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Updated illumination invariant paper documentation

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This commit is contained in:
matlabbe
2022-06-26 20:46:08 -07:00
parent bc42bc3520
commit 83c1adfd1e
41 changed files with 991 additions and 616 deletions
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2
guilib/src/DatabaseViewer.cpp
View File

@@ -1464,7 +1464,7 @@ void DatabaseViewer::extractImages()
QString ext = format.split('.').back();
bool useStamp = format.split('.').front().compare("timestamp") == 0;
bool directoriesCreated = false;
QString path = QFileDialog::getExistingDirectory(this, tr("Select directory where to save images..."), QDir::homePath());
QString path = QFileDialog::getExistingDirectory(this, tr("Select directory where to save images..."), pathDatabase_);
if(!path.isEmpty())
{
rtabmap::ProgressDialog * progressDialog = new rtabmap::ProgressDialog(this);

9
guilib/src/PreferencesDialog.cpp
View File

@@ -673,6 +673,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->source_checkBox_ignoreGoalDelay, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->source_checkBox_ignoreGoals, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->source_checkBox_ignoreLandmarks, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->source_checkBox_ignoreFeatures, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->source_spinBox_databaseStartId, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->source_spinBox_databaseStopId, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->source_checkBox_useDbStamps, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
@@ -1919,6 +1920,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->source_checkBox_ignoreGoalDelay->setChecked(true);
_ui->source_checkBox_ignoreGoals->setChecked(true);
_ui->source_checkBox_ignoreLandmarks->setChecked(false);
_ui->source_checkBox_ignoreFeatures->setChecked(false);
_ui->source_spinBox_databaseStartId->setValue(0);
_ui->source_spinBox_databaseStopId->setValue(0);
_ui->source_spinBox_database_cameraIndex->setValue(-1);
@@ -2599,6 +2601,7 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
_ui->source_checkBox_ignoreGoalDelay->setChecked(settings.value("ignoreGoalDelay", _ui->source_checkBox_ignoreGoalDelay->isChecked()).toBool());
_ui->source_checkBox_ignoreGoals->setChecked(settings.value("ignoreGoals", _ui->source_checkBox_ignoreGoals->isChecked()).toBool());
_ui->source_checkBox_ignoreLandmarks->setChecked(settings.value("ignoreLandmarks", _ui->source_checkBox_ignoreLandmarks->isChecked()).toBool());
_ui->source_checkBox_ignoreFeatures->setChecked(settings.value("ignoreFeatures", _ui->source_checkBox_ignoreFeatures->isChecked()).toBool());
_ui->source_spinBox_databaseStartId->setValue(settings.value("startId", _ui->source_spinBox_databaseStartId->value()).toInt());
_ui->source_spinBox_databaseStopId->setValue(settings.value("stopId", _ui->source_spinBox_databaseStopId->value()).toInt());
_ui->source_spinBox_database_cameraIndex->setValue(settings.value("cameraIndex", _ui->source_spinBox_database_cameraIndex->value()).toInt());
@@ -3118,6 +3121,7 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.setValue("ignoreGoalDelay", _ui->source_checkBox_ignoreGoalDelay->isChecked());
settings.setValue("ignoreGoals", _ui->source_checkBox_ignoreGoals->isChecked());
settings.setValue("ignoreLandmarks", _ui->source_checkBox_ignoreLandmarks->isChecked());
settings.setValue("ignoreFeatures", _ui->source_checkBox_ignoreFeatures->isChecked());
settings.setValue("startId", _ui->source_spinBox_databaseStartId->value());
settings.setValue("stopId", _ui->source_spinBox_databaseStopId->value());
settings.setValue("cameraIndex", _ui->source_spinBox_database_cameraIndex->value());
@@ -6333,7 +6337,8 @@ Camera * PreferencesDialog::createCamera(
_ui->source_spinBox_database_cameraIndex->value(),
_ui->source_spinBox_databaseStopId->value(),
!_ui->general_checkBox_createIntermediateNodes->isChecked(),
_ui->source_checkBox_ignoreLandmarks->isChecked());
_ui->source_checkBox_ignoreLandmarks->isChecked(),
_ui->source_checkBox_ignoreFeatures->isChecked());
}
else
{
@@ -6349,7 +6354,7 @@ Camera * PreferencesDialog::createCamera(
{
calibrationFile.remove("_left.yaml").remove("_right.yaml").remove("_pose.yaml").remove("_rgb.yaml").remove("_depth.yaml");
}
QString name = QFileInfo(calibrationFile.remove(".yaml")).baseName();
QString name = QFileInfo(calibrationFile.remove(".yaml")).fileName();
if(!calibrationPath.isEmpty())
{
QDir d = QFileInfo(calibrationPath).dir();

314
guilib/src/ui/preferencesDialog.ui
View File

@@ -63,9 +63,9 @@
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<y>-1042</y>
<width>756</width>
<height>3623</height>
<height>3640</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
@@ -95,7 +95,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>18</number>
<number>5</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,0">
@@ -3109,7 +3109,7 @@ 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>0</number>
<number>3</number>
</property>
<widget class="QWidget" name="page_41">
<layout class="QVBoxLayout" name="verticalLayout_64">
@@ -3220,7 +3220,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<item>
<widget class="QStackedWidget" name="stackedWidget_rgbd">
<property name="currentIndex">
<number>4</number>
<number>0</number>
</property>
<widget class="QWidget" name="page_32">
<layout class="QVBoxLayout" name="verticalLayout_63">
@@ -6116,66 +6116,6 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<bool>false</bool>
</property>
<layout class="QGridLayout" name="gridLayout_9" columnstretch="0,0,0">
<item row="2" column="1">
<widget class="QLabel" name="label_90">
<property name="text">
<string>Use database stamps as input rate.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QLabel" name="label_315">
<property name="text">
<string>Camera index. If the database contains multi-camera data, you can choose which camera to use. -1 means that all cameras are streamed.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QSpinBox" name="source_spinBox_databaseStartId">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>99999</number>
</property>
</widget>
</item>
<item row="9" column="0">
<widget class="QCheckBox" name="source_checkBox_stereoToDepthDB">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QCheckBox" name="source_checkBox_ignoreGoals">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QSpinBox" name="source_spinBox_databaseStopId">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>99999</number>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_72">
<property name="text">
@@ -6189,13 +6129,6 @@ 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="QCheckBox" name="source_checkBox_useDbStamps">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QToolButton" name="source_database_toolButton_selectSource">
<property name="text">
@@ -6203,17 +6136,36 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QToolButton" name="toolButton_dbViewer">
<property name="toolTip">
<string>Open database viewer</string>
<item row="2" column="1">
<widget class="QLabel" name="label_90">
<property name="text">
<string>Use database stamps as input rate.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QCheckBox" name="source_checkBox_ignoreGoals">
<property name="text">
<string/>
</property>
<property name="icon">
<iconset resource="../GuiLib.qrc">
<normaloff>:/images/mag_glass.png</normaloff>:/images/mag_glass.png</iconset>
</widget>
</item>
<item row="9" column="1">
<widget class="QLabel" name="label_315">
<property name="text">
<string>Camera index. If the database contains multi-camera data, you can choose which camera to use. -1 means that all cameras are streamed.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
@@ -6231,33 +6183,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QSpinBox" name="source_spinBox_database_cameraIndex">
<property name="minimum">
<number>-1</number>
</property>
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLineEdit" name="source_database_lineEdit_path"/>
</item>
<item row="9" column="1">
<widget class="QLabel" name="label_557">
<property name="text">
<string>If the database contains stereo data, generate disparity image and convert it to depth. The resulting output is a RGB-D image instead of stereo images. Dense disparity parameters can be found under StereoBM tab.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="6" column="1">
<item row="7" column="1">
<widget class="QLabel" name="label_58">
<property name="text">
<string>Start position (node ID).</string>
@@ -6267,7 +6193,68 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="7" column="1">
<item row="0" column="1">
<widget class="QLineEdit" name="source_database_lineEdit_path"/>
</item>
<item row="10" column="0">
<widget class="QCheckBox" name="source_checkBox_stereoToDepthDB">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QSpinBox" name="source_spinBox_databaseStopId">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>99999</number>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QToolButton" name="toolButton_dbViewer">
<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>
<item row="2" column="0">
<widget class="QCheckBox" name="source_checkBox_useDbStamps">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QSpinBox" name="source_spinBox_databaseStartId">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>99999</number>
</property>
</widget>
</item>
<item row="9" column="0">
<widget class="QSpinBox" name="source_spinBox_database_cameraIndex">
<property name="minimum">
<number>-1</number>
</property>
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QLabel" name="label_529">
<property name="text">
<string>Stop position (node ID) is the last node to process. If 0, all nodes after start position are published.</string>
@@ -6280,45 +6267,6 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_80">
<property name="text">
<string>Ignore goal delay.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="10" column="1">
<spacer name="verticalSpacer_35">
<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="3" column="1">
<widget class="QLabel" name="label_263">
<property name="text">
<string>Ignore goals saved in the database.</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_546">
<property name="text">
@@ -6339,6 +6287,78 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_80">
<property name="text">
<string>Ignore goal delay.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_263">
<property name="text">
<string>Ignore goals saved in the database.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="10" column="1">
<widget class="QLabel" name="label_557">
<property name="text">
<string>If the database contains stereo data, generate disparity image and convert it to depth. The resulting output is a RGB-D image instead of stereo images. Dense disparity parameters can be found under StereoBM tab.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="11" column="1">
<spacer name="verticalSpacer_35">
<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="6" column="1">
<widget class="QLabel" name="label_644">
<property name="text">
<string>Ignore features.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QCheckBox" name="source_checkBox_ignoreFeatures">
<property name="text">
<string/>
</property>
</widget>
</item>
</layout>
</widget>
</item>
@@ -6879,7 +6899,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<item row="1" column="2">
<widget class="QLabel" name="label_605">
<property name="text">
<string>Load config file for each frame (intrinsics, pose and stamp). Config files should be in the same directory than RGB frames and they should have the same name than the corresponding frame file. Currently supporting only 3DScannerApp for iOS export config format (JSON).</string>
<string>Load config file for each frame. For calibration, global calibration path above should be empty. Config files should be in the same directory than RGB frames and they should have the same name than the corresponding frame file. Currently supporting 3DScannerApp for iOS export config format (JSON, intrinsics, pose and stamp) and RTAB-Map calibration file format.</string>
</property>
<property name="wordWrap">
<bool>true</bool>