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ZED driver: added option to use visual odometry approach from zed sdk. RtabmapThread: fixed thread state change on new map trigger on Odometry init (variance=9999). Odometry: on init, verify that the first frame is ok before sending first pose. Parameters: Mem/SaveDepth16Format is now false by default

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This commit is contained in:
matlabbe
2016-06-24 18:49:34 -04:00
parent af6e17fce8
commit e90c97f8a4
14 changed files with 335 additions and 175 deletions
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corelib/include/rtabmap/core/Camera.h
+1
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@@ -56,6 +56,7 @@ public:
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "") = 0;
virtual bool isCalibrated() const = 0;
virtual std::string getSerial() const = 0;
virtual bool odomProvided() const { return false; }
//getters
float getImageRate() const {return _imageRate;}
corelib/include/rtabmap/core/CameraStereo.h
+5
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@@ -118,6 +118,7 @@ public:
int quality = 1, // 0=NONE, 1=PERFORMANCE, 2=QUALITY
int sensingMode = 1,// 0=FULL, 1=RAW
int confidenceThr = 100,
bool computeOdometry = false,
float imageRate=0.0f,
const Transform & localTransform = Transform::getIdentity());
CameraStereoZed(
@@ -125,6 +126,7 @@ public:
int quality = 1, // 0=NONE, 1=PERFORMANCE, 2=QUALITY
int sensingMode = 1,// 0=FULL, 1=RAW
int confidenceThr = 100,
bool computeOdometry = false,
float imageRate=0.0f,
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraStereoZed();
@@ -132,6 +134,7 @@ public:
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
virtual bool isCalibrated() const;
virtual std::string getSerial() const;
virtual bool odomProvided() const { return computeOdometry_; }
protected:
virtual SensorData captureImage(CameraInfo * info = 0);
@@ -146,6 +149,8 @@ private:
int quality_;
int sensingMode_;
int confidenceThr_;
bool computeOdometry_;
bool lost_;
};
/////////////////////////
corelib/include/rtabmap/core/DBReader.h
+1 -2
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@@ -67,8 +67,7 @@ public:
virtual bool isCalibrated() const;
virtual std::string getSerial() const;
bool isOdometryIgnored() const {return _odometryIgnored;}
virtual bool odometryProvided() const {return !_odometryIgnored;}
protected:
virtual SensorData captureImage(CameraInfo * info = 0);
corelib/include/rtabmap/core/Parameters.h
+1 -1
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@@ -194,7 +194,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Mem, BinDataKept, bool, true, "Keep binary data in db.");
RTABMAP_PARAM(Mem, RawDescriptorsKept, bool, true, "Raw descriptors kept in memory.");
RTABMAP_PARAM(Mem, MapLabelsAdded, bool, true, "Create map labels. The first node of a map will be labelled as \"map#\" where # is the map ID.");
RTABMAP_PARAM(Mem, SaveDepth16Format, bool, true, "Save depth image into 16 bits format to reduce memory used. Warning: values over ~65 meters are ignored (maximum 65535 millimeters).");
RTABMAP_PARAM(Mem, SaveDepth16Format, bool, false, "Save depth image into 16 bits format to reduce memory used. Warning: values over ~65 meters are ignored (maximum 65535 millimeters).");
RTABMAP_PARAM(Mem, NotLinkedNodesKept, bool, true, "Keep not linked nodes in db (rehearsed nodes and deleted nodes).");
RTABMAP_PARAM(Mem, STMSize, unsigned int, 10, "Short-term memory size.");
RTABMAP_PARAM(Mem, IncrementalMemory, bool, true, "SLAM mode, otherwise it is Localization mode.");
corelib/include/rtabmap/core/Rtabmap.h
+1
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@@ -70,6 +70,7 @@ public:
void close(bool databaseSaved = true);
const std::string & getWorkingDir() const {return _wDir;}
bool isRGBDMode() const { return _rgbdSlamMode; }
int getLoopClosureId() const {return _loopClosureHypothesis.first;}
float getLoopClosureValue() const {return _loopClosureHypothesis.second;}
int getHighestHypothesisId() const {return _highestHypothesis.first;}
corelib/src/CameraStereo.cpp
+50 -3
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@@ -753,6 +753,7 @@ CameraStereoZed::CameraStereoZed(
int quality,
int sensingMode,
int confidenceThr,
bool computeOdometry,
float imageRate,
const Transform & localTransform) :
Camera(imageRate, localTransform),
@@ -763,7 +764,9 @@ CameraStereoZed::CameraStereoZed(
resolution_(resolution),
quality_(quality),
sensingMode_(sensingMode),
confidenceThr_(confidenceThr)
confidenceThr_(confidenceThr),
computeOdometry_(computeOdometry),
lost_(true)
{
#ifdef RTABMAP_ZED
UASSERT(resolution_ >= sl::zed::HD2K && resolution_ <sl::zed::LAST_RESOLUTION);
@@ -778,6 +781,7 @@ CameraStereoZed::CameraStereoZed(
int quality,
int sensingMode,
int confidenceThr,
bool computeOdometry,
float imageRate,
const Transform & localTransform) :
Camera(imageRate, localTransform),
@@ -788,7 +792,9 @@ CameraStereoZed::CameraStereoZed(
resolution_(2),
quality_(quality),
sensingMode_(sensingMode),
confidenceThr_(confidenceThr)
confidenceThr_(confidenceThr),
computeOdometry_(computeOdometry),
lost_(true)
{
#ifdef RTABMAP_ZED
UASSERT(resolution_ >= sl::zed::HD2K && resolution_ <sl::zed::LAST_RESOLUTION);
@@ -817,7 +823,7 @@ bool CameraStereoZed::init(const std::string & calibrationFolder, const std::str
zed_ = 0;
}
lost_ = true;
if(src_ == CameraVideo::kVideoFile)
{
zed_ = new sl::zed::Camera(svoFilePath_); // Use in SVO playback mode
@@ -858,6 +864,13 @@ bool CameraStereoZed::init(const std::string & calibrationFolder, const std::str
zed_->setConfidenceThreshold(confidenceThr_);
if (computeOdometry_)
{
Eigen::Matrix4f initPose;
initPose.setIdentity(4, 4);
zed_->enableTracking(initPose, false);
}
sl::zed::StereoParameters * stereoParams = zed_->getParameters();
sl::zed::resolution res = zed_->getImageSize();
@@ -931,6 +944,40 @@ SensorData CameraStereoZed::captureImage(CameraInfo * info)
data = SensorData(left, right, stereoModel_, this->getNextSeqID(), UTimer::now());
}
if (computeOdometry_ && info)
{
Eigen::Matrix4f path;
int trackingConfidence = zed_->getTrackingConfidence();
if (trackingConfidence)
{
sl::zed::TRACKING_STATE track_state = zed_->getPosition(path);
info->odomPose = Transform::fromEigen4f(path);
if (!info->odomPose.isNull())
{
//transform x->forward, y->left, z->up
Transform opticalTransform(0, 0, 1, 0, -1, 0, 0, 0, 0, -1, 0, 0);
info->odomPose = opticalTransform * info->odomPose * opticalTransform.inverse();
}
if (lost_)
{
info->odomCovariance = cv::Mat::eye(6, 6, CV_64FC1) * 9999.0f; // don't know transform with previous pose
lost_ = false;
UDEBUG("Init %s (var=%f)", info->odomPose.prettyPrint().c_str(), 9999.0f);
}
else
{
info->odomCovariance = cv::Mat::eye(6, 6, CV_64FC1) * 1.0f / float(trackingConfidence);
UDEBUG("Run %s (var=%f)", info->odomPose.prettyPrint().c_str(), 1.0f / float(trackingConfidence));
}
}
else
{
info->odomCovariance = cv::Mat::eye(6, 6, CV_64FC1) * 9999.0f; // lost
lost_ = true;
UWARN("ZED lost!");
}
}
}
else if(src_ == CameraVideo::kUsbDevice)
{
corelib/src/OdometryF2F.cpp
+6
View File
@@ -176,6 +176,12 @@ Transform OdometryF2F::computeTransform(
}
else
{
if (!refFrame_.sensorData().isValid())
{
// Don't send odometry if we don't have a keyframe yet
output.setNull();
}
if(features < registrationPipeline_->getMinVisualCorrespondences())
{
UWARN("Too low 2D features (%d), keeping last key frame...", features);
corelib/src/OdometryF2M.cpp
+61 -37
View File
@@ -419,51 +419,75 @@ Transform OdometryF2M::computeTransform(
data.setFeatures(lastFrame_->sensorData().keypoints(), lastFrame_->sensorData().descriptors());
if(fixedMapPath_.empty())
// a very high variance tells that the new pose is not linked with the previous one
regInfo.variance = 9999;
bool frameValid = false;
Transform newFramePose = this->getPose(); // initial pose may be not identity...
if(regPipeline_->isImageRequired())
{
output.setIdentity();
// a very high variance tells that the new pose is not linked with the previous one
regInfo.variance = 9999;
Transform newFramePose = this->getPose(); // initial pose may be not identity...
if(regPipeline_->isImageRequired() &&
(int)lastFrame_->getWords3().size() >= regPipeline_->getMinVisualCorrespondences())
if ((int)lastFrame_->getWords3().size() >= regPipeline_->getMinVisualCorrespondences())
{
// update local map
UASSERT_MSG(lastFrame_->getWordsDescriptors().size() == lastFrame_->getWords3().size(), uFormat("%d vs %d", lastFrame_->getWordsDescriptors().size(), lastFrame_->getWords3().size()).c_str());
UASSERT(lastFrame_->getWords3().size() == lastFrame_->getWords().size());
std::multimap<int, cv::KeyPoint> words;
std::multimap<int, cv::Point3f> transformedPoints;
std::multimap<int, cv::Mat> descriptors;
UASSERT(lastFrame_->getWords3().size() == lastFrame_->getWordsDescriptors().size());
std::multimap<int, cv::KeyPoint>::const_iterator wordsIter = lastFrame_->getWords().begin();
std::multimap<int, cv::Mat>::const_iterator descIter = lastFrame_->getWordsDescriptors().begin();
for(std::multimap<int, cv::Point3f>::const_iterator iter = lastFrame_->getWords3().begin();
iter!=lastFrame_->getWords3().end();
++iter,++descIter,++wordsIter)
frameValid = true;
if (fixedMapPath_.empty())
{
if(util3d::isFinite(iter->second))
{
words.insert(*wordsIter);
transformedPoints.insert(std::make_pair(iter->first, util3d::transformPoint(iter->second, newFramePose)));
descriptors.insert(*descIter);
}
}
map_->setWords(words);
map_->setWords3(transformedPoints);
map_->setWordsDescriptors(descriptors);
// update local map
UASSERT_MSG(lastFrame_->getWordsDescriptors().size() == lastFrame_->getWords3().size(), uFormat("%d vs %d", lastFrame_->getWordsDescriptors().size(), lastFrame_->getWords3().size()).c_str());
UASSERT(lastFrame_->getWords3().size() == lastFrame_->getWords().size());
map_->sensorData().setCameraModels(lastFrame_->sensorData().cameraModels());
map_->sensorData().setStereoCameraModel(lastFrame_->sensorData().stereoCameraModel());
std::multimap<int, cv::KeyPoint> words;
std::multimap<int, cv::Point3f> transformedPoints;
std::multimap<int, cv::Mat> descriptors;
UASSERT(lastFrame_->getWords3().size() == lastFrame_->getWordsDescriptors().size());
std::multimap<int, cv::KeyPoint>::const_iterator wordsIter = lastFrame_->getWords().begin();
std::multimap<int, cv::Mat>::const_iterator descIter = lastFrame_->getWordsDescriptors().begin();
for (std::multimap<int, cv::Point3f>::const_iterator iter = lastFrame_->getWords3().begin();
iter != lastFrame_->getWords3().end();
++iter, ++descIter, ++wordsIter)
{
if (util3d::isFinite(iter->second))
{
words.insert(*wordsIter);
transformedPoints.insert(std::make_pair(iter->first, util3d::transformPoint(iter->second, newFramePose)));
descriptors.insert(*descIter);
}
}
map_->setWords(words);
map_->setWords3(transformedPoints);
map_->setWordsDescriptors(descriptors);
map_->sensorData().setCameraModels(lastFrame_->sensorData().cameraModels());
map_->sensorData().setStereoCameraModel(lastFrame_->sensorData().stereoCameraModel());
}
}
if(regPipeline_->isScanRequired())
else
{
pcl::PointCloud<pcl::PointNormal>::Ptr mapCloudNormals = util3d::laserScanToPointCloudNormal(lastFrame_->sensorData().laserScanRaw(), newFramePose);
scansBuffer_.insert(std::make_pair(lastFrame_->id(), mapCloudNormals));
map_->sensorData().setLaserScanRaw(util3d::laserScanFromPointCloud(*mapCloudNormals), 0,0);
UWARN("%d visual features required to initialize the odometry (only %d extracted).", regPipeline_->getMinVisualCorrespondences(), (int)lastFrame_->getWords3().size());
}
}
if(regPipeline_->isScanRequired())
{
if (lastFrame_->sensorData().laserScanRaw().cols)
{
frameValid = true;
if (fixedMapPath_.empty())
{
pcl::PointCloud<pcl::PointNormal>::Ptr mapCloudNormals = util3d::laserScanToPointCloudNormal(lastFrame_->sensorData().laserScanRaw(), newFramePose);
scansBuffer_.insert(std::make_pair(lastFrame_->id(), mapCloudNormals));
map_->sensorData().setLaserScanRaw(util3d::laserScanFromPointCloud(*mapCloudNormals), 0, 0);
}
}
else
{
UWARN("Mising scan to initialize odometry.");
}
}
if (frameValid)
{
// We initialized the local map
output.setIdentity();
}
if(info)
{
corelib/src/Rtabmap.cpp
+2 -2
View File
@@ -1009,7 +1009,7 @@ bool Rtabmap::process(
}
}
else
{
{
//============================================================
// Refine neighbor links
//============================================================
@@ -1062,7 +1062,7 @@ bool Rtabmap::process(
}
}
timeNeighborLinkRefining = timer.ticks();
ULOGGER_INFO("timeOdometryRefining=%fs", timeNeighborLinkRefining);
ULOGGER_INFO("timeOdometryRefining=%fs", timeNeighborLinkRefining);
UASSERT(oldS->hasLink(signature->id()));
UASSERT(uContains(_optimizedPoses, oldId));
corelib/src/RtabmapThread.cpp
+52 -38
View File
@@ -333,7 +333,22 @@ void RtabmapThread::handleEvent(UEvent* event)
CameraEvent * e = (CameraEvent*)event;
if(e->getCode() == CameraEvent::kCodeData)
{
this->addData(OdometryEvent(e->data(), e->info().odomPose, e->info().odomCovariance));
if (_rtabmap->isRGBDMode())
{
if (!e->info().odomPose.isNull())
{
this->addData(OdometryEvent(e->data(), e->info().odomPose, e->info().odomCovariance));
}
else
{
lastPose_.setNull();
}
}
else
{
this->addData(OdometryEvent(e->data(), Transform(), 1, 1));
}
}
}
else if(event->getClassName().compare("OdometryEvent") == 0)
@@ -538,21 +553,22 @@ void RtabmapThread::addData(const OdometryEvent & odomEvent)
{
if(!_paused)
{
UScopeMutex scopeMutex(_dataMutex);
bool ignoreFrame = false;
if(_rate>0.0f)
{
if((_previousStamp>0.0 && odomEvent.data().stamp()>_previousStamp && odomEvent.data().stamp() - _previousStamp < 1.0f/_rate) ||
((_previousStamp<=0.0 || odomEvent.data().stamp()<=_previousStamp) && _frameRateTimer->getElapsedTime() < 1.0f/_rate))
((_previousStamp<=0.0 || odomEvent.data().stamp()<=_previousStamp) && _frameRateTimer->getElapsedTime() < 1.0f/_rate))
{
ignoreFrame = true;
}
}
if(_dataBufferMaxSize > 0 &&
(!lastPose_.isIdentity() &&
(odomEvent.pose().isIdentity() ||
if(!lastPose_.isIdentity() &&
(odomEvent.pose().isIdentity() ||
odomEvent.info().variance>=9999 ||
odomEvent.rotVariance()>=9999 ||
odomEvent.transVariance()>=9999)))
odomEvent.transVariance()>=9999))
{
UWARN("Odometry is reset (identity pose or high variance >=9999 detected). Increment map id!");
pushNewState(kStateTriggeringMap);
@@ -585,40 +601,37 @@ void RtabmapThread::addData(const OdometryEvent & odomEvent)
lastPose_ = odomEvent.pose();
bool notify = true;
_dataMutex.lock();
if(_rotVariance <= 0)
{
if(_rotVariance <= 0)
{
_rotVariance = 1.0;
}
if(_transVariance <= 0)
{
_transVariance = 1.0;
}
if(ignoreFrame)
{
// set negative id so rtabmap will detect it as an intermediate node
SensorData tmp = odomEvent.data();
tmp.setId(-1);
tmp.setFeatures(std::vector<cv::KeyPoint>(), cv::Mat());// remove features
_dataBuffer.push_back(OdometryEvent(tmp, odomEvent.pose(), _rotVariance, _transVariance));
}
else
{
_dataBuffer.push_back(OdometryEvent(odomEvent.data(), odomEvent.pose(), _rotVariance, _transVariance));
}
UINFO("Added data %d (variance=%f)", odomEvent.data().id(), _rotVariance);
_rotVariance = 1.0;
}
if(_transVariance <= 0)
{
_transVariance = 1.0;
}
if(ignoreFrame)
{
// set negative id so rtabmap will detect it as an intermediate node
SensorData tmp = odomEvent.data();
tmp.setId(-1);
tmp.setFeatures(std::vector<cv::KeyPoint>(), cv::Mat());// remove features
_dataBuffer.push_back(OdometryEvent(tmp, odomEvent.pose(), _rotVariance, _transVariance));
}
else
{
_dataBuffer.push_back(OdometryEvent(odomEvent.data(), odomEvent.pose(), _rotVariance, _transVariance));
}
UINFO("Added data %d (variance=%f)", odomEvent.data().id(), _rotVariance);
_rotVariance = 0;
_transVariance = 0;
while(_dataBufferMaxSize > 0 && _dataBuffer.size() > _dataBufferMaxSize)
{
ULOGGER_WARN("Data buffer is full, the oldest data is removed to add the new one.");
_dataBuffer.pop_front();
notify = false;
}
_rotVariance = 0;
_transVariance = 0;
while(_dataBufferMaxSize > 0 && _dataBuffer.size() > _dataBufferMaxSize)
{
ULOGGER_WARN("Data buffer is full, the oldest data is removed to add the new one.");
_dataBuffer.pop_front();
notify = false;
}
_dataMutex.unlock();
if(notify)
{
@@ -636,9 +649,10 @@ bool RtabmapThread::getData(OdometryEvent & data)
ULOGGER_INFO("wake-up");
bool dataFilled = false;
_dataMutex.lock();
{
if(!_dataBuffer.empty())
if(_state.empty() && !_dataBuffer.empty())
{
data = _dataBuffer.front();
_dataBuffer.pop_front();
guilib/include/rtabmap/gui/PreferencesDialog.h
+2
View File
@@ -224,6 +224,7 @@ public:
float getTimeLimit() const;
float getDetectionRate() const;
bool isSLAMMode() const;
bool isRGBDMode() const;
//specific
bool isStatisticsPublished() const;
@@ -270,6 +271,7 @@ private slots:
void updatePredictionPlot();
void updateKpROI();
void updateG2oVisibility();
void updateStereoDisparityVisibility();
void useOdomFeatures();
void changeWorkingDirectory();
void changeDictionaryPath();
guilib/src/MainWindow.cpp
+20 -2
View File
@@ -761,6 +761,25 @@ void MainWindow::handleEvent(UEvent* anEvent)
else
{
emit cameraInfoReceived(cameraEvent->info());
if (_odomThread == 0 && _camera->camera()->odomProvided() && _preferencesDialog->isRGBDMode())
{
if (!_processingOdometry && !_processingStatistics)
{
_processingOdometry = true; // if we receive too many odometry events!
OdometryEvent tmp(cameraEvent->data(), cameraEvent->info().odomPose, cameraEvent->info().odomCovariance);
emit odometryReceived(tmp, false);
}
else
{
// we receive too many odometry events! just send without data
SensorData data(cv::Mat(), cameraEvent->data().id(), cameraEvent->data().stamp());
data.setCameraModels(cameraEvent->data().cameraModels());
data.setStereoCameraModel(cameraEvent->data().stereoCameraModel());
data.setGroundTruth(cameraEvent->data().groundTruth());
OdometryEvent tmp(data, cameraEvent->info().odomPose, cameraEvent->info().odomCovariance);
emit odometryReceived(tmp, true);
}
}
}
}
else if(anEvent->getClassName().compare("OdometryEvent") == 0)
@@ -3861,8 +3880,7 @@ void MainWindow::startDetection()
_odomThread = 0;
}
DBReader* dbReader = dynamic_cast<DBReader*>(camera);
if(dbReader == 0 || dbReader->isOdometryIgnored())
if(!camera->odomProvided())
{
Odometry * odom = Odometry::create(parameters);
_odomThread = new OdometryThread(odom, _preferencesDialog->getOdomBufferSize());
guilib/src/PreferencesDialog.cpp
+23
View File
@@ -485,8 +485,11 @@ 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->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()));
connect(_ui->checkbox_stereoZed_odom, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->toolButton_zedSvoPath, SIGNAL(clicked()), this, SLOT(selectSourceSvoPath()));
connect(_ui->lineEdit_zedSvoPath, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
@@ -1312,6 +1315,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->comboBox_stereoZed_quality->setCurrentIndex(1);
_ui->comboBox_stereoZed_sensingMode->setCurrentIndex(1);
_ui->spinBox_stereoZed_confidenceThr->setValue(100);
_ui->checkbox_stereoZed_odom->setChecked(false);
_ui->lineEdit_zedSvoPath->clear();
_ui->checkBox_cameraImages_timestamps->setChecked(false);
@@ -1654,6 +1658,7 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
_ui->comboBox_stereoZed_quality->setCurrentIndex(settings.value("quality", _ui->comboBox_stereoZed_quality->currentIndex()).toInt());
_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());
_ui->lineEdit_zedSvoPath->setText(settings.value("svo_path", _ui->lineEdit_zedSvoPath->text()).toString());
settings.endGroup(); // StereoZed
@@ -2062,6 +2067,7 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.setValue("quality", _ui->comboBox_stereoZed_quality->currentIndex());
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());
settings.setValue("svo_path", _ui->lineEdit_zedSvoPath->text());
settings.endGroup(); // StereoZed
@@ -3447,6 +3453,17 @@ void PreferencesDialog::updateG2oVisibility()
_ui->groupBox_g2o->setVisible(_ui->graphOptimization_type->currentIndex() == 1);
}
void PreferencesDialog::updateStereoDisparityVisibility()
{
Src driver = this->getSourceDriver();
_ui->checkbox_stereo_depthGenerated->setVisible(
driver != PreferencesDialog::kSrcStereoZed ||
_ui->comboBox_stereoZed_quality->currentIndex() == 0);
_ui->label_stereo_depthGenerated->setVisible(
driver != PreferencesDialog::kSrcStereoZed ||
_ui->comboBox_stereoZed_quality->currentIndex() == 0);
}
void PreferencesDialog::useOdomFeatures()
{
if(this->isVisible() && _ui->checkBox_useOdomFeatures->isChecked())
@@ -4105,6 +4122,7 @@ Camera * PreferencesDialog::createCamera(bool useRawImages)
_ui->comboBox_stereoZed_quality->currentIndex(),
_ui->comboBox_stereoZed_sensingMode->currentIndex(),
_ui->spinBox_stereoZed_confidenceThr->value(),
_ui->checkbox_stereoZed_odom->isChecked(),
this->getGeneralInputRate(),
this->getSourceLocalTransform());
}
@@ -4116,6 +4134,7 @@ Camera * PreferencesDialog::createCamera(bool useRawImages)
_ui->comboBox_stereoZed_quality->currentIndex(),
_ui->comboBox_stereoZed_sensingMode->currentIndex(),
_ui->spinBox_stereoZed_confidenceThr->value(),
_ui->checkbox_stereoZed_odom->isChecked(),
this->getGeneralInputRate(),
this->getSourceLocalTransform());
}
@@ -4285,6 +4304,10 @@ bool PreferencesDialog::isSLAMMode() const
{
return _ui->general_checkBox_SLAM_mode->isChecked();
}
bool PreferencesDialog::isRGBDMode() const
{
return _ui->general_checkBox_activateRGBD->isChecked();
}
/*** SETTERS ***/
void PreferencesDialog::setInputRate(double value)
guilib/src/ui/preferencesDialog.ui
+110 -90
View File
@@ -63,9 +63,9 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-360</y>
<width>686</width>
<height>2023</height>
<y>0</y>
<width>685</width>
<height>1826</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
@@ -2316,7 +2316,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<item>
<widget class="QStackedWidget" name="stackedWidget_src">
<property name="currentIndex">
<number>3</number>
<number>1</number>
</property>
<widget class="QWidget" name="page_41">
<layout class="QVBoxLayout" name="verticalLayout_64">
@@ -3104,7 +3104,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</widget>
</item>
<item row="1" column="2">
<widget class="QLabel" name="label_247">
<widget class="QLabel" name="label_stereo_depthGenerated">
<property name="text">
<string>Generate disparity image and convert it to depth. The resulting output is a RGB-D image instead of stereo images. Dense disparity parameters can found under StereoBM tab.</string>
</property>
@@ -3340,37 +3340,31 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<string>Zed sdk</string>
</property>
<layout class="QGridLayout" name="gridLayout_37" columnstretch="0,1">
<item row="2" column="0">
<widget class="QComboBox" name="comboBox_stereoZed_sensingMode">
<item>
<property name="text">
<string>FILL</string>
</property>
</item>
<item>
<property name="text">
<string>STANDARD</string>
</property>
</item>
</widget>
<item row="6" column="0">
<spacer name="verticalSpacer_54">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>13</height>
</size>
</property>
</spacer>
</item>
<item row="4" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_8">
<item>
<widget class="QToolButton" name="toolButton_zedSvoPath">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
<item>
<widget class="QLineEdit" name="lineEdit_zedSvoPath">
<property name="text">
<string/>
</property>
</widget>
</item>
</layout>
<item row="5" column="1">
<widget class="QLabel" name="label_305">
<property name="text">
<string>Path to a *.SVO file.</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="0">
<widget class="QComboBox" name="comboBox_stereoZed_resolution">
@@ -3396,10 +3390,10 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</item>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_274">
<item row="2" column="1">
<widget class="QLabel" name="label_291">
<property name="text">
<string>Resolution. Not used when a SVO file is used.</string>
<string>Sensing mode.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -3409,6 +3403,20 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QComboBox" name="comboBox_stereoZed_sensingMode">
<item>
<property name="text">
<string>FILL</string>
</property>
</item>
<item>
<property name="text">
<string>STANDARD</string>
</property>
</item>
</widget>
</item>
<item row="1" column="0">
<widget class="QComboBox" name="comboBox_stereoZed_quality">
<item>
@@ -3433,58 +3441,6 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</item>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_290">
<property name="text">
<string>Quality. If NONE, the disparity is not computed on the GPU.</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_291">
<property name="text">
<string>Sensing mode.</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="1">
<widget class="QLabel" name="label_305">
<property name="text">
<string>Path to a *.SVO file.</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">
<spacer name="verticalSpacer_54">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>13</height>
</size>
</property>
</spacer>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_306">
<property name="text">
@@ -3498,6 +3454,50 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_274">
<property name="text">
<string>Resolution. Not used when a SVO file 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="5" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_8">
<item>
<widget class="QToolButton" name="toolButton_zedSvoPath">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
<item>
<widget class="QLineEdit" name="lineEdit_zedSvoPath">
<property name="text">
<string/>
</property>
</widget>
</item>
</layout>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_290">
<property name="text">
<string>Quality. If NONE, the disparity is not computed on the GPU.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QSpinBox" name="spinBox_stereoZed_confidenceThr">
<property name="maximum">
@@ -3505,6 +3505,26 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_316">
<property name="text">
<string>Use ZED visual odometry.</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_stereoZed_odom">
<property name="text">
<string/>
</property>
</widget>
</item>
</layout>
</widget>
</item>