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CameraImages: moved scan filtering stuff to CameraThread

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Preferences->Source: refactored scan filtering parameters
OdometryF2M and OdometryF2F: moved odom orientation init from IMU to OdometryROS instead
This commit is contained in:
matlabbe
2019-01-15 15:41:07 -05:00
parent 42c8ed0c0f
commit 9da2c1918f
12 changed files with 210 additions and 269 deletions
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10
guilib/src/MainWindow.cpp
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@@ -4863,13 +4863,15 @@ void MainWindow::startDetection()
_camera->setImageDecimation(_preferencesDialog->getSourceImageDecimation());
_camera->setStereoToDepth(_preferencesDialog->isSourceStereoDepthGenerated());
_camera->setStereoExposureCompensation(_preferencesDialog->isSourceStereoExposureCompensation());
_camera->setScanFromDepth(
_camera->setScanParameters(
_preferencesDialog->isSourceScanFromDepth(),
_preferencesDialog->getSourceScanFromDepthDecimation(),
_preferencesDialog->getSourceScanFromDepthMaxDepth(),
_preferencesDialog->getSourceScanDownsampleStep(),
_preferencesDialog->getSourceScanRangeMin(),
_preferencesDialog->getSourceScanRangeMax(),
_preferencesDialog->getSourceScanVoxelSize(),
_preferencesDialog->getSourceScanNormalsK(),
_preferencesDialog->getSourceScanNormalsRadius());
_preferencesDialog->getSourceScanNormalsRadius(),
_preferencesDialog->isSourceScanForceGroundNormalsUp());
if(_preferencesDialog->isDepthFilteringAvailable())
{
if(_preferencesDialog->isBilateralFiltering())