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Added bilateral filtering option. CloudViewer: lighting and edge visibility options.

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This commit is contained in:
matlabbe
2016-11-03 17:04:31 -04:00
parent 70dbac10c7
commit a7971373a6
14 changed files with 593 additions and 28 deletions
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guilib/src/PreferencesDialog.cpp
+49 -9
View File
@@ -517,6 +517,9 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->lineEdit_openniOniPath, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->lineEdit_openni2OniPath, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->lineEdit_source_distortionModel, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->groupBox_bilateral, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->doubleSpinBox_bilateral_sigmaS, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->doubleSpinBox_bilateral_sigmaR, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->groupBox_scanFromDepth, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->spinBox_cameraScanFromDepth_decimation, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
@@ -1349,6 +1352,9 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->lineEdit_cameraRGBDImages_path_depth->setText("");
_ui->doubleSpinBox_cameraRGBDImages_scale->setValue(1.0);
_ui->lineEdit_source_distortionModel->setText("");
_ui->groupBox_bilateral->setChecked(false);
_ui->doubleSpinBox_bilateral_sigmaS->setValue(10.0);
_ui->doubleSpinBox_bilateral_sigmaR->setValue(0.1);
_ui->source_comboBox_image_type->setCurrentIndex(kSrcDC1394-kSrcDC1394);
_ui->lineEdit_cameraStereoImages_path_left->setText("");
@@ -1656,6 +1662,9 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
_ui->comboBox_cameraRGBD->setCurrentIndex(settings.value("driver", _ui->comboBox_cameraRGBD->currentIndex()).toInt());
_ui->checkbox_rgbd_colorOnly->setChecked(settings.value("rgbdColorOnly", _ui->checkbox_rgbd_colorOnly->isChecked()).toBool());
_ui->lineEdit_source_distortionModel->setText(settings.value("distortion_model", _ui->lineEdit_source_distortionModel->text()).toString());
_ui->groupBox_bilateral->setChecked(settings.value("bilateral", _ui->groupBox_bilateral->isChecked()).toBool());
_ui->doubleSpinBox_bilateral_sigmaS->setValue(settings.value("bilateral_sigma_s", _ui->doubleSpinBox_bilateral_sigmaS->value()).toDouble());
_ui->doubleSpinBox_bilateral_sigmaR->setValue(settings.value("bilateral_sigma_r", _ui->doubleSpinBox_bilateral_sigmaR->value()).toDouble());
settings.endGroup(); // rgbd
settings.beginGroup("stereo");
@@ -2087,9 +2096,12 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.setValue("imageDecimation", _ui->spinBox_source_imageDecimation->value());
settings.beginGroup("rgbd");
settings.setValue("driver", _ui->comboBox_cameraRGBD->currentIndex());
settings.setValue("rgbdColorOnly", _ui->checkbox_rgbd_colorOnly->isChecked());
settings.setValue("distortion_model", _ui->lineEdit_source_distortionModel->text());
settings.setValue("driver", _ui->comboBox_cameraRGBD->currentIndex());
settings.setValue("rgbdColorOnly", _ui->checkbox_rgbd_colorOnly->isChecked());
settings.setValue("distortion_model", _ui->lineEdit_source_distortionModel->text());
settings.setValue("bilateral", _ui->groupBox_bilateral->isChecked());
settings.setValue("bilateral_sigma_s", _ui->doubleSpinBox_bilateral_sigmaS->value());
settings.setValue("bilateral_sigma_r", _ui->doubleSpinBox_bilateral_sigmaR->value());
settings.endGroup(); // rgbd
settings.beginGroup("stereo");
@@ -4148,6 +4160,18 @@ QString PreferencesDialog::getSourceDistortionModel() const
{
return _ui->lineEdit_source_distortionModel->text();
}
bool PreferencesDialog::isBilateralFiltering() const
{
return _ui->groupBox_bilateral->isChecked();
}
double PreferencesDialog::getBilateralSigmaS() const
{
return _ui->doubleSpinBox_bilateral_sigmaS->value();
}
double PreferencesDialog::getBilateralSigmaR() const
{
return _ui->doubleSpinBox_bilateral_sigmaR->value();
}
int PreferencesDialog::getSourceImageDecimation() const
{
return _ui->spinBox_source_imageDecimation->value();
@@ -4669,10 +4693,18 @@ void PreferencesDialog::testOdometry()
_ui->doubleSpinBox_cameraSCanFromDepth_maxDepth->value(),
_ui->doubleSpinBox_cameraImages_scanVoxelSize->value(),
_ui->spinBox_cameraImages_scanNormalsK->value());
if(this->getSourceType() == PreferencesDialog::kSrcRGBD &&
!_ui->lineEdit_source_distortionModel->text().isEmpty())
if(this->getSourceType() == PreferencesDialog::kSrcRGBD)
{
cameraThread.setDistortionModel(_ui->lineEdit_source_distortionModel->text().toStdString());
if(_ui->groupBox_bilateral->isChecked())
{
cameraThread.enableBilateralFiltering(
_ui->doubleSpinBox_bilateral_sigmaS->value(),
_ui->doubleSpinBox_bilateral_sigmaR->value());
}
if(!_ui->lineEdit_source_distortionModel->text().isEmpty())
{
cameraThread.setDistortionModel(_ui->lineEdit_source_distortionModel->text().toStdString());
}
}
UEventsManager::createPipe(&cameraThread, &odomThread, "CameraEvent");
UEventsManager::createPipe(&odomThread, odomViewer, "OdometryEvent");
@@ -4709,10 +4741,18 @@ void PreferencesDialog::testCamera()
_ui->doubleSpinBox_cameraSCanFromDepth_maxDepth->value(),
_ui->doubleSpinBox_cameraImages_scanVoxelSize->value(),
_ui->spinBox_cameraImages_scanNormalsK->value());
if(this->getSourceType() == PreferencesDialog::kSrcRGBD &&
!_ui->lineEdit_source_distortionModel->text().isEmpty())
if(this->getSourceType() == PreferencesDialog::kSrcRGBD)
{
cameraThread.setDistortionModel(_ui->lineEdit_source_distortionModel->text().toStdString());
if(_ui->groupBox_bilateral->isChecked())
{
cameraThread.enableBilateralFiltering(
_ui->doubleSpinBox_bilateral_sigmaS->value(),
_ui->doubleSpinBox_bilateral_sigmaR->value());
}
if(!_ui->lineEdit_source_distortionModel->text().isEmpty())
{
cameraThread.setDistortionModel(_ui->lineEdit_source_distortionModel->text().toStdString());
}
}
UEventsManager::createPipe(&cameraThread, window, "CameraEvent");