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Code Issues Packages Projects Releases Wiki Activity

OAK Internal Sync & DepthAI HF-Net Support (#1193)

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* Using Sync Node

* Using normalized IR intensity

* Set IMU output frequency to 200 Hz

* set sync threshold properly

* add depthai hfnet local head

* fix DB error

* add depthai hfnet global head

* fix data delay if image rate is set manually
This commit is contained in:
Borong Yuan
2024-03-28 03:29:06 +08:00
committed by GitHub
parent bc6d390fb6
commit bfeb487dba
5 changed files with 104 additions and 104 deletions
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20
guilib/src/PreferencesDialog.cpp
View File

@@ -817,8 +817,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->checkBox_depthai_use_spec_translation, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->doubleSpinBox_depthai_alpha_scaling, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkBox_depthai_imu_published, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->doubleSpinBox_depthai_laser_dot_brightness, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->doubleSpinBox_depthai_floodlight_brightness, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->doubleSpinBox_depthai_dot_intensity, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->doubleSpinBox_depthai_flood_intensity, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->comboBox_depthai_detect_features, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->lineEdit_depthai_blob_path, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->toolButton_depthai_blob_path, SIGNAL(clicked()), this, SLOT(selectSourceDepthaiBlobPath()));
@@ -2158,8 +2158,8 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->checkBox_depthai_use_spec_translation->setChecked(false);
_ui->doubleSpinBox_depthai_alpha_scaling->setValue(0.0);
_ui->checkBox_depthai_imu_published->setChecked(true);
_ui->doubleSpinBox_depthai_laser_dot_brightness->setValue(0.0);
_ui->doubleSpinBox_depthai_floodlight_brightness->setValue(200.0);
_ui->doubleSpinBox_depthai_dot_intensity->setValue(0.0);
_ui->doubleSpinBox_depthai_flood_intensity->setValue(0.0);
_ui->comboBox_depthai_detect_features->setCurrentIndex(0);
_ui->lineEdit_depthai_blob_path->clear();
@@ -2651,8 +2651,8 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
_ui->checkBox_depthai_use_spec_translation->setChecked(settings.value("use_spec_translation", _ui->checkBox_depthai_use_spec_translation->isChecked()).toBool());
_ui->doubleSpinBox_depthai_alpha_scaling->setValue(settings.value("alpha_scaling", _ui->doubleSpinBox_depthai_alpha_scaling->value()).toDouble());
_ui->checkBox_depthai_imu_published->setChecked(settings.value("imu_published", _ui->checkBox_depthai_imu_published->isChecked()).toBool());
_ui->doubleSpinBox_depthai_laser_dot_brightness->setValue(settings.value("laser_dot_brightness", _ui->doubleSpinBox_depthai_laser_dot_brightness->value()).toDouble());
_ui->doubleSpinBox_depthai_floodlight_brightness->setValue(settings.value("floodlight_brightness", _ui->doubleSpinBox_depthai_floodlight_brightness->value()).toDouble());
_ui->doubleSpinBox_depthai_dot_intensity->setValue(settings.value("dot_intensity", _ui->doubleSpinBox_depthai_dot_intensity->value()).toDouble());
_ui->doubleSpinBox_depthai_flood_intensity->setValue(settings.value("flood_intensity", _ui->doubleSpinBox_depthai_flood_intensity->value()).toDouble());
_ui->comboBox_depthai_detect_features->setCurrentIndex(settings.value("detect_features", _ui->comboBox_depthai_detect_features->currentIndex()).toInt());
_ui->lineEdit_depthai_blob_path->setText(settings.value("blob_path", _ui->lineEdit_depthai_blob_path->text()).toString());
settings.endGroup(); // DepthAI
@@ -3188,8 +3188,8 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.setValue("use_spec_translation", _ui->checkBox_depthai_use_spec_translation->isChecked());
settings.setValue("alpha_scaling", _ui->doubleSpinBox_depthai_alpha_scaling->value());
settings.setValue("imu_published", _ui->checkBox_depthai_imu_published->isChecked());
settings.setValue("laser_dot_brightness", _ui->doubleSpinBox_depthai_laser_dot_brightness->value());
settings.setValue("floodlight_brightness", _ui->doubleSpinBox_depthai_floodlight_brightness->value());
settings.setValue("dot_intensity", _ui->doubleSpinBox_depthai_dot_intensity->value());
settings.setValue("flood_intensity", _ui->doubleSpinBox_depthai_flood_intensity->value());
settings.setValue("detect_features", _ui->comboBox_depthai_detect_features->currentIndex());
settings.setValue("blob_path", _ui->lineEdit_depthai_blob_path->text());
settings.endGroup(); // DepthAI
@@ -6510,14 +6510,14 @@ Camera * PreferencesDialog::createCamera(
((CameraDepthAI*)camera)->setDepthProfile(_ui->spinBox_depthai_conf_threshold->value(), _ui->spinBox_depthai_lrc_threshold->value());
((CameraDepthAI*)camera)->setRectification(_ui->checkBox_depthai_use_spec_translation->isChecked(), _ui->doubleSpinBox_depthai_alpha_scaling->value());
((CameraDepthAI*)camera)->setIMU(_ui->checkBox_depthai_imu_published->isChecked(), _ui->checkbox_publishInterIMU->isChecked());
((CameraDepthAI*)camera)->setIrBrightness(_ui->doubleSpinBox_depthai_laser_dot_brightness->value(), _ui->doubleSpinBox_depthai_floodlight_brightness->value());
((CameraDepthAI*)camera)->setIrIntensity(_ui->doubleSpinBox_depthai_dot_intensity->value(), _ui->doubleSpinBox_depthai_flood_intensity->value());
((CameraDepthAI*)camera)->setDetectFeatures(_ui->comboBox_depthai_detect_features->currentIndex());
((CameraDepthAI*)camera)->setBlobPath(_ui->lineEdit_depthai_blob_path->text().toStdString());
if(_ui->comboBox_depthai_detect_features->currentIndex() == 1)
{
((CameraDepthAI*)camera)->setGFTTDetector(_ui->checkBox_GFTT_useHarrisDetector->isChecked(), _ui->doubleSpinBox_GFTT_minDistance->value(), _ui->reextract_maxFeatures->value());
}
else if(_ui->comboBox_depthai_detect_features->currentIndex() == 2)
else if(_ui->comboBox_depthai_detect_features->currentIndex() >= 2)
{
((CameraDepthAI*)camera)->setSuperPointDetector(_ui->doubleSpinBox_sptorch_threshold->value(), _ui->checkBox_sptorch_nms->isChecked(), _ui->spinBox_sptorch_minDistance->value());
}

33
guilib/src/ui/preferencesDialog.ui
View File

@@ -5974,12 +5974,12 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</widget>
</item>
<item row="7" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_depthai_laser_dot_brightness">
<property name="suffix">
<string> mA</string>
</property>
<widget class="QDoubleSpinBox" name="doubleSpinBox_depthai_dot_intensity">
<property name="maximum">
<double>1200.000000000000000</double>
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.050000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
@@ -5996,7 +5996,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<item row="8" column="1">
<widget class="QLabel" name="label_677">
<property name="text">
<string>Floodlight brightness.</string>
<string>IR flood light intensity.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -6009,7 +6009,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<item row="7" column="1">
<widget class="QLabel" name="label_676">
<property name="text">
<string>Laser dot brightness.</string>
<string>IR laser dot projector intensity.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -6143,15 +6143,15 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</widget>
</item>
<item row="8" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_depthai_floodlight_brightness">
<property name="suffix">
<string> mA</string>
</property>
<widget class="QDoubleSpinBox" name="doubleSpinBox_depthai_flood_intensity">
<property name="maximum">
<double>1500.000000000000000</double>
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.050000000000000</double>
</property>
<property name="value">
<double>200.000000000000000</double>
<double>0.000000000000000</double>
</property>
</widget>
</item>
@@ -6178,6 +6178,11 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<string>SuperPoint</string>
</property>
</item>
<item>
<property name="text">
<string>HF-Net</string>
</property>
</item>
</widget>
</item>
<item row="9" column="1">
@@ -6220,7 +6225,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<item row="10" column="1">
<widget class="QLabel" name="label_680">
<property name="text">
<string>Path to SuperPoint blob file.</string>
<string>Path to MyriadX blob file.</string>
</property>
<property name="wordWrap">
<bool>true</bool>