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Added CameraInfo class (added Camera tab in Statistics panel). Scans/userData are not saved anymore when Mem/BinDataKept=false. StereoACameraImages: Fixed error when scan path is not set. Refactoring of OdometryOpticalFlow class to provide variance when 3D->2D estimation is used.

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This commit is contained in:
matlabbe
2015-11-30 18:49:28 -05:00
parent d9c9db934a
commit e58f907440
18 changed files with 267 additions and 144 deletions
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3
guilib/include/rtabmap/gui/MainWindow.h
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@@ -36,6 +36,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/RtabmapEvent.h"
#include "rtabmap/core/SensorData.h"
#include "rtabmap/core/OdometryEvent.h"
#include "rtabmap/core/CameraInfo.h"
#include "rtabmap/gui/PreferencesDialog.h"
#include <pcl/point_cloud.h>
@@ -165,6 +166,7 @@ private slots:
void selectScreenCaptureFormat(bool checked);
void takeScreenshot();
void updateElapsedTime();
void processCameraInfo(const rtabmap::CameraInfo & info);
void processOdometry(const rtabmap::OdometryEvent & odom);
void applyPrefSettings(PreferencesDialog::PANEL_FLAGS flags);
void applyPrefSettings(const rtabmap::ParametersMap & parameters);
@@ -201,6 +203,7 @@ private slots:
signals:
void statsReceived(const rtabmap::Statistics &);
void cameraInfoReceived(const rtabmap::CameraInfo &);
void odometryReceived(const rtabmap::OdometryEvent &);
void thresholdsChanged(int, int);
void stateChanged(MainWindow::State);

16
guilib/src/MainWindow.cpp
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@@ -448,6 +448,9 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
qRegisterMetaType<rtabmap::Statistics>("rtabmap::Statistics");
connect(this, SIGNAL(statsReceived(rtabmap::Statistics)), this, SLOT(processStats(rtabmap::Statistics)));
qRegisterMetaType<rtabmap::CameraInfo>("rtabmap::CameraInfo");
connect(this, SIGNAL(cameraInfoReceived(rtabmap::CameraInfo)), this, SLOT(processCameraInfo(rtabmap::CameraInfo)));
qRegisterMetaType<rtabmap::OdometryEvent>("rtabmap::OdometryEvent");
connect(this, SIGNAL(odometryReceived(rtabmap::OdometryEvent)), this, SLOT(processOdometry(rtabmap::OdometryEvent)));
@@ -688,6 +691,10 @@ void MainWindow::handleEvent(UEvent* anEvent)
}
emit noMoreImagesReceived();
}
else
{
emit cameraInfoReceived(cameraEvent->info());
}
}
else if(anEvent->getClassName().compare("OdometryEvent") == 0)
{
@@ -729,6 +736,13 @@ void MainWindow::handleEvent(UEvent* anEvent)
}
}
void MainWindow::processCameraInfo(const rtabmap::CameraInfo & info)
{
_ui->statsToolBox->updateStat("Camera/Time capturing/ms", (float)info.id_, (float)info.timeCapture_*1000.0);
_ui->statsToolBox->updateStat("Camera/Time disparity/ms", (float)info.id_, (float)info.timeDisparity_*1000.0);
_ui->statsToolBox->updateStat("Camera/Time mirroring/ms", (float)info.id_, (float)info.timeMirroring_*1000.0);
}
void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom)
{
_processingOdometry = true;
@@ -2999,6 +3013,7 @@ void MainWindow::startDetection()
UEventsManager::addHandler(_odomThread);
UEventsManager::createPipe(_camera, _odomThread, "CameraEvent");
UEventsManager::createPipe(_camera, this, "CameraEvent");
_odomThread->start();
}
}
@@ -3059,6 +3074,7 @@ void MainWindow::startDetection()
if(_odomThread)
{
UEventsManager::createPipe(_dbReader, _odomThread, "CameraEvent");
UEventsManager::createPipe(_dbReader, this, "CameraEvent");
}
}

2
guilib/src/PreferencesDialog.cpp
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@@ -3725,7 +3725,7 @@ Camera * PreferencesDialog::createCamera(bool useRawImages)
else if(driver == kSrcStereoImages)
{
camera = new CameraStereoImages(
_ui->lineEdit_cameraStereoImages_path_scans->text().append(QDir::separator()).toStdString(),
_ui->lineEdit_cameraStereoImages_path_scans->text().isEmpty()?"":_ui->lineEdit_cameraStereoImages_path_scans->text().append(QDir::separator()).toStdString(),
this->getStereoLaserLocalTransform(),
_ui->spinBox_cameraStereoImages_max_scan_pts->value(),
_ui->lineEdit_cameraStereoImages_path_left->text().append(QDir::separator()).toStdString(),