i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-05 09:37:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

Added T265 support (stereo-only yet)

Browse Source
This commit is contained in:
matlabbe
2019-05-09 19:20:26 -04:00
parent e6f471d88e
commit d4b4379829
13 changed files with 802 additions and 137 deletions
Download Patch File Download Diff File Expand all files Collapse all files
guilib/src/PreferencesDialog.cpp
+8 -3
View File
@@ -303,6 +303,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
if (!CameraRealSense2::available())
{
_ui->comboBox_cameraRGBD->setItemData(kSrcRealSense2 - kSrcRGBD, 0, Qt::UserRole - 1);
_ui->comboBox_cameraRGBD->setItemData(kSrcRealSense2Stereo - kSrcStereo, 0, Qt::UserRole - 1);
}
if(!CameraStereoDC1394::available())
{
@@ -4334,7 +4335,8 @@ void PreferencesDialog::updateStereoDisparityVisibility()
_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoUsb - kSrcStereo ||
_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoTara - kSrcStereo ||
_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoVideo - kSrcStereo ||
_ui->comboBox_cameraStereo->currentIndex() == kSrcDC1394 - kSrcStereo);
_ui->comboBox_cameraStereo->currentIndex() == kSrcDC1394 - kSrcStereo ||
_ui->comboBox_cameraStereo->currentIndex() == kSrcRealSense2Stereo - kSrcStereo);
_ui->checkBox_stereo_rectify->setVisible(_ui->checkBox_stereo_rectify->isEnabled());
_ui->label_stereo_rectify->setVisible(_ui->checkBox_stereo_rectify->isEnabled());
}
@@ -5202,9 +5204,9 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
((CameraRealSense*)camera)->setRGBSource((CameraRealSense::RGBSource)_ui->comboBox_realsenseRGBSource->currentIndex());
}
}
else if (driver == kSrcRealSense2)
else if (driver == kSrcRealSense2 || driver == kSrcRealSense2Stereo)
{
if(useRawImages)
if(driver == kSrcRealSense2 && useRawImages)
{
QMessageBox::warning(this, tr("Calibration"),
tr("Using raw images for \"RealSense\" driver is not yet supported. "
@@ -5219,6 +5221,7 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
this->getSourceLocalTransform());
((CameraRealSense2*)camera)->setEmitterEnabled(_ui->checkbox_rs2_emitter->isChecked());
((CameraRealSense2*)camera)->setIRDepthFormat(_ui->checkbox_rs2_irDepth->isChecked());
((CameraRealSense2*)camera)->setImagesRectified(_ui->checkBox_stereo_rectify->isChecked() && !useRawImages);
}
}
else if(driver == kSrcRGBDImages)
@@ -5999,8 +6002,10 @@ void PreferencesDialog::calibrate()
}
bool freenect2 = driver == kSrcFreenect2;
bool fisheye = driver == kSrcRealSense2Stereo;
_calibrationDialog->setStereoMode(this->getSourceType() != kSrcRGB && driver != kSrcRealSense, freenect2?"rgb":"left", freenect2?"depth":"right"); // RGB+Depth or left+right
_calibrationDialog->setSwitchedImages(freenect2);
_calibrationDialog->setFisheyeImages(fisheye);
_calibrationDialog->setSavingDirectory(this->getCameraInfoDir());
_calibrationDialog->registerToEventsManager();