Added librealsense support #100

CMakeLists.txt

@@ -138,6 +138,7 @@ option(WITH_VERTIGO       "Include Vertigo support"              ON)
 option(WITH_CVSBA         "Include cvsba support"                ON)
 option(WITH_FLYCAPTURE2   "Include FlyCapture2/Triclops support" ON)
 option(WITH_ZED           "Include ZED sdk support"              ON)
+option(WITH_REALSENSE     "Include RealSense support"            ON)
 option(WITH_OCTOMAP       "Include Octomap support"              ON)
 option(PCL_OMP            "With PCL OMP implementations"         ON)
 
@@ -285,6 +286,13 @@ IF(WITH_ZED)
     ENDIF(ZED_FOUND)
 ENDIF(WITH_ZED)
 
+IF(WITH_REALSENSE)
+	FIND_PACKAGE(RealSense QUIET)
+    IF(RealSense_FOUND)
+       MESSAGE(STATUS "Found RealSense: ${RealSense_INCLUDE_DIRS}")
+    ENDIF(RealSense_FOUND)
+ENDIF(WITH_REALSENSE)
+
 IF(WITH_OCTOMAP)
 	FIND_PACKAGE(OCTOMAP QUIET)
     IF(OCTOMAP_FOUND)
@@ -396,6 +404,11 @@ IF(NOT ZED_FOUND)
 ELSE()
    SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${ZED_LIBRARIES} ${CUDA_LIBRARIES}) 
 ENDIF()
+IF(NOT RealSense_FOUND)
+   SET(REALSENSE "//")
+ELSE()
+   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${RealSense_LIBRARIES}) 
+ENDIF()
 IF(NOT OCTOMAP_FOUND)
    SET(OCTOMAP "//")
 ELSE()
@@ -687,6 +700,14 @@ ELSE()
 MESSAGE(STATUS "  With ZED                  = NO (ZED sdk not found)")
 ENDIF()
 
+IF(RealSense_FOUND)
+MESSAGE(STATUS "  With RealSense            = YES (License: Apache-2)")
+ELSEIF(NOT WITH_REALSENSE)
+MESSAGE(STATUS "  With RealSense            = NO (WITH_REALSENSE=OFF)")
+ELSE()
+MESSAGE(STATUS "  With RealSense            = NO (librealsense not found)")
+ENDIF()
+
 IF(OCTOMAP_FOUND)
 MESSAGE(STATUS "  With OCTOMAP              = YES (License: BSD)")
 ELSEIF(NOT WITH_OCTOMAP)

Version.h.in

@@ -50,6 +50,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 @DC1394@#define RTABMAP_DC1394
 @FLYCAPTURE2@#define RTABMAP_FLYCAPTURE2
 @ZED@#define RTABMAP_ZED
+@REALSENSE@#define RTABMAP_REALSENSE
 @OCTOMAP@#define RTABMAP_OCTOMAP
 
 #endif /* VERSION_H_ */

cmake_modules/FindRealSense.cmake

@@ -0,0 +1,34 @@
+# - Find librealsense (https://github.com/IntelRealSense/librealsense)
+#
+#  RealSense_ROOT_DIR environment variable can be set to find the library.
+#
+# It sets the following variables:
+#  RealSense_FOUND       - Set to false, or undefined, if RealSense isn't found.
+#  RealSense_INCLUDE_DIRS - The RealSense include directory.
+#  RealSense_LIBRARIES     - The RealSense library to link against.
+
+#RealSense library
+find_path(RealSense_INCLUDE_DIRS NAMES librealsense/rs.hpp PATHS $ENV{RealSense_ROOT_DIR}/include)
+if(CMAKE_CL_64)
+find_library(RealSense_LIBRARY NAMES realsense PATHS $ENV{RealSense_ROOT_DIR}/lib  $ENV{RealSense_ROOT_DIR}/bin $ENV{RealSense_ROOT_DIR}/bin/x64)
+else()
+find_library(RealSense_LIBRARY NAMES realsense PATHS $ENV{RealSense_ROOT_DIR}/lib  $ENV{RealSense_ROOT_DIR}/bin $ENV{RealSense_ROOT_DIR}/bin/Win32)
+endif()
+
+IF (RealSense_INCLUDE_DIRS AND RealSense_LIBRARY)
+   SET(RealSense_FOUND TRUE)
+ENDIF (RealSense_INCLUDE_DIRS AND RealSense_LIBRARY)
+
+IF (RealSense_FOUND)
+   # show which RealSense was found only if not quiet
+   SET(RealSense_LIBRARIES ${RealSense_LIBRARY})
+   IF (NOT RealSense_FIND_QUIETLY)
+      MESSAGE(STATUS "Found RealSense: ${RealSense_LIBRARIES}")
+   ENDIF (NOT RealSense_FIND_QUIETLY)
+ELSE (RealSense_FOUND)
+   # fatal error if RealSense is required but not found
+   IF (RealSense_FIND_REQUIRED)
+      MESSAGE(FATAL_ERROR "Could not find RealSense (librealsense)")
+   ENDIF (RealSense_FIND_REQUIRED)
+ENDIF (RealSense_FOUND)
+

corelib/include/rtabmap/core/CameraRGBD.h

@@ -64,6 +64,12 @@ class Registration;
 class PacketPipeline;
 }
 
+namespace rs
+{
+	class context;
+	class device;
+}
+
 typedef struct _freenect_context freenect_context;
 typedef struct _freenect_device freenect_device;
 
@@ -266,6 +272,40 @@ private:
 	bool noiseFiltering_;
 };
 
+/////////////////////////
+// CameraOpenNIPCL
+/////////////////////////
+class RTABMAP_EXP CameraRealSense :
+	public Camera
+{
+public:
+	static bool available();
+
+public:
+	// default local transform z in, x right, y down));
+	CameraRealSense(
+		int deviceId = 0,
+		int presetRGB = 0, // 0=best quality, 1=largest image, 2=highest framerate
+		int presetDepth = 0, // 0=best quality, 1=largest image, 2=highest framerate
+		float imageRate = 0,
+		const Transform & localTransform = Transform::getIdentity());
+	virtual ~CameraRealSense();
+
+	virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
+	virtual bool isCalibrated() const;
+	virtual std::string getSerial() const;
+
+protected:
+	virtual SensorData captureImage(CameraInfo * info = 0);
+
+private:
+	rs::context * ctx_;
+	rs::device * dev_;
+	int deviceId_;
+	int presetRGB_;
+	int presetDepth_;
+};
+
 
 /////////////////////////
 // CameraRGBDImages

corelib/src/CMakeLists.txt

@@ -131,6 +131,17 @@ IF(freenect2_FOUND)
 	)
 ENDIF(freenect2_FOUND)
 
+IF(RealSense_FOUND)
+	SET(INCLUDE_DIRS
+		${INCLUDE_DIRS}
+		${RealSense_INCLUDE_DIRS}
+	)
+	SET(LIBRARIES
+		${LIBRARIES}
+		${RealSense_LIBRARIES}
+	)
+ENDIF(RealSense_FOUND)
+
 IF(DC1394_FOUND)
 	SET(INCLUDE_DIRS
 		${INCLUDE_DIRS}

corelib/src/CameraRGBD.cpp

@@ -64,6 +64,10 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <libfreenect2/config.h>
 #endif
 
+#ifdef RTABMAP_REALSENSE
+#include <librealsense/rs.hpp>
+#endif
+
 #ifdef RTABMAP_OPENNI2
 #include <OniVersion.h>
 #include <OpenNI.h>
@@ -1667,6 +1671,213 @@ SensorData CameraFreenect2::captureImage(CameraInfo * info)
 	return data;
 }
 
+/////////////////////////
+// CameraRealSense
+/////////////////////////
+bool CameraRealSense::available()
+{
+#ifdef RTABMAP_REALSENSE
+	return true;
+#else
+	return false;
+#endif
+}
+
+CameraRealSense::CameraRealSense(int device, int presetRGB, int presetDepth, float imageRate, const rtabmap::Transform & localTransform) :
+	Camera(imageRate, localTransform),
+	ctx_(0),
+	dev_(0),
+	deviceId_(device),
+	presetRGB_(presetRGB),
+	presetDepth_(presetDepth)
+{
+}
+
+CameraRealSense::~CameraRealSense()
+{
+#ifdef RTABMAP_REALSENSE
+	if (ctx_)
+	{
+		delete ctx_;
+	}
+#endif
+}
+
+bool CameraRealSense::init(const std::string & calibrationFolder, const std::string & cameraName)
+{
+#ifdef RTABMAP_REALSENSE
+	if (ctx_ == 0)
+	{
+		ctx_ = new rs::context();
+	}
+	if (ctx_->get_device_count() == 0)
+	{
+		UERROR("No RealSense device detected!");
+		return false;
+	}
+
+	dev_ = ctx_->get_device(deviceId_);
+	if (dev_ == 0)
+	{
+		UERROR("Cannot connect to device %d", deviceId_);
+		return false;
+	}
+	UINFO("Using device %d, an %s", deviceId_, dev_->get_name());
+	UINFO("    Serial number: %s", dev_->get_serial());
+	UINFO("    Firmware version: %s", dev_->get_firmware_version());
+	UINFO("    Preset RGB: %d", presetRGB_);
+	UINFO("    Preset Depth: %d", presetDepth_);
+
+	// Configure depth and color to run with the device's preferred settings
+	UINFO("Enabling streams...");
+	// R200: 
+	//    0=640x480   vs 480x360
+	//    1=1920x1080 vs 640x480
+	//    2=640x480   vs 320x240
+	dev_->enable_stream(rs::stream::depth, (rs::preset)presetDepth_);
+	dev_->enable_stream(rs::stream::color, (rs::preset)presetRGB_);
+
+	rs::intrinsics depth_intrin = dev_->get_stream_intrinsics(rs::stream::depth);
+	rs::intrinsics color_intrin = dev_->get_stream_intrinsics(rs::stream::color);
+	UINFO("    RGB:   %dx%d", color_intrin.width, color_intrin.height);
+	UINFO("    Depth: %dx%d", depth_intrin.width, depth_intrin.height);
+	dev_->start();
+
+	dev_->wait_for_frames();
+	uSleep(1000); // ignore the first frames
+	UINFO("Enabling streams...done!");
+	
+	return true;
+
+#else
+	UERROR("CameraRealSense: RTAB-Map is not built with RealSense support!");
+	return false;
+#endif
+}
+
+bool CameraRealSense::isCalibrated() const
+{
+	return true;
+}
+
+std::string CameraRealSense::getSerial() const
+{
+#ifdef RTABMAP_REALSENSE
+	if (dev_)
+	{
+		return dev_->get_serial();
+	}
+	else
+	{
+		UERROR("Cannot get a serial before initialization. Call init() before.");
+	}
+#endif
+	return "NA";
+}
+
+SensorData CameraRealSense::captureImage(CameraInfo * info)
+{
+	SensorData data;
+#ifdef RTABMAP_REALSENSE
+	if (dev_)
+	{
+		dev_->wait_for_frames();
+
+		// Retrieve our images
+		const uint16_t * depth_image = (const uint16_t *)dev_->get_frame_data(rs::stream::depth);
+		const uint8_t * color_image = (const uint8_t *)dev_->get_frame_data(rs::stream::color);
+
+		// Retrieve camera parameters for mapping between depth and color
+		rs::intrinsics depth_intrin = dev_->get_stream_intrinsics(rs::stream::depth);
+		rs::extrinsics depth_to_color = dev_->get_extrinsics(rs::stream::depth, rs::stream::color);
+		rs::intrinsics color_intrin = dev_->get_stream_intrinsics(rs::stream::color);
+		float scale = dev_->get_depth_scale();
+
+		// factory registration...
+		cv::Mat rgb = cv::Mat(cv::Size(color_intrin.width, color_intrin.height), CV_8UC3, (void*)color_image);
+		cv::Mat bgr;
+		cv::cvtColor(rgb, bgr, CV_RGB2BGR);
+
+		CameraModel model(
+			color_intrin.fx, //fx
+			color_intrin.fy, //fy
+			color_intrin.ppx,  //cx
+			color_intrin.ppy,  //cy
+			this->getLocalTransform(),
+			0,
+			bgr.size());
+
+		cv::Mat depth;
+		if (color_intrin.width % depth_intrin.width == 0 && color_intrin.height % depth_intrin.height == 0 &&
+			depth_intrin.width < color_intrin.width &&
+			depth_intrin.height < color_intrin.height)
+		{
+			//we can keep the depth image size as is
+			depth = cv::Mat::zeros(cv::Size(depth_intrin.width, depth_intrin.height), CV_16UC1);
+			float scaleX = float(depth_intrin.width) / float(color_intrin.width);
+			float scaleY = float(depth_intrin.height) / float(color_intrin.height);
+			color_intrin.fx *= scaleX;
+			color_intrin.fy *= scaleY;
+			color_intrin.ppx *= scaleX;
+			color_intrin.ppy *= scaleY;
+			color_intrin.height = depth_intrin.height;
+			color_intrin.width = depth_intrin.width;
+		}
+		else
+		{
+			//depth to color
+			depth = cv::Mat::zeros(bgr.size(), CV_16UC1);
+		}
+		for (int dy = 0; dy < depth_intrin.height; ++dy)
+		{
+			for (int dx = 0; dx < depth_intrin.width; ++dx)
+			{
+				// Retrieve the 16-bit depth value and map it into a depth in meters
+				uint16_t depth_value = depth_image[dy * depth_intrin.width + dx];
+				float depth_in_meters = depth_value * scale;
+
+				// Skip over pixels with a depth value of zero, which is used to indicate no data
+				if (depth_value == 0 || depth_in_meters>10.0f) continue;
+
+				// Map from pixel coordinates in the depth image to pixel coordinates in the color image
+				rs::float2 depth_pixel = { (float)dx, (float)dy };
+				rs::float3 depth_point = depth_intrin.deproject(depth_pixel, depth_in_meters);
+				rs::float3 color_point = depth_to_color.transform(depth_point);
+				rs::float2 color_pixel = color_intrin.project(color_point);
+
+				int pdx = color_pixel.x;
+				int pdy = color_pixel.y;
+				if (uIsInBounds(pdx, 0, depth.cols) && uIsInBounds(pdy, 0, depth.rows))
+				{
+					depth.at<unsigned short>(pdy, pdx) = (unsigned short)(depth_in_meters*1000.0f); // convert to mm
+				}
+			}
+		}
+
+		if (color_intrin.width > depth_intrin.width)
+		{
+			// Fill holes
+			UTimer time;
+			util2d::fillRegisteredDepthHoles(depth, true, true, color_intrin.width > depth_intrin.width * 2);
+			util2d::fillRegisteredDepthHoles(depth, true, true, color_intrin.width > depth_intrin.width * 2);//second pass
+			UDEBUG("Filling depth holes: %fs", time.ticks());
+		}
+		
+		if (!bgr.empty() && !depth.empty())
+		{
+			data = SensorData(bgr, depth, model, this->getNextSeqID(), UTimer::now());
+		}
+	}
+	else
+	{
+		ULOGGER_WARN("The camera must be initialized before requesting an image.");
+	}
+#else
+	UERROR("CameraRealSense: RTAB-Map is not built with RealSense support!");
+#endif
+	return data;
+}
+
 //
 // CameraRGBDImages
 //

guilib/include/rtabmap/gui/MainWindow.h

@@ -150,6 +150,7 @@ private slots:
 	void selectOpenniCvAsus();
 	void selectOpenni2();
 	void selectFreenect2();
+	void selectRealSense();
 	void selectStereoDC1394();
 	void selectStereoFlyCapture2();
 	void selectStereoZed();

guilib/include/rtabmap/gui/PreferencesDialog.h

@@ -89,7 +89,8 @@ public:
 		kSrcOpenNI_CV_ASUS = 3,
 		kSrcOpenNI2        = 4,
 		kSrcFreenect2      = 5,
-		kSrcRGBDImages     = 6,
+		kSrcRealSense      = 6,
+		kSrcRGBDImages     = 7,
 
 		kSrcStereo         = 100,
 		kSrcDC1394         = 100,

guilib/src/AboutDialog.cpp

@@ -62,6 +62,7 @@ AboutDialog::AboutDialog(QWidget * parent) :
 	_ui->label_freenect->setText(CameraFreenect::available()?"Yes":"No");
 	_ui->label_openni2->setText(CameraOpenNI2::available()?"Yes":"No");
 	_ui->label_freenect2->setText(CameraFreenect2::available()?"Yes":"No");
+	_ui->label_realsense->setText(CameraRealSense::available() ? "Yes" : "No");
 	_ui->label_dc1394->setText(CameraStereoDC1394::available()?"Yes":"No");
 	_ui->label_flycapture2->setText(CameraStereoFlyCapture2::available()?"Yes":"No");
 	_ui->label_zed->setText(CameraStereoZed::available()?"Yes":"No");

guilib/src/ImageView.cpp

@@ -745,11 +745,10 @@ void ImageView::setImageDepth(const QImage & imageDepth)
 		_image.width() > _imageDepth.width() &&
 		_image.height() > _imageDepth.height() &&
 		_image.width() % _imageDepth.width() == 0 &&
-		_image.height() % _imageDepth.height() == 0 &&
-		_image.width() / _imageDepth.width() == _image.height() / _imageDepth.height())
+		_image.height() % _imageDepth.height() == 0)
 	{
 		// scale depth to rgb
-		_imageDepth = _imageDepth.scaledToWidth(_image.width());
+		_imageDepth = _imageDepth.scaled(_image.size());
 	}
 
 	if(_graphicsView->isVisible())

guilib/src/MainWindow.cpp

@@ -405,6 +405,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
 	connect(_ui->actionOpenNI2_kinect, SIGNAL(triggered()), this, SLOT(selectOpenni2()));
 	connect(_ui->actionOpenNI2_sense, SIGNAL(triggered()), this, SLOT(selectOpenni2()));
 	connect(_ui->actionFreenect2, SIGNAL(triggered()), this, SLOT(selectFreenect2()));
+	connect(_ui->actionRealSense, SIGNAL(triggered()), this, SLOT(selectRealSense()));
 	connect(_ui->actionStereoDC1394, SIGNAL(triggered()), this, SLOT(selectStereoDC1394()));
 	connect(_ui->actionStereoFlyCapture2, SIGNAL(triggered()), this, SLOT(selectStereoFlyCapture2()));
 	connect(_ui->actionStereoZed, SIGNAL(triggered()), this, SLOT(selectStereoZed()));
@@ -416,6 +417,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
 	_ui->actionOpenNI2_kinect->setEnabled(CameraOpenNI2::available());
 	_ui->actionOpenNI2_sense->setEnabled(CameraOpenNI2::available());
 	_ui->actionFreenect2->setEnabled(CameraFreenect2::available());
+	_ui->actionRealSense->setEnabled(CameraRealSense::available());
 	_ui->actionStereoDC1394->setEnabled(CameraStereoDC1394::available());
 	_ui->actionStereoFlyCapture2->setEnabled(CameraStereoFlyCapture2::available());
 	_ui->actionStereoZed->setEnabled(CameraStereoZed::available());
@@ -3585,6 +3587,7 @@ void MainWindow::updateSelectSourceMenu()
 	_ui->actionOpenNI2_kinect->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcOpenNI2);
 	_ui->actionOpenNI2_sense->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcOpenNI2);
 	_ui->actionFreenect2->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcFreenect2);
+	_ui->actionRealSense->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcRealSense);
 	_ui->actionStereoDC1394->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcDC1394);
 	_ui->actionStereoFlyCapture2->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcFlyCapture2);
 	_ui->actionStereoZed->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcStereoZed);
@@ -4756,6 +4759,11 @@ void MainWindow::selectFreenect2()
 	_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcFreenect2);
 }
 
+void MainWindow::selectRealSense()
+{
+	_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcRealSense);
+}
+
 void MainWindow::selectStereoDC1394()
 {
 	_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcDC1394);

guilib/src/PreferencesDialog.cpp

@@ -235,6 +235,10 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	{
 		_ui->comboBox_cameraRGBD->setItemData(5, 0, Qt::UserRole - 1);
 	}
+	if (!CameraRealSense::available())
+	{
+		_ui->comboBox_cameraRGBD->setItemData(6, 0, Qt::UserRole - 1);
+	}
 	if(!CameraStereoDC1394::available())
 	{
 		_ui->comboBox_cameraStereo->setItemData(0, 0, Qt::UserRole - 1);
@@ -459,6 +463,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	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->comboBox_realsensePresetRGB, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
+	connect(_ui->comboBox_realsensePresetDepth, SIGNAL(currentIndexChanged(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()));
@@ -1306,6 +1312,8 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
 		_ui->checkBox_freenect2BilateralFiltering->setChecked(true);
 		_ui->checkBox_freenect2EdgeAwareFiltering->setChecked(true);
 		_ui->checkBox_freenect2NoiseFiltering->setChecked(true);
+		_ui->comboBox_realsensePresetRGB->setCurrentIndex(0);
+		_ui->comboBox_realsensePresetDepth->setCurrentIndex(2);
 		_ui->lineEdit_openniOniPath->clear();
 		_ui->lineEdit_openni2OniPath->clear();
 		_ui->lineEdit_cameraRGBDImages_path_rgb->setText("");
@@ -1648,6 +1656,11 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
 	_ui->checkBox_freenect2NoiseFiltering->setChecked(settings.value("noiseFiltering", _ui->checkBox_freenect2NoiseFiltering->isChecked()).toBool());
 	settings.endGroup(); // Freenect2
 
+	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());
+	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());
@@ -2061,6 +2074,11 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
 	settings.setValue("noiseFiltering",     _ui->checkBox_freenect2NoiseFiltering->isChecked());
 	settings.endGroup(); // Freenect2
 
+	settings.beginGroup("RealSense");
+	settings.setValue("presetRGB",           _ui->comboBox_realsensePresetRGB->currentIndex());
+	settings.setValue("presetDepth",         _ui->comboBox_realsensePresetDepth->currentIndex());
+	settings.endGroup(); // RealSense
+
 	settings.beginGroup("RGBDImages");
 	settings.setValue("path_rgb",            _ui->lineEdit_cameraRGBDImages_path_rgb->text());
 	settings.setValue("path_depth",          _ui->lineEdit_cameraRGBDImages_path_depth->text());
@@ -3573,10 +3591,12 @@ void PreferencesDialog::updateSourceGrpVisibility()
 	_ui->stackedWidget_rgbd->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 &&
 			(_ui->comboBox_cameraRGBD->currentIndex() == kSrcOpenNI2-kSrcRGBD ||
 			 _ui->comboBox_cameraRGBD->currentIndex() == kSrcFreenect2-kSrcRGBD ||
+			 _ui->comboBox_cameraRGBD->currentIndex() == kSrcRealSense - kSrcRGBD ||
 			 _ui->comboBox_cameraRGBD->currentIndex() == kSrcRGBDImages-kSrcRGBD ||
 			 _ui->comboBox_cameraRGBD->currentIndex() == kSrcOpenNI_PCL-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_realsense->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcRealSense - 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);
 
@@ -4081,6 +4101,15 @@ Camera * PreferencesDialog::createCamera(bool useRawImages)
 			_ui->checkBox_freenect2EdgeAwareFiltering->isChecked(),
 			_ui->checkBox_freenect2NoiseFiltering->isChecked());
 	}
+	else if (driver == kSrcRealSense)
+	{
+		camera = new CameraRealSense(
+			this->getSourceDevice().isEmpty() ? 0 : atoi(this->getSourceDevice().toStdString().c_str()),
+			_ui->comboBox_realsensePresetRGB->currentIndex(),
+			_ui->comboBox_realsensePresetDepth->currentIndex(),
+			this->getGeneralInputRate(),
+			this->getSourceLocalTransform());
+	}
 	else if(driver == kSrcRGBDImages)
 	{
 		camera = new CameraRGBDImages(

guilib/src/ui/aboutDialog.ui

@@ -82,23 +82,6 @@ p, li { white-space: pre-wrap; }
         </item>
         <item>
          <layout class="QGridLayout" name="gridLayout" columnstretch="0,1">
-          <item row="8" column="1">
-           <widget class="QLabel" name="label_opencv_version">
-            <property name="text">
-             <string/>
-            </property>
-            <property name="alignment">
-             <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
-            </property>
-           </widget>
-          </item>
-          <item row="9" column="0">
-           <widget class="QLabel" name="label_11">
-            <property name="text">
-             <string>PCL version :</string>
-            </property>
-           </widget>
-          </item>
           <item row="9" column="1">
            <widget class="QLabel" name="label_pcl_version">
             <property name="text">
@@ -109,41 +92,6 @@ p, li { white-space: pre-wrap; }
             </property>
            </widget>
           </item>
-          <item row="10" column="0">
-           <widget class="QLabel" name="label_12">
-            <property name="text">
-             <string>With Freenect :</string>
-            </property>
-           </widget>
-          </item>
-          <item row="11" column="0">
-           <widget class="QLabel" name="label_13">
-            <property name="text">
-             <string>With OpenNI2 :</string>
-            </property>
-           </widget>
-          </item>
-          <item row="13" column="0">
-           <widget class="QLabel" name="label_16">
-            <property name="text">
-             <string>With stereo dc1394 :</string>
-            </property>
-           </widget>
-          </item>
-          <item row="7" column="0">
-           <widget class="QLabel" name="label_6">
-            <property name="text">
-             <string>Version :</string>
-            </property>
-           </widget>
-          </item>
-          <item row="3" column="0">
-           <widget class="QLabel" name="label_4">
-            <property name="text">
-             <string>Links :</string>
-            </property>
-           </widget>
-          </item>
           <item row="1" column="0">
            <widget class="QLabel" name="label_2">
             <property name="text">
@@ -151,33 +99,6 @@ p, li { white-space: pre-wrap; }
             </property>
            </widget>
           </item>
-          <item row="3" column="1">
-           <widget class="QLabel" name="label_HomePage_2">
-            <property name="text">
-             <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;a href=&quot;http://github.com/introlab/rtabmap&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;Source page&lt;/span&gt;&lt;/a&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-            </property>
-            <property name="alignment">
-             <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
-            </property>
-            <property name="openExternalLinks">
-             <bool>true</bool>
-            </property>
-           </widget>
-          </item>
-          <item row="1" column="1">
-           <widget class="QLabel" name="label_8">
-            <property name="text">
-             <string>Mathieu Labbé, [email protected]</string>
-            </property>
-            <property name="alignment">
-             <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
-            </property>
-           </widget>
-          </item>
           <item row="7" column="1">
            <widget class="QLabel" name="label_version">
             <property name="text">
@@ -205,6 +126,13 @@ p, li { white-space: pre-wrap; }
             </property>
            </widget>
           </item>
+          <item row="10" column="0">
+           <widget class="QLabel" name="label_12">
+            <property name="text">
+             <string>With Freenect :</string>
+            </property>
+           </widget>
+          </item>
           <item row="8" column="0">
            <widget class="QLabel" name="label_7">
             <property name="text">
@@ -212,13 +140,27 @@ p, li { white-space: pre-wrap; }
             </property>
            </widget>
           </item>
-          <item row="16" column="0">
+          <item row="3" column="0">
+           <widget class="QLabel" name="label_4">
+            <property name="text">
+             <string>Links :</string>
+            </property>
+           </widget>
+          </item>
+          <item row="17" column="0">
            <widget class="QLabel" name="label_14">
             <property name="text">
              <string>With g2o :</string>
             </property>
            </widget>
           </item>
+          <item row="14" column="0">
+           <widget class="QLabel" name="label_16">
+            <property name="text">
+             <string>With stereo dc1394 :</string>
+            </property>
+           </widget>
+          </item>
           <item row="10" column="1">
            <widget class="QLabel" name="label_freenect">
             <property name="text">
@@ -239,7 +181,7 @@ p, li { white-space: pre-wrap; }
             </property>
            </widget>
           </item>
-          <item row="16" column="1">
+          <item row="17" column="1">
            <widget class="QLabel" name="label_g2o">
             <property name="text">
              <string/>
@@ -256,13 +198,71 @@ p, li { white-space: pre-wrap; }
             </property>
            </widget>
           </item>
-          <item row="14" column="0">
+          <item row="15" column="0">
            <widget class="QLabel" name="label_17">
             <property name="text">
              <string>With stereo FlyCapture2 :</string>
             </property>
            </widget>
           </item>
+          <item row="1" column="1">
+           <widget class="QLabel" name="label_8">
+            <property name="text">
+             <string>Mathieu Labbé, [email protected]</string>
+            </property>
+            <property name="alignment">
+             <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+            </property>
+           </widget>
+          </item>
+          <item row="9" column="0">
+           <widget class="QLabel" name="label_11">
+            <property name="text">
+             <string>PCL version :</string>
+            </property>
+           </widget>
+          </item>
+          <item row="11" column="0">
+           <widget class="QLabel" name="label_13">
+            <property name="text">
+             <string>With OpenNI2 :</string>
+            </property>
+           </widget>
+          </item>
+          <item row="3" column="1">
+           <widget class="QLabel" name="label_HomePage_2">
+            <property name="text">
+             <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;a href=&quot;http://github.com/introlab/rtabmap&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;Source page&lt;/span&gt;&lt;/a&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+            </property>
+            <property name="alignment">
+             <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+            </property>
+            <property name="openExternalLinks">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+          <item row="7" column="0">
+           <widget class="QLabel" name="label_6">
+            <property name="text">
+             <string>Version :</string>
+            </property>
+           </widget>
+          </item>
+          <item row="8" column="1">
+           <widget class="QLabel" name="label_opencv_version">
+            <property name="text">
+             <string/>
+            </property>
+            <property name="alignment">
+             <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+            </property>
+           </widget>
+          </item>
           <item row="12" column="1">
            <widget class="QLabel" name="label_freenect2">
             <property name="text">
@@ -273,34 +273,7 @@ p, li { white-space: pre-wrap; }
             </property>
            </widget>
           </item>
-          <item row="13" column="1">
-           <widget class="QLabel" name="label_dc1394">
-            <property name="text">
-             <string/>
-            </property>
-            <property name="alignment">
-             <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
-            </property>
-           </widget>
-          </item>
-          <item row="14" column="1">
-           <widget class="QLabel" name="label_flycapture2">
-            <property name="text">
-             <string/>
-            </property>
-            <property name="alignment">
-             <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
-            </property>
-           </widget>
-          </item>
-          <item row="18" column="0">
-           <widget class="QLabel" name="label_18">
-            <property name="text">
-             <string>With cvsba :</string>
-            </property>
-           </widget>
-          </item>
-          <item row="18" column="1">
+          <item row="19" column="1">
            <widget class="QLabel" name="label_cvsba">
             <property name="text">
              <string/>
@@ -310,14 +283,48 @@ p, li { white-space: pre-wrap; }
             </property>
            </widget>
           </item>
-          <item row="17" column="0">
+          <item row="16" column="0">
+           <widget class="QLabel" name="label_21">
+            <property name="text">
+             <string>With stereo Zed :</string>
+            </property>
+           </widget>
+          </item>
+          <item row="18" column="0">
            <widget class="QLabel" name="label_19">
             <property name="text">
              <string>With GTSAM :</string>
             </property>
            </widget>
           </item>
-          <item row="17" column="1">
+          <item row="20" column="1">
+           <widget class="QLabel" name="label_octomap">
+            <property name="text">
+             <string/>
+            </property>
+            <property name="alignment">
+             <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+            </property>
+           </widget>
+          </item>
+          <item row="16" column="1">
+           <widget class="QLabel" name="label_zed">
+            <property name="text">
+             <string/>
+            </property>
+            <property name="alignment">
+             <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+            </property>
+           </widget>
+          </item>
+          <item row="20" column="0">
+           <widget class="QLabel" name="label_20">
+            <property name="text">
+             <string>With Octomap :</string>
+            </property>
+           </widget>
+          </item>
+          <item row="18" column="1">
            <widget class="QLabel" name="label_gtsam">
             <property name="text">
              <string/>
@@ -328,14 +335,14 @@ p, li { white-space: pre-wrap; }
            </widget>
           </item>
           <item row="19" column="0">
-           <widget class="QLabel" name="label_20">
+           <widget class="QLabel" name="label_18">
             <property name="text">
-             <string>With Octomap :</string>
+             <string>With cvsba :</string>
             </property>
            </widget>
           </item>
-          <item row="19" column="1">
-           <widget class="QLabel" name="label_octomap">
+          <item row="14" column="1">
+           <widget class="QLabel" name="label_dc1394">
             <property name="text">
              <string/>
             </property>
@@ -344,15 +351,25 @@ p, li { white-space: pre-wrap; }
             </property>
            </widget>
           </item>
-          <item row="15" column="0">
-           <widget class="QLabel" name="label_21">
+          <item row="15" column="1">
+           <widget class="QLabel" name="label_flycapture2">
             <property name="text">
-             <string>With stereo Zed :</string>
+             <string/>
+            </property>
+            <property name="alignment">
+             <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
             </property>
            </widget>
           </item>
-          <item row="15" column="1">
-           <widget class="QLabel" name="label_zed">
+          <item row="13" column="0">
+           <widget class="QLabel" name="label_22">
+            <property name="text">
+             <string>With RealSense :</string>
+            </property>
+           </widget>
+          </item>
+          <item row="13" column="1">
+           <widget class="QLabel" name="label_realsense">
             <property name="text">
              <string/>
             </property>

guilib/src/ui/mainWindow.ui

@@ -27,7 +27,7 @@
      <x>0</x>
      <y>0</y>
      <width>1012</width>
-     <height>25</height>
+     <height>21</height>
     </rect>
    </property>
    <widget class="QMenu" name="menuFile">
@@ -167,10 +167,17 @@
        </property>
        <addaction name="actionFreenect2"/>
       </widget>
+      <widget class="QMenu" name="menuRealSense_R200">
+       <property name="title">
+        <string>RealSense R200</string>
+       </property>
+       <addaction name="actionRealSense"/>
+      </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"/>
      </widget>
      <widget class="QMenu" name="menuStereo_camera">
       <property name="title">
@@ -298,7 +305,16 @@
      <property name="spacing">
       <number>0</number>
      </property>
-     <property name="margin">
+     <property name="leftMargin">
+      <number>0</number>
+     </property>
+     <property name="topMargin">
+      <number>0</number>
+     </property>
+     <property name="rightMargin">
+      <number>0</number>
+     </property>
+     <property name="bottomMargin">
       <number>0</number>
      </property>
      <item>
@@ -336,7 +352,16 @@
      <property name="spacing">
       <number>0</number>
      </property>
-     <property name="margin">
+     <property name="leftMargin">
+      <number>0</number>
+     </property>
+     <property name="topMargin">
+      <number>0</number>
+     </property>
+     <property name="rightMargin">
+      <number>0</number>
+     </property>
+     <property name="bottomMargin">
       <number>0</number>
      </property>
      <item>
@@ -579,7 +604,16 @@
      <property name="spacing">
       <number>0</number>
      </property>
-     <property name="margin">
+     <property name="leftMargin">
+      <number>0</number>
+     </property>
+     <property name="topMargin">
+      <number>0</number>
+     </property>
+     <property name="rightMargin">
+      <number>0</number>
+     </property>
+     <property name="bottomMargin">
       <number>0</number>
      </property>
      <item>
@@ -600,7 +634,16 @@
      <property name="spacing">
       <number>0</number>
      </property>
-     <property name="margin">
+     <property name="leftMargin">
+      <number>0</number>
+     </property>
+     <property name="topMargin">
+      <number>0</number>
+     </property>
+     <property name="rightMargin">
+      <number>0</number>
+     </property>
+     <property name="bottomMargin">
       <number>0</number>
      </property>
      <item>
@@ -621,7 +664,16 @@
      <property name="spacing">
       <number>0</number>
      </property>
-     <property name="margin">
+     <property name="leftMargin">
+      <number>0</number>
+     </property>
+     <property name="topMargin">
+      <number>0</number>
+     </property>
+     <property name="rightMargin">
+      <number>0</number>
+     </property>
+     <property name="bottomMargin">
       <number>0</number>
      </property>
      <item>
@@ -642,7 +694,16 @@
      <property name="spacing">
       <number>0</number>
      </property>
-     <property name="margin">
+     <property name="leftMargin">
+      <number>0</number>
+     </property>
+     <property name="topMargin">
+      <number>0</number>
+     </property>
+     <property name="rightMargin">
+      <number>0</number>
+     </property>
+     <property name="bottomMargin">
       <number>0</number>
      </property>
     </layout>
@@ -660,7 +721,16 @@
      <property name="spacing">
       <number>0</number>
      </property>
-     <property name="margin">
+     <property name="leftMargin">
+      <number>0</number>
+     </property>
+     <property name="topMargin">
+      <number>0</number>
+     </property>
+     <property name="rightMargin">
+      <number>0</number>
+     </property>
+     <property name="bottomMargin">
       <number>0</number>
      </property>
     </layout>
@@ -681,7 +751,16 @@
      <property name="spacing">
       <number>0</number>
      </property>
-     <property name="margin">
+     <property name="leftMargin">
+      <number>0</number>
+     </property>
+     <property name="topMargin">
+      <number>0</number>
+     </property>
+     <property name="rightMargin">
+      <number>0</number>
+     </property>
+     <property name="bottomMargin">
       <number>0</number>
      </property>
      <item>
@@ -702,7 +781,16 @@
      <property name="spacing">
       <number>0</number>
      </property>
-     <property name="margin">
+     <property name="leftMargin">
+      <number>0</number>
+     </property>
+     <property name="topMargin">
+      <number>0</number>
+     </property>
+     <property name="rightMargin">
+      <number>0</number>
+     </property>
+     <property name="bottomMargin">
       <number>0</number>
      </property>
      <item>
@@ -726,7 +814,16 @@
      <property name="spacing">
       <number>0</number>
      </property>
-     <property name="margin">
+     <property name="leftMargin">
+      <number>0</number>
+     </property>
+     <property name="topMargin">
+      <number>0</number>
+     </property>
+     <property name="rightMargin">
+      <number>0</number>
+     </property>
+     <property name="bottomMargin">
       <number>0</number>
      </property>
      <item>
@@ -796,7 +893,16 @@
      <property name="spacing">
       <number>0</number>
      </property>
-     <property name="margin">
+     <property name="leftMargin">
+      <number>0</number>
+     </property>
+     <property name="topMargin">
+      <number>0</number>
+     </property>
+     <property name="rightMargin">
+      <number>0</number>
+     </property>
+     <property name="bottomMargin">
       <number>0</number>
      </property>
      <item>
@@ -1326,6 +1432,14 @@
     <string>Export octomap...</string>
    </property>
   </action>
+  <action name="actionRealSense">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>RealSense</string>
+   </property>
+  </action>
  </widget>
  <customwidgets>
   <customwidget>

guilib/src/ui/preferencesDialog.ui

@@ -64,15 +64,24 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>686</width>
-            <height>2023</height>
+            <width>685</width>
+            <height>1896</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_16">
            <property name="spacing">
             <number>0</number>
            </property>
-           <property name="margin">
+           <property name="leftMargin">
+            <number>0</number>
+           </property>
+           <property name="topMargin">
+            <number>0</number>
+           </property>
+           <property name="rightMargin">
+            <number>0</number>
+           </property>
+           <property name="bottomMargin">
             <number>0</number>
            </property>
            <item>
@@ -86,7 +95,7 @@
                 <enum>QFrame::Raised</enum>
                </property>
                <property name="currentIndex">
-                <number>0</number>
+                <number>5</number>
                </property>
                <widget class="QWidget" name="page_22">
                 <layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -2401,7 +2410,7 @@ 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">
@@ -2464,6 +2473,11 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                                  <string>Freenect2</string>
                                 </property>
                                </item>
+                               <item>
+                                <property name="text">
+                                 <string>RealSense</string>
+                                </property>
+                               </item>
                                <item>
                                 <property name="text">
                                  <string>Images</string>
@@ -2506,7 +2520,7 @@ 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>0</number>
+                              <number>6</number>
                              </property>
                              <widget class="QWidget" name="page_32">
                               <layout class="QVBoxLayout" name="verticalLayout_63">
@@ -2986,6 +3000,108 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                                </item>
                               </layout>
                              </widget>
+                             <widget class="QWidget" name="page_63">
+                              <layout class="QVBoxLayout" name="verticalLayout_106">
+                               <item>
+                                <widget class="QGroupBox" name="groupBox_realsense">
+                                 <property name="sizePolicy">
+                                  <sizepolicy hsizetype="Ignored" vsizetype="Ignored">
+                                   <horstretch>0</horstretch>
+                                   <verstretch>0</verstretch>
+                                  </sizepolicy>
+                                 </property>
+                                 <property name="title">
+                                  <string>RealSense</string>
+                                 </property>
+                                 <layout class="QGridLayout" name="gridLayout_73" columnstretch="0,1">
+                                  <item row="0" column="1">
+                                   <widget class="QLabel" name="label_317">
+                                    <property name="text">
+                                     <string>Preset for RGB stream.</string>
+                                    </property>
+                                    <property name="wordWrap">
+                                     <bool>true</bool>
+                                    </property>
+                                    <property name="textInteractionFlags">
+                                     <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                                    </property>
+                                   </widget>
+                                  </item>
+                                  <item row="2" column="0">
+                                   <spacer name="verticalSpacer_51">
+                                    <property name="orientation">
+                                     <enum>Qt::Vertical</enum>
+                                    </property>
+                                    <property name="sizeHint" stdset="0">
+                                     <size>
+                                      <width>20</width>
+                                      <height>0</height>
+                                     </size>
+                                    </property>
+                                   </spacer>
+                                  </item>
+                                  <item row="0" column="0">
+                                   <widget class="QComboBox" name="comboBox_realsensePresetRGB">
+                                    <property name="sizeAdjustPolicy">
+                                     <enum>QComboBox::AdjustToContents</enum>
+                                    </property>
+                                    <item>
+                                     <property name="text">
+                                      <string>Best Quality</string>
+                                     </property>
+                                    </item>
+                                    <item>
+                                     <property name="text">
+                                      <string>Largest Image</string>
+                                     </property>
+                                    </item>
+                                    <item>
+                                     <property name="text">
+                                      <string>Highest Framerate</string>
+                                     </property>
+                                    </item>
+                                   </widget>
+                                  </item>
+                                  <item row="1" column="1">
+                                   <widget class="QLabel" name="label_318">
+                                    <property name="text">
+                                     <string>Preset for depth stream.</string>
+                                    </property>
+                                    <property name="wordWrap">
+                                     <bool>true</bool>
+                                    </property>
+                                    <property name="textInteractionFlags">
+                                     <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                                    </property>
+                                   </widget>
+                                  </item>
+                                  <item row="1" column="0">
+                                   <widget class="QComboBox" name="comboBox_realsensePresetDepth">
+                                    <property name="sizeAdjustPolicy">
+                                     <enum>QComboBox::AdjustToContents</enum>
+                                    </property>
+                                    <item>
+                                     <property name="text">
+                                      <string>Best Quality</string>
+                                     </property>
+                                    </item>
+                                    <item>
+                                     <property name="text">
+                                      <string>Largest Image</string>
+                                     </property>
+                                    </item>
+                                    <item>
+                                     <property name="text">
+                                      <string>Highest Framerate</string>
+                                     </property>
+                                    </item>
+                                   </widget>
+                                  </item>
+                                 </layout>
+                                </widget>
+                               </item>
+                              </layout>
+                             </widget>
                              <widget class="QWidget" name="page_47">
                               <layout class="QVBoxLayout" name="verticalLayout_79">
                                <item>
@@ -4071,7 +4187,16 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                        <string>Directory of images (optional settings)</string>
                       </property>
                       <layout class="QVBoxLayout" name="verticalLayout_93">
-                       <property name="margin">
+                       <property name="leftMargin">
+                        <number>0</number>
+                       </property>
+                       <property name="topMargin">
+                        <number>0</number>
+                       </property>
+                       <property name="rightMargin">
+                        <number>0</number>
+                       </property>
+                       <property name="bottomMargin">
                         <number>0</number>
                        </property>
                        <item>
@@ -9248,7 +9373,16 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
                       </property>
                       <widget class="QWidget" name="page_54">
                        <layout class="QVBoxLayout" name="verticalLayout_85">
-                        <property name="margin">
+                        <property name="leftMargin">
+                         <number>0</number>
+                        </property>
+                        <property name="topMargin">
+                         <number>0</number>
+                        </property>
+                        <property name="rightMargin">
+                         <number>0</number>
+                        </property>
+                        <property name="bottomMargin">
                          <number>0</number>
                         </property>
                         <item>
@@ -9388,7 +9522,16 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
                       </widget>
                       <widget class="QWidget" name="page_55">
                        <layout class="QVBoxLayout" name="verticalLayout_86">
-                        <property name="margin">
+                        <property name="leftMargin">
+                         <number>0</number>
+                        </property>
+                        <property name="topMargin">
+                         <number>0</number>
+                        </property>
+                        <property name="rightMargin">
+                         <number>0</number>
+                        </property>
+                        <property name="bottomMargin">
                          <number>0</number>
                         </property>
                         <item>
@@ -9546,7 +9689,16 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
                         <property name="spacing">
                          <number>0</number>
                         </property>
-                        <property name="margin">
+                        <property name="leftMargin">
+                         <number>0</number>
+                        </property>
+                        <property name="topMargin">
+                         <number>0</number>
+                        </property>
+                        <property name="rightMargin">
+                         <number>0</number>
+                        </property>
+                        <property name="bottomMargin">
                          <number>0</number>
                         </property>
                         <item>
@@ -9626,7 +9778,16 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
                         <property name="spacing">
                          <number>0</number>
                         </property>
-                        <property name="margin">
+                        <property name="leftMargin">
+                         <number>0</number>
+                        </property>
+                        <property name="topMargin">
+                         <number>0</number>
+                        </property>
+                        <property name="rightMargin">
+                         <number>0</number>
+                        </property>
+                        <property name="bottomMargin">
                          <number>0</number>
                         </property>
                         <item>
@@ -9738,7 +9899,16 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
                         <property name="spacing">
                          <number>0</number>
                         </property>
-                        <property name="margin">
+                        <property name="leftMargin">
+                         <number>0</number>
+                        </property>
+                        <property name="topMargin">
+                         <number>0</number>
+                        </property>
+                        <property name="rightMargin">
+                         <number>0</number>
+                        </property>
+                        <property name="bottomMargin">
                          <number>0</number>
                         </property>
                         <item>

tools/CameraRGBD/main.cpp

@@ -54,6 +54,7 @@ void showUsage()
 			"                                     6=DC1394     (Bumblebee2)\n"
 			"                                     7=FlyCapture2 (Bumblebee2)\n"
 			"                                     8=ZED stereo\n"
+			"                                     9=RealSense\n"
 			"  Options:\n"
 			"      -rate #.#                      Input rate Hz (default 0=inf)\n"
 			"      -save_stereo \"path\"            Save stereo images in a folder or a video file (side by side *.avi).\n"
@@ -150,9 +151,9 @@ int main(int argc, char * argv[])
 
 			// last
 			driver = atoi(argv[i]);
-			if(driver < 0 || driver > 8)
+			if(driver < 0 || driver > 9)
 			{
-				UERROR("driver should be between 0 and 8.");
+				UERROR("driver should be between 0 and 9.");
 				showUsage();
 			}
 		}
@@ -245,6 +246,15 @@ int main(int argc, char * argv[])
 		}
 		camera = new rtabmap::CameraStereoZed(0);
 	}
+	else if (driver == 9)
+	{
+		if (!rtabmap::CameraRealSense::available())
+		{
+			UERROR("Not built with RealSense support...");
+			exit(-1);
+		}
+		camera = new rtabmap::CameraRealSense(0);
+	}
 	else
 	{
 		UFATAL("");
@@ -258,7 +268,7 @@ int main(int argc, char * argv[])
 	}
 
 	rtabmap::SensorData data = camera->takeImage();
-	if(data.imageRaw().cols != data.depthOrRightRaw().cols || data.imageRaw().rows != data.depthOrRightRaw().rows)
+	if(data.imageRaw().cols % data.depthOrRightRaw().cols != 0 || data.imageRaw().rows % data.depthOrRightRaw().rows != 0)
 	{
 		UWARN("RGB (%d/%d) and depth (%d/%d) frames are not the same size! The registered cloud cannot be shown.",
 				data.imageRaw().cols, data.imageRaw().rows, data.depthOrRightRaw().cols, data.depthOrRightRaw().rows);
@@ -336,7 +346,7 @@ int main(int argc, char * argv[])
 				depth = rtabmap::util2d::cvtDepthFromFloat(depth);
 			}
 
-			if(rgb.cols == depth.cols && rgb.rows == depth.rows &&
+			if(!rgb.empty() && rgb.cols % depth.cols == 0 && rgb.rows % depth.rows == 0 &&
 					data.cameraModels().size() &&
 					data.cameraModels()[0].isValidForProjection())
 			{

tools/ImagesJoiner/CMakeLists.txt

@@ -9,8 +9,6 @@ SET(INCLUDE_DIRS
     ${OpenCV_INCLUDE_DIRS}
 )
 
-MESSAGE(STATUS "OpenCV_INCLUDE_DIRS=${OpenCV_INCLUDE_DIRS}")
-
 SET(LIBRARIES
 	${OpenCV_LIBRARIES} 
 )