mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-03 01:50:24 +08:00
Add alphaScaling option
This commit is contained in:
Borong Yuan
@@ -805,6 +805,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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connect(_ui->comboBox_depthai_resolution, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->checkBox_depthai_depth, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->spinBox_depthai_confidence, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->doubleSpinBox_depthai_alpha_scaling, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->checkBox_depthai_imu_published, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->checkBox_depthai_imu_firmware_update, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->doubleSpinBox_depthai_laser_dot_brightness, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
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@@ -2061,6 +2062,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
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_ui->comboBox_depthai_resolution->setCurrentIndex(1);
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_ui->checkBox_depthai_depth->setChecked(false);
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_ui->spinBox_depthai_confidence->setValue(200);
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_ui->doubleSpinBox_depthai_alpha_scaling->setValue(0.0);
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_ui->checkBox_depthai_imu_published->setChecked(true);
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_ui->checkBox_depthai_imu_firmware_update->setChecked(false);
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_ui->doubleSpinBox_depthai_laser_dot_brightness->setValue(0.0);
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@@ -2547,6 +2549,7 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
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_ui->comboBox_depthai_resolution->setCurrentIndex(settings.value("resolution", _ui->comboBox_depthai_resolution->currentIndex()).toInt());
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_ui->checkBox_depthai_depth->setChecked(settings.value("depth", _ui->checkBox_depthai_depth->isChecked()).toBool());
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_ui->spinBox_depthai_confidence->setValue(settings.value("confidence", _ui->spinBox_depthai_confidence->value()).toInt());
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_ui->doubleSpinBox_depthai_alpha_scaling->setValue(settings.value("alpha_scaling", _ui->doubleSpinBox_depthai_alpha_scaling->value()).toDouble());
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_ui->checkBox_depthai_imu_published->setChecked(settings.value("imu_published", _ui->checkBox_depthai_imu_published->isChecked()).toBool());
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_ui->checkBox_depthai_imu_firmware_update->setChecked(settings.value("imu_firmware_update", _ui->checkBox_depthai_imu_firmware_update->isChecked()).toBool());
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_ui->doubleSpinBox_depthai_laser_dot_brightness->setValue(settings.value("laser_dot_brightness", _ui->doubleSpinBox_depthai_laser_dot_brightness->value()).toDouble());
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@@ -3076,6 +3079,7 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
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settings.setValue("resolution", _ui->comboBox_depthai_resolution->currentIndex());
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settings.setValue("depth", _ui->checkBox_depthai_depth->isChecked());
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settings.setValue("confidence", _ui->spinBox_depthai_confidence->value());
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settings.setValue("alpha_scaling", _ui->doubleSpinBox_depthai_alpha_scaling->value());
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settings.setValue("imu_published", _ui->checkBox_depthai_imu_published->isChecked());
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settings.setValue("imu_firmware_update", _ui->checkBox_depthai_imu_firmware_update->isChecked());
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settings.setValue("laser_dot_brightness", _ui->doubleSpinBox_depthai_laser_dot_brightness->value());
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@@ -6325,6 +6329,7 @@ Camera * PreferencesDialog::createCamera(
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this->getGeneralInputRate(),
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this->getSourceLocalTransform());
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((CameraDepthAI*)camera)->setOutputDepth(_ui->checkBox_depthai_depth->isChecked(), _ui->spinBox_depthai_confidence->value());
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((CameraDepthAI*)camera)->setAlphaScaling(_ui->doubleSpinBox_depthai_alpha_scaling->value());
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((CameraDepthAI*)camera)->setIMUFirmwareUpdate(_ui->checkBox_depthai_imu_firmware_update->isChecked());
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((CameraDepthAI*)camera)->setIMUPublished(_ui->checkBox_depthai_imu_published->isChecked());
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((CameraDepthAI*)camera)->publishInterIMU(_ui->checkbox_publishInterIMU->isChecked());
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@@ -5903,10 +5903,23 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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</property>
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</widget>
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</item>
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<item row="4" column="1">
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<widget class="QLabel" name="label_646">
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<item row="3" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_depthai_alpha_scaling">
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<property name="maximum">
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<double>1.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.100000000000000</double>
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</property>
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<property name="value">
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<double>0.000000000000000</double>
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</property>
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</widget>
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</item>
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<item row="3" column="1">
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<widget class="QLabel" name="label_678">
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<property name="text">
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<string>IMU firmware update</string>
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<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>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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@@ -5916,14 +5929,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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</property>
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</widget>
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</item>
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<item row="4" column="0">
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<widget class="QCheckBox" name="checkBox_depthai_imu_firmware_update">
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<property name="text">
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<string/>
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</property>
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</widget>
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</item>
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<item row="3" column="1">
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<item row="4" column="1">
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<widget class="QLabel" name="label_650">
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<property name="text">
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<string>IMU published</string>
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@@ -5936,14 +5942,34 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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</property>
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</widget>
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</item>
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<item row="3" column="0">
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<item row="4" column="0">
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<widget class="QCheckBox" name="checkBox_depthai_imu_published">
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<property name="text">
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<string/>
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</property>
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</widget>
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</item>
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<item row="5" column="1">
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<widget class="QLabel" name="label_646">
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<property name="text">
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<string>IMU firmware update</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="5" column="0">
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<widget class="QCheckBox" name="checkBox_depthai_imu_firmware_update">
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<property name="text">
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<string/>
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</property>
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</widget>
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</item>
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<item row="6" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_depthai_laser_dot_brightness">
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<property name="suffix">
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<string> mA</string>
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@@ -5956,7 +5982,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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</property>
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</widget>
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</item>
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<item row="5" column="1">
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<item row="6" column="1">
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<widget class="QLabel" name="label_676">
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<property name="text">
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<string>Laser dot brightness.</string>
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@@ -5969,7 +5995,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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</property>
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</widget>
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</item>
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<item row="6" column="0">
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<item row="7" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_depthai_floodlight_brightness">
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<property name="suffix">
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<string> mA</string>
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@@ -5982,7 +6008,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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</property>
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</widget>
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</item>
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<item row="6" column="1">
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<item row="7" column="1">
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<widget class="QLabel" name="label_677">
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<property name="text">
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<string>Floodlight brightness.</string>
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