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add depthai superpoint detector

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This commit is contained in:
Borong Yuan
2023-06-17 16:53:25 +08:00
parent 2dd64a6283
commit 55a84cfdaa
5 changed files with 178 additions and 9 deletions
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24
guilib/src/PreferencesDialog.cpp
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@@ -811,6 +811,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->doubleSpinBox_depthai_laser_dot_brightness, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->doubleSpinBox_depthai_floodlight_brightness, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->comboBox_depthai_detect_features, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->lineEdit_depthai_blob_path, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->toolButton_depthai_blob_path, SIGNAL(clicked()), this, SLOT(selectSourceDepthaiBlobPath()));
connect(_ui->checkbox_rgbd_colorOnly, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->spinBox_source_imageDecimation, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
@@ -2069,6 +2071,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->doubleSpinBox_depthai_laser_dot_brightness->setValue(0.0);
_ui->doubleSpinBox_depthai_floodlight_brightness->setValue(200.0);
_ui->comboBox_depthai_detect_features->setCurrentIndex(0);
_ui->lineEdit_depthai_blob_path->clear();
_ui->checkBox_cameraImages_configForEachFrame->setChecked(false);
_ui->checkBox_cameraImages_timestamps->setChecked(false);
@@ -2557,6 +2560,7 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
_ui->doubleSpinBox_depthai_laser_dot_brightness->setValue(settings.value("laser_dot_brightness", _ui->doubleSpinBox_depthai_laser_dot_brightness->value()).toDouble());
_ui->doubleSpinBox_depthai_floodlight_brightness->setValue(settings.value("floodlight_brightness", _ui->doubleSpinBox_depthai_floodlight_brightness->value()).toDouble());
_ui->comboBox_depthai_detect_features->setCurrentIndex(settings.value("detect_features", _ui->comboBox_depthai_detect_features->currentIndex()).toInt());
_ui->lineEdit_depthai_blob_path->setText(settings.value("blob_path", _ui->lineEdit_depthai_blob_path->text()).toString());
settings.endGroup(); // DepthAI
settings.beginGroup("Images");
@@ -3088,6 +3092,7 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.setValue("laser_dot_brightness", _ui->doubleSpinBox_depthai_laser_dot_brightness->value());
settings.setValue("floodlight_brightness", _ui->doubleSpinBox_depthai_floodlight_brightness->value());
settings.setValue("detect_features", _ui->comboBox_depthai_detect_features->currentIndex());
settings.setValue("blob_path", _ui->lineEdit_depthai_blob_path->text());
settings.endGroup(); // DepthAI
settings.beginGroup("Images");
@@ -4420,6 +4425,20 @@ void PreferencesDialog::selectSourceRealsense2JsonPath()
}
}
void PreferencesDialog::selectSourceDepthaiBlobPath()
{
QString dir = _ui->lineEdit_depthai_blob_path->text();
if(dir.isEmpty())
{
dir = getWorkingDirectory();
}
QString path = QFileDialog::getOpenFileName(this, tr("Select file"), dir, tr("MyriadX blob (*.blob)"));
if(path.size())
{
_ui->lineEdit_depthai_blob_path->setText(path);
}
}
void PreferencesDialog::setParameter(const std::string & key, const std::string & value)
{
UDEBUG("%s=%s", key.c_str(), value.c_str());
@@ -6340,10 +6359,15 @@ Camera * PreferencesDialog::createCamera(
((CameraDepthAI*)camera)->setLaserDotBrightness(_ui->doubleSpinBox_depthai_laser_dot_brightness->value());
((CameraDepthAI*)camera)->setFloodLightBrightness(_ui->doubleSpinBox_depthai_floodlight_brightness->value());
((CameraDepthAI*)camera)->setDetectFeatures(_ui->comboBox_depthai_detect_features->currentIndex());
((CameraDepthAI*)camera)->setBlobPath(_ui->lineEdit_depthai_blob_path->text().toStdString());
if(_ui->comboBox_depthai_detect_features->currentIndex() == 1)
{
((CameraDepthAI*)camera)->setGFTTDetector(_ui->checkBox_GFTT_useHarrisDetector->isChecked(), _ui->doubleSpinBox_GFTT_minDistance->value(), _ui->reextract_maxFeatures->value());
}
else if(_ui->comboBox_depthai_detect_features->currentIndex() == 2)
{
((CameraDepthAI*)camera)->setSuperPointDetector(_ui->doubleSpinBox_sptorch_threshold->value(), _ui->checkBox_sptorch_nms->isChecked(), _ui->spinBox_sptorch_minDistance->value());
}
}
else if(driver == kSrcUsbDevice)
{

42
guilib/src/ui/preferencesDialog.ui
View File

@@ -6042,6 +6042,11 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<string>GFTT</string>
</property>
</item>
<item>
<property name="text">
<string>SuperPoint</string>
</property>
</item>
</widget>
</item>
<item row="8" column="1">
@@ -6057,6 +6062,43 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="9" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_15" stretch="0,1">
<item>
<widget class="QToolButton" name="toolButton_depthai_blob_path">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
<item>
<widget class="QLineEdit" name="lineEdit_depthai_blob_path">
<property name="minimumSize">
<size>
<width>100</width>
<height>0</height>
</size>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
</layout>
</item>
<item row="9" column="1">
<widget class="QLabel" name="label_680">
<property name="text">
<string>Path to SuperPoint blob file.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
</layout>
</widget>
</item>