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Added alpha=-1 option

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matlabbe
2023-06-05 18:59:59 -07:00
parent 879f0f6941
commit d3facb1a84
2 changed files with 131 additions and 121 deletions
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7
corelib/src/camera/CameraDepthAI.cpp
View File

@@ -228,6 +228,7 @@ bool CameraDepthAI::init(const std::string & calibrationFolder, const std::strin
stereo->setSubpixelFractionalBits(4); stereo->setSubpixelFractionalBits(4);
stereo->setExtendedDisparity(false); stereo->setExtendedDisparity(false);
stereo->setRectifyEdgeFillColor(0); // black, to better see the cutout stereo->setRectifyEdgeFillColor(0); // black, to better see the cutout
if(alphaScaling_>-1.0f)
stereo->setAlphaScaling(alphaScaling_); stereo->setAlphaScaling(alphaScaling_);
stereo->initialConfig.setConfidenceThreshold(depthConfidence_); stereo->initialConfig.setConfidenceThreshold(depthConfidence_);
stereo->initialConfig.setLeftRightCheck(true); stereo->initialConfig.setLeftRightCheck(true);
@@ -282,7 +283,13 @@ bool CameraDepthAI::init(const std::string & calibrationFolder, const std::strin
if(calibHandler.getDistortionModel(dai::CameraBoardSocket::LEFT) == dai::CameraModel::Perspective) if(calibHandler.getDistortionModel(dai::CameraBoardSocket::LEFT) == dai::CameraModel::Perspective)
distCoeffs = (cv::Mat_<double>(1,8) << coeffs[0], coeffs[1], coeffs[2], coeffs[3], coeffs[4], coeffs[5], coeffs[6], coeffs[7]); distCoeffs = (cv::Mat_<double>(1,8) << coeffs[0], coeffs[1], coeffs[2], coeffs[3], coeffs[4], coeffs[5], coeffs[6], coeffs[7]);
if(alphaScaling_>-1.0f) {
new_camera_matrix = cv::getOptimalNewCameraMatrix(cameraMatrix, distCoeffs, targetSize, alphaScaling_); new_camera_matrix = cv::getOptimalNewCameraMatrix(cameraMatrix, distCoeffs, targetSize, alphaScaling_);
}
else {
new_camera_matrix = cameraMatrix;
}
double fx = new_camera_matrix.at<double>(0, 0); double fx = new_camera_matrix.at<double>(0, 0);
double fy = new_camera_matrix.at<double>(1, 1); double fy = new_camera_matrix.at<double>(1, 1);
double cx = new_camera_matrix.at<double>(0, 2); double cx = new_camera_matrix.at<double>(0, 2);

241
guilib/src/ui/preferencesDialog.ui
View File

@@ -63,7 +63,7 @@
<property name="geometry"> <property name="geometry">
<rect> <rect>
<x>0</x> <x>0</x>
<y>-611</y> <y>-606</y>
<width>756</width> <width>756</width>
<height>3657</height> <height>3657</height>
</rect> </rect>
@@ -95,7 +95,7 @@
<enum>QFrame::Raised</enum> <enum>QFrame::Raised</enum>
</property> </property>
<property name="currentIndex"> <property name="currentIndex">
<number>12</number> <number>5</number>
</property> </property>
<widget class="QWidget" name="page_22"> <widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,0"> <layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,0">
@@ -4971,7 +4971,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<item> <item>
<widget class="QStackedWidget" name="stackedWidget_stereo"> <widget class="QStackedWidget" name="stackedWidget_stereo">
<property name="currentIndex"> <property name="currentIndex">
<number>4</number> <number>10</number>
</property> </property>
<widget class="QWidget" name="page_49"> <widget class="QWidget" name="page_49">
<layout class="QVBoxLayout" name="verticalLayout_91"/> <layout class="QVBoxLayout" name="verticalLayout_91"/>
@@ -5809,52 +5809,6 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<string>DepthAI</string> <string>DepthAI</string>
</property> </property>
<layout class="QGridLayout" name="gridLayout_120" columnstretch="0,1"> <layout class="QGridLayout" name="gridLayout_120" columnstretch="0,1">
<item row="0" column="1">
<widget class="QLabel" name="label_626">
<property name="text">
<string>Resolution.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_625">
<property name="text">
<string>Output depth.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_627">
<property name="text">
<string>Depth confidence.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="checkBox_depthai_depth">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="0" column="0"> <item row="0" column="0">
<widget class="QComboBox" name="comboBox_depthai_resolution"> <widget class="QComboBox" name="comboBox_depthai_resolution">
<property name="currentIndex"> <property name="currentIndex">
@@ -5890,36 +5844,26 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</item> </item>
</widget> </widget>
</item> </item>
<item row="2" column="0">
<widget class="QSpinBox" name="spinBox_depthai_confidence">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>255</number>
</property>
<property name="value">
<number>200</number>
</property>
</widget>
</item>
<item row="3" column="0"> <item row="3" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_depthai_alpha_scaling"> <widget class="QDoubleSpinBox" name="doubleSpinBox_depthai_alpha_scaling">
<property name="minimum">
<double>-1.000000000000000</double>
</property>
<property name="maximum"> <property name="maximum">
<double>1.000000000000000</double> <double>1.000000000000000</double>
</property> </property>
<property name="singleStep"> <property name="singleStep">
<double>0.100000000000000</double> <double>1.000000000000000</double>
</property> </property>
<property name="value"> <property name="value">
<double>0.000000000000000</double> <double>0.000000000000000</double>
</property> </property>
</widget> </widget>
</item> </item>
<item row="3" column="1"> <item row="2" column="1">
<widget class="QLabel" name="label_678"> <widget class="QLabel" name="label_627">
<property name="text"> <property name="text">
<string>Free scaling parameter between 0 (when all the pixels in the undistorted image are valid) and 1 (when all the source image pixels are retained in the undistorted image).</string> <string>Depth confidence.</string>
</property> </property>
<property name="wordWrap"> <property name="wordWrap">
<bool>true</bool> <bool>true</bool>
@@ -5929,46 +5873,6 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property> </property>
</widget> </widget>
</item> </item>
<item row="4" column="1">
<widget class="QLabel" name="label_650">
<property name="text">
<string>IMU published</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QCheckBox" name="checkBox_depthai_imu_published">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_646">
<property name="text">
<string>IMU firmware update</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QCheckBox" name="checkBox_depthai_imu_firmware_update">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="6" column="0"> <item row="6" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_depthai_laser_dot_brightness"> <widget class="QDoubleSpinBox" name="doubleSpinBox_depthai_laser_dot_brightness">
<property name="suffix"> <property name="suffix">
@@ -5982,6 +5886,26 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property> </property>
</widget> </widget>
</item> </item>
<item row="4" column="0">
<widget class="QCheckBox" name="checkBox_depthai_imu_published">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_677">
<property name="text">
<string>Floodlight brightness.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="6" column="1"> <item row="6" column="1">
<widget class="QLabel" name="label_676"> <widget class="QLabel" name="label_676">
<property name="text"> <property name="text">
@@ -5995,6 +5919,98 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property> </property>
</widget> </widget>
</item> </item>
<item row="5" column="1">
<widget class="QLabel" name="label_646">
<property name="text">
<string>IMU firmware update</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_626">
<property name="text">
<string>Resolution.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="checkBox_depthai_depth">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_678">
<property name="text">
<string>Free scaling parameter between 0 (when all the pixels in the undistorted image are valid) and 1 (when all the source image pixels are retained in the undistorted image). On some high distortion lenses, and/or due to rectification (image rotated) invalid areas may appear even with alpha=0, in these cases alpha &lt; 0.0 helps removing invalid areas. If alpha is set to -1, old rectification policy is used.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QSpinBox" name="spinBox_depthai_confidence">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>255</number>
</property>
<property name="value">
<number>200</number>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_650">
<property name="text">
<string>IMU published</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QCheckBox" name="checkBox_depthai_imu_firmware_update">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_625">
<property name="text">
<string>Output depth.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="7" column="0"> <item row="7" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_depthai_floodlight_brightness"> <widget class="QDoubleSpinBox" name="doubleSpinBox_depthai_floodlight_brightness">
<property name="suffix"> <property name="suffix">
@@ -6008,19 +6024,6 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property> </property>
</widget> </widget>
</item> </item>
<item row="7" column="1">
<widget class="QLabel" name="label_677">
<property name="text">
<string>Floodlight brightness.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
</layout> </layout>
</widget> </widget>
</item> </item>