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Integration of OpenCV's ArUco Marker Detection (see new parameter "RGBD/MarkerDetection")

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This commit is contained in:
matlabbe
2019-02-18 18:19:55 -05:00
parent 08f3e6c08e
commit d6ca37a9e7
18 changed files with 859 additions and 23 deletions
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45
guilib/src/PreferencesDialog.cpp
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@@ -322,6 +322,17 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->checkBox_showOdomFrustums->setChecked(false);
#endif
//if OpenCV < 3.4.2
#if CV_MAJOR_VERSION < 3 || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION <4 || (CV_MINOR_VERSION ==4 && CV_SUBMINOR_VERSION<2)))
_ui->ArucoDictionary->setItemData(17, 0, Qt::UserRole - 1);
_ui->ArucoDictionary->setItemData(18, 0, Qt::UserRole - 1);
_ui->ArucoDictionary->setItemData(19, 0, Qt::UserRole - 1);
_ui->ArucoDictionary->setItemData(20, 0, Qt::UserRole - 1);
#endif
#ifndef HAVE_OPENCV_ARUCO
_ui->label_markerDetection->setText(_ui->label_markerDetection->text()+" This option works only if OpenCV has been built with \"aruco\" module.");
#endif
// in case we change the ui, we should not forget to change stuff related to this parameter
UASSERT(_ui->odom_registration->count() == 4);
@@ -482,6 +493,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->checkBox_showGraphs, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->checkBox_showLabels, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->checkBox_showLandmarks, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->radioButton_noFiltering, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->radioButton_nodeFiltering, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteCloudRenderingPanel()));
@@ -912,6 +924,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->loopClosure_reextract->setObjectName(Parameters::kRGBDLoopClosureReextractFeatures().c_str());
_ui->loopClosure_bunlde->setObjectName(Parameters::kRGBDLocalBundleOnLoopClosure().c_str());
_ui->checkbox_rgbd_createOccupancyGrid->setObjectName(Parameters::kRGBDCreateOccupancyGrid().c_str());
_ui->RGBDMarkerDetection->setObjectName(Parameters::kRGBDMarkerDetection().c_str());
// Registration
_ui->reg_repeatOnce->setObjectName(Parameters::kRegRepeatOnce().c_str());
@@ -1203,6 +1216,13 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->stereosgbm_p2->setObjectName(Parameters::kStereoSGBMP2().c_str());
_ui->stereosgbm_mode->setObjectName(Parameters::kStereoSGBMMode().c_str());
// Aruco marker
_ui->ArucoDictionary->setObjectName(Parameters::kArucoDictionary().c_str());
_ui->ArucoMarkerLength->setObjectName(Parameters::kArucoMarkerLength().c_str());
_ui->ArucoVarianceLinear->setObjectName(Parameters::kArucoVarianceLinear().c_str());
_ui->ArucoVarianceAngular->setObjectName(Parameters::kArucoVarianceAngular().c_str());
_ui->ArucoCornerRefinementMethod->setObjectName(Parameters::kArucoCornerRefinementMethod().c_str());
// reset default settings for the gui
resetSettings(_ui->groupBox_generalSettingsGui0);
resetSettings(_ui->groupBox_cloudRendering1);
@@ -1574,6 +1594,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->checkBox_showGraphs->setChecked(true);
_ui->checkBox_showLabels->setChecked(false);
_ui->checkBox_showLandmarks->setChecked(true);
_ui->doubleSpinBox_mesh_angleTolerance->setValue(15.0);
_ui->groupBox_organized->setChecked(false);
@@ -1990,6 +2011,7 @@ void PreferencesDialog::readGuiSettings(const QString & filePath)
_ui->checkBox_showGraphs->setChecked(settings.value("showGraphs", _ui->checkBox_showGraphs->isChecked()).toBool());
_ui->checkBox_showLabels->setChecked(settings.value("showLabels", _ui->checkBox_showLabels->isChecked()).toBool());
_ui->checkBox_showLandmarks->setChecked(settings.value("showLandmarks", _ui->checkBox_showLandmarks->isChecked()).toBool());
_ui->radioButton_noFiltering->setChecked(settings.value("noFiltering", _ui->radioButton_noFiltering->isChecked()).toBool());
_ui->radioButton_nodeFiltering->setChecked(settings.value("cloudFiltering", _ui->radioButton_nodeFiltering->isChecked()).toBool());
@@ -2410,6 +2432,8 @@ void PreferencesDialog::writeGuiSettings(const QString & filePath) const
settings.setValue("showGraphs", _ui->checkBox_showGraphs->isChecked());
settings.setValue("showLabels", _ui->checkBox_showLabels->isChecked());
settings.setValue("showLandmarks", _ui->checkBox_showLandmarks->isChecked());
settings.setValue("noFiltering", _ui->radioButton_noFiltering->isChecked());
settings.setValue("cloudFiltering", _ui->radioButton_nodeFiltering->isChecked());
@@ -2862,6 +2886,15 @@ bool PreferencesDialog::validateForm()
_ui->checkbox_odomDisabled->setChecked(false);
}
#if CV_MAJOR_VERSION < 3 || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION <4 || (CV_MINOR_VERSION ==4 && CV_SUBMINOR_VERSION<2)))
if(_ui->ArucoDictionary->currentIndex()>=17)
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("ArUco dictionary: cannot select AprilTag dictionary, OpenCV version should be at least 3.4.2. Setting back to 0."));
_ui->ArucoDictionary->setCurrentIndex(0);
}
#endif
return true;
}
@@ -4600,6 +4633,18 @@ bool PreferencesDialog::isLabelsShown() const
{
return _ui->checkBox_showLabels->isChecked();
}
bool PreferencesDialog::isLandmarksShown() const
{
return _ui->checkBox_showLandmarks->isChecked();
}
bool PreferencesDialog::isMarkerDetection() const
{
return _ui->RGBDMarkerDetection->isChecked();
}
double PreferencesDialog::getMarkerLength() const
{
return _ui->ArucoMarkerLength->value();
}
bool PreferencesDialog::isCloudMeshing() const
{
return _ui->groupBox_organized->isChecked();