Added RealSense2 driver to UI

corelib/include/rtabmap/core/CameraRGBD.h

@@ -426,7 +426,7 @@ public:
 public:
 	// default local transform z in, x right, y down));
 	CameraRealSense2(
-		int deviceId = 0,
+		const std::string & deviceId = "",
 		float imageRate = 0,
 		const Transform & localTransform = Transform::getIdentity());
 	virtual ~CameraRealSense2();
@@ -435,6 +435,9 @@ public:
 	virtual bool isCalibrated() const;
 	virtual std::string getSerial() const;
 
+	// parameters are set during initialization
+	void setEmitterEnabled(bool enabled);
+
 protected:
 	virtual SensorData captureImage(CameraInfo * info = 0);
 
@@ -450,7 +453,7 @@ private:
 
 	rs2::context ctx_;
 	rs2::device dev_;
-	int deviceId_;
+	std::string deviceId_;
 	rs2::syncer syncer_;
 	float depth_scale_meters_;
 	rs2_intrinsics depthIntrinsics_;
@@ -459,6 +462,8 @@ private:
 	cv::Mat depthBuffer_;
 	cv::Mat rgbBuffer_;
 	CameraModel model_;
+
+	bool emitterEnabled_;
 #endif
 };
 

corelib/src/CameraRGBD.cpp

@@ -3229,14 +3229,15 @@ bool CameraRealSense2::available()
 }
 
 CameraRealSense2::CameraRealSense2(
-		int device,
+		const std::string & device,
 		float imageRate,
 		const rtabmap::Transform & localTransform) :
 	Camera(imageRate, localTransform)
 #ifdef RTABMAP_REALSENSE2
     ,
 	deviceId_(device),
-	depth_scale_meters_(1.0f)
+	depth_scale_meters_(1.0f),
+	emitterEnabled_(true)
 #endif
 {
 	UDEBUG("");
@@ -3247,6 +3248,7 @@ CameraRealSense2::~CameraRealSense2()
 	UDEBUG("");
 }
 
+#ifdef RTABMAP_REALSENSE2
 void CameraRealSense2::alignFrame(const rs2_intrinsics& from_intrin,
                                    const rs2_intrinsics& other_intrin,
                                    rs2::frame from_image,
@@ -3313,6 +3315,7 @@ void CameraRealSense2::alignFrame(const rs2_intrinsics& from_intrin,
         }
     }
 }
+#endif
 
 bool CameraRealSense2::init(const std::string & calibrationFolder, const std::string & cameraName)
 {
@@ -3328,7 +3331,6 @@ bool CameraRealSense2::init(const std::string & calibrationFolder, const std::st
 		return false;
 	}
 
-	int count = 0;
 	bool found=false;
 	for (auto&& dev : list)
 	{
@@ -3339,7 +3341,7 @@ bool CameraRealSense2::init(const std::string & calibrationFolder, const std::st
 		ss << std::hex << pid_str;
 		ss >> pid;
 		UINFO("Device with serial number %s was found with product ID=%d.", sn, (int)pid);
-		if (deviceId_ == 0 || deviceId_ == count)
+		if (deviceId_.empty() || deviceId_ == sn)
 		{
 			dev_ = dev;
 			found=true;
@@ -3349,7 +3351,7 @@ bool CameraRealSense2::init(const std::string & calibrationFolder, const std::st
 
 	if (!found)
 	{
-		UERROR("The requested device %d is NOT found!", deviceId_);
+		UERROR("The requested device %s is NOT found!", deviceId_.c_str());
 		return false;
 	}
 
@@ -3384,6 +3386,7 @@ bool CameraRealSense2::init(const std::string & calibrationFolder, const std::st
 		if ("Stereo Module" == module_name)
 		{
 			sensors[1] = elem;
+			sensors[1].set_option(rs2_option::RS2_OPTION_EMITTER_ENABLED, emitterEnabled_);
 		}
 		else if ("Coded-Light Depth Sensor" == module_name)
 		{
@@ -3477,7 +3480,7 @@ bool CameraRealSense2::init(const std::string & calibrationFolder, const std::st
 	return true;
 
 #else
-	UERROR("CameraRealSense: RTAB-Map is not built with RealSense support!");
+	UERROR("CameraRealSense: RTAB-Map is not built with RealSense2 support!");
 	return false;
 #endif
 }
@@ -3495,16 +3498,29 @@ std::string CameraRealSense2::getSerial() const
 	return "NA";
 }
 
+void CameraRealSense2::setEmitterEnabled(bool enabled)
+{
+#ifdef RTABMAP_REALSENSE2
+	emitterEnabled_ = enabled;
+#endif
+}
+
 SensorData CameraRealSense2::captureImage(CameraInfo * info)
 {
 	SensorData data;
 #ifdef RTABMAP_REALSENSE2
 
 	try{
-		double stamp = UTimer::now();
 		auto frameset = syncer_.wait_for_frames(5000);
-		if (frameset.size())
+		UTimer timer;
+		while (frameset.size() != 2 && timer.elapsed() < 2.0)
 		{
+			// maybe there is a latency with the USB, try again in 10 ms (for the next 2 seconds)
+			frameset = syncer_.wait_for_frames(10);
+		}
+		if (frameset.size() == 2)
+		{
+			double stamp = UTimer::now();
 			UDEBUG("Frameset arrived.");
 			bool is_rgb_arrived = false;
 			bool is_depth_arrived = false;
@@ -3545,22 +3561,15 @@ SensorData CameraRealSense2::captureImage(CameraInfo * info)
 				UERROR("Not received depth and rgb");
 			}
 		}
+		else
+		{
+			UERROR("Missing frames (received %d)", (int)frameset.size());
+		}
 	}
 	catch(const std::exception& ex)
 	{
 		UERROR("An error has occurred during frame callback: %s", ex.what());
 	}
-
-	/*if(!dataReady_.acquire(1, 5000))
-	{
-		UWARN("Not received new frames since 5 seconds, end of stream reached!");
-	}
-	else
-	{
-		UScopeMutex s(dataMutex_);
-		data = data_;
-		data_ = SensorData();
-	}*/
 #else
 	UERROR("CameraRealSense2: RTAB-Map is not built with RealSense2 support!");
 #endif

guilib/include/rtabmap/gui/MainWindow.h

@@ -172,6 +172,7 @@ protected Q_SLOTS:
 	void selectFreenect2();
 	void selectK4W2();
 	void selectRealSense();
+	void selectRealSense2();
 	void selectStereoDC1394();
 	void selectStereoFlyCapture2();
 	void selectStereoZed();

guilib/include/rtabmap/gui/PreferencesDialog.h

@@ -92,6 +92,7 @@ public:
 		kSrcRealSense      = 6,
 		kSrcRGBDImages     = 7,
 		kSrcK4W2           = 8,
+		kSrcRealSense2     = 9,
 
 		kSrcStereo         = 100,
 		kSrcDC1394         = 100,

guilib/src/GuiLib.qrc

@@ -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>

guilib/src/MainWindow.cpp

@@ -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);

guilib/src/PreferencesDialog.cpp

@@ -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(kSrcOpenNI_CV - kSrcRGBD, 0, Qt::UserRole - 1);
-		_ui->comboBox_cameraRGBD->setItemData(3, 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(

guilib/src/ui/mainWindow.ui

@@ -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>

guilib/src/ui/preferencesDialog.ui

@@ -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">