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Camera class: localTransform parameter should not have optical rotation anymore (it is added afterwards in the constructor). OdomSensor: the extrinsics should not contain optical rotation anymore. These 2 changes make it more convenient to set transfomation parameters in the UI. MainWindow::createCamera() now has odomSensor argument for convenience (for inherited classes to set both camera and odom sensor in the same function).

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This commit is contained in:
matlabbe
2021-05-26 13:40:46 -04:00
parent 21dbeed4b7
commit ada3e75005
34 changed files with 96 additions and 80 deletions
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47
guilib/src/MainWindow.cpp
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@@ -5353,9 +5353,27 @@ void MainWindow::editDatabase()
}
}
Camera * MainWindow::createCamera()
Camera * MainWindow::createCamera(
Camera ** odomSensor,
Transform & odomSensorExtrinsics,
double odomSensorTimeOffset,
float odomSensorScaleFactor)
{
return _preferencesDialog->createCamera();
Camera * camera = _preferencesDialog->createCamera();
if(camera &&
_preferencesDialog->getOdomSourceDriver() != PreferencesDialog::kSrcUndef &&
_preferencesDialog->getOdomSourceDriver() != _preferencesDialog->getSourceDriver() &&
!(_preferencesDialog->getOdomSourceDriver() == PreferencesDialog::kSrcStereoRealSense2 &&
_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcRealSense2))
{
UINFO("Create Odom Sensor %d (camera = %d)",
_preferencesDialog->getOdomSourceDriver(),
_preferencesDialog->getSourceDriver());
*odomSensor = _preferencesDialog->createOdomSensor(odomSensorExtrinsics, odomSensorTimeOffset, odomSensorScaleFactor);
}
return camera;
}
void MainWindow::startDetection()
@@ -5457,33 +5475,24 @@ void MainWindow::startDetection()
}
Camera * camera = this->createCamera();
double poseTimeOffset = 0.0;
float scaleFactor = 0.0f;
Transform extrinsics;
Camera * odomSensor = 0;
Camera * camera = this->createCamera(&odomSensor, extrinsics, poseTimeOffset, scaleFactor);
if(!camera)
{
Q_EMIT stateChanged(kInitialized);
return;
}
double poseTimeOffset = 0.0;
Transform extrinsics;
Camera * odomSensor = 0;
if(_preferencesDialog->getOdomSourceDriver() != PreferencesDialog::kSrcUndef &&
_preferencesDialog->getOdomSourceDriver() != _preferencesDialog->getSourceDriver() &&
!(_preferencesDialog->getOdomSourceDriver() == PreferencesDialog::kSrcStereoRealSense2 &&
_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcRealSense2))
{
UINFO("Create Odom Sensor %d (camera = %d)",
_preferencesDialog->getOdomSourceDriver(),
_preferencesDialog->getSourceDriver());
odomSensor = _preferencesDialog->createOdomSensor(extrinsics, poseTimeOffset);
}
if(odomSensor)
{
_camera = new CameraThread(camera, odomSensor, extrinsics, poseTimeOffset, _preferencesDialog->getOdomSensorScaleFactor(), _preferencesDialog->isOdomSensorAsGt(), parameters);
_camera = new CameraThread(camera, odomSensor, extrinsics, poseTimeOffset, scaleFactor, _preferencesDialog->isOdomSensorAsGt(), parameters);
}
else
{
_camera = new CameraThread(camera, _preferencesDialog->getOdomSensorScaleFactor(), _preferencesDialog->isOdomSensorAsGt(), parameters);
_camera = new CameraThread(camera, _preferencesDialog->isOdomSensorAsGt(), parameters);
}
_camera->setMirroringEnabled(_preferencesDialog->isSourceMirroring());
_camera->setColorOnly(_preferencesDialog->isSourceRGBDColorOnly());
@@ -5584,7 +5593,7 @@ void MainWindow::startDetection()
odomStrategy != Odometry::kTypeOpenVINS)
{
QMessageBox::warning(this, tr("Source IMU Path"),
tr("IMU path is set but odometry chosen doesn't support IMU, ignoring IMU..."), QMessageBox::Ok);
tr("IMU path is set but odometry chosen doesn't support asynchronous IMU, ignoring IMU..."), QMessageBox::Ok);
}
else
{