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CameraK4W2: added depth to color registration. For CameraFreenect2, kTypeColor2DepthSD is now used by default.

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This commit is contained in:
matlabbe
2017-11-06 22:59:12 -05:00
parent 7dabfdc207
commit 8cdd138143
5 changed files with 363 additions and 106 deletions
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4
guilib/src/CameraViewer.cpp
View File

@@ -52,7 +52,7 @@ CameraViewer::CameraViewer(QWidget * parent, const ParametersMap & parameters) :
imageView_(new ImageView(this)),
cloudView_(new CloudViewer(this)),
processingImages_(false),
validDecimationValue_(1),
validDecimationValue_(2),
parameters_(parameters)
{
qRegisterMetaType<rtabmap::SensorData>("rtabmap::SensorData");
@@ -68,7 +68,7 @@ CameraViewer::CameraViewer(QWidget * parent, const ParametersMap & parameters) :
decimationSpin_ = new QSpinBox(this);
decimationSpin_->setMinimum(1);
decimationSpin_->setMaximum(16);
decimationSpin_->setValue(1);
decimationSpin_->setValue(2);
pause_ = new QPushButton("Pause", this);
pause_->setCheckable(true);

14
guilib/src/PreferencesDialog.cpp
View File

@@ -527,6 +527,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->checkBox_freenect2EdgeAwareFiltering, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkBox_freenect2NoiseFiltering, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->lineEdit_freenect2Pipeline, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->comboBox_k4w2Format, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->comboBox_realsensePresetRGB, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->comboBox_realsensePresetDepth, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkbox_realsenseOdom, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
@@ -1519,13 +1520,14 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->openni2_stampsIdsUsed->setChecked(false);
_ui->openni2_hshift->setValue(0);
_ui->openni2_vshift->setValue(0);
_ui->comboBox_freenect2Format->setCurrentIndex(0);
_ui->comboBox_freenect2Format->setCurrentIndex(1);
_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_freenect2Pipeline->setText("");
_ui->comboBox_k4w2Format->setCurrentIndex(1);
_ui->comboBox_realsensePresetRGB->setCurrentIndex(0);
_ui->comboBox_realsensePresetDepth->setCurrentIndex(2);
_ui->checkbox_realsenseOdom->setChecked(false);
@@ -1903,6 +1905,10 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
_ui->lineEdit_freenect2Pipeline->setText(settings.value("pipeline", _ui->lineEdit_freenect2Pipeline->text()).toString());
settings.endGroup(); // Freenect2
settings.beginGroup("K4W2");
_ui->comboBox_k4w2Format->setCurrentIndex(settings.value("format", _ui->comboBox_k4w2Format->currentIndex()).toInt());
settings.endGroup(); // K4W2
settings.beginGroup("RealSense");
_ui->comboBox_realsensePresetRGB->setCurrentIndex(settings.value("presetRGB", _ui->comboBox_realsensePresetRGB->currentIndex()).toInt());
_ui->comboBox_realsensePresetDepth->setCurrentIndex(settings.value("presetDepth", _ui->comboBox_realsensePresetDepth->currentIndex()).toInt());
@@ -2301,6 +2307,10 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.setValue("pipeline", _ui->lineEdit_freenect2Pipeline->text());
settings.endGroup(); // Freenect2
settings.beginGroup("K4W2");
settings.setValue("format", _ui->comboBox_k4w2Format->currentIndex());
settings.endGroup(); // K4W2
settings.beginGroup("RealSense");
settings.setValue("presetRGB", _ui->comboBox_realsensePresetRGB->currentIndex());
settings.setValue("presetDepth", _ui->comboBox_realsensePresetDepth->currentIndex());
@@ -4138,6 +4148,7 @@ void PreferencesDialog::updateSourceGrpVisibility()
_ui->comboBox_cameraRGBD->currentIndex() == kSrcOpenNI_PCL-kSrcRGBD));
_ui->groupBox_openni2->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcOpenNI2-kSrcRGBD);
_ui->groupBox_freenect2->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcFreenect2-kSrcRGBD);
_ui->groupBox_k4w2->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcK4W2 - kSrcRGBD);
_ui->groupBox_realsense->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcRealSense - kSrcRGBD);
_ui->groupBox_cameraRGBDImages->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcRGBDImages-kSrcRGBD);
_ui->groupBox_openni->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcOpenNI_PCL-kSrcRGBD);
@@ -4768,6 +4779,7 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
{
camera = new CameraK4W2(
this->getSourceDevice().isEmpty() ? 0 : atoi(this->getSourceDevice().toStdString().c_str()),
(CameraK4W2::Type)_ui->comboBox_k4w2Format->currentIndex(),
this->getGeneralInputRate(),
this->getSourceLocalTransform());
}

69
guilib/src/ui/preferencesDialog.ui
View File

@@ -63,7 +63,7 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-174</y>
<y>-292</y>
<width>677</width>
<height>2682</height>
</rect>
@@ -2865,7 +2865,7 @@ 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>7</number>
<number>8</number>
</property>
<widget class="QWidget" name="page_32">
<layout class="QVBoxLayout" name="verticalLayout_63">
@@ -3640,7 +3640,70 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</layout>
</widget>
<widget class="QWidget" name="page_72">
<layout class="QVBoxLayout" name="verticalLayout_127">
<layout class="QVBoxLayout" name="verticalLayout_127" stretch="1,0">
<item>
<widget class="QGroupBox" name="groupBox_k4w2">
<property name="sizePolicy">
<sizepolicy hsizetype="Ignored" vsizetype="Ignored">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="title">
<string>Kinect for Windows SDK v2</string>
</property>
<layout class="QGridLayout" name="gridLayout_96" columnstretch="0,1">
<item row="0" column="0">
<widget class="QComboBox" name="comboBox_k4w2Format">
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
</property>
<item>
<property name="text">
<string>Registered Color to Depth SD</string>
</property>
</item>
<item>
<property name="text">
<string>Registered Depth to Color SD</string>
</property>
</item>
<item>
<property name="text">
<string>Registered Depth to Color HD</string>
</property>
</item>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_440">
<property name="text">
<string>Format.</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_68">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_67">
<property name="orientation">