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Added ZED parameters

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This commit is contained in:
matlabbe
2016-06-02 17:27:12 -04:00
parent 9430bcbf2e
commit d9611f784c
8 changed files with 403 additions and 184 deletions
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64
guilib/src/PreferencesDialog.cpp
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@@ -471,7 +471,12 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->lineEdit_cameraStereoVideo_path, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkBox_stereoVideo_rectify, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkBox_stereoZed_computeDisparity, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->comboBox_stereoZed_resolution, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->comboBox_stereoZed_quality, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->comboBox_stereoZed_sensingMode, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->spinBox_stereoZed_confidenceThr, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->toolButton_zedSvoPath, SIGNAL(clicked()), this, SLOT(selectSourceSvoPath()));
connect(_ui->lineEdit_zedSvoPath, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkbox_rgbd_colorOnly, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->spinBox_source_imageDecimation, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
@@ -1278,7 +1283,11 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->checkBox_stereoImages_rectify->setChecked(false);
_ui->lineEdit_cameraStereoVideo_path->setText("");
_ui->checkBox_stereoVideo_rectify->setChecked(false);
_ui->checkBox_stereoZed_computeDisparity->setChecked(true);
_ui->comboBox_stereoZed_resolution->setCurrentIndex(2);
_ui->comboBox_stereoZed_quality->setCurrentIndex(1);
_ui->comboBox_stereoZed_sensingMode->setCurrentIndex(1);
_ui->spinBox_stereoZed_confidenceThr->setValue(100);
_ui->lineEdit_zedSvoPath->clear();
_ui->checkBox_cameraImages_timestamps->setChecked(false);
_ui->checkBox_cameraImages_syncTimeStamps->setChecked(true);
@@ -1604,7 +1613,11 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
settings.endGroup(); // StereoVideo
settings.beginGroup("StereoZed");
_ui->checkBox_stereoZed_computeDisparity->setChecked(settings.value("compute_disp", _ui->checkBox_stereoZed_computeDisparity->isChecked()).toBool());
_ui->comboBox_stereoZed_resolution->setCurrentIndex(settings.value("resolution", _ui->comboBox_stereoZed_resolution->currentIndex()).toInt());
_ui->comboBox_stereoZed_quality->setCurrentIndex(settings.value("quality", _ui->comboBox_stereoZed_quality->currentIndex()).toInt());
_ui->comboBox_stereoZed_sensingMode->setCurrentIndex(settings.value("sensing_mode", _ui->comboBox_stereoZed_sensingMode->currentIndex()).toInt());
_ui->spinBox_stereoZed_confidenceThr->setValue(settings.value("confidence_thr", _ui->spinBox_stereoZed_confidenceThr->value()).toInt());
_ui->lineEdit_zedSvoPath->setText(settings.value("svo_path", _ui->lineEdit_zedSvoPath->text()).toString());
settings.endGroup(); // StereoZed
@@ -1993,7 +2006,11 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.endGroup(); // StereoVideo
settings.beginGroup("StereoZed");
settings.setValue("compute_disp", _ui->checkBox_stereoZed_computeDisparity->isChecked());
settings.setValue("resolution", _ui->comboBox_stereoZed_resolution->currentIndex());
settings.setValue("quality", _ui->comboBox_stereoZed_quality->currentIndex());
settings.setValue("sensing_mode", _ui->comboBox_stereoZed_sensingMode->currentIndex());
settings.setValue("confidence_thr", _ui->spinBox_stereoZed_confidenceThr->value());
settings.setValue("svo_path", _ui->lineEdit_zedSvoPath->text());
settings.endGroup(); // StereoZed
@@ -2833,6 +2850,20 @@ void PreferencesDialog::selectSourceOni2Path()
}
}
void PreferencesDialog::selectSourceSvoPath()
{
QString dir = _ui->lineEdit_zedSvoPath->text();
if(dir.isEmpty())
{
dir = getWorkingDirectory();
}
QString path = QFileDialog::getOpenFileName(this, tr("Select file"), _ui->lineEdit_zedSvoPath->text(), tr("ZED (*.svo)"));
if(!path.isEmpty())
{
_ui->lineEdit_zedSvoPath->setText(path);
}
}
void PreferencesDialog::setParameter(const std::string & key, const std::string & value)
{
UDEBUG("%s=%s", key.c_str(), value.c_str());
@@ -3988,10 +4019,27 @@ Camera * PreferencesDialog::createCamera(bool useRawImages)
}
else if (driver == kSrcStereoZed)
{
camera = new CameraStereoZed(
_ui->checkBox_stereoZed_computeDisparity->isChecked(),
this->getGeneralInputRate(),
this->getSourceLocalTransform());
if(!_ui->lineEdit_zedSvoPath->text().isEmpty())
{
camera = new CameraStereoZed(
_ui->lineEdit_zedSvoPath->text().toStdString(),
_ui->comboBox_stereoZed_quality->currentIndex(),
_ui->comboBox_stereoZed_sensingMode->currentIndex(),
_ui->spinBox_stereoZed_confidenceThr->value(),
this->getGeneralInputRate(),
this->getSourceLocalTransform());
}
else
{
camera = new CameraStereoZed(
this->getSourceDevice().isEmpty()?0:atoi(this->getSourceDevice().toStdString().c_str()),
_ui->comboBox_stereoZed_resolution->currentIndex(),
_ui->comboBox_stereoZed_quality->currentIndex(),
_ui->comboBox_stereoZed_sensingMode->currentIndex(),
_ui->spinBox_stereoZed_confidenceThr->value(),
this->getGeneralInputRate(),
this->getSourceLocalTransform());
}
}
else if(driver == kSrcUsbDevice)
{