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add depthai gftt detector (#1047)

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* add depthai feature detector draft

* update depthai gftt config

* optimize to detect more features
This commit is contained in:
Borong Yuan
2023-06-12 03:57:26 +08:00
committed by GitHub
parent 0c476936e3
commit d031d79369
4 changed files with 111 additions and 1 deletions
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9
guilib/src/PreferencesDialog.cpp
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@@ -810,6 +810,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->checkBox_depthai_imu_firmware_update, 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->comboBox_depthai_detect_features, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkbox_rgbd_colorOnly, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->spinBox_source_imageDecimation, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
@@ -2067,6 +2068,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->checkBox_depthai_imu_firmware_update->setChecked(false);
_ui->doubleSpinBox_depthai_laser_dot_brightness->setValue(0.0);
_ui->doubleSpinBox_depthai_floodlight_brightness->setValue(200.0);
_ui->comboBox_depthai_detect_features->setCurrentIndex(0);
_ui->checkBox_cameraImages_configForEachFrame->setChecked(false);
_ui->checkBox_cameraImages_timestamps->setChecked(false);
@@ -2554,6 +2556,7 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
_ui->checkBox_depthai_imu_firmware_update->setChecked(settings.value("imu_firmware_update", _ui->checkBox_depthai_imu_firmware_update->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->comboBox_depthai_detect_features->setCurrentIndex(settings.value("detect_features", _ui->comboBox_depthai_detect_features->currentIndex()).toInt());
settings.endGroup(); // DepthAI
settings.beginGroup("Images");
@@ -3084,6 +3087,7 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.setValue("imu_firmware_update", _ui->checkBox_depthai_imu_firmware_update->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("detect_features", _ui->comboBox_depthai_detect_features->currentIndex());
settings.endGroup(); // DepthAI
settings.beginGroup("Images");
@@ -6335,6 +6339,11 @@ Camera * PreferencesDialog::createCamera(
((CameraDepthAI*)camera)->publishInterIMU(_ui->checkbox_publishInterIMU->isChecked());
((CameraDepthAI*)camera)->setLaserDotBrightness(_ui->doubleSpinBox_depthai_laser_dot_brightness->value());
((CameraDepthAI*)camera)->setFloodLightBrightness(_ui->doubleSpinBox_depthai_floodlight_brightness->value());
((CameraDepthAI*)camera)->setDetectFeatures(_ui->comboBox_depthai_detect_features->currentIndex());
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(driver == kSrcUsbDevice)
{

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

@@ -6024,6 +6024,39 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QComboBox" name="comboBox_depthai_detect_features">
<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>GFTT</string>
</property>
</item>
</widget>
</item>
<item row="8" column="1">
<widget class="QLabel" name="label_679">
<property name="text">
<string>On-device feature detector.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
</layout>
</widget>
</item>