mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 01:20:25 +08:00
CameraThread: Added stereo to depth option. Added parameter "Mem/SaveDepth16Format".
This commit is contained in:
matlabbe
@@ -189,6 +189,7 @@ public:
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int getSourceDatabaseStartPos() const; //Database group
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bool getSourceDatabaseStampsUsed() const;//Database group
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bool isSourceRGBDColorOnly() const;
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bool isSourceStereoDepthGenerated() const;
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Transform getSourceLocalTransform() const; //Openni group
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Camera * createCamera(bool useRawImages = false); // return camera should be deleted if not null
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@@ -2859,6 +2859,7 @@ void MainWindow::startDetection()
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_camera = new CameraThread(camera);
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_camera->setMirroringEnabled(_preferencesDialog->isSourceMirroring());
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_camera->setColorOnly(_preferencesDialog->isSourceRGBDColorOnly());
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_camera->setStereoToDepth(_preferencesDialog->isSourceStereoDepthGenerated());
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//Create odometry thread if rgbd slam
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if(uStr2Bool(parameters.at(Parameters::kRGBDEnabled()).c_str()))
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@@ -392,6 +392,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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connect(_ui->checkBox_stereoVideo_rectify, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->checkbox_rgbd_colorOnly, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->checkbox_stereo_depthGenerated, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->pushButton_calibrate, SIGNAL(clicked()), this, SLOT(calibrate()));
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connect(_ui->pushButton_calibrate_simple, SIGNAL(clicked()), this, SLOT(calibrateSimple()));
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connect(_ui->toolButton_openniOniPath, SIGNAL(clicked()), this, SLOT(selectSourceOniPath()));
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@@ -444,6 +445,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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// Memory
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_ui->general_checkBox_keepRawData->setObjectName(Parameters::kMemImageKept().c_str());
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_ui->general_checkBox_keepBinaryData->setObjectName(Parameters::kMemBinDataKept().c_str());
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_ui->general_checkBox_saveDepth16bits->setObjectName(Parameters::kMemSaveDepth16Format().c_str());
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_ui->general_checkBox_keepNotLinkedNodes->setObjectName(Parameters::kMemNotLinkedNodesKept().c_str());
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_ui->general_spinBox_maxStMemSize->setObjectName(Parameters::kMemSTMSize().c_str());
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_ui->doubleSpinBox_similarityThreshold->setObjectName(Parameters::kMemRehearsalSimilarity().c_str());
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@@ -1105,6 +1107,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
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}
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_ui->checkbox_rgbd_colorOnly->setChecked(false);
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_ui->checkbox_stereo_depthGenerated->setChecked(false);
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_ui->openni2_autoWhiteBalance->setChecked(true);
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_ui->openni2_autoExposure->setChecked(true);
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_ui->openni2_exposure->setValue(0);
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@@ -1367,6 +1370,7 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
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settings.beginGroup("stereo");
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_ui->comboBox_cameraStereo->setCurrentIndex(settings.value("driver", _ui->comboBox_cameraStereo->currentIndex()).toInt());
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_ui->checkbox_stereo_depthGenerated->setChecked(settings.value("depthGenerated", _ui->checkbox_stereo_depthGenerated->isChecked()).toBool());
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settings.endGroup(); // stereo
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settings.beginGroup("rgb");
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@@ -1678,6 +1682,7 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
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settings.beginGroup("stereo");
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settings.setValue("driver", _ui->comboBox_cameraStereo->currentIndex());
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settings.setValue("depthGenerated", _ui->checkbox_stereo_depthGenerated->isChecked());
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settings.endGroup(); // stereo
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settings.beginGroup("rgb");
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@@ -3447,6 +3452,10 @@ bool PreferencesDialog::isSourceRGBDColorOnly() const
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{
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return _ui->checkbox_rgbd_colorOnly->isChecked();
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}
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bool PreferencesDialog::isSourceStereoDepthGenerated() const
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{
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return _ui->checkbox_stereo_depthGenerated->isChecked();
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}
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Camera * PreferencesDialog::createCamera(bool useRawImages)
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{
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@@ -3826,6 +3835,7 @@ void PreferencesDialog::testOdometry(int type)
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CameraThread cameraThread(camera); // take ownership of camera
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cameraThread.setMirroringEnabled(isSourceMirroring());
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cameraThread.setColorOnly(_ui->checkbox_rgbd_colorOnly->isChecked());
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cameraThread.setStereoToDepth(_ui->checkbox_stereo_depthGenerated->isChecked());
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UEventsManager::createPipe(&cameraThread, &odomThread, "CameraEvent");
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UEventsManager::createPipe(&odomThread, odomViewer, "OdometryEvent");
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UEventsManager::createPipe(odomViewer, &odomThread, "OdometryResetEvent");
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@@ -3892,6 +3902,7 @@ void PreferencesDialog::testCamera()
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CameraThread cameraThread(camera);
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cameraThread.setMirroringEnabled(isSourceMirroring());
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cameraThread.setColorOnly(_ui->checkbox_rgbd_colorOnly->isChecked());
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cameraThread.setStereoToDepth(_ui->checkbox_stereo_depthGenerated->isChecked());
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UEventsManager::createPipe(&cameraThread, window, "CameraEvent");
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cameraThread.start();
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@@ -63,7 +63,7 @@
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>-542</y>
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<y>-392</y>
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<width>755</width>
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<height>1591</height>
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</rect>
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@@ -86,7 +86,7 @@
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<enum>QFrame::Raised</enum>
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</property>
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<property name="currentIndex">
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<number>1</number>
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<number>3</number>
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</property>
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<widget class="QWidget" name="page_22">
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<layout class="QVBoxLayout" name="verticalLayout_29">
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@@ -1769,7 +1769,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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<item>
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<widget class="QStackedWidget" name="stackedWidget_src">
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<property name="currentIndex">
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<number>0</number>
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<number>1</number>
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</property>
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<widget class="QWidget" name="page_41">
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<layout class="QVBoxLayout" name="verticalLayout_64">
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@@ -2387,6 +2387,23 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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</property>
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</widget>
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</item>
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<item row="1" column="1">
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<widget class="QCheckBox" name="checkbox_stereo_depthGenerated">
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<property name="text">
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<string/>
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</property>
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</widget>
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</item>
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<item row="1" column="2">
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<widget class="QLabel" name="label_247">
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<property name="text">
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<string>Generate disparity image and convert it to depth. The resulting output is a RGB-D image instead of stereo images.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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</layout>
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</item>
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<item>
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@@ -3880,7 +3897,45 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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<layout class="QVBoxLayout" name="verticalLayout_10">
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<item>
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<layout class="QGridLayout" name="gridLayout_42" columnstretch="0,1">
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<item row="8" column="0">
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<item row="4" column="1">
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<widget class="QLabel" name="label_retrieved_2">
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<property name="text">
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<string>True=Generate location Ids, False=use input image ids.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="10" column="0">
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<widget class="QDoubleSpinBox" name="general_doubleSpinBox_laserScanVoxel">
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<property name="minimumSize">
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<size>
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<width>50</width>
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<height>0</height>
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</size>
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</property>
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<property name="suffix">
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<string> m</string>
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</property>
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<property name="decimals">
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<number>3</number>
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</property>
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<property name="maximum">
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<double>1.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.010000000000000</double>
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</property>
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<property name="value">
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<double>0.000000000000000</double>
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</property>
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</widget>
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</item>
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<item row="9" column="0">
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<widget class="QSpinBox" name="spinBox_imageDecimation">
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<property name="minimum">
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<number>1</number>
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@@ -3997,19 +4052,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</property>
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</widget>
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</item>
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<item row="4" column="1">
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<widget class="QLabel" name="label_retrieved_2">
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<property name="text">
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<string>True=Generate location Ids, False=use input image ids.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="5" column="0">
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<widget class="QCheckBox" name="general_checkBox_badSignaturesIgnored">
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<property name="text">
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@@ -4066,7 +4108,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</property>
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</widget>
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</item>
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<item row="8" column="1">
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<item row="9" column="1">
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<widget class="QLabel" name="label_retrieved_6">
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<property name="text">
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<string>Image decimation. This feature can be used to save images in lower resolution (size/decimation).</string>
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@@ -4102,7 +4144,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</property>
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</widget>
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</item>
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<item row="9" column="1">
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<item row="10" column="1">
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<widget class="QLabel" name="label_retrieved_8">
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<property name="text">
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<string>If > 0.0, voxelize laser scans when creating a location. This feature can be used to save laser scans already voxelized.</string>
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@@ -4115,28 +4157,26 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</property>
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</widget>
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</item>
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<item row="9" column="0">
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<widget class="QDoubleSpinBox" name="general_doubleSpinBox_laserScanVoxel">
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<property name="minimumSize">
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<size>
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<width>50</width>
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<height>0</height>
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</size>
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<item row="8" column="1">
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<widget class="QLabel" name="label_retrieved_9">
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<property name="text">
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<string>Save depth image into 16 bits format to reduce memory used. Warning: values over ~65 meters are ignored (maximum 65535 millimeters).</string>
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</property>
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<property name="suffix">
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<string> m</string>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="decimals">
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<number>3</number>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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<property name="maximum">
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<double>1.000000000000000</double>
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</widget>
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</item>
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<item row="8" column="0">
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<widget class="QCheckBox" name="general_checkBox_saveDepth16bits">
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<property name="text">
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<string/>
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</property>
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<property name="singleStep">
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<double>0.010000000000000</double>
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</property>
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<property name="value">
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<double>0.000000000000000</double>
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<property name="checked">
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<bool>false</bool>
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</property>
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</widget>
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</item>
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@@ -6298,7 +6338,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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<item>
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<widget class="QLabel" name="label_83">
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<property name="text">
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<string>Rigid transformations between nodes are saved on the neighbor links of the RTAB-Map's graph. On loop closures, a new constraint is added to the graph and TORO optimizes the graph. RGB-D images must be sent to work (see Source->RGB-D Camera).</string>
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<string>Rigid transformations between nodes are saved on the neighbor links of the RTAB-Map's graph. On loop closures, a new constraint is added to the graph and TORO optimizes the graph.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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