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cloudFromDisparity(): adjusting decimation if not valid with current image size. Standalone: ask user to set other parameters to default if some were set on command line.

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This commit is contained in:
matlabbe
2017-04-28 11:43:27 -04:00
parent 1ea94c0356
commit 14baca125d
4 changed files with 58 additions and 6 deletions
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39
corelib/src/util3d.cpp
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@@ -595,10 +595,26 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr cloudFromDisparity(
std::vector<int> * validIndices) std::vector<int> * validIndices)
{ {
UASSERT(imageDisparity.type() == CV_32FC1 || imageDisparity.type()==CV_16SC1); UASSERT(imageDisparity.type() == CV_32FC1 || imageDisparity.type()==CV_16SC1);
UASSERT(imageDisparity.rows % decimation == 0);
UASSERT(imageDisparity.cols % decimation == 0);
UASSERT(decimation >= 1); UASSERT(decimation >= 1);
if(imageDisparity.rows % decimation != 0 || imageDisparity.cols % decimation != 0)
{
int oldDecimation = decimation;
while(decimation >= 1)
{
if(imageDisparity.rows % decimation == 0 && imageDisparity.cols % decimation == 0)
{
break;
}
--decimation;
}
if(imageDisparity.rows % oldDecimation != 0 || imageDisparity.cols % oldDecimation != 0)
{
UWARN("Decimation (%d) is not valid for current image size (depth=%dx%d). Highest compatible decimation used=%d.", oldDecimation, imageDisparity.cols, imageDisparity.rows, decimation);
}
}
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>); pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
//cloud.header = cameraInfo.header; //cloud.header = cameraInfo.header;
@@ -686,7 +702,24 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudFromDisparityRGB(
(imageDisparity.type() == CV_32FC1 || imageDisparity.type()==CV_16SC1)); (imageDisparity.type() == CV_32FC1 || imageDisparity.type()==CV_16SC1));
UASSERT(imageRgb.channels() == 3 || imageRgb.channels() == 1); UASSERT(imageRgb.channels() == 3 || imageRgb.channels() == 1);
UASSERT(decimation >= 1); UASSERT(decimation >= 1);
UASSERT(imageDisparity.rows % decimation == 0 && imageDisparity.cols % decimation == 0);
if(imageDisparity.rows % decimation != 0 || imageDisparity.cols % decimation != 0)
{
int oldDecimation = decimation;
while(decimation >= 1)
{
if(imageDisparity.rows % decimation == 0 && imageDisparity.cols % decimation == 0)
{
break;
}
--decimation;
}
if(imageDisparity.rows % oldDecimation != 0 || imageDisparity.cols % oldDecimation != 0)
{
UWARN("Decimation (%d) is not valid for current image size (depth=%dx%d). Highest compatible decimation used=%d.", oldDecimation, imageDisparity.cols, imageDisparity.rows, decimation);
}
}
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>); pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);

2
guilib/include/rtabmap/gui/PreferencesDialog.h
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@@ -131,7 +131,7 @@ public:
rtabmap::ParametersMap getAllParameters() const; rtabmap::ParametersMap getAllParameters() const;
std::string getParameter(const std::string & key) const; std::string getParameter(const std::string & key) const;
void updateParameters(const ParametersMap & parameters); void updateParameters(const ParametersMap & parameters, bool setOtherParametersToDefault = false);
//General panel //General panel
int getGeneralLoggerLevel() const; int getGeneralLoggerLevel() const;

8
guilib/src/MainWindow.cpp
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@@ -4081,7 +4081,13 @@ void MainWindow::updateParameters(const ParametersMap & parameters)
_ui->widget_console->appendMsg(msg); _ui->widget_console->appendMsg(msg);
UWARN(msg.toStdString().c_str()); UWARN(msg.toStdString().c_str());
} }
_preferencesDialog->updateParameters(parameters); QMessageBox::StandardButton button = QMessageBox::question(this,
tr("Parameters"),
tr("Some parameters have been set on command line, do you "
"want to set all other RTAB-Map's parameters to default?"),
QMessageBox::Yes | QMessageBox::No,
QMessageBox::No);
_preferencesDialog->updateParameters(parameters, button==QMessageBox::Yes);
} }
} }

15
guilib/src/PreferencesDialog.cpp
View File

@@ -2889,7 +2889,7 @@ std::string PreferencesDialog::getParameter(const std::string & key) const
return _parameters.at(key); return _parameters.at(key);
} }
void PreferencesDialog::updateParameters(const ParametersMap & parameters) void PreferencesDialog::updateParameters(const ParametersMap & parameters, bool setOtherParametersToDefault)
{ {
if(parameters.size()) if(parameters.size())
{ {
@@ -2897,6 +2897,19 @@ void PreferencesDialog::updateParameters(const ParametersMap & parameters)
{ {
this->setParameter(iter->first, iter->second); this->setParameter(iter->first, iter->second);
} }
if(setOtherParametersToDefault)
{
for(ParametersMap::const_iterator iter=Parameters::getDefaultParameters().begin();
iter!=Parameters::getDefaultParameters().end();
++iter)
{
if(parameters.find(iter->first) == parameters.end() &&
iter->first.compare(Parameters::kRtabmapWorkingDirectory())!=0)
{
this->setParameter(iter->first, iter->second);
}
}
}
if(!this->isVisible()) if(!this->isVisible())
{ {
this->writeSettings(getTmpIniFilePath()); this->writeSettings(getTmpIniFilePath());