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Added Stereo and StereoDense base classes (with Stereo->StereoOpticalFlow and StereoDense->StereoBM) to handle easily stereo parameters. Added stereoEval tool to test Stereo/OpticalFlow=false or true. Added StereoBM parameters. Refactoring of the Preferences dialog (tree view order and some titles)

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This commit is contained in:
matlabbe
2015-12-11 17:44:15 -05:00
parent 818eda005f
commit 9cc94ce1e6
44 changed files with 6866 additions and 4311 deletions
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45
guilib/src/PreferencesDialog.cpp
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@@ -673,10 +673,12 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->toolButton_odomBowFixedLocalMap, SIGNAL(clicked()), this, SLOT(changeOdomBowFixedLocalMapPath()));
//Odometry Optical Flow
_ui->odom_flow_keyframeThr->setObjectName(Parameters::kOdomFlowKeyFrameThr().c_str());
_ui->odom_flow_winSize->setObjectName(Parameters::kOdomFlowWinSize().c_str());
_ui->odom_flow_maxLevel->setObjectName(Parameters::kOdomFlowMaxLevel().c_str());
_ui->odom_flow_iterations->setObjectName(Parameters::kOdomFlowIterations().c_str());
_ui->odom_flow_eps->setObjectName(Parameters::kOdomFlowEps().c_str());
_ui->odom_flow_guessMotion->setObjectName(Parameters::kOdomFlowGuessMotion().c_str());
//Odometry Mono
_ui->doubleSpinBox_minFlow->setObjectName(Parameters::kOdomMonoInitMinFlow().c_str());
@@ -693,12 +695,29 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->doubleSpinBox_particleLambdaR->setObjectName(Parameters::kOdomParticleLambdaR().c_str());
//Stereo
_ui->stereo_flow_winSize->setObjectName(Parameters::kStereoWinSize().c_str());
_ui->stereo_flow_maxLevel->setObjectName(Parameters::kStereoMaxLevel().c_str());
_ui->stereo_flow_iterations->setObjectName(Parameters::kStereoIterations().c_str());
_ui->stereo_winWidth->setObjectName(Parameters::kStereoWinWidth().c_str());
_ui->stereo_winHeight->setObjectName(Parameters::kStereoWinHeight().c_str());
_ui->stereo_maxLevel->setObjectName(Parameters::kStereoMaxLevel().c_str());
_ui->stereo_iterations->setObjectName(Parameters::kStereoIterations().c_str());
_ui->stereo_minDisparity->setObjectName(Parameters::kStereoMinDisparity().c_str());
_ui->stereo_maxDisparity->setObjectName(Parameters::kStereoMaxDisparity().c_str());
_ui->stereo_ssd->setObjectName(Parameters::kStereoSSD().c_str());
_ui->stereo_flow_eps->setObjectName(Parameters::kStereoEps().c_str());
_ui->stereo_opticalFlow->setObjectName(Parameters::kStereoOpticalFlow().c_str());
_ui->stereo_maxSlope->setObjectName(Parameters::kStereoMaxSlope().c_str());
//StereoBM
_ui->stereobm_blockSize->setObjectName(Parameters::kStereoBMBlockSize().c_str());
_ui->stereobm_minDisparity->setObjectName(Parameters::kStereoBMMinDisparity().c_str());
_ui->stereobm_numDisparities->setObjectName(Parameters::kStereoBMNumDisparities().c_str());
_ui->stereobm_preFilterCap->setObjectName(Parameters::kStereoBMPreFilterCap().c_str());
_ui->stereobm_preFilterSize->setObjectName(Parameters::kStereoBMPreFilterSize().c_str());
_ui->stereobm_speckleRange->setObjectName(Parameters::kStereoBMSpeckleRange().c_str());
_ui->stereobm_speckleWinSize->setObjectName(Parameters::kStereoBMSpeckleWindowSize().c_str());
_ui->stereobm_tetureThreshold->setObjectName(Parameters::kStereoBMTextureThreshold().c_str());
_ui->stereobm_uniquessRatio->setObjectName(Parameters::kStereoBMUniquenessRatio().c_str());
setupSignals();
// custom signals
@@ -711,7 +730,6 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
// This will add all parameters to the parameters Map
_ui->stackedWidget->setCurrentIndex(0);
this->setupTreeView();
connect(_ui->treeView, SIGNAL(clicked(QModelIndex)), this, SLOT(clicked(QModelIndex)));
_obsoletePanels = kPanelAll;
@@ -820,7 +838,10 @@ void PreferencesDialog::setupTreeView()
{
_ui->treeView->setCurrentIndex(_indexModel->index(currentIndex-2, 0));
}
_ui->treeView->expandToDepth(0);
_ui->treeView->expandToDepth(1);
// should be after setModel()
connect(_ui->treeView->selectionModel(), SIGNAL(currentChanged(const QModelIndex &, const QModelIndex &)), this, SLOT(clicked(const QModelIndex &, const QModelIndex &)));
}
// recursive...
@@ -933,9 +954,9 @@ void PreferencesDialog::setupSignals()
}
}
void PreferencesDialog::clicked(const QModelIndex &index)
void PreferencesDialog::clicked(const QModelIndex & current, const QModelIndex & previous)
{
QStandardItem * item = _indexModel->itemFromIndex(index);
QStandardItem * item = _indexModel->itemFromIndex(current);
if(item && item->isEnabled())
{
int index = item->data().toInt();
@@ -2045,7 +2066,7 @@ void PreferencesDialog::showEvent ( QShowEvent * event )
_ui->label_dictionaryPath->setEnabled(false);
_ui->groupBox_source0->setEnabled(false);
_ui->groupBox_odometry2->setEnabled(false);
_ui->groupBox_odometry1->setEnabled(false);
this->setWindowTitle(tr("Preferences [Monitoring mode]"));
}
@@ -2060,7 +2081,7 @@ void PreferencesDialog::showEvent ( QShowEvent * event )
_ui->label_dictionaryPath->setEnabled(true);
_ui->groupBox_source0->setEnabled(true);
_ui->groupBox_odometry2->setEnabled(true);
_ui->groupBox_odometry1->setEnabled(true);
this->setWindowTitle(tr("Preferences"));
}
@@ -4005,7 +4026,7 @@ void PreferencesDialog::testOdometry()
if(camera)
{
CameraThread cameraThread(camera); // take ownership of camera
CameraThread cameraThread(camera, this->getAllParameters()); // take ownership of camera
cameraThread.setMirroringEnabled(isSourceMirroring());
cameraThread.setColorOnly(_ui->checkbox_rgbd_colorOnly->isChecked());
cameraThread.setStereoToDepth(_ui->checkbox_stereo_depthGenerated->isChecked());
@@ -4072,7 +4093,7 @@ void PreferencesDialog::testCamera()
Camera * camera = this->createCamera();
if(camera)
{
CameraThread cameraThread(camera);
CameraThread cameraThread(camera, this->getAllParameters());
cameraThread.setMirroringEnabled(isSourceMirroring());
cameraThread.setColorOnly(_ui->checkbox_rgbd_colorOnly->isChecked());
cameraThread.setStereoToDepth(_ui->checkbox_stereo_depthGenerated->isChecked());
@@ -4123,7 +4144,7 @@ void PreferencesDialog::calibrate()
_calibrationDialog->setSavingDirectory(this->getCameraInfoDir());
_calibrationDialog->registerToEventsManager();
CameraThread cameraThread(camera);
CameraThread cameraThread(camera, this->getAllParameters());
UEventsManager::createPipe(&cameraThread, _calibrationDialog, "CameraEvent");
cameraThread.start();