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ZED: Added self calibration option (default false)

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This commit is contained in:
matlabbe
2016-10-25 16:06:55 -04:00
parent 063e019653
commit d102c43f9a
4 changed files with 142 additions and 43 deletions
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13
guilib/src/PreferencesDialog.cpp
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@@ -497,6 +497,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->comboBox_stereoZed_resolution, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->comboBox_stereoZed_quality, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->comboBox_stereoZed_quality, SIGNAL(currentIndexChanged(int)), this, SLOT(updateStereoDisparityVisibility()));
connect(_ui->checkbox_stereoZed_selfCalibration, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->comboBox_cameraStereo, SIGNAL(currentIndexChanged(int)), this, SLOT(updateStereoDisparityVisibility()));
connect(_ui->comboBox_stereoZed_sensingMode, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->spinBox_stereoZed_confidenceThr, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
@@ -1358,6 +1359,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->checkBox_stereoVideo_rectify->setChecked(false);
_ui->comboBox_stereoZed_resolution->setCurrentIndex(2);
_ui->comboBox_stereoZed_quality->setCurrentIndex(1);
_ui->checkbox_stereoZed_selfCalibration->setChecked(false);
_ui->comboBox_stereoZed_sensingMode->setCurrentIndex(1);
_ui->spinBox_stereoZed_confidenceThr->setValue(100);
_ui->checkbox_stereoZed_odom->setChecked(false);
@@ -1714,6 +1716,7 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
settings.beginGroup("StereoZed");
_ui->comboBox_stereoZed_resolution->setCurrentIndex(settings.value("resolution", _ui->comboBox_stereoZed_resolution->currentIndex()).toInt());
_ui->comboBox_stereoZed_quality->setCurrentIndex(settings.value("quality", _ui->comboBox_stereoZed_quality->currentIndex()).toInt());
_ui->checkbox_stereoZed_selfCalibration->setChecked(settings.value("self_calibration", _ui->checkbox_stereoZed_selfCalibration->isChecked()).toBool());
_ui->comboBox_stereoZed_sensingMode->setCurrentIndex(settings.value("sensing_mode", _ui->comboBox_stereoZed_sensingMode->currentIndex()).toInt());
_ui->spinBox_stereoZed_confidenceThr->setValue(settings.value("confidence_thr", _ui->spinBox_stereoZed_confidenceThr->value()).toInt());
_ui->checkbox_stereoZed_odom->setChecked(settings.value("odom", _ui->checkbox_stereoZed_odom->isChecked()).toBool());
@@ -2147,6 +2150,7 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.beginGroup("StereoZed");
settings.setValue("resolution", _ui->comboBox_stereoZed_resolution->currentIndex());
settings.setValue("quality", _ui->comboBox_stereoZed_quality->currentIndex());
settings.setValue("self_calibration", _ui->checkbox_stereoZed_selfCalibration->isChecked());
settings.setValue("sensing_mode", _ui->comboBox_stereoZed_sensingMode->currentIndex());
settings.setValue("confidence_thr", _ui->spinBox_stereoZed_confidenceThr->value());
settings.setValue("odom", _ui->checkbox_stereoZed_odom->isChecked());
@@ -4359,6 +4363,7 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
}
else if (driver == kSrcStereoZed)
{
UDEBUG("ZED");
if(!_ui->lineEdit_zedSvoPath->text().isEmpty())
{
camera = new CameraStereoZed(
@@ -4368,7 +4373,8 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
_ui->spinBox_stereoZed_confidenceThr->value(),
_ui->checkbox_stereoZed_odom->isChecked(),
this->getGeneralInputRate(),
this->getSourceLocalTransform());
this->getSourceLocalTransform(),
_ui->checkbox_stereoZed_selfCalibration->isChecked());
}
else
{
@@ -4380,7 +4386,8 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
_ui->spinBox_stereoZed_confidenceThr->value(),
_ui->checkbox_stereoZed_odom->isChecked(),
this->getGeneralInputRate(),
this->getSourceLocalTransform());
this->getSourceLocalTransform(),
_ui->checkbox_stereoZed_selfCalibration->isChecked());
}
}
else if(driver == kSrcUsbDevice)
@@ -4447,6 +4454,7 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
if(camera)
{
UDEBUG("Init");
QString dir = this->getCameraInfoDir();
QString calibrationFile = _ui->lineEdit_calibrationFile->text();
if(!(driver >= kSrcRGB && driver <= kSrcVideo))
@@ -4491,6 +4499,7 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
}
}
UDEBUG("");
return camera;
}