mirror of
https://github.com/introlab/rtabmap.git
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CameraRealSense2: added json preset file option (#513)
This commit is contained in:
matlabbe
@@ -63,7 +63,7 @@
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>-365</y>
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<y>-374</y>
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<width>680</width>
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<height>3157</height>
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</rect>
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@@ -3063,7 +3063,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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<item>
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<widget class="QStackedWidget" name="stackedWidget_src">
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<property name="currentIndex">
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<number>1</number>
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<number>0</number>
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</property>
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<widget class="QWidget" name="page_41">
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<layout class="QVBoxLayout" name="verticalLayout_64">
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@@ -3197,7 +3197,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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<item>
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<widget class="QStackedWidget" name="stackedWidget_rgbd">
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<property name="currentIndex">
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<number>8</number>
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<number>9</number>
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</property>
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<widget class="QWidget" name="page_32">
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<layout class="QVBoxLayout" name="verticalLayout_63">
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@@ -4162,8 +4162,11 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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<property name="title">
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<string>RealSense2</string>
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</property>
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<layout class="QGridLayout" name="gridLayout_100" columnstretch="0,1">
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<item row="6" column="1">
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<layout class="QGridLayout" name="gridLayout_100" columnstretch="0,1,0">
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<item row="8" column="1">
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<widget class="QLineEdit" name="lineEdit_rs2_jsonFile"/>
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</item>
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<item row="6" column="2">
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<widget class="QLabel" name="label_565">
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<property name="text">
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<string>Dual Mode (D400+T265): Odometry is computed by T265 and RGB-D frames are from D400.</string>
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@@ -4173,7 +4176,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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</property>
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</widget>
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</item>
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<item row="3" column="1">
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<item row="3" column="2">
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<widget class="QLabel" name="label_549">
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<property name="text">
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<string>Stream width.</string>
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@@ -4183,7 +4186,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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</property>
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</widget>
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</item>
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<item row="4" column="0">
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<item row="4" column="1">
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<widget class="QSpinBox" name="spinBox_rs2_height">
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<property name="suffix">
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<string> pix</string>
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@@ -4193,7 +4196,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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</property>
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</widget>
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</item>
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<item row="5" column="0">
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<item row="5" column="1">
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<widget class="QSpinBox" name="spinBox_rs2_rate">
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<property name="suffix">
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<string> Hz</string>
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@@ -4203,7 +4206,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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</property>
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</widget>
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</item>
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<item row="0" column="0">
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<item row="0" column="1">
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<widget class="QCheckBox" name="checkbox_rs2_emitter">
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<property name="text">
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<string/>
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@@ -4213,7 +4216,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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</property>
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</widget>
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</item>
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<item row="0" column="1">
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<item row="0" column="2">
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<widget class="QLabel" name="label_468">
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<property name="text">
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<string>IR emitter enabled</string>
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@@ -4223,7 +4226,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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</property>
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</widget>
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</item>
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<item row="1" column="0">
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<item row="1" column="1">
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<widget class="QCheckBox" name="checkbox_rs2_irMode">
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<property name="text">
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<string/>
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@@ -4233,7 +4236,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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</property>
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</widget>
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</item>
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<item row="1" column="1">
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<item row="1" column="2">
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<widget class="QLabel" name="label_471">
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<property name="text">
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<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>
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@@ -4243,7 +4246,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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</property>
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</widget>
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</item>
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<item row="3" column="0">
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<item row="3" column="1">
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<widget class="QSpinBox" name="spinBox_rs2_width">
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<property name="suffix">
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<string> pix</string>
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@@ -4253,7 +4256,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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</property>
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</widget>
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</item>
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<item row="4" column="1">
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<item row="4" column="2">
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<widget class="QLabel" name="label_550">
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<property name="text">
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<string>Stream height.</string>
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@@ -4263,7 +4266,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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</property>
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</widget>
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</item>
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<item row="8" column="0">
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<item row="9" column="1">
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<spacer name="verticalSpacer_71">
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<property name="orientation">
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<enum>Qt::Vertical</enum>
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@@ -4276,7 +4279,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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</property>
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</spacer>
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</item>
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<item row="5" column="1">
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<item row="5" column="2">
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<widget class="QLabel" name="label_551">
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<property name="text">
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<string>Stream rate.</string>
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@@ -4286,7 +4289,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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</property>
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</widget>
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</item>
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<item row="2" column="1">
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<item row="2" column="2">
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<widget class="QLabel" name="label_562">
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<property name="text">
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<string>Use depth image in IR mode (instead of right image).</string>
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@@ -4296,7 +4299,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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</property>
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</widget>
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</item>
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<item row="2" column="0">
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<item row="2" column="1">
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<widget class="QCheckBox" name="checkbox_rs2_irDepth">
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<property name="text">
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<string/>
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@@ -4306,7 +4309,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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</property>
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</widget>
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</item>
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<item row="6" column="0">
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<item row="6" column="1">
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<widget class="QCheckBox" name="checkbox_rs2_dualMode">
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<property name="text">
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<string/>
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@@ -4316,7 +4319,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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</property>
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</widget>
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</item>
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<item row="7" column="0">
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<item row="7" column="1">
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<widget class="QLineEdit" name="lineEdit_rs2_dualModeExtrinsics">
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<property name="toolTip">
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<string><html><head/><body><p>Format (3 values): x y z<br/>Format (6 values): x y z roll pitch yaw<br/>Format (7 values): x y z qx qy qz qw<br/>Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33<br/>Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz</p><p>KITTI: /base_link to /gray_camera = 0 0 1 -1 0 0 0 -1 0<br/>KITTI: /base_link to /color_camera = 0 0 1 0 -1 0 0 -0.06 0 -1 0 0<br/>KITTI: /base_footprint to /gray_camera = 0 0 1 0 -1 0 0 0 0 -1 0 1.67<br/>KITTI: /base_footprint to /color_camera = 0 0 1 0 -1 0 0 -0.06 0 -1 0 1.67</p><p>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</p></body></html></string>
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@@ -4326,7 +4329,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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</property>
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</widget>
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</item>
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<item row="7" column="1">
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<item row="7" column="2">
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<widget class="QLabel" name="label_566">
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<property name="text">
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<string><html><head/><body><p>Dual Mode extrinsics (T265's pose frame to D400's left IR camera). Default extrinsics match the 3D printed bracket <a href=" https://www.intelrealsense.com/depth-and-tracking-combined-get-started/"><span style=" text-decoration: underline; color:#0000ff;">here</span></a> (<a href="https://github.com/IntelRealSense/realsense-ros/blob/occupancy-mapping/realsense2_camera/meshes/mount_t265_d435.stl"><span style=" text-decoration: underline; color:#0000ff;">stl</span></a>).</p></body></html></string>
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@@ -4339,6 +4342,26 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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</property>
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</widget>
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</item>
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<item row="8" column="2">
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<widget class="QLabel" name="label_571">
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<property name="text">
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<string><html><head/><body><p>D400 Series Visual Presets. See this <a href="https://github.com/IntelRealSense/librealsense/wiki/D400-Series-Visual-Presets"><span style=" text-decoration: underline; color:#0000ff;">page</span></a>.</p></body></html></string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="openExternalLinks">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item row="8" column="0">
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<widget class="QToolButton" name="toolButton_rs2_jsonFile">
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<property name="text">
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<string>...</string>
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</property>
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</widget>
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</item>
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</layout>
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</widget>
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</item>
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