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RealSense driver: added odometry option (ZR300)

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This commit is contained in:
matlabbe
2017-04-21 21:24:23 -04:00
parent 2e515f5fc7
commit bc2da10713
8 changed files with 509 additions and 30 deletions
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10
guilib/src/PreferencesDialog.cpp
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@@ -154,6 +154,11 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->groupBox_octomap->setEnabled(false);
#endif
#ifndef RTABMAP_REALSENSE_SLAM
_ui->checkbox_realsenseOdom->setChecked(false);
_ui->checkbox_realsenseOdom->setEnabled(false);
#endif
#ifndef RTABMAP_NONFREE
_ui->comboBox_detector_strategy->setItemData(0, 0, Qt::UserRole - 1);
_ui->comboBox_detector_strategy->setItemData(1, 0, Qt::UserRole - 1);
@@ -488,6 +493,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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->checkbox_realsenseOdom, SIGNAL(stateChanged(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()));
@@ -1400,6 +1406,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->checkBox_freenect2NoiseFiltering->setChecked(true);
_ui->comboBox_realsensePresetRGB->setCurrentIndex(0);
_ui->comboBox_realsensePresetDepth->setCurrentIndex(2);
_ui->checkbox_realsenseOdom->setChecked(false);
_ui->lineEdit_openniOniPath->clear();
_ui->lineEdit_openni2OniPath->clear();
_ui->lineEdit_cameraRGBDImages_path_rgb->setText("");
@@ -1767,6 +1774,7 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
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());
_ui->checkbox_realsenseOdom->setChecked(settings.value("odom", _ui->checkbox_realsenseOdom->isChecked()).toBool());
settings.endGroup(); // RealSense
settings.beginGroup("RGBDImages");
@@ -2152,6 +2160,7 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.beginGroup("RealSense");
settings.setValue("presetRGB", _ui->comboBox_realsensePresetRGB->currentIndex());
settings.setValue("presetDepth", _ui->comboBox_realsensePresetDepth->currentIndex());
settings.setValue("odom", _ui->checkbox_realsenseOdom->isChecked());
settings.endGroup(); // RealSense
settings.beginGroup("RGBDImages");
@@ -4518,6 +4527,7 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
this->getSourceDevice().isEmpty() ? 0 : atoi(this->getSourceDevice().toStdString().c_str()),
_ui->comboBox_realsensePresetRGB->currentIndex(),
_ui->comboBox_realsensePresetDepth->currentIndex(),
_ui->checkbox_realsenseOdom->isChecked(),
this->getGeneralInputRate(),
this->getSourceLocalTransform());
}