i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 01:20:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

Added more Freenect2 options

Browse Source
This commit is contained in:
matlabbe
2015-11-04 18:31:52 -05:00
parent 2ee9183c17
commit 58190d5422
5 changed files with 322 additions and 66 deletions
Download Patch File Download Diff File Expand all files Collapse all files

46
guilib/src/PreferencesDialog.cpp
View File

@@ -379,6 +379,11 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->openni2_mirroring, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->openni2_stampsIdsUsed, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->comboBox_freenect2Format, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->doubleSpinBox_freenect2MinDepth, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->doubleSpinBox_freenect2MaxDepth, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkBox_freenect2BilateralFiltering, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkBox_freenect2EdgeAwareFiltering, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkBox_freenect2NoiseFiltering, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->toolButton_cameraRGBDImages_timestamps, SIGNAL(clicked()), this, SLOT(selectSourceRGBDImagesStamps()));
connect(_ui->lineEdit_cameraRGBDImages_timestamps, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
@@ -1095,8 +1100,8 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->checkBox_rgbVideo_rectify->setChecked(false);
_ui->source_checkBox_ignoreOdometry->setChecked(false);
_ui->source_checkBox_ignoreGoalDelay->setChecked(false);
_ui->source_checkBox_ignoreGoals->setChecked(false);
_ui->source_checkBox_ignoreGoalDelay->setChecked(true);
_ui->source_checkBox_ignoreGoals->setChecked(true);
_ui->source_spinBox_databaseStartPos->setValue(0);
_ui->source_checkBox_useDbStamps->setChecked(true);
@@ -1138,6 +1143,11 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->openni2_mirroring->setChecked(false);
_ui->openni2_stampsIdsUsed->setChecked(false);
_ui->comboBox_freenect2Format->setCurrentIndex(0);
_ui->doubleSpinBox_freenect2MinDepth->setValue(0.3);
_ui->doubleSpinBox_freenect2MaxDepth->setValue(12.0);
_ui->checkBox_freenect2BilateralFiltering->setChecked(true);
_ui->checkBox_freenect2EdgeAwareFiltering->setChecked(true);
_ui->checkBox_freenect2NoiseFiltering->setChecked(true);
_ui->lineEdit_openniOniPath->clear();
_ui->lineEdit_openni2OniPath->clear();
_ui->lineEdit_cameraRGBDImages_path_rgb->setText("");
@@ -1417,6 +1427,11 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
settings.beginGroup("Freenect2");
_ui->comboBox_freenect2Format->setCurrentIndex(settings.value("format", _ui->comboBox_freenect2Format->currentIndex()).toInt());
_ui->doubleSpinBox_freenect2MinDepth->setValue(settings.value("minDepth", _ui->doubleSpinBox_freenect2MinDepth->value()).toDouble());
_ui->doubleSpinBox_freenect2MaxDepth->setValue(settings.value("maxDepth", _ui->doubleSpinBox_freenect2MaxDepth->value()).toDouble());
_ui->checkBox_freenect2BilateralFiltering->setChecked(settings.value("bilateralFiltering", _ui->checkBox_freenect2BilateralFiltering->isChecked()).toBool());
_ui->checkBox_freenect2EdgeAwareFiltering->setChecked(settings.value("edgeAwareFiltering", _ui->checkBox_freenect2EdgeAwareFiltering->isChecked()).toBool());
_ui->checkBox_freenect2NoiseFiltering->setChecked(settings.value("noiseFiltering", _ui->checkBox_freenect2NoiseFiltering->isChecked()).toBool());
settings.endGroup(); // Freenect2
settings.beginGroup("RGBDImages");
@@ -1730,7 +1745,12 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.endGroup(); // Openni2
settings.beginGroup("Freenect2");
settings.setValue("format", _ui->comboBox_freenect2Format->currentIndex());
settings.setValue("format", _ui->comboBox_freenect2Format->currentIndex());
settings.setValue("minDepth", _ui->doubleSpinBox_freenect2MinDepth->value());
settings.setValue("maxDepth", _ui->doubleSpinBox_freenect2MaxDepth->value());
settings.setValue("bilateralFiltering", _ui->checkBox_freenect2BilateralFiltering->isChecked());
settings.setValue("edgeAwareFiltering", _ui->checkBox_freenect2EdgeAwareFiltering->isChecked());
settings.setValue("noiseFiltering", _ui->checkBox_freenect2NoiseFiltering->isChecked());
settings.endGroup(); // Freenect2
settings.beginGroup("RGBDImages");
@@ -1952,8 +1972,7 @@ bool PreferencesDialog::validateForm()
_ui->odom_bin_nn->setCurrentIndex(VWDictionary::kNNBruteForce);
}
if(_ui->groupBox_odometry1->isEnabled() &&
_ui->loopClosure_bowVarianceFromInliersCount->isChecked() != _ui->odom_varianceFromInliersCount->isChecked())
if(_ui->loopClosure_bowVarianceFromInliersCount->isChecked() != _ui->odom_varianceFromInliersCount->isChecked())
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("Odometry %1 variance from inliers count but Loop Closure constraint %2. "
@@ -1963,6 +1982,16 @@ bool PreferencesDialog::validateForm()
_ui->loopClosure_bowVarianceFromInliersCount->setChecked(_ui->odom_varianceFromInliersCount->isChecked());
}
if(_ui->doubleSpinBox_freenect2MinDepth->value() >= _ui->doubleSpinBox_freenect2MaxDepth->value())
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("Freenect2 minimum depth (%1 m) should be lower than maximum depth (%2 m). Setting maximum depth to %3 m.")
.arg(_ui->doubleSpinBox_freenect2MinDepth->value())
.arg(_ui->doubleSpinBox_freenect2MaxDepth->value())
.arg(_ui->doubleSpinBox_freenect2MaxDepth->value()+1));
_ui->doubleSpinBox_freenect2MaxDepth->setValue(_ui->doubleSpinBox_freenect2MaxDepth->value()+1);
}
return true;
}
@@ -3628,7 +3657,12 @@ Camera * PreferencesDialog::createCamera(bool useRawImages)
this->getSourceDevice().isEmpty()?0:atoi(this->getSourceDevice().toStdString().c_str()),
useRawImages?CameraFreenect2::kTypeColorIR:(CameraFreenect2::Type)_ui->comboBox_freenect2Format->currentIndex(),
this->getGeneralInputRate(),
this->getSourceLocalTransform());
this->getSourceLocalTransform(),
_ui->doubleSpinBox_freenect2MinDepth->value(),
_ui->doubleSpinBox_freenect2MaxDepth->value(),
_ui->checkBox_freenect2BilateralFiltering->isChecked(),
_ui->checkBox_freenect2EdgeAwareFiltering->isChecked(),
_ui->checkBox_freenect2NoiseFiltering->isChecked());
}
else if(driver == kSrcRGBDImages)
{

143
guilib/src/ui/preferencesDialog.ui
View File

@@ -2138,6 +2138,19 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="6" column="0">
<spacer name="verticalSpacer_32">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
<item row="0" column="0">
<widget class="QComboBox" name="comboBox_freenect2Format">
<property name="sizeAdjustPolicy">
@@ -2148,6 +2161,11 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<string>Registered Color to Depth SD</string>
</property>
</item>
<item>
<property name="text">
<string>Registered Depth to Color SD (old way)</string>
</property>
</item>
<item>
<property name="text">
<string>Registered Depth to Color HD</string>
@@ -2155,7 +2173,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</item>
<item>
<property name="text">
<string>Registered Depth to Color SD</string>
<string>Registered Depth to Color HD (old way)</string>
</property>
</item>
<item>
@@ -2165,18 +2183,123 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</item>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_268">
<property name="text">
<string>Depth bilateral filtering.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_266">
<property name="text">
<string>Min depth.</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_269">
<property name="text">
<string>Depth edge aware filtering.</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="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_freenect2MaxDepth">
<property name="maximum">
<double>65.000000000000000</double>
</property>
<property name="value">
<double>12.000000000000000</double>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QCheckBox" name="checkBox_freenect2BilateralFiltering">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QCheckBox" name="checkBox_freenect2EdgeAwareFiltering">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_267">
<property name="text">
<string>Max depth.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="0">
<spacer name="verticalSpacer_32">
<property name="orientation">
<enum>Qt::Vertical</enum>
<widget class="QDoubleSpinBox" name="doubleSpinBox_freenect2MinDepth">
<property name="maximum">
<double>64.000000000000000</double>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>0</height>
</size>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</spacer>
<property name="value">
<double>0.300000000000000</double>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QCheckBox" name="checkBox_freenect2NoiseFiltering">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_270">
<property name="text">
<string>Depth noise filtering.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
</layout>
</widget>