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Orbbec SDK v2 integration (new CameraOrbbecSDK class) (#1590)

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* Orbbec SDK 2 integration (new CameraOrbbecSDK class)

* Added rectification option, fixed the build without orbbec sdk

* Fixed timestamp issue on Windows

* Removed WITH_ORBBEC_SDK=ON by default in case v1 is installed. Enabled inter imu when selecting orbbec sdk.

* requiring orbbec version=2 to avoid confusion

* Finalizing options
This commit is contained in:
matlabbe
2025-10-07 10:22:16 -07:00
committed by GitHub
parent 5aec9bacec
commit f0dab18005
22 changed files with 3078 additions and 1816 deletions
Download Patch File Download Diff File Expand all files Collapse all files
guilib/src/AboutDialog.cpp
+2
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@@ -179,6 +179,8 @@ AboutDialog::AboutDialog(QWidget * parent) :
_ui->label_depthai->setText(CameraDepthAI::available() ? "Yes" : "No");
_ui->label_depthai_license->setEnabled(CameraDepthAI::available());
_ui->label_xvsdk->setText(CameraSeerSense::available() ? "Yes" : "No");
_ui->label_orbbec_sdk->setText(CameraOrbbecSDK::available() ? "Yes" : "No");
_ui->label_orbbec_sdk_license->setEnabled(CameraOrbbecSDK::available());
_ui->label_toro->setText(Optimizer::isAvailable(Optimizer::kTypeTORO)?"Yes":"No");
_ui->label_toro_license->setEnabled(Optimizer::isAvailable(Optimizer::kTypeTORO)?true:false);
guilib/src/GuiLib.qrc
+1
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@@ -44,6 +44,7 @@
<file>images/oakd.png</file>
<file>images/oakd_lite.png</file>
<file>images/astra.png</file>
<file>images/astra2.png</file>
<file>images/oakdpro.png</file>
<file>images/seer_sense_DS80.png</file>
</qresource>
guilib/src/ImageView.cpp
+4 -4
View File
@@ -1141,14 +1141,14 @@ void ImageView::mouseMoveEvent(QMouseEvent * event)
if(_mouseTracking->isChecked() &&
!_graphicsView->scene()->sceneRect().isNull() &&
!_image.isNull() &&
!_imageDepthCv.empty() &&(_imageDepthCv.type() == CV_16UC1 || _imageDepthCv.type() == CV_32FC1))
!_imageDepthCv.empty() && (_imageDepthCv.type() == CV_16UC1 || _imageDepthCv.type() == CV_32FC1))
{
float scale, offsetX, offsetY;
computeScaleOffsets(this->rect(), scale, offsetX, offsetY);
float u = (event->pos().x() - offsetX) / scale;
float v = (event->pos().y() - offsetY) / scale;
float depthScale = 1;
if(_image.width() > _imageDepthCv.cols)
if(_image.width() != _imageDepthCv.cols)
{
depthScale = float(_imageDepthCv.cols) / float(_image.width());
}
@@ -1448,8 +1448,8 @@ void ImageView::setImageDepth(const QImage & imageDepth, const QImage & imageDep
UASSERT(_imageDepth.width() && _imageDepth.height());
if( _image.width() > 0 &&
_image.width() > _imageDepth.width() &&
_image.height() > _imageDepth.height())
_image.width() != _imageDepth.width() &&
_image.height() != _imageDepth.height())
{
// scale depth to rgb
_imageDepth = _imageDepth.scaled(_image.size());
guilib/src/MainWindow.cpp
+8
View File
@@ -470,6 +470,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent, bool sh
connect(_ui->actionDepthAI_oakdlite, SIGNAL(triggered()), this, SLOT(selectDepthAIOAKDLite()));
connect(_ui->actionDepthAI_oakdpro, SIGNAL(triggered()), this, SLOT(selectDepthAIOAKDPro()));
connect(_ui->actionXvisio_SeerSense, SIGNAL(triggered()), this, SLOT(selectXvisioSeerSense()));
connect(_ui->actionOrbbecSDK_astra2, SIGNAL(triggered()), this, SLOT(selectOrbbecSDK()));
connect(_ui->actionVelodyne_VLP_16, SIGNAL(triggered()), this, SLOT(selectVLP16()));
_ui->actionFreenect->setEnabled(CameraFreenect::available());
_ui->actionOpenNI_PCL->setEnabled(CameraOpenni::available());
@@ -499,6 +500,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent, bool sh
_ui->actionDepthAI_oakdlite->setEnabled(CameraDepthAI::available());
_ui->actionDepthAI_oakdpro->setEnabled(CameraDepthAI::available());
_ui->actionXvisio_SeerSense->setEnabled(CameraSeerSense::available());
_ui->actionOrbbecSDK_astra2->setEnabled(CameraOrbbecSDK::available());
this->updateSelectSourceMenu();
connect(_ui->actionPreferences, SIGNAL(triggered()), this, SLOT(openPreferences()));
@@ -5337,6 +5339,7 @@ void MainWindow::updateSelectSourceMenu()
_ui->actionDepthAI_oakdlite->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcStereoDepthAI);
_ui->actionDepthAI_oakdpro->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcStereoDepthAI);
_ui->actionXvisio_SeerSense->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcSeerSense);
_ui->actionOrbbecSDK_astra2->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcOrbbecSDK);
_ui->actionVelodyne_VLP_16->setChecked(_preferencesDialog->getLidarSourceDriver() == PreferencesDialog::kSrcLidarVLP16);
}
@@ -7213,6 +7216,11 @@ void MainWindow::selectK4A()
_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcK4A);
}
void MainWindow::selectOrbbecSDK()
{
_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcOrbbecSDK);
}
void MainWindow::selectRealSense()
{
_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcRealSense);
guilib/src/PreferencesDialog.cpp
+73
View File
@@ -398,6 +398,10 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
{
_ui->comboBox_cameraRGBD->setItemData(kSrcK4A - kSrcRGBD, 0, Qt::UserRole - 1);
}
if (!CameraOrbbecSDK::available())
{
_ui->comboBox_cameraRGBD->setItemData(kSrcOrbbecSDK - kSrcRGBD, 0, Qt::UserRole - 1);
}
if (!CameraRealSense::available())
{
_ui->comboBox_cameraRGBD->setItemData(kSrcRealSense - kSrcRGBD, 0, Qt::UserRole - 1);
@@ -767,19 +771,39 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->openni2_hshift, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->openni2_vshift, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->openni2_depth_decimation, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->comboBox_freenect2Format, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->doubleSpinBox_freenect2MinDepth, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->doubleSpinBox_freenect2MaxDepth, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkBox_freenect2BilateralFiltering, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkBox_freenect2EdgeAwareFiltering, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkBox_freenect2NoiseFiltering, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->lineEdit_freenect2Pipeline, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->comboBox_k4w2Format, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->comboBox_k4a_rgb_resolution, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->comboBox_k4a_framerate, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->comboBox_k4a_depth_resolution, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkbox_k4a_irDepth, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->lineEdit_k4a_mkv, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->source_checkBox_useMKVStamps, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->spinBox_orbbec_sdk_color_width, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->spinBox_orbbec_sdk_color_height, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->spinBox_orbbec_sdk_depth_width, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->spinBox_orbbec_sdk_depth_height, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkBox_orbbec_sdk_color_rectification, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkBox_orbbec_sdk_imu, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkBox_orbbec_sdk_depth_mm, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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_realsenseDepthScaledToRGBSize, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->comboBox_realsenseRGBSource, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkbox_rs2_emitter, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkbox_rs2_irMode, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkbox_rs2_irDepth, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
@@ -2232,6 +2256,13 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->comboBox_k4a_depth_resolution->setCurrentIndex(2);
_ui->checkbox_k4a_irDepth->setChecked(false);
_ui->lineEdit_k4a_mkv->clear();
_ui->spinBox_orbbec_sdk_color_width->setValue(800);
_ui->spinBox_orbbec_sdk_color_height->setValue(600);
_ui->spinBox_orbbec_sdk_depth_width->setValue(800);
_ui->spinBox_orbbec_sdk_depth_height->setValue(600);
_ui->checkBox_orbbec_sdk_color_rectification->setChecked(false);
_ui->checkBox_orbbec_sdk_imu->setChecked(true);
_ui->checkBox_orbbec_sdk_depth_mm->setChecked(true);
_ui->source_checkBox_useMKVStamps->setChecked(true);
_ui->lineEdit_cameraRGBDImages_path_rgb->setText("");
_ui->lineEdit_cameraRGBDImages_path_depth->setText("");
@@ -2718,6 +2749,16 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
_ui->source_checkBox_useMKVStamps->setChecked(settings.value("useMkvStamps", _ui->source_checkBox_useMKVStamps->isChecked()).toBool());
settings.endGroup(); // K4A
settings.beginGroup("OrbbecSDK");
_ui->spinBox_orbbec_sdk_color_width->setValue(settings.value("color_width", _ui->spinBox_orbbec_sdk_color_width->value()).toInt());
_ui->spinBox_orbbec_sdk_color_height->setValue(settings.value("color_height", _ui->spinBox_orbbec_sdk_color_height->value()).toInt());
_ui->spinBox_orbbec_sdk_depth_width->setValue(settings.value("depth_width", _ui->spinBox_orbbec_sdk_depth_width->value()).toInt());
_ui->spinBox_orbbec_sdk_depth_height->setValue(settings.value("depth_height", _ui->spinBox_orbbec_sdk_depth_height->value()).toInt());
_ui->checkBox_orbbec_sdk_color_rectification->setChecked(settings.value("rectify_color", _ui->checkBox_orbbec_sdk_color_rectification->isChecked()).toBool());
_ui->checkBox_orbbec_sdk_imu->setChecked(settings.value("enable_imu", _ui->checkBox_orbbec_sdk_imu->isChecked()).toBool());
_ui->checkBox_orbbec_sdk_depth_mm->setChecked(settings.value("depth_mm", _ui->checkBox_orbbec_sdk_depth_mm->isChecked()).toBool());
settings.endGroup(); // Orbbec SDK
settings.beginGroup("RealSense");
_ui->comboBox_realsensePresetRGB->setCurrentIndex(settings.value("presetRGB", _ui->comboBox_realsensePresetRGB->currentIndex()).toInt());
_ui->comboBox_realsensePresetDepth->setCurrentIndex(settings.value("presetDepth", _ui->comboBox_realsensePresetDepth->currentIndex()).toInt());
@@ -3325,6 +3366,16 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.setValue("useMkvStamps", _ui->source_checkBox_useMKVStamps->isChecked());
settings.endGroup(); // K4A
settings.beginGroup("OrbbecSDK");
settings.setValue("color_width", _ui->spinBox_orbbec_sdk_color_width->value());
settings.setValue("color_height", _ui->spinBox_orbbec_sdk_color_height->value());
settings.setValue("depth_width", _ui->spinBox_orbbec_sdk_depth_width->value());
settings.setValue("depth_height", _ui->spinBox_orbbec_sdk_depth_height->value());
settings.setValue("rectify_color", _ui->checkBox_orbbec_sdk_color_rectification->isChecked());
settings.setValue("enable_imu", _ui->checkBox_orbbec_sdk_imu->isChecked());
settings.setValue("depth_mm", _ui->checkBox_orbbec_sdk_depth_mm->isChecked());
settings.endGroup(); // Orbbec SDK
settings.beginGroup("RealSense");
settings.setValue("presetRGB", _ui->comboBox_realsensePresetRGB->currentIndex());
settings.setValue("presetDepth", _ui->comboBox_realsensePresetDepth->currentIndex());
@@ -5729,6 +5780,7 @@ void PreferencesDialog::updateSourceGrpVisibility()
_ui->comboBox_cameraRGBD->currentIndex() == kSrcFreenect2-kSrcRGBD ||
_ui->comboBox_cameraRGBD->currentIndex() == kSrcK4W2 - kSrcRGBD ||
_ui->comboBox_cameraRGBD->currentIndex() == kSrcK4A - kSrcRGBD ||
_ui->comboBox_cameraRGBD->currentIndex() == kSrcOrbbecSDK - kSrcRGBD ||
_ui->comboBox_cameraRGBD->currentIndex() == kSrcRealSense - kSrcRGBD ||
_ui->comboBox_cameraRGBD->currentIndex() == kSrcRGBDImages-kSrcRGBD ||
_ui->comboBox_cameraRGBD->currentIndex() == kSrcOpenNI_PCL-kSrcRGBD ||
@@ -5738,6 +5790,7 @@ void PreferencesDialog::updateSourceGrpVisibility()
_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_k4a->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcK4A - kSrcRGBD);
_ui->groupBox_orbbec_sdk->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcOrbbecSDK - 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);
@@ -5807,6 +5860,7 @@ void PreferencesDialog::updateSourceGrpVisibility()
(_ui->comboBox_sourceType->currentIndex() == 2 && _ui->source_comboBox_image_type->currentIndex() == kSrcImages-kSrcRGB) ||
(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcFreenect - kSrcRGBD) || //Kinect360
(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcK4A - kSrcRGBD) || //K4A
(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcOrbbecSDK - kSrcRGBD) || //Orbbec SDK
(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcRealSense2 - kSrcRGBD) || //D435i
(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcSeerSense - kSrcRGBD) ||
(_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoRealSense2 - kSrcStereo) || //T265
@@ -6639,6 +6693,25 @@ Camera * PreferencesDialog::createCamera(
_ui->comboBox_k4a_framerate->currentIndex(),
_ui->comboBox_k4a_depth_resolution->currentIndex());
}
else if (driver == kSrcOrbbecSDK)
{
camera = new CameraOrbbecSDK(
device.toStdString(),
_ui->spinBox_orbbec_sdk_color_width->value(),
_ui->spinBox_orbbec_sdk_color_height->value(),
_ui->spinBox_orbbec_sdk_depth_width->value(),
_ui->spinBox_orbbec_sdk_depth_height->value(),
this->getGeneralInputRate(),
this->getSourceLocalTransform());
((CameraOrbbecSDK*)camera)->enableColorRectification(_ui->checkBox_orbbec_sdk_color_rectification->isChecked());
((CameraOrbbecSDK*)camera)->enableImu(_ui->checkBox_orbbec_sdk_imu->isChecked());
((CameraOrbbecSDK*)camera)->enableDepthMM(_ui->checkBox_orbbec_sdk_depth_mm->isChecked());
camera->setInterIMUPublishing(
_ui->checkbox_publishInterIMU->isChecked(),
_ui->checkbox_publishInterIMU->isChecked() && getIMUFilteringStrategy()>0?
IMUFilter::create((IMUFilter::Type)(getIMUFilteringStrategy()-1), this->getAllParameters()):0);
}
else if (driver == kSrcRealSense)
{
if(useRawImages && _ui->comboBox_realsenseRGBSource->currentIndex()!=2)
guilib/src/images/astra2.png
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guilib/src/ui/aboutDialog.ui
+1300 -1267
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guilib/src/ui/consoleWidget.ui
+1 -1
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@@ -35,7 +35,7 @@
<number>99999</number>
</property>
<property name="value">
<number>100</number>
<number>500</number>
</property>
</widget>
</item>
guilib/src/ui/mainWindow.ui
+19
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@@ -239,9 +239,20 @@
</property>
<addaction name="actionXvisio_SeerSense"/>
</widget>
<widget class="QMenu" name="menuOrbbec_Astra_2">
<property name="title">
<string>Orbbec Astra 2</string>
</property>
<property name="icon">
<iconset resource="../GuiLib.qrc">
<normaloff>:/images/astra2.png</normaloff>:/images/astra2.png</iconset>
</property>
<addaction name="actionOrbbecSDK_astra2"/>
</widget>
<addaction name="menuKinect_for_Xbox_360"/>
<addaction name="menuXtion_PRO_LIVE"/>
<addaction name="menuOrbbec_Astra"/>
<addaction name="menuOrbbec_Astra_2"/>
<addaction name="menuSense_3D_scanner"/>
<addaction name="menuKinect_v2"/>
<addaction name="menuKinect_K4A"/>
@@ -1749,6 +1760,14 @@
<string>Xvisio</string>
</property>
</action>
<action name="actionOrbbecSDK_astra2">
<property name="checkable">
<bool>true</bool>
</property>
<property name="text">
<string>Orbbec SDK</string>
</property>
</action>
</widget>
<customwidgets>
<customwidget>
guilib/src/ui/preferencesDialog.ui
+633 -339
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