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CameraStereoVideo: added resolution options for usb camera

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This commit is contained in:
matlabbe
2021-02-25 22:22:44 -05:00
parent cad184e82b
commit 862eb0a90a
4 changed files with 121 additions and 20 deletions
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corelib/include/rtabmap/core/camera/CameraStereoVideo.h
+4
View File
@@ -70,6 +70,8 @@ public:
virtual bool isCalibrated() const;
virtual std::string getSerial() const;
void setResolution(int width, int height) {_width=width, _height=height;}
protected:
virtual SensorData captureImage(CameraInfo * info = 0);
@@ -84,6 +86,8 @@ private:
CameraVideo::Source src_;
int usbDevice_;
int usbDevice2_;
int _width;
int _height;
};
} // namespace rtabmap
corelib/src/camera/CameraStereoVideo.cpp
+46 -4
View File
@@ -31,6 +31,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <opencv2/imgproc/types_c.h>
#if CV_MAJOR_VERSION > 3
#include <opencv2/videoio/videoio_c.h>
#if CV_MAJOR_VERSION > 4
#include <opencv2/videoio/legacy/constants_c.h>
#endif
#endif
namespace rtabmap
@@ -51,7 +54,9 @@ CameraStereoVideo::CameraStereoVideo(
rectifyImages_(rectifyImages),
src_(CameraVideo::kVideoFile),
usbDevice_(0),
usbDevice2_(-1)
usbDevice2_(-1),
_width(0),
_height(0)
{
}
@@ -67,7 +72,9 @@ CameraStereoVideo::CameraStereoVideo(
rectifyImages_(rectifyImages),
src_(CameraVideo::kVideoFile),
usbDevice_(0),
usbDevice2_(-1)
usbDevice2_(-1),
_width(0),
_height(0)
{
}
@@ -80,7 +87,9 @@ CameraStereoVideo::CameraStereoVideo(
rectifyImages_(rectifyImages),
src_(CameraVideo::kUsbDevice),
usbDevice_(device),
usbDevice2_(-1)
usbDevice2_(-1),
_width(0),
_height(0)
{
}
@@ -94,7 +103,9 @@ CameraStereoVideo::CameraStereoVideo(
rectifyImages_(rectifyImages),
src_(CameraVideo::kUsbDevice),
usbDevice_(deviceLeft),
usbDevice2_(deviceRight)
usbDevice2_(deviceRight),
_width(0),
_height(0)
{
}
@@ -183,6 +194,37 @@ bool CameraStereoVideo::init(const std::string & calibrationFolder, const std::s
}
stereoModel_.setLocalTransform(this->getLocalTransform());
if(src_ == CameraVideo::kUsbDevice)
{
if(stereoModel_.isValidForProjection())
{
if(capture_.isOpened())
{
capture_.set(CV_CAP_PROP_FRAME_WIDTH, stereoModel_.left().imageWidth()*(capture2_.isOpened()?1:2));
capture_.set(CV_CAP_PROP_FRAME_HEIGHT, stereoModel_.left().imageHeight());
if(capture2_.isOpened())
{
capture2_.set(CV_CAP_PROP_FRAME_WIDTH, stereoModel_.right().imageWidth());
capture2_.set(CV_CAP_PROP_FRAME_HEIGHT, stereoModel_.right().imageHeight());
}
}
}
else if(_width > 0 && _height > 0)
{
if(capture_.isOpened())
{
capture_.set(CV_CAP_PROP_FRAME_WIDTH, _width*(capture2_.isOpened()?1:2));
capture_.set(CV_CAP_PROP_FRAME_HEIGHT, _height);
if(capture2_.isOpened())
{
capture2_.set(CV_CAP_PROP_FRAME_WIDTH, _width);
capture2_.set(CV_CAP_PROP_FRAME_HEIGHT, _height);
}
}
}
}
if(rectifyImages_ && !stereoModel_.isValidForRectification())
{
UERROR("Parameter \"rectifyImages\" is set, but no stereo model is loaded or valid.");
guilib/src/PreferencesDialog.cpp
+9
View File
@@ -740,6 +740,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->lineEdit_cameraStereoVideo_path_2, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->spinBox_stereo_right_device, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->spinBox_stereousbcam_streamWidth, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->spinBox_stereousbcam_streamHeight, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->comboBox_stereoZed_resolution, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->comboBox_stereoZed_quality, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
@@ -1954,6 +1956,8 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->lineEdit_cameraStereoVideo_path->setText("");
_ui->lineEdit_cameraStereoVideo_path_2->setText("");
_ui->spinBox_stereo_right_device->setValue(-1);
_ui->spinBox_stereousbcam_streamWidth->setValue(0);
_ui->spinBox_stereousbcam_streamHeight->setValue(0);
_ui->comboBox_stereoZed_resolution->setCurrentIndex(2);
_ui->comboBox_stereoZed_quality->setCurrentIndex(1);
_ui->checkbox_stereoZed_selfCalibration->setChecked(true);
@@ -2408,6 +2412,8 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
_ui->lineEdit_cameraStereoVideo_path->setText(settings.value("path", _ui->lineEdit_cameraStereoVideo_path->text()).toString());
_ui->lineEdit_cameraStereoVideo_path_2->setText(settings.value("path2", _ui->lineEdit_cameraStereoVideo_path_2->text()).toString());
_ui->spinBox_stereo_right_device->setValue(settings.value("device2", _ui->spinBox_stereo_right_device->value()).toInt());
_ui->spinBox_stereousbcam_streamWidth->setValue(settings.value("width", _ui->spinBox_stereousbcam_streamWidth->value()).toInt());
_ui->spinBox_stereousbcam_streamHeight->setValue(settings.value("height", _ui->spinBox_stereousbcam_streamHeight->value()).toInt());
settings.endGroup(); // StereoVideo
settings.beginGroup("StereoZed");
@@ -2894,6 +2900,8 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.setValue("path", _ui->lineEdit_cameraStereoVideo_path->text());
settings.setValue("path2", _ui->lineEdit_cameraStereoVideo_path_2->text());
settings.setValue("device2", _ui->spinBox_stereo_right_device->value());
settings.setValue("width", _ui->spinBox_stereousbcam_streamWidth->value());
settings.setValue("height", _ui->spinBox_stereousbcam_streamHeight->value());
settings.endGroup(); // StereoVideo
settings.beginGroup("StereoZed");
@@ -5933,6 +5941,7 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
this->getGeneralInputRate(),
this->getSourceLocalTransform());
}
((CameraStereoVideo*)camera)->setResolution(_ui->spinBox_stereousbcam_streamWidth->value(), _ui->spinBox_stereousbcam_streamHeight->value());
}
else if(driver == kSrcStereoVideo)
{
guilib/src/ui/preferencesDialog.ui
+62 -16
View File
@@ -63,7 +63,7 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-976</y>
<y>-673</y>
<width>686</width>
<height>3357</height>
</rect>
@@ -95,7 +95,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>22</number>
<number>5</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -4896,7 +4896,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<item>
<widget class="QStackedWidget" name="stackedWidget_stereo">
<property name="currentIndex">
<number>4</number>
<number>5</number>
</property>
<widget class="QWidget" name="page_49">
<layout class="QVBoxLayout" name="verticalLayout_91">
@@ -5402,19 +5402,6 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<string>Usb Camera</string>
</property>
<layout class="QGridLayout" name="gridLayout_99" columnstretch="0,1">
<item row="1" column="0">
<spacer name="verticalSpacer_70">
<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="1">
<widget class="QLabel" name="label_470">
<property name="text">
@@ -5428,6 +5415,42 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QSpinBox" name="spinBox_stereousbcam_streamHeight">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>10000</number>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_620">
<property name="text">
<string>Stream width (0 for default resolution).</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_619">
<property name="text">
<string>Stream height (0 for default resolution).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QSpinBox" name="spinBox_stereo_right_device">
<property name="minimum">
@@ -5435,6 +5458,29 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QSpinBox" name="spinBox_stereousbcam_streamWidth">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>10000</number>
</property>
</widget>
</item>
<item row="4" column="0">
<spacer name="verticalSpacer_51">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>