i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 09:30:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

Add options to enable IR featues on OAK Pro models

Browse Source
This commit is contained in:
Borong Yuan
2023-05-18 01:34:25 +08:00
parent 263eb6fbde
commit ff83b14b49
4 changed files with 92 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
corelib/include/rtabmap/core/camera/CameraDepthAI.h
View File

@@ -58,6 +58,8 @@ public:
void setOutputDepth(bool enabled, int confidence = 200); void setOutputDepth(bool enabled, int confidence = 200);
void setIMUFirmwareUpdate(bool enabled); void setIMUFirmwareUpdate(bool enabled);
void setIMUPublished(bool published); void setIMUPublished(bool published);
void setLaserDotBrightness(float dotProjectormA = 0.0f);
void setFloodLightBrightness(float floodLightmA = 200.0f);
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = ""); virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
virtual bool isCalibrated() const; virtual bool isCalibrated() const;
@@ -76,6 +78,8 @@ private:
int resolution_; int resolution_;
bool imuFirmwareUpdate_; bool imuFirmwareUpdate_;
bool imuPublished_; bool imuPublished_;
float dotProjectormA_;
float floodLightmA_;
std::shared_ptr<dai::Device> device_; std::shared_ptr<dai::Device> device_;
std::shared_ptr<dai::DataOutputQueue> leftQueue_; std::shared_ptr<dai::DataOutputQueue> leftQueue_;
std::shared_ptr<dai::DataOutputQueue> rightOrDepthQueue_; std::shared_ptr<dai::DataOutputQueue> rightOrDepthQueue_;

25
corelib/src/camera/CameraDepthAI.cpp
View File

@@ -106,6 +106,24 @@ void CameraDepthAI::setIMUPublished(bool published)
#endif #endif
} }
void CameraDepthAI::setLaserDotBrightness(float dotProjectormA)
{
#ifdef RTABMAP_DEPTHAI
dotProjectormA_ = dotProjectormA;
#else
UERROR("CameraDepthAI: RTAB-Map is not built with depthai-core support!");
#endif
}
void CameraDepthAI::setFloodLightBrightness(float floodLightmA)
{
#ifdef RTABMAP_DEPTHAI
floodLightmA_ = floodLightmA;
#else
UERROR("CameraDepthAI: RTAB-Map is not built with depthai-core support!");
#endif
}
bool CameraDepthAI::init(const std::string & calibrationFolder, const std::string & cameraName) bool CameraDepthAI::init(const std::string & calibrationFolder, const std::string & cameraName)
{ {
UDEBUG(""); UDEBUG("");
@@ -268,6 +286,13 @@ bool CameraDepthAI::init(const std::string & calibrationFolder, const std::strin
leftQueue_ = device_->getOutputQueue("rectified_left", 1, false); leftQueue_ = device_->getOutputQueue("rectified_left", 1, false);
rightOrDepthQueue_ = device_->getOutputQueue(outputDepth_?"depth":"rectified_right", 1, false); rightOrDepthQueue_ = device_->getOutputQueue(outputDepth_?"depth":"rectified_right", 1, false);
std::vector<std::tuple<std::string, int, int>> irDrivers = device_->getIrDrivers();
if(!irDrivers.empty())
{
device_->setIrLaserDotProjectorBrightness(dotProjectormA_);
device_->setIrFloodLightBrightness(floodLightmA_);
}
uSleep(2000); // avoid bad frames on start uSleep(2000); // avoid bad frames on start
return true; return true;

12
guilib/src/PreferencesDialog.cpp
View File

@@ -807,6 +807,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->spinBox_depthai_confidence, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->spinBox_depthai_confidence, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkBox_depthai_imu_published, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->checkBox_depthai_imu_published, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkBox_depthai_imu_firmware_update, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->checkBox_depthai_imu_firmware_update, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->doubleSpinBox_depthai_laser_dot_brightness, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->doubleSpinBox_depthai_floodlight_brightness, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkbox_rgbd_colorOnly, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->checkbox_rgbd_colorOnly, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->spinBox_source_imageDecimation, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->spinBox_source_imageDecimation, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
@@ -2061,6 +2063,8 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->spinBox_depthai_confidence->setValue(200); _ui->spinBox_depthai_confidence->setValue(200);
_ui->checkBox_depthai_imu_published->setChecked(true); _ui->checkBox_depthai_imu_published->setChecked(true);
_ui->checkBox_depthai_imu_firmware_update->setChecked(false); _ui->checkBox_depthai_imu_firmware_update->setChecked(false);
_ui->doubleSpinBox_depthai_laser_dot_brightness->setValue(0.0);
_ui->doubleSpinBox_depthai_floodlight_brightness->setValue(200.0);
_ui->checkBox_cameraImages_configForEachFrame->setChecked(false); _ui->checkBox_cameraImages_configForEachFrame->setChecked(false);
_ui->checkBox_cameraImages_timestamps->setChecked(false); _ui->checkBox_cameraImages_timestamps->setChecked(false);
@@ -2545,6 +2549,8 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
_ui->spinBox_depthai_confidence->setValue(settings.value("confidence", _ui->spinBox_depthai_confidence->value()).toInt()); _ui->spinBox_depthai_confidence->setValue(settings.value("confidence", _ui->spinBox_depthai_confidence->value()).toInt());
_ui->checkBox_depthai_imu_published->setChecked(settings.value("imu_published", _ui->checkBox_depthai_imu_published->isChecked()).toBool()); _ui->checkBox_depthai_imu_published->setChecked(settings.value("imu_published", _ui->checkBox_depthai_imu_published->isChecked()).toBool());
_ui->checkBox_depthai_imu_firmware_update->setChecked(settings.value("imu_firmware_update", _ui->checkBox_depthai_imu_firmware_update->isChecked()).toBool()); _ui->checkBox_depthai_imu_firmware_update->setChecked(settings.value("imu_firmware_update", _ui->checkBox_depthai_imu_firmware_update->isChecked()).toBool());
_ui->doubleSpinBox_depthai_laser_dot_brightness->setValue(settings.value("laser_dot_brightness", _ui->doubleSpinBox_depthai_laser_dot_brightness->value()).toDouble());
_ui->doubleSpinBox_depthai_floodlight_brightness->setValue(settings.value("floodlight_brightness", _ui->doubleSpinBox_depthai_floodlight_brightness->value()).toDouble());
settings.endGroup(); // DepthAI settings.endGroup(); // DepthAI
settings.beginGroup("Images"); settings.beginGroup("Images");
@@ -3071,7 +3077,9 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.setValue("depth", _ui->checkBox_depthai_depth->isChecked()); settings.setValue("depth", _ui->checkBox_depthai_depth->isChecked());
settings.setValue("confidence", _ui->spinBox_depthai_confidence->value()); settings.setValue("confidence", _ui->spinBox_depthai_confidence->value());
settings.setValue("imu_published", _ui->checkBox_depthai_imu_published->isChecked()); settings.setValue("imu_published", _ui->checkBox_depthai_imu_published->isChecked());
settings.setValue("imu_firmware_update", _ui->checkBox_depthai_imu_firmware_update->isChecked()); settings.setValue("imu_firmware_update", _ui->checkBox_depthai_imu_firmware_update->isChecked());
settings.setValue("laser_dot_brightness", _ui->doubleSpinBox_depthai_laser_dot_brightness->value());
settings.setValue("floodlight_brightness", _ui->doubleSpinBox_depthai_floodlight_brightness->value());
settings.endGroup(); // DepthAI settings.endGroup(); // DepthAI
settings.beginGroup("Images"); settings.beginGroup("Images");
@@ -6319,6 +6327,8 @@ Camera * PreferencesDialog::createCamera(
((CameraDepthAI*)camera)->setOutputDepth(_ui->checkBox_depthai_depth->isChecked(), _ui->spinBox_depthai_confidence->value()); ((CameraDepthAI*)camera)->setOutputDepth(_ui->checkBox_depthai_depth->isChecked(), _ui->spinBox_depthai_confidence->value());
((CameraDepthAI*)camera)->setIMUFirmwareUpdate(_ui->checkBox_depthai_imu_firmware_update->isChecked()); ((CameraDepthAI*)camera)->setIMUFirmwareUpdate(_ui->checkBox_depthai_imu_firmware_update->isChecked());
((CameraDepthAI*)camera)->setIMUPublished(_ui->checkBox_depthai_imu_published->isChecked()); ((CameraDepthAI*)camera)->setIMUPublished(_ui->checkBox_depthai_imu_published->isChecked());
((CameraDepthAI*)camera)->setLaserDotBrightness(_ui->doubleSpinBox_depthai_laser_dot_brightness->value());
((CameraDepthAI*)camera)->setFloodLightBrightness(_ui->doubleSpinBox_depthai_floodlight_brightness->value());
} }
else if(driver == kSrcUsbDevice) else if(driver == kSrcUsbDevice)
{ {

52
guilib/src/ui/preferencesDialog.ui
View File

@@ -5943,6 +5943,58 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property> </property>
</widget> </widget>
</item> </item>
<item row="5" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_depthai_laser_dot_brightness">
<property name="suffix">
<string> mA</string>
</property>
<property name="maximum">
<double>1200.000000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_676">
<property name="text">
<string>Laser dot brightness.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_depthai_floodlight_brightness">
<property name="suffix">
<string> mA</string>
</property>
<property name="maximum">
<double>1500.000000000000000</double>
</property>
<property name="value">
<double>200.000000000000000</double>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_677">
<property name="text">
<string>Floodlight brightness.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
</layout> </layout>
</widget> </widget>
</item> </item>