout" name="verticalLayout_106">
<item>
<widget class="QGroupBox" name="groupBox_realsense">
<property name="sizePolicy">
<sizepolicy hsizetype="Ignored" vsizetype="Ignored">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="title">
<string>RealSense</string>
</property>
<layout class="QGridLayout" name="gridLayout_73" columnstretch="0,1">
<item row="0" column="1">
<widget class="QLabel" name="label_317">
<property name="text">
<string>Preset for RGB stream.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="0">
<spacer name="verticalSpacer_51">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
<item row="0" column="0">
<widget class="QComboBox" name="comboBox_realsensePresetRGB">
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
</property>
<item>
<property name="text">
<string>Best Quality</string>
</property>
</item>
<item>
<property name="text">
<string>Largest Image</string>
</property>
</item>
<item>
<property name="text">
<string>Highest Framerate</string>
</property>
</item>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_318">
<property name="text">
<string>Preset for depth stream.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QComboBox" name="comboBox_realsensePresetDepth">
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
</property>
<item>
<property name="text">
<string>Best Quality</string>
</property>
</item>
<item>
<property name="text">
<string>Largest Image</string>
</property>
</item>
<item>
<property name="text">
<string>Highest Framerate</string>
</property>
</item>
</widget>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
<widget class="QWidget" name="page_47">
<layout class="QVBoxLayout" name="verticalLayout_79">
<item>
@@ -4071,7 +4187,16 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<string>Directory of images (optional settings)</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_93">
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -9248,7 +9373,16 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
<widget class="QWidget" name="page_54">
<layout class="QVBoxLayout" name="verticalLayout_85">
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -9388,7 +9522,16 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
</widget>
<widget class="QWidget" name="page_55">
<layout class="QVBoxLayout" name="verticalLayout_86">
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
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</property>
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</property>
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</property>
<item>
@@ -9546,7 +9689,16 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
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</property>
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</property>
<property name="bottomMargin">
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</property>
<item>
@@ -9626,7 +9778,16 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
<property name="spacing">
<number>0</number>
</property>
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<property name="leftMargin">
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<item>
@@ -9738,7 +9899,16 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
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</property>
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</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>