i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-04 00:37:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

SourceRGB: added rectify option for all types (including usb camera)

Browse Source
This commit is contained in:
matlabbe
2017-04-24 14:11:38 -04:00
parent 51c353e504
commit 4e3216a75d
3 changed files with 44 additions and 131 deletions
Download Patch File Download Diff File Expand all files Collapse all files
guilib/src/MainWindow.cpp
+1 -1
View File
@@ -4400,7 +4400,7 @@ void MainWindow::startDetection()
int button = QMessageBox::question(this, int button = QMessageBox::question(this,
tr("Camera is not calibrated!"), tr("Camera is not calibrated!"),
tr("RTAB-Map cannot run with an uncalibrated camera. Do you want to calibrate the camera now?"), tr("RTAB-Map in metric SLAM mode cannot run with an uncalibrated camera. Do you want to calibrate the camera now?"),
QMessageBox::Yes | QMessageBox::No); QMessageBox::Yes | QMessageBox::No);
if(button == QMessageBox::Yes) if(button == QMessageBox::Yes)
{ {
guilib/src/PreferencesDialog.cpp
+8 -12
View File
@@ -446,21 +446,20 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->lineEdit_sourceDevice, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->lineEdit_sourceDevice, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->lineEdit_sourceLocalTransform, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->lineEdit_sourceLocalTransform, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
//Image source //RGB source
_ui->stackedWidget_image->setCurrentIndex(_ui->source_comboBox_image_type->currentIndex()); _ui->stackedWidget_image->setCurrentIndex(_ui->source_comboBox_image_type->currentIndex());
connect(_ui->source_comboBox_image_type, SIGNAL(currentIndexChanged(int)), _ui->stackedWidget_image, SLOT(setCurrentIndex(int))); connect(_ui->source_comboBox_image_type, SIGNAL(currentIndexChanged(int)), _ui->stackedWidget_image, SLOT(setCurrentIndex(int)));
connect(_ui->source_comboBox_image_type, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->source_comboBox_image_type, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkBox_rgb_rectify, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
//images group //images group
connect(_ui->source_images_toolButton_selectSource, SIGNAL(clicked()), this, SLOT(selectSourceImagesPath())); connect(_ui->source_images_toolButton_selectSource, SIGNAL(clicked()), this, SLOT(selectSourceImagesPath()));
connect(_ui->source_images_lineEdit_path, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->source_images_lineEdit_path, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->source_images_spinBox_startPos, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->source_images_spinBox_startPos, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->source_images_refreshDir, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->source_images_refreshDir, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkBox_rgbImages_rectify, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->comboBox_cameraImages_bayerMode, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->comboBox_cameraImages_bayerMode, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
//video group //video group
connect(_ui->source_video_toolButton_selectSource, SIGNAL(clicked()), this, SLOT(selectSourceVideoPath())); connect(_ui->source_video_toolButton_selectSource, SIGNAL(clicked()), this, SLOT(selectSourceVideoPath()));
connect(_ui->source_video_lineEdit_path, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->source_video_lineEdit_path, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkBox_rgbVideo_rectify, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
//database group //database group
connect(_ui->source_database_toolButton_selectSource, SIGNAL(clicked()), this, SLOT(selectSourceDatabase())); connect(_ui->source_database_toolButton_selectSource, SIGNAL(clicked()), this, SLOT(selectSourceDatabase()));
connect(_ui->toolButton_dbViewer, SIGNAL(clicked()), this, SLOT(openDatabaseViewer())); connect(_ui->toolButton_dbViewer, SIGNAL(clicked()), this, SLOT(openDatabaseViewer()));
@@ -1350,9 +1349,8 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->source_comboBox_image_type->setCurrentIndex(kSrcUsbDevice-kSrcUsbDevice); _ui->source_comboBox_image_type->setCurrentIndex(kSrcUsbDevice-kSrcUsbDevice);
_ui->source_images_spinBox_startPos->setValue(0); _ui->source_images_spinBox_startPos->setValue(0);
_ui->source_images_refreshDir->setChecked(false); _ui->source_images_refreshDir->setChecked(false);
_ui->checkBox_rgbImages_rectify->setChecked(false); _ui->checkBox_rgb_rectify->setChecked(false);
_ui->comboBox_cameraImages_bayerMode->setCurrentIndex(0); _ui->comboBox_cameraImages_bayerMode->setCurrentIndex(0);
_ui->checkBox_rgbVideo_rectify->setChecked(false);
_ui->source_checkBox_ignoreOdometry->setChecked(false); _ui->source_checkBox_ignoreOdometry->setChecked(false);
_ui->source_checkBox_ignoreGoalDelay->setChecked(true); _ui->source_checkBox_ignoreGoalDelay->setChecked(true);
@@ -1747,6 +1745,7 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
settings.beginGroup("rgb"); settings.beginGroup("rgb");
_ui->source_comboBox_image_type->setCurrentIndex(settings.value("driver", _ui->source_comboBox_image_type->currentIndex()).toInt()); _ui->source_comboBox_image_type->setCurrentIndex(settings.value("driver", _ui->source_comboBox_image_type->currentIndex()).toInt());
_ui->checkBox_rgb_rectify->setChecked(settings.value("rectify",_ui->checkBox_rgb_rectify->isChecked()).toBool());
settings.endGroup(); // rgb settings.endGroup(); // rgb
settings.beginGroup("Openni"); settings.beginGroup("Openni");
@@ -1811,7 +1810,6 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
_ui->source_images_lineEdit_path->setText(settings.value("path", _ui->source_images_lineEdit_path->text()).toString()); _ui->source_images_lineEdit_path->setText(settings.value("path", _ui->source_images_lineEdit_path->text()).toString());
_ui->source_images_spinBox_startPos->setValue(settings.value("startPos",_ui->source_images_spinBox_startPos->value()).toInt()); _ui->source_images_spinBox_startPos->setValue(settings.value("startPos",_ui->source_images_spinBox_startPos->value()).toInt());
_ui->source_images_refreshDir->setChecked(settings.value("refreshDir",_ui->source_images_refreshDir->isChecked()).toBool()); _ui->source_images_refreshDir->setChecked(settings.value("refreshDir",_ui->source_images_refreshDir->isChecked()).toBool());
_ui->checkBox_rgbImages_rectify->setChecked(settings.value("rectify",_ui->checkBox_rgbImages_rectify->isChecked()).toBool());
_ui->comboBox_cameraImages_bayerMode->setCurrentIndex(settings.value("bayerMode",_ui->comboBox_cameraImages_bayerMode->currentIndex()).toInt()); _ui->comboBox_cameraImages_bayerMode->setCurrentIndex(settings.value("bayerMode",_ui->comboBox_cameraImages_bayerMode->currentIndex()).toInt());
_ui->checkBox_cameraImages_timestamps->setChecked(settings.value("filenames_as_stamps",_ui->checkBox_cameraImages_timestamps->isChecked()).toBool()); _ui->checkBox_cameraImages_timestamps->setChecked(settings.value("filenames_as_stamps",_ui->checkBox_cameraImages_timestamps->isChecked()).toBool());
@@ -1830,7 +1828,6 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
settings.beginGroup("Video"); settings.beginGroup("Video");
_ui->source_video_lineEdit_path->setText(settings.value("path", _ui->source_video_lineEdit_path->text()).toString()); _ui->source_video_lineEdit_path->setText(settings.value("path", _ui->source_video_lineEdit_path->text()).toString());
_ui->checkBox_rgbVideo_rectify->setChecked(settings.value("rectify",_ui->checkBox_rgbVideo_rectify->isChecked()).toBool());
settings.endGroup(); // video settings.endGroup(); // video
settings.beginGroup("ScanFromDepth"); settings.beginGroup("ScanFromDepth");
@@ -2133,6 +2130,7 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.beginGroup("rgb"); settings.beginGroup("rgb");
settings.setValue("driver", _ui->source_comboBox_image_type->currentIndex()); settings.setValue("driver", _ui->source_comboBox_image_type->currentIndex());
settings.setValue("rectify", _ui->checkBox_rgb_rectify->isChecked());
settings.endGroup(); // rgb settings.endGroup(); // rgb
settings.beginGroup("Openni"); settings.beginGroup("Openni");
@@ -2198,7 +2196,6 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.setValue("path", _ui->source_images_lineEdit_path->text()); settings.setValue("path", _ui->source_images_lineEdit_path->text());
settings.setValue("startPos", _ui->source_images_spinBox_startPos->value()); settings.setValue("startPos", _ui->source_images_spinBox_startPos->value());
settings.setValue("refreshDir", _ui->source_images_refreshDir->isChecked()); settings.setValue("refreshDir", _ui->source_images_refreshDir->isChecked());
settings.setValue("rectify", _ui->checkBox_rgbImages_rectify->isChecked());
settings.setValue("bayerMode", _ui->comboBox_cameraImages_bayerMode->currentIndex()); settings.setValue("bayerMode", _ui->comboBox_cameraImages_bayerMode->currentIndex());
settings.setValue("filenames_as_stamps", _ui->checkBox_cameraImages_timestamps->isChecked()); settings.setValue("filenames_as_stamps", _ui->checkBox_cameraImages_timestamps->isChecked());
settings.setValue("sync_stamps", _ui->checkBox_cameraImages_syncTimeStamps->isChecked()); settings.setValue("sync_stamps", _ui->checkBox_cameraImages_syncTimeStamps->isChecked());
@@ -2216,7 +2213,6 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.beginGroup("Video"); settings.beginGroup("Video");
settings.setValue("path", _ui->source_video_lineEdit_path->text()); settings.setValue("path", _ui->source_video_lineEdit_path->text());
settings.setValue("rectify", _ui->checkBox_rgbVideo_rectify->isChecked());
settings.endGroup(); // video settings.endGroup(); // video
settings.beginGroup("ScanFromDepth"); settings.beginGroup("ScanFromDepth");
@@ -4664,7 +4660,7 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
{ {
camera = new CameraVideo( camera = new CameraVideo(
this->getSourceDevice().isEmpty()?0:atoi(this->getSourceDevice().toStdString().c_str()), this->getSourceDevice().isEmpty()?0:atoi(this->getSourceDevice().toStdString().c_str()),
!useRawImages, _ui->checkBox_rgb_rectify->isChecked() && !useRawImages,
this->getGeneralInputRate(), this->getGeneralInputRate(),
this->getSourceLocalTransform()); this->getSourceLocalTransform());
} }
@@ -4672,7 +4668,7 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
{ {
camera = new CameraVideo( camera = new CameraVideo(
_ui->source_video_lineEdit_path->text().toStdString(), _ui->source_video_lineEdit_path->text().toStdString(),
_ui->checkBox_rgbVideo_rectify->isChecked() && !useRawImages, _ui->checkBox_rgb_rectify->isChecked() && !useRawImages,
this->getGeneralInputRate(), this->getGeneralInputRate(),
this->getSourceLocalTransform()); this->getSourceLocalTransform());
} }
@@ -4685,7 +4681,7 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
((CameraImages*)camera)->setStartIndex(_ui->source_images_spinBox_startPos->value()); ((CameraImages*)camera)->setStartIndex(_ui->source_images_spinBox_startPos->value());
((CameraImages*)camera)->setDirRefreshed(_ui->source_images_refreshDir->isChecked()); ((CameraImages*)camera)->setDirRefreshed(_ui->source_images_refreshDir->isChecked());
((CameraImages*)camera)->setImagesRectified(_ui->checkBox_rgbImages_rectify->isChecked() && !useRawImages); ((CameraImages*)camera)->setImagesRectified(_ui->checkBox_rgb_rectify->isChecked() && !useRawImages);
((CameraImages*)camera)->setBayerMode(_ui->comboBox_cameraImages_bayerMode->currentIndex()-1); ((CameraImages*)camera)->setBayerMode(_ui->comboBox_cameraImages_bayerMode->currentIndex()-1);
((CameraImages*)camera)->setOdometryPath( ((CameraImages*)camera)->setOdometryPath(
guilib/src/ui/preferencesDialog.ui
+35 -118
View File
@@ -63,25 +63,16 @@
<property name="geometry"> <property name="geometry">
<rect> <rect>
<x>0</x> <x>0</x>
<y>-221</y> <y>-373</y>
<width>677</width> <width>673</width>
<height>2644</height> <height>2718</height>
</rect> </rect>
</property> </property>
<layout class="QVBoxLayout" name="verticalLayout_16"> <layout class="QVBoxLayout" name="verticalLayout_16">
<property name="spacing"> <property name="spacing">
<number>0</number> <number>0</number>
</property> </property>
<property name="leftMargin"> <property name="margin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number> <number>0</number>
</property> </property>
<item> <item>
@@ -2591,7 +2582,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<item> <item>
<widget class="QStackedWidget" name="stackedWidget_src"> <widget class="QStackedWidget" name="stackedWidget_src">
<property name="currentIndex"> <property name="currentIndex">
<number>0</number> <number>2</number>
</property> </property>
<widget class="QWidget" name="page_41"> <widget class="QWidget" name="page_41">
<layout class="QVBoxLayout" name="verticalLayout_64"> <layout class="QVBoxLayout" name="verticalLayout_64">
@@ -4070,6 +4061,26 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</item> </item>
</widget> </widget>
</item> </item>
<item row="1" column="1">
<widget class="QLabel" name="label_242">
<property name="text">
<string>Rectify images. If checked, the images will be rectified using the calibration file (if its name is set above). If not checked, we assume that images are already rectified.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="checkBox_rgb_rectify">
<property name="text">
<string/>
</property>
</widget>
</item>
</layout> </layout>
</item> </item>
<item> <item>
@@ -4159,26 +4170,6 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property> </property>
</widget> </widget>
</item> </item>
<item row="3" column="1">
<widget class="QLabel" name="label_242">
<property name="text">
<string>Rectify images. If checked, the images will be rectified using the calibration file (if its name is set above). If not checked, we assume that images are already rectified.</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="QCheckBox" name="checkBox_rgbImages_rectify">
<property name="text">
<string/>
</property>
</widget>
</item>
</layout> </layout>
</widget> </widget>
</item> </item>
@@ -4204,14 +4195,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<property name="title"> <property name="title">
<string>Video (AVI)</string> <string>Video (AVI)</string>
</property> </property>
<layout class="QGridLayout" name="gridLayout_8" columnstretch="0,10"> <layout class="QGridLayout" name="gridLayout_8" columnstretch="0,0">
<item row="0" column="0">
<widget class="QToolButton" name="source_video_toolButton_selectSource">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
<item row="0" column="1"> <item row="0" column="1">
<widget class="QLineEdit" name="source_video_lineEdit_path"> <widget class="QLineEdit" name="source_video_lineEdit_path">
<property name="readOnly"> <property name="readOnly">
@@ -4219,23 +4203,10 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property> </property>
</widget> </widget>
</item> </item>
<item row="1" column="1"> <item row="0" column="0">
<widget class="QLabel" name="label_241"> <widget class="QToolButton" name="source_video_toolButton_selectSource">
<property name="text"> <property name="text">
<string>Rectify images. If checked, the images will be rectified using the calibration file (if its name is set above). If not checked, we assume that images are already rectified.</string> <string>...</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="checkBox_rgbVideo_rectify">
<property name="text">
<string/>
</property> </property>
</widget> </widget>
</item> </item>
@@ -4451,16 +4422,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<string>Directory of images (optional settings)</string> <string>Directory of images (optional settings)</string>
</property> </property>
<layout class="QVBoxLayout" name="verticalLayout_93"> <layout class="QVBoxLayout" name="verticalLayout_93">
<property name="leftMargin"> <property name="margin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number> <number>0</number>
</property> </property>
<item> <item>
@@ -10917,16 +10879,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property> </property>
<widget class="QWidget" name="page_54"> <widget class="QWidget" name="page_54">
<layout class="QVBoxLayout" name="verticalLayout_85"> <layout class="QVBoxLayout" name="verticalLayout_85">
<property name="leftMargin"> <property name="margin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number> <number>0</number>
</property> </property>
<item> <item>
@@ -11066,16 +11019,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
</widget> </widget>
<widget class="QWidget" name="page_55"> <widget class="QWidget" name="page_55">
<layout class="QVBoxLayout" name="verticalLayout_86"> <layout class="QVBoxLayout" name="verticalLayout_86">
<property name="leftMargin"> <property name="margin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number> <number>0</number>
</property> </property>
<item> <item>
@@ -11233,16 +11177,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
<property name="spacing"> <property name="spacing">
<number>0</number> <number>0</number>
</property> </property>
<property name="leftMargin"> <property name="margin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number> <number>0</number>
</property> </property>
<item> <item>
@@ -11322,16 +11257,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
<property name="spacing"> <property name="spacing">
<number>0</number> <number>0</number>
</property> </property>
<property name="leftMargin"> <property name="margin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number> <number>0</number>
</property> </property>
<item> <item>
@@ -11443,16 +11369,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
<property name="spacing"> <property name="spacing">
<number>0</number> <number>0</number>
</property> </property>
<property name="leftMargin"> <property name="margin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number> <number>0</number>
</property> </property>
<item> <item>