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CameraMyntEye/GUI: added manual/auto exposure option (default auto). Rtabmap: refactored warning when RGBD/OptimizeFromGraphEnd changes state.

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This commit is contained in:
matlabbe
2020-05-28 19:50:02 -04:00
parent 6e0081e248
commit 45ddce938a
6 changed files with 164 additions and 26 deletions
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27
guilib/src/PreferencesDialog.cpp
View File

@@ -733,6 +733,10 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->checkbox_stereoMyntEye_rectify, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkbox_stereoMyntEye_depth, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkbox_stereoMyntEye_autoExposure, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->spinBox_stereoMyntEye_gain, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->spinBox_stereoMyntEye_brightness, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->spinBox_stereoMyntEye_contrast, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkbox_rgbd_colorOnly, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->spinBox_source_imageDecimation, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
@@ -1910,6 +1914,10 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->checkbox_stereoRealSense2_odom->setChecked(false);
_ui->checkbox_stereoMyntEye_rectify->setChecked(false);
_ui->checkbox_stereoMyntEye_depth->setChecked(false);
_ui->checkbox_stereoMyntEye_autoExposure->setChecked(true);
_ui->spinBox_stereoMyntEye_gain->setValue(24);
_ui->spinBox_stereoMyntEye_brightness->setValue(120);
_ui->spinBox_stereoMyntEye_contrast->setValue(116);
_ui->checkBox_cameraImages_timestamps->setChecked(false);
_ui->checkBox_cameraImages_syncTimeStamps->setChecked(true);
@@ -2358,7 +2366,11 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
settings.beginGroup("MyntEye");
_ui->checkbox_stereoMyntEye_rectify->setChecked(settings.value("rectify", _ui->checkbox_stereoMyntEye_rectify->isChecked()).toBool());
_ui->checkbox_stereoMyntEye_depth->setChecked(settings.value("depth", _ui->checkbox_stereoMyntEye_depth->isChecked()).toBool());
settings.endGroup(); // StereoRealSense2
_ui->checkbox_stereoMyntEye_autoExposure->setChecked(settings.value("auto_exposure", _ui->checkbox_stereoMyntEye_autoExposure->isChecked()).toBool());
_ui->spinBox_stereoMyntEye_gain->setValue(settings.value("gain", _ui->spinBox_stereoMyntEye_gain->value()).toInt());
_ui->spinBox_stereoMyntEye_brightness->setValue(settings.value("brightness", _ui->spinBox_stereoMyntEye_brightness->value()).toInt());
_ui->spinBox_stereoMyntEye_contrast->setValue(settings.value("contrast", _ui->spinBox_stereoMyntEye_contrast->value()).toInt());
settings.endGroup(); // MyntEye
settings.beginGroup("Images");
_ui->source_images_lineEdit_path->setText(settings.value("path", _ui->source_images_lineEdit_path->text()).toString());
@@ -2828,8 +2840,12 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.endGroup(); // StereoRealSense2
settings.beginGroup("MyntEye");
settings.setValue("rectify", _ui->checkbox_stereoMyntEye_rectify->isChecked());
settings.setValue("depth", _ui->checkbox_stereoMyntEye_depth->isChecked());
settings.setValue("rectify", _ui->checkbox_stereoMyntEye_rectify->isChecked());
settings.setValue("depth", _ui->checkbox_stereoMyntEye_depth->isChecked());
settings.setValue("auto_exposure", _ui->checkbox_stereoMyntEye_autoExposure->isChecked());
settings.setValue("gain", _ui->spinBox_stereoMyntEye_gain->value());
settings.setValue("brightness", _ui->spinBox_stereoMyntEye_brightness->value());
settings.setValue("contrast", _ui->spinBox_stereoMyntEye_contrast->value());
settings.endGroup(); // MyntEye
settings.beginGroup("Images");
@@ -5678,6 +5694,11 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
this->getGeneralInputRate(),
this->getSourceLocalTransform());
((CameraMyntEye*)camera)->publishInterIMU(_ui->checkbox_publishInterIMU->isChecked());
((CameraMyntEye*)camera)->setAutoExposure(
_ui->checkbox_stereoMyntEye_autoExposure->isChecked(),
_ui->spinBox_stereoMyntEye_gain->value(),
_ui->spinBox_stereoMyntEye_brightness->value(),
_ui->spinBox_stereoMyntEye_contrast->value());
}
}
else if(driver == kSrcRGBDImages)

98
guilib/src/ui/preferencesDialog.ui
View File

@@ -63,9 +63,9 @@
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<y>-687</y>
<width>680</width>
<height>2107</height>
<height>3270</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
@@ -95,7 +95,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>28</number>
<number>5</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -5339,6 +5339,98 @@ 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="QSpinBox" name="spinBox_stereoMyntEye_brightness">
<property name="maximum">
<number>240</number>
</property>
<property name="value">
<number>120</number>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QSpinBox" name="spinBox_stereoMyntEye_gain">
<property name="maximum">
<number>48</number>
</property>
<property name="value">
<number>24</number>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QCheckBox" name="checkbox_stereoMyntEye_autoExposure">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_595">
<property name="text">
<string>Image gain, valid if manual-exposure.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_596">
<property name="text">
<string>Image brightness, valid if manual-exposure.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_594">
<property name="text">
<string>Auto-exposure.</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="1">
<widget class="QLabel" name="label_597">
<property name="text">
<string>Image contrast, valid if manual-exposure.</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="QSpinBox" name="spinBox_stereoMyntEye_contrast">
<property name="maximum">
<number>254</number>
</property>
<property name="value">
<number>116</number>
</property>
</widget>
</item>
</layout>
</widget>
</item>