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OAK bug fixes and improvements (#1143)

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* *fix distortion correction problem of small FOV devices
*remove deprecated IMU firmware update API
*add useSpecTranslation option

* reduce depth image noise and simplify calculation for compressed transport
This commit is contained in:
Borong Yuan
2023-10-08 11:40:30 +08:00
committed by GitHub
parent 2aa139b579
commit f06cc0b17f
4 changed files with 37 additions and 33 deletions
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20
guilib/src/PreferencesDialog.cpp
View File

@@ -805,9 +805,9 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->comboBox_depthai_resolution, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkBox_depthai_depth, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->spinBox_depthai_confidence, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkBox_depthai_use_spec_translation, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->doubleSpinBox_depthai_alpha_scaling, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkBox_depthai_imu_published, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkBox_depthai_imu_firmware_update, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->doubleSpinBox_depthai_laser_dot_brightness, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->doubleSpinBox_depthai_floodlight_brightness, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->comboBox_depthai_detect_features, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
@@ -2111,9 +2111,9 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->comboBox_depthai_resolution->setCurrentIndex(1);
_ui->checkBox_depthai_depth->setChecked(false);
_ui->spinBox_depthai_confidence->setValue(200);
_ui->checkBox_depthai_use_spec_translation->setChecked(false);
_ui->doubleSpinBox_depthai_alpha_scaling->setValue(0.0);
_ui->checkBox_depthai_imu_published->setChecked(true);
_ui->checkBox_depthai_imu_firmware_update->setChecked(false);
_ui->doubleSpinBox_depthai_laser_dot_brightness->setValue(0.0);
_ui->doubleSpinBox_depthai_floodlight_brightness->setValue(200.0);
_ui->comboBox_depthai_detect_features->setCurrentIndex(0);
@@ -2601,9 +2601,9 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
_ui->comboBox_depthai_resolution->setCurrentIndex(settings.value("resolution", _ui->comboBox_depthai_resolution->currentIndex()).toInt());
_ui->checkBox_depthai_depth->setChecked(settings.value("depth", _ui->checkBox_depthai_depth->isChecked()).toBool());
_ui->spinBox_depthai_confidence->setValue(settings.value("confidence", _ui->spinBox_depthai_confidence->value()).toInt());
_ui->checkBox_depthai_use_spec_translation->setChecked(settings.value("use_spec_translation", _ui->checkBox_depthai_use_spec_translation->isChecked()).toBool());
_ui->doubleSpinBox_depthai_alpha_scaling->setValue(settings.value("alpha_scaling", _ui->doubleSpinBox_depthai_alpha_scaling->value()).toDouble());
_ui->checkBox_depthai_imu_published->setChecked(settings.value("imu_published", _ui->checkBox_depthai_imu_published->isChecked()).toBool());
_ui->checkBox_depthai_imu_firmware_update->setChecked(settings.value("imu_firmware_update", _ui->checkBox_depthai_imu_firmware_update->isChecked()).toBool());
_ui->doubleSpinBox_depthai_laser_dot_brightness->setValue(settings.value("laser_dot_brightness", _ui->doubleSpinBox_depthai_laser_dot_brightness->value()).toDouble());
_ui->doubleSpinBox_depthai_floodlight_brightness->setValue(settings.value("floodlight_brightness", _ui->doubleSpinBox_depthai_floodlight_brightness->value()).toDouble());
_ui->comboBox_depthai_detect_features->setCurrentIndex(settings.value("detect_features", _ui->comboBox_depthai_detect_features->currentIndex()).toInt());
@@ -3131,12 +3131,12 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.endGroup(); // MyntEye
settings.beginGroup("DepthAI");
settings.setValue("resolution", _ui->comboBox_depthai_resolution->currentIndex());
settings.setValue("depth", _ui->checkBox_depthai_depth->isChecked());
settings.setValue("confidence", _ui->spinBox_depthai_confidence->value());
settings.setValue("alpha_scaling", _ui->doubleSpinBox_depthai_alpha_scaling->value());
settings.setValue("imu_published", _ui->checkBox_depthai_imu_published->isChecked());
settings.setValue("imu_firmware_update", _ui->checkBox_depthai_imu_firmware_update->isChecked());
settings.setValue("resolution", _ui->comboBox_depthai_resolution->currentIndex());
settings.setValue("depth", _ui->checkBox_depthai_depth->isChecked());
settings.setValue("confidence", _ui->spinBox_depthai_confidence->value());
settings.setValue("use_spec_translation", _ui->checkBox_depthai_use_spec_translation->isChecked());
settings.setValue("alpha_scaling", _ui->doubleSpinBox_depthai_alpha_scaling->value());
settings.setValue("imu_published", _ui->checkBox_depthai_imu_published->isChecked());
settings.setValue("laser_dot_brightness", _ui->doubleSpinBox_depthai_laser_dot_brightness->value());
settings.setValue("floodlight_brightness", _ui->doubleSpinBox_depthai_floodlight_brightness->value());
settings.setValue("detect_features", _ui->comboBox_depthai_detect_features->currentIndex());
@@ -6404,8 +6404,8 @@ Camera * PreferencesDialog::createCamera(
this->getGeneralInputRate(),
this->getSourceLocalTransform());
((CameraDepthAI*)camera)->setOutputDepth(_ui->checkBox_depthai_depth->isChecked(), _ui->spinBox_depthai_confidence->value());
((CameraDepthAI*)camera)->setUseSpecTranslation(_ui->checkBox_depthai_use_spec_translation->isChecked());
((CameraDepthAI*)camera)->setAlphaScaling(_ui->doubleSpinBox_depthai_alpha_scaling->value());
((CameraDepthAI*)camera)->setIMUFirmwareUpdate(_ui->checkBox_depthai_imu_firmware_update->isChecked());
((CameraDepthAI*)camera)->setIMUPublished(_ui->checkBox_depthai_imu_published->isChecked());
((CameraDepthAI*)camera)->publishInterIMU(_ui->checkbox_publishInterIMU->isChecked());
((CameraDepthAI*)camera)->setLaserDotBrightness(_ui->doubleSpinBox_depthai_laser_dot_brightness->value());

16
guilib/src/ui/preferencesDialog.ui
View File

@@ -5882,7 +5882,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</item>
</widget>
</item>
<item row="3" column="0">
<item row="4" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_depthai_alpha_scaling">
<property name="minimum">
<double>-1.000000000000000</double>
@@ -5924,7 +5924,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="4" column="0">
<item row="5" column="0">
<widget class="QCheckBox" name="checkBox_depthai_imu_published">
<property name="text">
<string/>
@@ -5957,10 +5957,10 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="5" column="1">
<item row="3" column="1">
<widget class="QLabel" name="label_646">
<property name="text">
<string>IMU firmware update</string>
<string>Use the translation information from the board design data (not the calibration data).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -5990,7 +5990,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="3" column="1">
<item row="4" 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>
@@ -6016,7 +6016,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="4" column="1">
<item row="5" column="1">
<widget class="QLabel" name="label_650">
<property name="text">
<string>IMU published</string>
@@ -6029,8 +6029,8 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QCheckBox" name="checkBox_depthai_imu_firmware_update">
<item row="3" column="0">
<widget class="QCheckBox" name="checkBox_depthai_use_spec_translation">
<property name="text">
<string/>
</property>