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Stereo: min and max disparity parameters are now float. ImageView: adjusted background color of info boxes.

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matlabbe
2017-11-14 11:36:37 -05:00
parent 10c5cb3721
commit b820e98bdc
8 changed files with 50 additions and 122 deletions
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corelib/include/rtabmap/core/Parameters.h
+2 -2
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@@ -535,8 +535,8 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Stereo, WinHeight, int, 3, "Window height.");
RTABMAP_PARAM(Stereo, Iterations, int, 30, "Maximum iterations.");
RTABMAP_PARAM(Stereo, MaxLevel, int, 3, "Maximum pyramid level.");
RTABMAP_PARAM(Stereo, MinDisparity, int, 1, "Minimum disparity.");
RTABMAP_PARAM(Stereo, MaxDisparity, int, 128, "Maximum disparity.");
RTABMAP_PARAM(Stereo, MinDisparity, float, 1.0, "Minimum disparity.");
RTABMAP_PARAM(Stereo, MaxDisparity, float, 128.0, "Maximum disparity.");
RTABMAP_PARAM(Stereo, OpticalFlow, bool, true, "Use optical flow to find stereo correspondences, otherwise a simple block matching approach is used.");
RTABMAP_PARAM(Stereo, SSD, bool, true, uFormat("[%s=false] Use Sum of Squared Differences (SSD) window, otherwise Sum of Absolute Differences (SAD) window is used.", kStereoOpticalFlow().c_str()));
RTABMAP_PARAM(Stereo, Eps, double, 0.01, uFormat("[%s=true] Epsilon stop criterion.", kStereoOpticalFlow().c_str()));
corelib/include/rtabmap/core/Stereo.h
+4 -4
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@@ -53,8 +53,8 @@ public:
cv::Size winSize() const {return cv::Size(winWidth_, winHeight_);}
int iterations() const {return iterations_;}
int maxLevel() const {return maxLevel_;}
int minDisparity() const {return minDisparity_;}
int maxDisparity() const {return maxDisparity_;}
float minDisparity() const {return minDisparity_;}
float maxDisparity() const {return maxDisparity_;}
bool winSSD() const {return winSSD_;}
private:
@@ -62,8 +62,8 @@ private:
int winHeight_;
int iterations_;
int maxLevel_;
int minDisparity_;
int maxDisparity_;
float minDisparity_;
float maxDisparity_;
bool winSSD_;
};
corelib/include/rtabmap/core/util2d.h
+2 -2
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@@ -54,8 +54,8 @@ std::vector<cv::Point2f> RTABMAP_EXP calcStereoCorrespondences(
cv::Size winSize = cv::Size(6,3),
int maxLevel = 3,
int iterations = 5,
int minDisparity = 0,
int maxDisparity = 64,
float minDisparity = 0.0f,
float maxDisparity = 64.0f,
bool ssdApproach = true); // SSD by default, otherwise it is SAD
// exactly as cv::calcOpticalFlowPyrLK but it should be called with pyramid (from cv::buildOpticalFlowPyramid()) and delta drops the y error.