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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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29
guilib/src/PreferencesDialog.cpp
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@@ -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(