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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 336 additions and 176 deletions
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23
guilib/src/PreferencesDialog.cpp
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@@ -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)