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Code Issues Packages Projects Releases Wiki Activity

CameraRealSense2: added json preset file option (#513)

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This commit is contained in:
matlabbe
2020-04-01 12:25:28 -04:00
parent dcc15f7555
commit b95195d8bb
5 changed files with 108 additions and 29 deletions
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36
guilib/src/PreferencesDialog.cpp
View File

@@ -646,6 +646,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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->lineEdit_rs2_jsonFile, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->toolButton_rs2_jsonFile, SIGNAL(clicked()), this, SLOT(selectSourceRealsense2JsonPath()));
connect(_ui->toolButton_cameraImages_timestamps, SIGNAL(clicked()), this, SLOT(selectSourceImagesStamps()));
connect(_ui->lineEdit_cameraImages_timestamps, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
@@ -1820,6 +1822,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_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_rs2_jsonFile->clear();
_ui->lineEdit_openniOniPath->clear();
_ui->lineEdit_openni2OniPath->clear();
_ui->checkbox_k4a_irDepth->setChecked(false);
@@ -2257,6 +2260,7 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
_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());
_ui->lineEdit_rs2_jsonFile->setText(settings.value("json_preset", _ui->lineEdit_rs2_jsonFile->text()).toString());
settings.endGroup(); // RealSense
settings.beginGroup("RGBDImages");
@@ -2722,6 +2726,7 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
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.setValue("json_preset", _ui->lineEdit_rs2_jsonFile->text());
settings.endGroup(); // RealSense2
settings.beginGroup("RGBDImages");
@@ -3882,7 +3887,7 @@ void PreferencesDialog::selectSourceVideoPath()
{
dir = getWorkingDirectory();
}
QString path = QFileDialog::getOpenFileName(this, tr("Select file"), _ui->source_video_lineEdit_path->text(), tr("Videos (*.avi *.mpg *.mp4 *.mov *.mkv)"));
QString path = QFileDialog::getOpenFileName(this, tr("Select file"), dir, tr("Videos (*.avi *.mpg *.mp4 *.mov *.mkv)"));
if(!path.isEmpty())
{
_ui->source_video_lineEdit_path->setText(path);
@@ -3896,7 +3901,7 @@ void PreferencesDialog::selectSourceStereoVideoPath()
{
dir = getWorkingDirectory();
}
QString path = QFileDialog::getOpenFileName(this, tr("Select file"), _ui->lineEdit_cameraStereoVideo_path->text(), tr("Videos (*.avi *.mpg *.mp4 *.mov *.mkv)"));
QString path = QFileDialog::getOpenFileName(this, tr("Select file"), dir, tr("Videos (*.avi *.mpg *.mp4 *.mov *.mkv)"));
if(!path.isEmpty())
{
_ui->lineEdit_cameraStereoVideo_path->setText(path);
@@ -3910,7 +3915,7 @@ void PreferencesDialog::selectSourceStereoVideoPath2()
{
dir = getWorkingDirectory();
}
QString path = QFileDialog::getOpenFileName(this, tr("Select file"), _ui->lineEdit_cameraStereoVideo_path_2->text(), tr("Videos (*.avi *.mpg *.mp4 *.mov *.mkv)"));
QString path = QFileDialog::getOpenFileName(this, tr("Select file"), dir, tr("Videos (*.avi *.mpg *.mp4 *.mov *.mkv)"));
if(!path.isEmpty())
{
_ui->lineEdit_cameraStereoVideo_path_2->setText(path);
@@ -3924,7 +3929,7 @@ void PreferencesDialog::selectSourceDistortionModel()
{
dir = getWorkingDirectory();
}
QString path = QFileDialog::getOpenFileName(this, tr("Select file"), _ui->lineEdit_source_distortionModel->text(), tr("Distortion model (*.bin *.txt)"));
QString path = QFileDialog::getOpenFileName(this, tr("Select file"), dir, tr("Distortion model (*.bin *.txt)"));
if(!path.isEmpty())
{
_ui->lineEdit_source_distortionModel->setText(path);
@@ -3938,7 +3943,7 @@ void PreferencesDialog::selectSourceOniPath()
{
dir = getWorkingDirectory();
}
QString path = QFileDialog::getOpenFileName(this, tr("Select file"), _ui->lineEdit_openniOniPath->text(), tr("OpenNI (*.oni)"));
QString path = QFileDialog::getOpenFileName(this, tr("Select file"), dir, tr("OpenNI (*.oni)"));
if(!path.isEmpty())
{
_ui->lineEdit_openniOniPath->setText(path);
@@ -3952,7 +3957,7 @@ void PreferencesDialog::selectSourceOni2Path()
{
dir = getWorkingDirectory();
}
QString path = QFileDialog::getOpenFileName(this, tr("Select file"), _ui->lineEdit_openni2OniPath->text(), tr("OpenNI (*.oni)"));
QString path = QFileDialog::getOpenFileName(this, tr("Select file"), dir, tr("OpenNI (*.oni)"));
if(!path.isEmpty())
{
_ui->lineEdit_openni2OniPath->setText(path);
@@ -3966,7 +3971,7 @@ void PreferencesDialog::selectSourceMKVPath()
{
dir = getWorkingDirectory();
}
QString path = QFileDialog::getOpenFileName(this, tr("Select file"), _ui->lineEdit_k4a_mkv->text(), tr("K4A recording (*.mkv)"));
QString path = QFileDialog::getOpenFileName(this, tr("Select file"), dir, tr("K4A recording (*.mkv)"));
if (!path.isEmpty())
{
_ui->lineEdit_k4a_mkv->setText(path);
@@ -3980,13 +3985,27 @@ void PreferencesDialog::selectSourceSvoPath()
{
dir = getWorkingDirectory();
}
QString path = QFileDialog::getOpenFileName(this, tr("Select file"), _ui->lineEdit_zedSvoPath->text(), tr("ZED (*.svo)"));
QString path = QFileDialog::getOpenFileName(this, tr("Select file"), dir, tr("ZED (*.svo)"));
if(!path.isEmpty())
{
_ui->lineEdit_zedSvoPath->setText(path);
}
}
void PreferencesDialog::selectSourceRealsense2JsonPath()
{
QString dir = _ui->lineEdit_rs2_jsonFile->text();
if(dir.isEmpty())
{
dir = getWorkingDirectory();
}
QString path = QFileDialog::getOpenFileName(this, tr("Select RealSense2 preset"), dir, tr("JSON (*.json)"));
if(path.size())
{
_ui->lineEdit_rs2_jsonFile->setText(path);
}
}
void PreferencesDialog::setParameter(const std::string & key, const std::string & value)
{
UDEBUG("%s=%s", key.c_str(), value.c_str());
@@ -5483,6 +5502,7 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
((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()));
((CameraRealSense2*)camera)->setJsonConfig(_ui->lineEdit_rs2_jsonFile->text().toStdString());
}
}
}

65
guilib/src/ui/preferencesDialog.ui
View File

@@ -63,7 +63,7 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-365</y>
<y>-374</y>
<width>680</width>
<height>3157</height>
</rect>
@@ -3063,7 +3063,7 @@ 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">
@@ -3197,7 +3197,7 @@ 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>8</number>
<number>9</number>
</property>
<widget class="QWidget" name="page_32">
<layout class="QVBoxLayout" name="verticalLayout_63">
@@ -4162,8 +4162,11 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<property name="title">
<string>RealSense2</string>
</property>
<layout class="QGridLayout" name="gridLayout_100" columnstretch="0,1">
<item row="6" column="1">
<layout class="QGridLayout" name="gridLayout_100" columnstretch="0,1,0">
<item row="8" column="1">
<widget class="QLineEdit" name="lineEdit_rs2_jsonFile"/>
</item>
<item row="6" column="2">
<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>
@@ -4173,7 +4176,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="3" column="1">
<item row="3" column="2">
<widget class="QLabel" name="label_549">
<property name="text">
<string>Stream width.</string>
@@ -4183,7 +4186,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="4" column="0">
<item row="4" column="1">
<widget class="QSpinBox" name="spinBox_rs2_height">
<property name="suffix">
<string> pix</string>
@@ -4193,7 +4196,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="5" column="0">
<item row="5" column="1">
<widget class="QSpinBox" name="spinBox_rs2_rate">
<property name="suffix">
<string> Hz</string>
@@ -4203,7 +4206,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="0" column="0">
<item row="0" column="1">
<widget class="QCheckBox" name="checkbox_rs2_emitter">
<property name="text">
<string/>
@@ -4213,7 +4216,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="0" column="1">
<item row="0" column="2">
<widget class="QLabel" name="label_468">
<property name="text">
<string>IR emitter enabled</string>
@@ -4223,7 +4226,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="1" column="0">
<item row="1" column="1">
<widget class="QCheckBox" name="checkbox_rs2_irMode">
<property name="text">
<string/>
@@ -4233,7 +4236,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="1" column="1">
<item row="1" column="2">
<widget class="QLabel" name="label_471">
<property name="text">
<string>IR mode: use IR camera instead of RGB camera. Tracking will be more accurate (field-of-view of the IR camera is larger with less motion blur). Make sure to disable IR emitter. </string>
@@ -4243,7 +4246,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="3" column="0">
<item row="3" column="1">
<widget class="QSpinBox" name="spinBox_rs2_width">
<property name="suffix">
<string> pix</string>
@@ -4253,7 +4256,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="4" column="1">
<item row="4" column="2">
<widget class="QLabel" name="label_550">
<property name="text">
<string>Stream height.</string>
@@ -4263,7 +4266,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="8" column="0">
<item row="9" column="1">
<spacer name="verticalSpacer_71">
<property name="orientation">
<enum>Qt::Vertical</enum>
@@ -4276,7 +4279,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</spacer>
</item>
<item row="5" column="1">
<item row="5" column="2">
<widget class="QLabel" name="label_551">
<property name="text">
<string>Stream rate.</string>
@@ -4286,7 +4289,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="2" column="1">
<item row="2" column="2">
<widget class="QLabel" name="label_562">
<property name="text">
<string>Use depth image in IR mode (instead of right image).</string>
@@ -4296,7 +4299,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="2" column="0">
<item row="2" column="1">
<widget class="QCheckBox" name="checkbox_rs2_irDepth">
<property name="text">
<string/>
@@ -4306,7 +4309,7 @@ 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="6" column="1">
<widget class="QCheckBox" name="checkbox_rs2_dualMode">
<property name="text">
<string/>
@@ -4316,7 +4319,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="7" column="0">
<item row="7" column="1">
<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>
@@ -4326,7 +4329,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="7" column="1">
<item row="7" column="2">
<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>
@@ -4339,6 +4342,26 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="8" column="2">
<widget class="QLabel" name="label_571">
<property name="text">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;D400 Series Visual Presets. See this &lt;a href=&quot;https://github.com/IntelRealSense/librealsense/wiki/D400-Series-Visual-Presets&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;page&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>
<item row="8" column="0">
<widget class="QToolButton" name="toolButton_rs2_jsonFile">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>