DbSqlite3: fixed Feature.depth_[x,y,z] not saving correctly NaN values (then NaNs were wrongly converted to 0 on reload). Gui: Added stereo exposure compensation option in Source panel.

guilib/include/rtabmap/gui/PreferencesDialog.h

@@ -238,6 +238,7 @@ public:
 	double getBilateralSigmaR() const;
 	int getSourceImageDecimation() const;
 	bool isSourceStereoDepthGenerated() const;
+	bool isSourceStereoExposureCompensation() const;
 	bool isSourceScanFromDepth() const;
 	int getSourceScanFromDepthDecimation() const;
 	double getSourceScanFromDepthMaxDepth() const;

guilib/src/DatabaseViewer.cpp

@@ -4913,18 +4913,7 @@ void DatabaseViewer::updateGraphView()
 			iter->second.setTransform(t);
 			++iter;
 		}
-		ui_->horizontalSlider_loops->blockSignals(true);
-		if(loopLinks_.size() == 0)
-		{
-			ui_->horizontalSlider_loops->setEnabled(false);
-		}
-		else
-		{
-			ui_->horizontalSlider_loops->setEnabled(true);
-			ui_->horizontalSlider_loops->setMaximum(loopLinks_.size()-1);
-		}
-		ui_->horizontalSlider_loops->setValue(0);
-		ui_->horizontalSlider_loops->blockSignals(false);
+		updateLoopClosuresSlider();
 
 		ui_->label_loopClosures->setText(tr("(%1, %2, %3, %4, %5, %6, %7)")
 				.arg(totalNeighbor)
@@ -5470,7 +5459,7 @@ void DatabaseViewer::refineConstraint(int from, int to, bool silent)
 	{
 		QMessageBox::warning(this,
 				tr("Refine link"),
-				tr("Cannot find a transformation between nodes %1 and %2").arg(from).arg(to));
+				tr("Cannot find a transformation between nodes %1 and %2: %3").arg(from).arg(to).arg(info.rejectedMsg.c_str()));
 	}
 }
 

guilib/src/MainWindow.cpp

@@ -4630,6 +4630,7 @@ void MainWindow::startDetection()
 	_camera->setColorOnly(_preferencesDialog->isSourceRGBDColorOnly());
 	_camera->setImageDecimation(_preferencesDialog->getSourceImageDecimation());
 	_camera->setStereoToDepth(_preferencesDialog->isSourceStereoDepthGenerated());
+	_camera->setStereoExposureCompensation(_preferencesDialog->isSourceStereoExposureCompensation());
 	_camera->setScanFromDepth(
 			_preferencesDialog->isSourceScanFromDepth(),
 			_preferencesDialog->getSourceScanFromDepthDecimation(),

guilib/src/PreferencesDialog.cpp

@@ -592,6 +592,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	connect(_ui->checkbox_rgbd_colorOnly, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->spinBox_source_imageDecimation, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->checkbox_stereo_depthGenerated, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
+	connect(_ui->checkBox_stereo_exposureCompensation, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->pushButton_calibrate, SIGNAL(clicked()), this, SLOT(calibrate()));
 	connect(_ui->pushButton_calibrate_simple, SIGNAL(clicked()), this, SLOT(calibrateSimple()));
 	connect(_ui->toolButton_openniOniPath, SIGNAL(clicked()), this, SLOT(selectSourceOniPath()));
@@ -1536,6 +1537,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
 		_ui->checkbox_rgbd_colorOnly->setChecked(false);
 		_ui->spinBox_source_imageDecimation->setValue(1);
 		_ui->checkbox_stereo_depthGenerated->setChecked(false);
+		_ui->checkBox_stereo_exposureCompensation->setChecked(false);
 		_ui->openni2_autoWhiteBalance->setChecked(true);
 		_ui->openni2_autoExposure->setChecked(true);
 		_ui->openni2_exposure->setValue(0);
@@ -1899,6 +1901,7 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
 	settings.beginGroup("stereo");
 	_ui->comboBox_cameraStereo->setCurrentIndex(settings.value("driver", _ui->comboBox_cameraStereo->currentIndex()).toInt());
 	_ui->checkbox_stereo_depthGenerated->setChecked(settings.value("depthGenerated", _ui->checkbox_stereo_depthGenerated->isChecked()).toBool());
+	_ui->checkBox_stereo_exposureCompensation->setChecked(settings.value("exposureCompensation", _ui->checkBox_stereo_exposureCompensation->isChecked()).toBool());
 	settings.endGroup(); // stereo
 
 	settings.beginGroup("rgb");
@@ -2304,6 +2307,7 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
 	settings.beginGroup("stereo");
 	settings.setValue("driver", 	_ui->comboBox_cameraStereo->currentIndex());
 	settings.setValue("depthGenerated", _ui->checkbox_stereo_depthGenerated->isChecked());
+	settings.setValue("exposureCompensation", _ui->checkBox_stereo_exposureCompensation->isChecked());
 	settings.endGroup(); // stereo
 
 	settings.beginGroup("rgb");
@@ -4686,6 +4690,10 @@ bool PreferencesDialog::isSourceStereoDepthGenerated() const
 {
 	return _ui->checkbox_stereo_depthGenerated->isChecked();
 }
+bool PreferencesDialog::isSourceStereoExposureCompensation() const
+{
+	return _ui->checkBox_stereo_exposureCompensation->isChecked();
+}
 bool PreferencesDialog::isSourceScanFromDepth() const
 {
 	return _ui->groupBox_scanFromDepth->isChecked();
@@ -5233,6 +5241,7 @@ void PreferencesDialog::testOdometry()
 	cameraThread.setColorOnly(_ui->checkbox_rgbd_colorOnly->isChecked());
 	cameraThread.setImageDecimation(_ui->spinBox_source_imageDecimation->value());
 	cameraThread.setStereoToDepth(_ui->checkbox_stereo_depthGenerated->isChecked());
+	cameraThread.setStereoExposureCompensation(_ui->checkBox_stereo_exposureCompensation->isChecked());
 	cameraThread.setScanFromDepth(
 			_ui->groupBox_scanFromDepth->isChecked(),
 			_ui->spinBox_cameraScanFromDepth_decimation->value(),
@@ -5282,6 +5291,7 @@ void PreferencesDialog::testCamera()
 		cameraThread.setColorOnly(_ui->checkbox_rgbd_colorOnly->isChecked());
 		cameraThread.setImageDecimation(_ui->spinBox_source_imageDecimation->value());
 		cameraThread.setStereoToDepth(_ui->checkbox_stereo_depthGenerated->isChecked());
+		cameraThread.setStereoExposureCompensation(_ui->checkBox_stereo_exposureCompensation->isChecked());
 		cameraThread.setScanFromDepth(
 				_ui->groupBox_scanFromDepth->isChecked(),
 				_ui->spinBox_cameraScanFromDepth_decimation->value(),

guilib/src/ui/preferencesDialog.ui

@@ -63,7 +63,7 @@
           <property name="geometry">
            <rect>
             <x>0</x>
-            <y>0</y>
+            <y>-284</y>
             <width>678</width>
             <height>2778</height>
            </rect>
@@ -95,7 +95,7 @@
                 <enum>QFrame::Raised</enum>
                </property>
                <property name="currentIndex">
-                <number>3</number>
+                <number>5</number>
                </property>
                <widget class="QWidget" name="page_22">
                 <layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -2749,7 +2749,7 @@ 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>2</number>
+                       <number>1</number>
                       </property>
                       <widget class="QWidget" name="page_41">
                        <layout class="QVBoxLayout" name="verticalLayout_64">
@@ -3855,6 +3855,26 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                                </property>
                               </widget>
                              </item>
+                             <item row="3" column="2">
+                              <widget class="QLabel" name="label_stereo_rectify_2">
+                               <property name="text">
+                                <string>Auto exposure compensation between left and right images.</string>
+                               </property>
+                               <property name="wordWrap">
+                                <bool>true</bool>
+                               </property>
+                               <property name="textInteractionFlags">
+                                <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                               </property>
+                              </widget>
+                             </item>
+                             <item row="3" column="1">
+                              <widget class="QCheckBox" name="checkBox_stereo_exposureCompensation">
+                               <property name="text">
+                                <string/>
+                               </property>
+                              </widget>
+                             </item>
                             </layout>
                            </item>
                            <item>