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Integration of CLAMS depth calibration #114

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This commit is contained in:
matlabbe
2016-09-19 14:01:06 -04:00
parent 861cc437f4
commit 3434b95d68
30 changed files with 2867 additions and 79 deletions
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333
guilib/src/ui/depthCalibrationDialog.ui Normal file
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@@ -0,0 +1,333 @@
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>DepthCalibrationDialog</class>
<widget class="QDialog" name="DepthCalibrationDialog">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>524</width>
<height>449</height>
</rect>
</property>
<property name="windowTitle">
<string>Depth Calibration</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<widget class="QLabel" name="label_111">
<property name="text">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;CLAMS approach is used for depth calibration. Please visit &lt;a href=&quot;http://www.alexteichman.com/octo/clams/&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;CLAMS website&lt;/span&gt;&lt;/a&gt; for tips about how to get a good map for depth calibration. If you want to process multiple mapping sessions, uncheck &amp;quot;Reset previous model&amp;quot;. If logger's level is debug, 3D map and generated depth images will be shown during the calibration.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="textFormat">
<enum>Qt::RichText</enum>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<layout class="QGridLayout" name="gridLayout" columnstretch="0,1">
<item row="5" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_minDepth">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>1</number>
</property>
<property name="maximum">
<double>100.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_voxel">
<property name="text">
<string>Voxel size. Set 0 to disable.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_voxelSize">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>3</number>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.010000000000000</double>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_coneRadius">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="minimum">
<double>0.010000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.020000000000000</double>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QCheckBox" name="checkBox_laserScan">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_132">
<property name="text">
<string>Maximum depth (0 means no limit).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_maxDepth">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>1</number>
</property>
<property name="maximum">
<double>100.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>4.000000000000000</double>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_133">
<property name="text">
<string>Minimum depth.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_voxel_2">
<property name="text">
<string>Cone radius.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QLabel" name="label_voxel_3">
<property name="text">
<string>Cone std dev threshold.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_coneStdDevThresh">
<property name="suffix">
<string/>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="minimum">
<double>0.010000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.030000000000000</double>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="checkBox_resetModel">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_110">
<property name="text">
<string>Use 3D laser scans for 3D map.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_109">
<property name="text">
<string>Reset previous model.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_108">
<property name="text">
<string>Decimation (1-2-4-8-...).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QSpinBox" name="spinBox_decimation">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>32</number>
</property>
<property name="value">
<number>1</number>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QLabel" name="label_112">
<property name="text">
<string>Current model:</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_trainingSamples">
<property name="text">
<string>0</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_114">
<property name="text">
<string>training samples</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
<item>
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QDialogButtonBox" name="buttonBox">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="standardButtons">
<set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok|QDialogButtonBox::RestoreDefaults|QDialogButtonBox::Save</set>
</property>
</widget>
</item>
</layout>
</widget>
<resources/>
<connections>
<connection>
<sender>buttonBox</sender>
<signal>rejected()</signal>
<receiver>DepthCalibrationDialog</receiver>
<slot>reject()</slot>
<hints>
<hint type="sourcelabel">
<x>316</x>
<y>260</y>
</hint>
<hint type="destinationlabel">
<x>286</x>
<y>274</y>
</hint>
</hints>
</connection>
</connections>
</ui>

78
guilib/src/ui/exportCloudsDialog.ui
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@@ -25,7 +25,7 @@
<x>0</x>
<y>0</y>
<width>773</width>
<height>1648</height>
<height>1689</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_13">
@@ -150,31 +150,8 @@
</property>
<layout class="QVBoxLayout" name="verticalLayout_14">
<item>
<layout class="QGridLayout" name="gridLayout" columnstretch="0,1">
<item row="0" column="0">
<widget class="QSpinBox" name="spinBox_decimation">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>32</number>
</property>
<property name="value">
<number>1</number>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_108">
<property name="text">
<string>3D cloud decimation (1-2-4-8-...).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<layout class="QGridLayout" name="gridLayout" columnstretch="0,0,1">
<item row="1" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_maxDepth">
<property name="suffix">
<string> m</string>
@@ -193,7 +170,40 @@
</property>
</widget>
</item>
<item row="1" column="1">
<item row="0" column="2">
<widget class="QLabel" name="label_108">
<property name="text">
<string>3D cloud decimation (1-2-4-8-...).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QSpinBox" name="spinBox_decimation">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>32</number>
</property>
<property name="value">
<number>1</number>
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QLabel" name="label_134">
<property name="text">
<string>Path to a depth distortion model to apply (output from depth calibration).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QLabel" name="label_132">
<property name="text">
<string>3D cloud maximum depth (0 means no limit).</string>
@@ -203,7 +213,7 @@
</property>
</widget>
</item>
<item row="2" column="1">
<item row="2" column="2">
<widget class="QLabel" name="label_133">
<property name="text">
<string>3D cloud minimum depth.</string>
@@ -213,7 +223,7 @@
</property>
</widget>
</item>
<item row="2" column="0">
<item row="2" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_minDepth">
<property name="suffix">
<string> m</string>
@@ -232,6 +242,16 @@
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLineEdit" name="lineEdit_distortionModel"/>
</item>
<item row="3" column="0">
<widget class="QToolButton" name="toolButton_distortionModel">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
</layout>
</item>
<item>

6
guilib/src/ui/mainWindow.ui
View File

@@ -56,6 +56,7 @@
<addaction name="menuExport_poses"/>
<addaction name="actionExport_images_RGB_jpg_Depth_png"/>
<addaction name="actionExport_cameras_in_Bundle_format_out"/>
<addaction name="actionDepth_Calibration"/>
<addaction name="separator"/>
<addaction name="actionClose_database"/>
<addaction name="separator"/>
@@ -1345,6 +1346,11 @@
<string>RealSense</string>
</property>
</action>
<action name="actionDepth_Calibration">
<property name="text">
<string>Depth calibration...</string>
</property>
</action>
</widget>
<customwidgets>
<customwidget>

58
guilib/src/ui/preferencesDialog.ui
View File

@@ -63,7 +63,7 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-490</y>
<y>-179</y>
<width>673</width>
<height>2496</height>
</rect>
@@ -2357,7 +2357,7 @@ 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>1</number>
<number>0</number>
</property>
<widget class="QWidget" name="page_41">
<layout class="QVBoxLayout" name="verticalLayout_64">
@@ -2384,7 +2384,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</widget>
</item>
<item>
<layout class="QGridLayout" name="gridLayout_55" columnstretch="0,0,1">
<layout class="QGridLayout" name="gridLayout_55" columnstretch="0,0,0,1,0">
<item row="0" column="1">
<widget class="QComboBox" name="comboBox_cameraRGBD">
<property name="sizeAdjustPolicy">
@@ -2432,7 +2432,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</item>
</widget>
</item>
<item row="0" column="2">
<item row="0" column="3">
<widget class="QLabel" name="label_228">
<property name="text">
<string>Driver</string>
@@ -2442,7 +2442,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="3" column="2">
<item row="1" column="3">
<widget class="QLabel" name="label_229">
<property name="text">
<string>Only RGB images are published.</string>
@@ -2452,7 +2452,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="3" column="1">
<item row="1" column="1">
<widget class="QCheckBox" name="checkbox_rgbd_colorOnly">
<property name="text">
<string/>
@@ -2462,12 +2462,56 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QToolButton" name="toolButton_source_distortionModel">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
<item row="2" column="3">
<widget class="QLabel" name="label_341">
<property name="text">
<string>Distortion model (output from depth calibration).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLineEdit" name="lineEdit_source_distortionModel">
<property name="minimumSize">
<size>
<width>100</width>
<height>0</height>
</size>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QToolButton" name="toolButton_distortionModel">
<property name="toolTip">
<string>Open database viewer</string>
</property>
<property name="text">
<string/>
</property>
<property name="icon">
<iconset resource="../GuiLib.qrc">
<normaloff>:/images/mag_glass.png</normaloff>:/images/mag_glass.png</iconset>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QStackedWidget" name="stackedWidget_rgbd">
<property name="currentIndex">
<number>2</number>
<number>1</number>
</property>
<widget class="QWidget" name="page_32">
<layout class="QVBoxLayout" name="verticalLayout_63">