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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
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@@ -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());
}