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Added suggestion from https://github.com/introlab/rtabmap/issues/614#issuecomment-731769818

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matlabbe
2020-11-22 12:32:39 -05:00
parent dab407e5b9
commit e4cb59b74d
4 changed files with 122 additions and 53 deletions
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5
guilib/src/PreferencesDialog.cpp
View File

@@ -682,6 +682,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->spinBox_rs2_width, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->spinBox_rs2_height, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->spinBox_rs2_rate, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkbox_rs2_globalTimeStync, SIGNAL(stateChanged(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()));
@@ -1902,6 +1903,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->spinBox_rs2_width->setValue(848);
_ui->spinBox_rs2_height->setValue(480);
_ui->spinBox_rs2_rate->setValue(60);
_ui->checkbox_rs2_globalTimeStync->setChecked(true);
_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();
@@ -2357,6 +2359,7 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
_ui->spinBox_rs2_width->setValue(settings.value("width", _ui->spinBox_rs2_width->value()).toInt());
_ui->spinBox_rs2_height->setValue(settings.value("height", _ui->spinBox_rs2_height->value()).toInt());
_ui->spinBox_rs2_rate->setValue(settings.value("rate", _ui->spinBox_rs2_rate->value()).toInt());
_ui->checkbox_rs2_globalTimeStync->setChecked(settings.value("global_time_sync", _ui->checkbox_rs2_globalTimeStync->isChecked()).toBool());
_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());
@@ -2839,6 +2842,7 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.setValue("width", _ui->spinBox_rs2_width->value());
settings.setValue("height", _ui->spinBox_rs2_height->value());
settings.setValue("rate", _ui->spinBox_rs2_rate->value());
settings.setValue("global_time_sync", _ui->checkbox_rs2_globalTimeStync->isChecked());
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());
@@ -5729,6 +5733,7 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
((CameraRealSense2*)camera)->setEmitterEnabled(_ui->checkbox_rs2_emitter->isChecked());
((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)->setGlobalTimeSync(_ui->checkbox_rs2_globalTimeStync->isChecked());
((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());
}

44
guilib/src/ui/preferencesDialog.ui
View File

@@ -63,7 +63,7 @@
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<y>-501</y>
<width>686</width>
<height>3286</height>
</rect>
@@ -95,7 +95,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>18</number>
<number>5</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -3109,7 +3109,7 @@ 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>3</number>
<number>0</number>
</property>
<widget class="QWidget" name="page_41">
<layout class="QVBoxLayout" name="verticalLayout_64">
@@ -3220,7 +3220,7 @@ 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>10</number>
<number>9</number>
</property>
<widget class="QWidget" name="page_32">
<layout class="QVBoxLayout" name="verticalLayout_63">
@@ -4173,10 +4173,10 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<string>RealSense2</string>
</property>
<layout class="QGridLayout" name="gridLayout_100" columnstretch="0,0,1">
<item row="8" column="1">
<item row="9" column="1">
<widget class="QLineEdit" name="lineEdit_rs2_jsonFile"/>
</item>
<item row="6" column="2">
<item row="7" 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>
@@ -4276,7 +4276,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="9" column="1">
<item row="10" column="1">
<spacer name="verticalSpacer_71">
<property name="orientation">
<enum>Qt::Vertical</enum>
@@ -4319,7 +4319,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="6" column="1">
<item row="7" column="1">
<widget class="QCheckBox" name="checkbox_rs2_dualMode">
<property name="text">
<string/>
@@ -4329,7 +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="8" 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>
@@ -4339,7 +4339,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="7" column="2">
<item row="8" 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>
@@ -4352,7 +4352,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="8" column="2">
<item row="9" 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>
@@ -4365,13 +4365,33 @@ 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="0">
<widget class="QToolButton" name="toolButton_rs2_jsonFile">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
<item row="6" column="2">
<widget class="QLabel" name="label_606">
<property name="text">
<string>Global time sync. This will make sure IMU data is interpolated at image timestamp, otherwise latest received IMU is synchronized to current frame. Set to off if your firmware of your camera cannot synchronize timestamps.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QCheckBox" name="checkbox_rs2_globalTimeStync">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>