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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.

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This commit is contained in:
matlabbe
2018-02-11 16:07:26 -05:00
parent 1c8c233ebf
commit 1595405871
9 changed files with 114 additions and 28 deletions
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15
guilib/src/DatabaseViewer.cpp
View File

@@ -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()));
}
}

1
guilib/src/MainWindow.cpp
View File

@@ -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(),

10
guilib/src/PreferencesDialog.cpp
View File

@@ -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(),

26
guilib/src/ui/preferencesDialog.ui
View File

@@ -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>