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Add RGBD mode for OAK camera (#1179)

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* update depthai params

* add color+depth mode

* workarounds to avoid performance issues
This commit is contained in:
Borong Yuan
2023-12-14 09:59:35 -08:00
committed by GitHub
parent be3e6c538c
commit 45392fcfc6
4 changed files with 209 additions and 132 deletions
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guilib/src/ui/preferencesDialog.ui
+64 -20
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@@ -5905,7 +5905,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</item>
</widget>
</item>
<item row="4" column="0">
<item row="5" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_depthai_alpha_scaling">
<property name="minimum">
<double>-1.000000000000000</double>
@@ -5924,7 +5924,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<item row="2" column="1">
<widget class="QLabel" name="label_627">
<property name="text">
<string>Depth confidence.</string>
<string>Confidence threshold.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -5934,7 +5934,20 @@ 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="3" column="1">
<widget class="QLabel" name="label_741">
<property name="text">
<string>Left-right check threshold.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_depthai_laser_dot_brightness">
<property name="suffix">
<string> mA</string>
@@ -5947,14 +5960,14 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="5" column="0">
<item row="6" column="0">
<widget class="QCheckBox" name="checkBox_depthai_imu_published">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="7" column="1">
<item row="8" column="1">
<widget class="QLabel" name="label_677">
<property name="text">
<string>Floodlight brightness.</string>
@@ -5967,7 +5980,7 @@ 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_676">
<property name="text">
<string>Laser dot brightness.</string>
@@ -5980,7 +5993,7 @@ 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="4" column="1">
<widget class="QLabel" name="label_646">
<property name="text">
<string>Use the translation information from the board design data (not the calibration data).</string>
@@ -6007,13 +6020,31 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="checkBox_depthai_depth">
<property name="text">
<string/>
<widget class="QComboBox" name="comboBox_depthai_output_mode">
<property name="currentIndex">
<number>0</number>
</property>
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
</property>
<item>
<property name="text">
<string>Stereo</string>
</property>
</item>
<item>
<property name="text">
<string>Mono+Depth</string>
</property>
</item>
<item>
<property name="text">
<string>Color+Depth</string>
</property>
</item>
</widget>
</item>
<item row="4" column="1">
<item row="5" column="1">
<widget class="QLabel" name="label_678">
<property name="text">
<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). On some high distortion lenses, and/or due to rectification (image rotated) invalid areas may appear even with alpha=0, in these cases alpha &lt; 0.0 helps removing invalid areas. If alpha is set to -1, old rectification policy is used.</string>
@@ -6027,7 +6058,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</widget>
</item>
<item row="2" column="0">
<widget class="QSpinBox" name="spinBox_depthai_confidence">
<widget class="QSpinBox" name="spinBox_depthai_conf_threshold">
<property name="minimum">
<number>0</number>
</property>
@@ -6039,7 +6070,20 @@ 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="3" column="0">
<widget class="QSpinBox" name="spinBox_depthai_lrc_threshold">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>255</number>
</property>
<property name="value">
<number>5</number>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_650">
<property name="text">
<string>IMU published</string>
@@ -6052,7 +6096,7 @@ 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_use_spec_translation">
<property name="text">
<string/>
@@ -6062,7 +6106,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<item row="1" column="1">
<widget class="QLabel" name="label_625">
<property name="text">
<string>Output depth.</string>
<string>Output mode.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -6072,7 +6116,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="7" column="0">
<item row="8" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_depthai_floodlight_brightness">
<property name="suffix">
<string> mA</string>
@@ -6085,7 +6129,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="8" column="0">
<item row="9" column="0">
<widget class="QComboBox" name="comboBox_depthai_detect_features">
<property name="currentIndex">
<number>0</number>
@@ -6110,7 +6154,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</item>
</widget>
</item>
<item row="8" column="1">
<item row="9" column="1">
<widget class="QLabel" name="label_679">
<property name="text">
<string>On-device feature detector.</string>
@@ -6123,7 +6167,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="9" column="0">
<item row="10" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_15" stretch="0,1">
<item>
<widget class="QToolButton" name="toolButton_depthai_blob_path">
@@ -6147,7 +6191,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</item>
</layout>
</item>
<item row="9" column="1">
<item row="10" column="1">
<widget class="QLabel" name="label_680">
<property name="text">
<string>Path to SuperPoint blob file.</string>