i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-07 18:47:48 +08:00
Code Issues Packages Projects Releases Wiki Activity

DbViewer: added option to show disparity instead of right image in main views for stereo data

Browse Source
This commit is contained in:
matlabbe
2021-11-20 16:36:54 -05:00
parent 6684bafe34
commit 090ae0c444
3 changed files with 221 additions and 190 deletions
Download Patch File Download Diff File Expand all files Collapse all files
guilib/src/DatabaseViewer.cpp
+22 -11
View File
@@ -67,6 +67,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/Compression.h"
#include "rtabmap/core/Graph.h"
#include "rtabmap/core/Stereo.h"
#include "rtabmap/core/StereoDense.h"
#include "rtabmap/core/Optimizer.h"
#include "rtabmap/core/RegistrationVis.h"
#include "rtabmap/core/RegistrationIcp.h"
@@ -393,6 +394,7 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
connect(ui_->doubleSpinBox_voxelSize, SIGNAL(valueChanged(double)), this, SLOT(updateConstraintView()));
connect(ui_->doubleSpinBox_voxelSize, SIGNAL(valueChanged(double)), this, SLOT(update3dView()));
connect(ui_->checkBox_cameraProjection, SIGNAL(stateChanged(int)), this, SLOT(update3dView()));
connect(ui_->checkBox_showDisparityInsteadOfRight, SIGNAL(stateChanged(int)), this, SLOT(update3dView()));
connect(ui_->spinBox_decimation, SIGNAL(valueChanged(int)), this, SLOT(updateConstraintView()));
connect(ui_->spinBox_decimation, SIGNAL(valueChanged(int)), this, SLOT(update3dView()));
connect(ui_->groupBox_posefiltering, SIGNAL(clicked(bool)), this, SLOT(updateGraphView()));
@@ -421,6 +423,7 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
connect(ui_->doubleSpinBox_gainCompensationRadius, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
connect(ui_->doubleSpinBox_voxelSize, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
connect(ui_->checkBox_cameraProjection, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->checkBox_showDisparityInsteadOfRight, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->spinBox_decimation, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
connect(ui_->groupBox_posefiltering, SIGNAL(clicked(bool)), this, SLOT(configModified()));
connect(ui_->doubleSpinBox_posefilteringRadius, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
@@ -553,7 +556,7 @@ void DatabaseViewer::readSettings()
ui_->doubleSpinBox_voxelSize->setValue(settings.value("voxelSize", ui_->doubleSpinBox_voxelSize->value()).toDouble());
ui_->spinBox_decimation->setValue(settings.value("decimation", ui_->spinBox_decimation->value()).toInt());
ui_->checkBox_cameraProjection->setChecked(settings.value("camProj", ui_->checkBox_cameraProjection->isChecked()).toBool());
ui_->checkBox_showDisparityInsteadOfRight->setChecked(settings.value("showDisp", ui_->checkBox_showDisparityInsteadOfRight->isChecked()).toBool());
settings.endGroup();
settings.beginGroup("grid");
@@ -641,6 +644,7 @@ void DatabaseViewer::writeSettings()
settings.setValue("voxelSize", ui_->doubleSpinBox_voxelSize->value());
settings.setValue("decimation", ui_->spinBox_decimation->value());
settings.setValue("camProj", ui_->checkBox_cameraProjection->isChecked());
settings.setValue("showDisp", ui_->checkBox_showDisparityInsteadOfRight->isChecked());
settings.endGroup();
// save Grid settings
@@ -731,6 +735,7 @@ void DatabaseViewer::restoreDefaultSettings()
ui_->doubleSpinBox_voxelSize->setValue(0.0);
ui_->spinBox_decimation->setValue(1);
ui_->checkBox_cameraProjection->setChecked(false);
ui_->checkBox_showDisparityInsteadOfRight->setChecked(false);
ui_->groupBox_posefiltering->setChecked(false);
ui_->doubleSpinBox_posefilteringRadius->setValue(0.1);
@@ -4398,7 +4403,7 @@ void DatabaseViewer::update(int value,
data.uncompressData();
if(!data.imageRaw().empty())
{
img = uCvMat2QImage(ui_->label_indexB==labelIndex?data.imageRaw():data.imageRaw());
img = uCvMat2QImage(data.imageRaw());
}
if(!data.depthOrRightRaw().empty())
{
@@ -4410,6 +4415,15 @@ void DatabaseViewer::update(int value,
depth = util2d::fillDepthHoles(depth, ui_->spinBox_mesh_fillDepthHoles->value(), float(ui_->spinBox_mesh_depthError->value())/100.0f);
}
}
if( !data.imageRaw().empty() &&
!data.rightRaw().empty() &&
data.stereoCameraModel().isValidForProjection() &&
ui_->checkBox_showDisparityInsteadOfRight->isChecked())
{
rtabmap::StereoDense * denseStereo = rtabmap::StereoDense::create(ui_->parameters_toolbox->getParameters());
depth = util2d::depthFromDisparity(denseStereo->computeDisparity(data.imageRaw(), data.rightRaw()), data.stereoCameraModel().left().fx(), data.stereoCameraModel().baseline(), CV_32FC1);
delete denseStereo;
}
imgDepth = depth;
}
@@ -5606,16 +5620,13 @@ void DatabaseViewer::sliderBMoved(int value)
void DatabaseViewer::update3dView()
{
if(ui_->dockWidget_view3d->isVisible())
if(lastSliderIndexBrowsed_ == ui_->horizontalSlider_B->value())
{
if(lastSliderIndexBrowsed_ == ui_->horizontalSlider_B->value())
{
sliderBValueChanged(ui_->horizontalSlider_B->value());
}
else
{
sliderAValueChanged(ui_->horizontalSlider_A->value());
}
sliderBValueChanged(ui_->horizontalSlider_B->value());
}
else
{
sliderAValueChanged(ui_->horizontalSlider_A->value());
}
}