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Add alphaScaling option

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This commit is contained in:
Borong Yuan
2023-05-31 22:15:16 +08:00
parent 54c68f8e6c
commit 31d975acd5
4 changed files with 60 additions and 17 deletions
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corelib/include/rtabmap/core/camera/CameraDepthAI.h
+2
View File
@@ -56,6 +56,7 @@ public:
virtual ~CameraDepthAI();
void setOutputDepth(bool enabled, int confidence = 200);
void setAlphaScaling(float alphaScaling = 0.0f);
void setIMUFirmwareUpdate(bool enabled);
void setIMUPublished(bool published);
void publishInterIMU(bool enabled);
@@ -77,6 +78,7 @@ private:
bool outputDepth_;
int depthConfidence_;
int resolution_;
float alphaScaling_;
bool imuFirmwareUpdate_;
bool imuPublished_;
bool publishInterIMU_;
corelib/src/camera/CameraDepthAI.cpp
+12 -2
View File
@@ -56,6 +56,7 @@ CameraDepthAI::CameraDepthAI(
outputDepth_(false),
depthConfidence_(200),
resolution_(resolution),
alphaScaling_(0.0),
imuFirmwareUpdate_(false),
imuPublished_(true),
publishInterIMU_(false),
@@ -91,6 +92,15 @@ void CameraDepthAI::setOutputDepth(bool enabled, int confidence)
#endif
}
void CameraDepthAI::setAlphaScaling(float alphaScaling)
{
#ifdef RTABMAP_DEPTHAI
alphaScaling_ = alphaScaling;
#else
UERROR("CameraDepthAI: RTAB-Map is not built with depthai-core support!");
#endif
}
void CameraDepthAI::setIMUFirmwareUpdate(bool enabled)
{
#ifdef RTABMAP_DEPTHAI
@@ -218,7 +228,7 @@ bool CameraDepthAI::init(const std::string & calibrationFolder, const std::strin
stereo->setSubpixelFractionalBits(4);
stereo->setExtendedDisparity(false);
stereo->setRectifyEdgeFillColor(0); // black, to better see the cutout
stereo->setAlphaScaling(0.0);
stereo->setAlphaScaling(alphaScaling_);
stereo->initialConfig.setConfidenceThreshold(depthConfidence_);
stereo->initialConfig.setLeftRightCheck(true);
stereo->initialConfig.setLeftRightCheckThreshold(5);
@@ -272,7 +282,7 @@ bool CameraDepthAI::init(const std::string & calibrationFolder, const std::strin
if(calibHandler.getDistortionModel(dai::CameraBoardSocket::LEFT) == dai::CameraModel::Perspective)
distCoeffs = (cv::Mat_<double>(1,8) << coeffs[0], coeffs[1], coeffs[2], coeffs[3], coeffs[4], coeffs[5], coeffs[6], coeffs[7]);
new_camera_matrix = cv::getOptimalNewCameraMatrix(cameraMatrix, distCoeffs, targetSize, 0.0);
new_camera_matrix = cv::getOptimalNewCameraMatrix(cameraMatrix, distCoeffs, targetSize, alphaScaling_);
double fx = new_camera_matrix.at<double>(0, 0);
double fy = new_camera_matrix.at<double>(1, 1);
double cx = new_camera_matrix.at<double>(0, 2);
guilib/src/PreferencesDialog.cpp
+5
View File
@@ -805,6 +805,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->comboBox_depthai_resolution, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkBox_depthai_depth, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->spinBox_depthai_confidence, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->doubleSpinBox_depthai_alpha_scaling, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkBox_depthai_imu_published, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkBox_depthai_imu_firmware_update, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->doubleSpinBox_depthai_laser_dot_brightness, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
@@ -2061,6 +2062,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->comboBox_depthai_resolution->setCurrentIndex(1);
_ui->checkBox_depthai_depth->setChecked(false);
_ui->spinBox_depthai_confidence->setValue(200);
_ui->doubleSpinBox_depthai_alpha_scaling->setValue(0.0);
_ui->checkBox_depthai_imu_published->setChecked(true);
_ui->checkBox_depthai_imu_firmware_update->setChecked(false);
_ui->doubleSpinBox_depthai_laser_dot_brightness->setValue(0.0);
@@ -2547,6 +2549,7 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
_ui->comboBox_depthai_resolution->setCurrentIndex(settings.value("resolution", _ui->comboBox_depthai_resolution->currentIndex()).toInt());
_ui->checkBox_depthai_depth->setChecked(settings.value("depth", _ui->checkBox_depthai_depth->isChecked()).toBool());
_ui->spinBox_depthai_confidence->setValue(settings.value("confidence", _ui->spinBox_depthai_confidence->value()).toInt());
_ui->doubleSpinBox_depthai_alpha_scaling->setValue(settings.value("alpha_scaling", _ui->doubleSpinBox_depthai_alpha_scaling->value()).toDouble());
_ui->checkBox_depthai_imu_published->setChecked(settings.value("imu_published", _ui->checkBox_depthai_imu_published->isChecked()).toBool());
_ui->checkBox_depthai_imu_firmware_update->setChecked(settings.value("imu_firmware_update", _ui->checkBox_depthai_imu_firmware_update->isChecked()).toBool());
_ui->doubleSpinBox_depthai_laser_dot_brightness->setValue(settings.value("laser_dot_brightness", _ui->doubleSpinBox_depthai_laser_dot_brightness->value()).toDouble());
@@ -3076,6 +3079,7 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.setValue("resolution", _ui->comboBox_depthai_resolution->currentIndex());
settings.setValue("depth", _ui->checkBox_depthai_depth->isChecked());
settings.setValue("confidence", _ui->spinBox_depthai_confidence->value());
settings.setValue("alpha_scaling", _ui->doubleSpinBox_depthai_alpha_scaling->value());
settings.setValue("imu_published", _ui->checkBox_depthai_imu_published->isChecked());
settings.setValue("imu_firmware_update", _ui->checkBox_depthai_imu_firmware_update->isChecked());
settings.setValue("laser_dot_brightness", _ui->doubleSpinBox_depthai_laser_dot_brightness->value());
@@ -6325,6 +6329,7 @@ Camera * PreferencesDialog::createCamera(
this->getGeneralInputRate(),
this->getSourceLocalTransform());
((CameraDepthAI*)camera)->setOutputDepth(_ui->checkBox_depthai_depth->isChecked(), _ui->spinBox_depthai_confidence->value());
((CameraDepthAI*)camera)->setAlphaScaling(_ui->doubleSpinBox_depthai_alpha_scaling->value());
((CameraDepthAI*)camera)->setIMUFirmwareUpdate(_ui->checkBox_depthai_imu_firmware_update->isChecked());
((CameraDepthAI*)camera)->setIMUPublished(_ui->checkBox_depthai_imu_published->isChecked());
((CameraDepthAI*)camera)->publishInterIMU(_ui->checkbox_publishInterIMU->isChecked());
guilib/src/ui/preferencesDialog.ui
+41 -15
View File
@@ -5903,10 +5903,23 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_646">
<item row="3" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_depthai_alpha_scaling">
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_678">
<property name="text">
<string>IMU firmware update</string>
<string>Free scaling parameter between 0 (when all the pixels in the undistorted image are valid) and 1 (when all the source image pixels are retained in the undistorted image).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -5916,14 +5929,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QCheckBox" name="checkBox_depthai_imu_firmware_update">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="3" column="1">
<item row="4" column="1">
<widget class="QLabel" name="label_650">
<property name="text">
<string>IMU published</string>
@@ -5936,14 +5942,34 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="3" column="0">
<item row="4" column="0">
<widget class="QCheckBox" name="checkBox_depthai_imu_published">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_646">
<property name="text">
<string>IMU firmware update</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QCheckBox" name="checkBox_depthai_imu_firmware_update">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_depthai_laser_dot_brightness">
<property name="suffix">
<string> mA</string>
@@ -5956,7 +5982,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="5" column="1">
<item row="6" column="1">
<widget class="QLabel" name="label_676">
<property name="text">
<string>Laser dot brightness.</string>
@@ -5969,7 +5995,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="6" column="0">
<item row="7" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_depthai_floodlight_brightness">
<property name="suffix">
<string> mA</string>
@@ -5982,7 +6008,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="6" column="1">
<item row="7" column="1">
<widget class="QLabel" name="label_677">
<property name="text">
<string>Floodlight brightness.</string>