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Added RealSense2 driver to UI

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This commit is contained in:
matlabbe
2018-06-15 13:29:08 -04:00
parent 2060e0b1da
commit eb4de8e724
10 changed files with 188 additions and 40 deletions
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1
guilib/src/GuiLib.qrc
View File

@@ -33,5 +33,6 @@
<file>images/zed.png</file>
<file>images/r200.png</file>
<file>images/zr300.png</file>
<file>images/d435.png</file>
</qresource>
</RCC>

8
guilib/src/MainWindow.cpp
View File

@@ -429,6 +429,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent, bool sh
connect(_ui->actionKinect_for_Windows_SDK_v2, SIGNAL(triggered()), this, SLOT(selectK4W2()));
connect(_ui->actionRealSense_R200, SIGNAL(triggered()), this, SLOT(selectRealSense()));
connect(_ui->actionRealSense_ZR300, SIGNAL(triggered()), this, SLOT(selectRealSense()));
connect(_ui->actionRealSense2_D435, SIGNAL(triggered()), this, SLOT(selectRealSense2()));
connect(_ui->actionStereoDC1394, SIGNAL(triggered()), this, SLOT(selectStereoDC1394()));
connect(_ui->actionStereoFlyCapture2, SIGNAL(triggered()), this, SLOT(selectStereoFlyCapture2()));
connect(_ui->actionStereoZed, SIGNAL(triggered()), this, SLOT(selectStereoZed()));
@@ -443,6 +444,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent, bool sh
_ui->actionKinect_for_Windows_SDK_v2->setEnabled(CameraK4W2::available());
_ui->actionRealSense_R200->setEnabled(CameraRealSense::available());
_ui->actionRealSense_ZR300->setEnabled(CameraRealSense::available());
_ui->actionRealSense2_D435->setEnabled(CameraRealSense2::available());
_ui->actionStereoDC1394->setEnabled(CameraStereoDC1394::available());
_ui->actionStereoFlyCapture2->setEnabled(CameraStereoFlyCapture2::available());
_ui->actionStereoZed->setEnabled(CameraStereoZed::available());
@@ -4241,6 +4243,7 @@ void MainWindow::updateSelectSourceMenu()
_ui->actionKinect_for_Windows_SDK_v2->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcK4W2);
_ui->actionRealSense_R200->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcRealSense);
_ui->actionRealSense_ZR300->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcRealSense);
_ui->actionRealSense2_D435->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcRealSense2);
_ui->actionStereoDC1394->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcDC1394);
_ui->actionStereoFlyCapture2->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcFlyCapture2);
_ui->actionStereoZed->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcStereoZed);
@@ -5931,6 +5934,11 @@ void MainWindow::selectRealSense()
_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcRealSense);
}
void MainWindow::selectRealSense2()
{
_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcRealSense2);
}
void MainWindow::selectStereoDC1394()
{
_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcDC1394);

58
guilib/src/PreferencesDialog.cpp
View File

@@ -255,44 +255,48 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
#endif
if(!CameraOpenni::available())
{
_ui->comboBox_cameraRGBD->setItemData(0, 0, Qt::UserRole - 1);
_ui->comboBox_cameraRGBD->setItemData(kSrcOpenNI_PCL - kSrcRGBD, 0, Qt::UserRole - 1);
}
if(!CameraFreenect::available())
{
_ui->comboBox_cameraRGBD->setItemData(1, 0, Qt::UserRole - 1);
_ui->comboBox_cameraRGBD->setItemData(kSrcFreenect - kSrcRGBD, 0, Qt::UserRole - 1);
}
if(!CameraOpenNICV::available())
{
_ui->comboBox_cameraRGBD->setItemData(2, 0, Qt::UserRole - 1);
_ui->comboBox_cameraRGBD->setItemData(3, 0, Qt::UserRole - 1);
_ui->comboBox_cameraRGBD->setItemData(kSrcOpenNI_CV - kSrcRGBD, 0, Qt::UserRole - 1);
_ui->comboBox_cameraRGBD->setItemData(kSrcOpenNI_CV_ASUS - kSrcRGBD, 0, Qt::UserRole - 1);
}
if(!CameraOpenNI2::available())
{
_ui->comboBox_cameraRGBD->setItemData(4, 0, Qt::UserRole - 1);
_ui->comboBox_cameraRGBD->setItemData(kSrcOpenNI2 - kSrcRGBD, 0, Qt::UserRole - 1);
}
if(!CameraFreenect2::available())
{
_ui->comboBox_cameraRGBD->setItemData(5, 0, Qt::UserRole - 1);
_ui->comboBox_cameraRGBD->setItemData(kSrcFreenect2 - kSrcRGBD, 0, Qt::UserRole - 1);
}
if (!CameraK4W2::available())
{
_ui->comboBox_cameraRGBD->setItemData(8, 0, Qt::UserRole - 1);
_ui->comboBox_cameraRGBD->setItemData(kSrcK4W2 - kSrcRGBD, 0, Qt::UserRole - 1);
}
if (!CameraRealSense::available())
{
_ui->comboBox_cameraRGBD->setItemData(6, 0, Qt::UserRole - 1);
_ui->comboBox_cameraRGBD->setItemData(kSrcRealSense - kSrcRGBD, 0, Qt::UserRole - 1);
}
if (!CameraRealSense2::available())
{
_ui->comboBox_cameraRGBD->setItemData(kSrcRealSense2 - kSrcRGBD, 0, Qt::UserRole - 1);
}
if(!CameraStereoDC1394::available())
{
_ui->comboBox_cameraStereo->setItemData(0, 0, Qt::UserRole - 1);
_ui->comboBox_cameraStereo->setItemData(kSrcDC1394 - kSrcStereo, 0, Qt::UserRole - 1);
}
if(!CameraStereoFlyCapture2::available())
{
_ui->comboBox_cameraStereo->setItemData(1, 0, Qt::UserRole - 1);
_ui->comboBox_cameraStereo->setItemData(kSrcFlyCapture2 - kSrcStereo, 0, Qt::UserRole - 1);
}
if (!CameraStereoZed::available())
{
_ui->comboBox_cameraStereo->setItemData(4, 0, Qt::UserRole - 1);
_ui->comboBox_cameraStereo->setItemData(kSrcStereoZed - kSrcStereo, 0, Qt::UserRole - 1);
}
_ui->openni2_exposure->setEnabled(CameraOpenNI2::exposureGainAvailable());
_ui->openni2_gain->setEnabled(CameraOpenNI2::exposureGainAvailable());
@@ -560,6 +564,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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->checkbox_rs2_emitter, 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()));
@@ -1601,6 +1606,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->comboBox_realsensePresetRGB->setCurrentIndex(0);
_ui->comboBox_realsensePresetDepth->setCurrentIndex(2);
_ui->checkbox_realsenseOdom->setChecked(false);
_ui->checkbox_rs2_emitter->setChecked(true);
_ui->lineEdit_openniOniPath->clear();
_ui->lineEdit_openni2OniPath->clear();
_ui->lineEdit_cameraRGBDImages_path_rgb->setText("");
@@ -1996,6 +2002,10 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
_ui->checkbox_realsenseOdom->setChecked(settings.value("odom", _ui->checkbox_realsenseOdom->isChecked()).toBool());
settings.endGroup(); // RealSense
settings.beginGroup("RealSense2");
_ui->checkbox_rs2_emitter->setChecked(settings.value("emitter", _ui->checkbox_rs2_emitter->isChecked()).toBool());
settings.endGroup(); // RealSense
settings.beginGroup("RGBDImages");
_ui->lineEdit_cameraRGBDImages_path_rgb->setText(settings.value("path_rgb", _ui->lineEdit_cameraRGBDImages_path_rgb->text()).toString());
_ui->lineEdit_cameraRGBDImages_path_depth->setText(settings.value("path_depth", _ui->lineEdit_cameraRGBDImages_path_depth->text()).toString());
@@ -2410,6 +2420,10 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.setValue("odom", _ui->checkbox_realsenseOdom->isChecked());
settings.endGroup(); // RealSense
settings.beginGroup("RealSense2");
settings.setValue("emitter", _ui->checkbox_rs2_emitter->isChecked());
settings.endGroup(); // RealSense2
settings.beginGroup("RGBDImages");
settings.setValue("path_rgb", _ui->lineEdit_cameraRGBDImages_path_rgb->text());
settings.setValue("path_depth", _ui->lineEdit_cameraRGBDImages_path_depth->text());
@@ -4257,11 +4271,13 @@ void PreferencesDialog::updateSourceGrpVisibility()
_ui->comboBox_cameraRGBD->currentIndex() == kSrcK4W2 - kSrcRGBD ||
_ui->comboBox_cameraRGBD->currentIndex() == kSrcRealSense - kSrcRGBD ||
_ui->comboBox_cameraRGBD->currentIndex() == kSrcRGBDImages-kSrcRGBD ||
_ui->comboBox_cameraRGBD->currentIndex() == kSrcOpenNI_PCL-kSrcRGBD));
_ui->comboBox_cameraRGBD->currentIndex() == kSrcOpenNI_PCL-kSrcRGBD ||
_ui->comboBox_cameraRGBD->currentIndex() == kSrcRealSense2-kSrcRGBD));
_ui->groupBox_openni2->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcOpenNI2-kSrcRGBD);
_ui->groupBox_freenect2->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcFreenect2-kSrcRGBD);
_ui->groupBox_k4w2->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcK4W2 - kSrcRGBD);
_ui->groupBox_realsense->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcRealSense - kSrcRGBD);
_ui->groupBox_realsense2->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcRealSense2 - kSrcRGBD);
_ui->groupBox_cameraRGBDImages->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcRGBDImages-kSrcRGBD);
_ui->groupBox_openni->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcOpenNI_PCL-kSrcRGBD);
@@ -4948,6 +4964,24 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
this->getSourceLocalTransform());
}
}
else if (driver == kSrcRealSense2)
{
if(useRawImages)
{
QMessageBox::warning(this, tr("Calibration"),
tr("Using raw images for \"RealSense\" driver is not yet supported. "
"Factory calibration loaded from RealSense2 is used."), QMessageBox::Ok);
return 0;
}
else
{
camera = new CameraRealSense2(
this->getSourceDevice().toStdString(),
this->getGeneralInputRate(),
this->getSourceLocalTransform());
((CameraRealSense2*)camera)->setEmitterEnabled(_ui->checkbox_rs2_emitter->isChecked());
}
}
else if(driver == kSrcRGBDImages)
{
camera = new CameraRGBDImages(

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guilib/src/images/d435.png Normal file
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23
guilib/src/ui/mainWindow.ui
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@@ -27,7 +27,7 @@
<x>0</x>
<y>0</y>
<width>1012</width>
<height>21</height>
<height>22</height>
</rect>
</property>
<widget class="QMenu" name="menuFile">
@@ -173,7 +173,7 @@
</property>
<property name="icon">
<iconset resource="../GuiLib.qrc">
<normaloff>:/images/r200.png</normaloff>:/images/r200.png</iconset>
<normaloff>:/images/d435.png</normaloff>:/images/d435.png</iconset>
</property>
<addaction name="actionRealSense_R200"/>
</widget>
@@ -187,12 +187,23 @@
</property>
<addaction name="actionRealSense_ZR300"/>
</widget>
<widget class="QMenu" name="menuRealSense_D435">
<property name="title">
<string>RealSense D435</string>
</property>
<property name="icon">
<iconset resource="../GuiLib.qrc">
<normaloff>:/images/d435.png</normaloff>:/images/d435.png</iconset>
</property>
<addaction name="actionRealSense2_D435"/>
</widget>
<addaction name="menuKinect_for_Xbox_360"/>
<addaction name="menuXtion_PRO_LIVE"/>
<addaction name="menuSense_3D_scanner"/>
<addaction name="menuKinect_v2"/>
<addaction name="menuRealSense_R200"/>
<addaction name="menuRealSense_ZR300"/>
<addaction name="menuRealSense_D435"/>
</widget>
<widget class="QMenu" name="menuStereo_camera">
<property name="title">
@@ -1466,6 +1477,14 @@
<string>Kinect for Windows SDK v2</string>
</property>
</action>
<action name="actionRealSense2_D435">
<property name="checkable">
<bool>true</bool>
</property>
<property name="text">
<string>RealSense2</string>
</property>
</action>
</widget>
<customwidgets>
<customwidget>

80
guilib/src/ui/preferencesDialog.ui
View File

@@ -63,9 +63,9 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-567</y>
<y>-510</y>
<width>680</width>
<height>2812</height>
<height>2836</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
@@ -2827,7 +2827,7 @@ 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>1</number>
<number>0</number>
</property>
<widget class="QWidget" name="page_41">
<layout class="QVBoxLayout" name="verticalLayout_64">
@@ -2905,6 +2905,11 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<string>Kinect for Windows SDK v2</string>
</property>
</item>
<item>
<property name="text">
<string>RealSense2</string>
</property>
</item>
</widget>
</item>
<item row="0" column="1">
@@ -2942,7 +2947,7 @@ 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>7</number>
<number>9</number>
</property>
<widget class="QWidget" name="page_32">
<layout class="QVBoxLayout" name="verticalLayout_63">
@@ -3816,6 +3821,71 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</item>
</layout>
</widget>
<widget class="QWidget" name="page_55">
<layout class="QVBoxLayout" name="verticalLayout_103">
<item>
<widget class="QGroupBox" name="groupBox_realsense2">
<property name="sizePolicy">
<sizepolicy hsizetype="Ignored" vsizetype="Ignored">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="title">
<string>RealSense2</string>
</property>
<layout class="QGridLayout" name="gridLayout_100" rowstretch="0,1">
<item row="0" column="0">
<widget class="QCheckBox" name="checkbox_rs2_emitter">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_468">
<property name="text">
<string>Emitter enabled</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<spacer name="verticalSpacer_71">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_72">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>338</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</widget>
</item>
</layout>
@@ -3958,7 +4028,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<item>
<widget class="QStackedWidget" name="stackedWidget_stereo">
<property name="currentIndex">
<number>4</number>
<number>0</number>
</property>
<widget class="QWidget" name="page_49">
<layout class="QVBoxLayout" name="verticalLayout_91">