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add histogram equalization (#1137)

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This commit is contained in:
Borong Yuan
2023-09-22 06:46:10 +08:00
committed by GitHub
parent f1cd819673
commit afd10b1aa6
11 changed files with 122 additions and 10 deletions
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9
guilib/src/MainWindow.cpp
View File

@@ -598,10 +598,15 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent, bool sh
_ui->statsToolBox->updateStat("Planning/Length/m", false);
_ui->statsToolBox->updateStat("Camera/Time capturing/ms", false);
_ui->statsToolBox->updateStat("Camera/Time undistort depth/ms", false);
_ui->statsToolBox->updateStat("Camera/Time bilateral filtering/ms", false);
_ui->statsToolBox->updateStat("Camera/Time decimation/ms", false);
_ui->statsToolBox->updateStat("Camera/Time disparity/ms", false);
_ui->statsToolBox->updateStat("Camera/Time mirroring/ms", false);
_ui->statsToolBox->updateStat("Camera/Time histogram equalization/ms", false);
_ui->statsToolBox->updateStat("Camera/Time exposure compensation/ms", false);
_ui->statsToolBox->updateStat("Camera/Time scan from depth/ms", false);
_ui->statsToolBox->updateStat("Camera/Time total/ms", false);
_ui->statsToolBox->updateStat("Odometry/ID/", false);
_ui->statsToolBox->updateStat("Odometry/Features/", false);
@@ -988,15 +993,16 @@ void MainWindow::processCameraInfo(const rtabmap::CameraInfo & info)
}
if(_preferencesDialog->isCacheSavedInFigures() || _ui->statsToolBox->isVisible())
{
_ui->statsToolBox->updateStat("Camera/Time total/ms", _preferencesDialog->isTimeUsedInFigures()?info.stamp-_firstStamp:(float)info.id, info.timeTotal*1000.0f, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Camera/Time capturing/ms", _preferencesDialog->isTimeUsedInFigures()?info.stamp-_firstStamp:(float)info.id, info.timeCapture*1000.0f, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Camera/Time undistort depth/ms", _preferencesDialog->isTimeUsedInFigures()?info.stamp-_firstStamp:(float)info.id, info.timeUndistortDepth*1000.0f, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Camera/Time bilateral filtering/ms", _preferencesDialog->isTimeUsedInFigures()?info.stamp-_firstStamp:(float)info.id, info.timeBilateralFiltering*1000.0f, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Camera/Time decimation/ms", _preferencesDialog->isTimeUsedInFigures()?info.stamp-_firstStamp:(float)info.id, info.timeImageDecimation*1000.0f, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Camera/Time disparity/ms", _preferencesDialog->isTimeUsedInFigures()?info.stamp-_firstStamp:(float)info.id, info.timeDisparity*1000.0f, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Camera/Time mirroring/ms", _preferencesDialog->isTimeUsedInFigures()?info.stamp-_firstStamp:(float)info.id, info.timeMirroring*1000.0f, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Camera/Time histogram equalization/ms", _preferencesDialog->isTimeUsedInFigures()?info.stamp-_firstStamp:(float)info.id, info.timeHistogramEqualization*1000.0f, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Camera/Time exposure compensation/ms", _preferencesDialog->isTimeUsedInFigures()?info.stamp-_firstStamp:(float)info.id, info.timeStereoExposureCompensation*1000.0f, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Camera/Time scan from depth/ms", _preferencesDialog->isTimeUsedInFigures()?info.stamp-_firstStamp:(float)info.id, info.timeScanFromDepth*1000.0f, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Camera/Time total/ms", _preferencesDialog->isTimeUsedInFigures()?info.stamp-_firstStamp:(float)info.id, info.timeTotal*1000.0f, _preferencesDialog->isCacheSavedInFigures());
}
Q_EMIT(cameraInfoProcessed());
@@ -5758,6 +5764,7 @@ void MainWindow::startDetection()
_camera->setMirroringEnabled(_preferencesDialog->isSourceMirroring());
_camera->setColorOnly(_preferencesDialog->isSourceRGBDColorOnly());
_camera->setImageDecimation(_preferencesDialog->getSourceImageDecimation());
_camera->setHistogramMethod(_preferencesDialog->getSourceHistogramMethod());
_camera->setStereoToDepth(_preferencesDialog->isSourceStereoDepthGenerated());
_camera->setStereoExposureCompensation(_preferencesDialog->isSourceStereoExposureCompensation());
_camera->setScanParameters(

10
guilib/src/PreferencesDialog.cpp
View File

@@ -816,6 +816,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->checkbox_rgbd_colorOnly, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->spinBox_source_imageDecimation, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->comboBox_source_histogramMethod, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkbox_stereo_depthGenerated, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkBox_stereo_exposureCompensation, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->pushButton_calibrate, SIGNAL(clicked()), this, SLOT(calibrate()));
@@ -1985,6 +1986,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->checkbox_rgbd_colorOnly->setChecked(false);
_ui->spinBox_source_imageDecimation->setValue(1);
_ui->comboBox_source_histogramMethod->setCurrentIndex(0);
_ui->checkbox_stereo_depthGenerated->setChecked(false);
_ui->checkBox_stereo_exposureCompensation->setChecked(false);
_ui->openni2_autoWhiteBalance->setChecked(true);
@@ -2419,6 +2421,7 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
_ui->lineEdit_sourceDevice->setText(settings.value("device",_ui->lineEdit_sourceDevice->text()).toString());
_ui->lineEdit_sourceLocalTransform->setText(settings.value("localTransform",_ui->lineEdit_sourceLocalTransform->text()).toString());
_ui->spinBox_source_imageDecimation->setValue(settings.value("imageDecimation",_ui->spinBox_source_imageDecimation->value()).toInt());
_ui->comboBox_source_histogramMethod->setCurrentIndex(settings.value("histogramMethod", _ui->comboBox_source_histogramMethod->currentIndex()).toInt());
// Backward compatibility
if(_ui->lineEdit_sourceLocalTransform->text().compare("0 0 1 -1 0 0 0 -1 0") == 0)
{
@@ -2957,6 +2960,7 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.setValue("device", _ui->lineEdit_sourceDevice->text());
settings.setValue("localTransform", _ui->lineEdit_sourceLocalTransform->text());
settings.setValue("imageDecimation", _ui->spinBox_source_imageDecimation->value());
settings.setValue("histogramMethod", _ui->comboBox_source_histogramMethod->currentIndex());
settings.beginGroup("rgbd");
settings.setValue("driver", _ui->comboBox_cameraRGBD->currentIndex());
@@ -5921,6 +5925,10 @@ int PreferencesDialog::getSourceImageDecimation() const
{
return _ui->spinBox_source_imageDecimation->value();
}
int PreferencesDialog::getSourceHistogramMethod() const
{
return _ui->comboBox_source_histogramMethod->currentIndex();
}
bool PreferencesDialog::isSourceStereoDepthGenerated() const
{
return _ui->checkbox_stereo_depthGenerated->isChecked();
@@ -6725,6 +6733,7 @@ void PreferencesDialog::testOdometry()
cameraThread.setMirroringEnabled(isSourceMirroring());
cameraThread.setColorOnly(_ui->checkbox_rgbd_colorOnly->isChecked());
cameraThread.setImageDecimation(_ui->spinBox_source_imageDecimation->value());
cameraThread.setHistogramMethod(_ui->comboBox_source_histogramMethod->currentIndex());
cameraThread.setStereoToDepth(_ui->checkbox_stereo_depthGenerated->isChecked());
cameraThread.setStereoExposureCompensation(_ui->checkBox_stereo_exposureCompensation->isChecked());
cameraThread.setScanParameters(
@@ -6796,6 +6805,7 @@ void PreferencesDialog::testCamera()
cameraThread.setMirroringEnabled(isSourceMirroring());
cameraThread.setColorOnly(_ui->checkbox_rgbd_colorOnly->isChecked());
cameraThread.setImageDecimation(_ui->spinBox_source_imageDecimation->value());
cameraThread.setHistogramMethod(_ui->comboBox_source_histogramMethod->currentIndex());
cameraThread.setStereoToDepth(_ui->checkbox_stereo_depthGenerated->isChecked());
cameraThread.setStereoExposureCompensation(_ui->checkBox_stereo_exposureCompensation->isChecked());
cameraThread.setScanParameters(

54
guilib/src/ui/preferencesDialog.ui
View File

@@ -2955,7 +2955,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="10" column="1">
<item row="11" column="1">
<widget class="QLabel" name="label_244">
<property name="text">
<string>Create a calibration file with known intrinsics (fx, fy, cx, cy). Useful if you already know the intrinsics of the source of images.</string>
@@ -2968,7 +2968,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="7" column="0">
<item row="8" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_5" stretch="0,1">
<item>
<widget class="QToolButton" name="toolButton_source_path_calibration">
@@ -3068,7 +3068,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</item>
</widget>
</item>
<item row="11" column="0">
<item row="12" column="0">
<widget class="QPushButton" name="pushButton_test_camera">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
@@ -3081,7 +3081,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="9" column="0">
<item row="10" column="0">
<widget class="QPushButton" name="pushButton_calibrate">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
@@ -3094,7 +3094,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="9" column="1">
<item row="10" column="1">
<widget class="QLabel" name="label_24">
<property name="text">
<string>Calibration files are saved in &quot;camera_info&quot; folder of the working directory.</string>
@@ -3114,7 +3114,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="10" column="0">
<item row="11" column="0">
<widget class="QPushButton" name="pushButton_calibrate_simple">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
@@ -3127,7 +3127,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="7" column="1">
<item row="8" column="1">
<widget class="QLabel" name="label_18">
<property name="text">
<string>Calibration file path (*.yaml). If empty, the GUID of the camera is used (for those having one). OpenNI and Freenect drivers use factory calibration by default (so they ignore this parameter). A calibrated camera is required for RGB-D SLAM mode.</string>
@@ -3161,6 +3161,44 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_681">
<property name="text">
<string>Equalizes the histogram of grayscale images.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QComboBox" name="comboBox_source_histogramMethod">
<property name="currentIndex">
<number>0</number>
</property>
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
</property>
<item>
<property name="text">
<string>None</string>
</property>
</item>
<item>
<property name="text">
<string>Histogram</string>
</property>
</item>
<item>
<property name="text">
<string>CLAHE</string>
</property>
</item>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_229">
<property name="text">
<string>Only RGB images (for RGB-D cameras) or left images (for stereo cameras) are published.</string>
@@ -3173,7 +3211,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="6" column="0">
<item row="7" column="0">
<widget class="QCheckBox" name="checkbox_rgbd_colorOnly">
<property name="text">
<string/>