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fixed #201

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matlabbe
2017-05-25 14:48:39 -04:00
parent 10c23e60b7
commit d795bea543
3 changed files with 49 additions and 64 deletions
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corelib/src/Memory.cpp
+2 -1
View File
@@ -3214,7 +3214,8 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
if(!data.depthOrRightRaw().empty() && if(!data.depthOrRightRaw().empty() &&
data.cameraModels().size() == 0 && data.cameraModels().size() == 0 &&
!data.stereoCameraModel().isValidForProjection()) !data.stereoCameraModel().isValidForProjection() &&
!pose.isNull())
{ {
UERROR("Rectified images required! Calibrate your camera."); UERROR("Rectified images required! Calibrate your camera.");
return 0; return 0;
guilib/src/PreferencesDialog.cpp
+16 -12
View File
@@ -529,13 +529,12 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->toolButton_cameraStereoImages_path_right, SIGNAL(clicked()), this, SLOT(selectSourceStereoImagesPathRight())); connect(_ui->toolButton_cameraStereoImages_path_right, SIGNAL(clicked()), this, SLOT(selectSourceStereoImagesPathRight()));
connect(_ui->lineEdit_cameraStereoImages_path_left, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->lineEdit_cameraStereoImages_path_left, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->lineEdit_cameraStereoImages_path_right, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->lineEdit_cameraStereoImages_path_right, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkBox_stereoImages_rectify, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->checkBox_stereo_rectify, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->toolButton_cameraStereoVideo_path, SIGNAL(clicked()), this, SLOT(selectSourceStereoVideoPath())); connect(_ui->toolButton_cameraStereoVideo_path, SIGNAL(clicked()), this, SLOT(selectSourceStereoVideoPath()));
connect(_ui->toolButton_cameraStereoVideo_path_2, SIGNAL(clicked()), this, SLOT(selectSourceStereoVideoPath2())); connect(_ui->toolButton_cameraStereoVideo_path_2, SIGNAL(clicked()), this, SLOT(selectSourceStereoVideoPath2()));
connect(_ui->lineEdit_cameraStereoVideo_path, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->lineEdit_cameraStereoVideo_path, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->lineEdit_cameraStereoVideo_path_2, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->lineEdit_cameraStereoVideo_path_2, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkBox_stereoVideo_rectify, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->comboBox_stereoZed_resolution, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel())); 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(makeObsoleteSourcePanel()));
@@ -1428,10 +1427,9 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->source_comboBox_image_type->setCurrentIndex(kSrcDC1394-kSrcDC1394); _ui->source_comboBox_image_type->setCurrentIndex(kSrcDC1394-kSrcDC1394);
_ui->lineEdit_cameraStereoImages_path_left->setText(""); _ui->lineEdit_cameraStereoImages_path_left->setText("");
_ui->lineEdit_cameraStereoImages_path_right->setText(""); _ui->lineEdit_cameraStereoImages_path_right->setText("");
_ui->checkBox_stereoImages_rectify->setChecked(false); _ui->checkBox_stereo_rectify->setChecked(false);
_ui->lineEdit_cameraStereoVideo_path->setText(""); _ui->lineEdit_cameraStereoVideo_path->setText("");
_ui->lineEdit_cameraStereoVideo_path_2->setText(""); _ui->lineEdit_cameraStereoVideo_path_2->setText("");
_ui->checkBox_stereoVideo_rectify->setChecked(false);
_ui->comboBox_stereoZed_resolution->setCurrentIndex(2); _ui->comboBox_stereoZed_resolution->setCurrentIndex(2);
_ui->comboBox_stereoZed_quality->setCurrentIndex(1); _ui->comboBox_stereoZed_quality->setCurrentIndex(1);
_ui->checkbox_stereoZed_selfCalibration->setChecked(false); _ui->checkbox_stereoZed_selfCalibration->setChecked(false);
@@ -1799,13 +1797,12 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
settings.beginGroup("StereoImages"); settings.beginGroup("StereoImages");
_ui->lineEdit_cameraStereoImages_path_left->setText(settings.value("path_left", _ui->lineEdit_cameraStereoImages_path_left->text()).toString()); _ui->lineEdit_cameraStereoImages_path_left->setText(settings.value("path_left", _ui->lineEdit_cameraStereoImages_path_left->text()).toString());
_ui->lineEdit_cameraStereoImages_path_right->setText(settings.value("path_right", _ui->lineEdit_cameraStereoImages_path_right->text()).toString()); _ui->lineEdit_cameraStereoImages_path_right->setText(settings.value("path_right", _ui->lineEdit_cameraStereoImages_path_right->text()).toString());
_ui->checkBox_stereoImages_rectify->setChecked(settings.value("rectify",_ui->checkBox_stereoImages_rectify->isChecked()).toBool()); _ui->checkBox_stereo_rectify->setChecked(settings.value("rectify",_ui->checkBox_stereo_rectify->isChecked()).toBool());
settings.endGroup(); // StereoImages settings.endGroup(); // StereoImages
settings.beginGroup("StereoVideo"); settings.beginGroup("StereoVideo");
_ui->lineEdit_cameraStereoVideo_path->setText(settings.value("path", _ui->lineEdit_cameraStereoVideo_path->text()).toString()); _ui->lineEdit_cameraStereoVideo_path->setText(settings.value("path", _ui->lineEdit_cameraStereoVideo_path->text()).toString());
_ui->lineEdit_cameraStereoVideo_path_2->setText(settings.value("path2", _ui->lineEdit_cameraStereoVideo_path_2->text()).toString()); _ui->lineEdit_cameraStereoVideo_path_2->setText(settings.value("path2", _ui->lineEdit_cameraStereoVideo_path_2->text()).toString());
_ui->checkBox_stereoVideo_rectify->setChecked(settings.value("rectify",_ui->checkBox_stereoVideo_rectify->isChecked()).toBool());
settings.endGroup(); // StereoVideo settings.endGroup(); // StereoVideo
settings.beginGroup("StereoZed"); settings.beginGroup("StereoZed");
@@ -2188,13 +2185,12 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.beginGroup("StereoImages"); settings.beginGroup("StereoImages");
settings.setValue("path_left", _ui->lineEdit_cameraStereoImages_path_left->text()); settings.setValue("path_left", _ui->lineEdit_cameraStereoImages_path_left->text());
settings.setValue("path_right", _ui->lineEdit_cameraStereoImages_path_right->text()); settings.setValue("path_right", _ui->lineEdit_cameraStereoImages_path_right->text());
settings.setValue("rectify", _ui->checkBox_stereoImages_rectify->isChecked()); settings.setValue("rectify", _ui->checkBox_stereo_rectify->isChecked());
settings.endGroup(); // StereoImages settings.endGroup(); // StereoImages
settings.beginGroup("StereoVideo"); settings.beginGroup("StereoVideo");
settings.setValue("path", _ui->lineEdit_cameraStereoVideo_path->text()); settings.setValue("path", _ui->lineEdit_cameraStereoVideo_path->text());
settings.setValue("path2", _ui->lineEdit_cameraStereoVideo_path_2->text()); settings.setValue("path2", _ui->lineEdit_cameraStereoVideo_path_2->text());
settings.setValue("rectify", _ui->checkBox_stereoVideo_rectify->isChecked());
settings.endGroup(); // StereoVideo settings.endGroup(); // StereoVideo
settings.beginGroup("StereoZed"); settings.beginGroup("StereoZed");
@@ -3846,6 +3842,14 @@ void PreferencesDialog::updateStereoDisparityVisibility()
_ui->label_stereo_depthGenerated->setVisible( _ui->label_stereo_depthGenerated->setVisible(
driver != PreferencesDialog::kSrcStereoZed || driver != PreferencesDialog::kSrcStereoZed ||
_ui->comboBox_stereoZed_quality->currentIndex() == 0); _ui->comboBox_stereoZed_quality->currentIndex() == 0);
_ui->checkBox_stereo_rectify->setEnabled(
_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoImages - kSrcStereo ||
_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoUsb - kSrcStereo ||
_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoVideo - kSrcStereo ||
_ui->comboBox_cameraStereo->currentIndex() == kSrcDC1394 - kSrcStereo);
_ui->checkBox_stereo_rectify->setVisible(_ui->checkBox_stereo_rectify->isEnabled());
_ui->label_stereo_rectify->setVisible(_ui->checkBox_stereo_rectify->isEnabled());
} }
void PreferencesDialog::useOdomFeatures() void PreferencesDialog::useOdomFeatures()
@@ -4613,7 +4617,7 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
camera = new CameraStereoImages( camera = new CameraStereoImages(
_ui->lineEdit_cameraStereoImages_path_left->text().append(QDir::separator()).toStdString(), _ui->lineEdit_cameraStereoImages_path_left->text().append(QDir::separator()).toStdString(),
_ui->lineEdit_cameraStereoImages_path_right->text().append(QDir::separator()).toStdString(), _ui->lineEdit_cameraStereoImages_path_right->text().append(QDir::separator()).toStdString(),
_ui->checkBox_stereoImages_rectify->isChecked() && !useRawImages, _ui->checkBox_stereo_rectify->isChecked() && !useRawImages,
this->getGeneralInputRate(), this->getGeneralInputRate(),
this->getSourceLocalTransform()); this->getSourceLocalTransform());
((CameraStereoImages*)camera)->setBayerMode(_ui->comboBox_cameraImages_bayerMode->currentIndex()-1); ((CameraStereoImages*)camera)->setBayerMode(_ui->comboBox_cameraImages_bayerMode->currentIndex()-1);
@@ -4635,7 +4639,7 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
{ {
camera = new CameraStereoVideo( camera = new CameraStereoVideo(
this->getSourceDevice().isEmpty() ? 0 : atoi(this->getSourceDevice().toStdString().c_str()), this->getSourceDevice().isEmpty() ? 0 : atoi(this->getSourceDevice().toStdString().c_str()),
!useRawImages, _ui->checkBox_stereo_rectify->isChecked() && !useRawImages,
this->getGeneralInputRate(), this->getGeneralInputRate(),
this->getSourceLocalTransform()); this->getSourceLocalTransform());
} }
@@ -4647,7 +4651,7 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
camera = new CameraStereoVideo( camera = new CameraStereoVideo(
_ui->lineEdit_cameraStereoVideo_path->text().toStdString(), _ui->lineEdit_cameraStereoVideo_path->text().toStdString(),
_ui->lineEdit_cameraStereoVideo_path_2->text().toStdString(), _ui->lineEdit_cameraStereoVideo_path_2->text().toStdString(),
_ui->checkBox_stereoVideo_rectify->isChecked() && !useRawImages, _ui->checkBox_stereo_rectify->isChecked() && !useRawImages,
this->getGeneralInputRate(), this->getGeneralInputRate(),
this->getSourceLocalTransform()); this->getSourceLocalTransform());
} }
@@ -4656,7 +4660,7 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
// side-by-side video // side-by-side video
camera = new CameraStereoVideo( camera = new CameraStereoVideo(
_ui->lineEdit_cameraStereoVideo_path->text().toStdString(), _ui->lineEdit_cameraStereoVideo_path->text().toStdString(),
_ui->checkBox_stereoVideo_rectify->isChecked() && !useRawImages, _ui->checkBox_stereo_rectify->isChecked() && !useRawImages,
this->getGeneralInputRate(), this->getGeneralInputRate(),
this->getSourceLocalTransform()); this->getSourceLocalTransform());
} }
guilib/src/ui/preferencesDialog.ui
+31 -51
View File
@@ -63,9 +63,9 @@
<property name="geometry"> <property name="geometry">
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>-327</y>
<width>673</width> <width>678</width>
<height>2747</height> <height>2739</height>
</rect> </rect>
</property> </property>
<layout class="QVBoxLayout" name="verticalLayout_16"> <layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum> <enum>QFrame::Raised</enum>
</property> </property>
<property name="currentIndex"> <property name="currentIndex">
<number>19</number> <number>5</number>
</property> </property>
<widget class="QWidget" name="page_22"> <widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1"> <layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -2701,7 +2701,7 @@ 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>1</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">
@@ -3628,12 +3628,32 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property> </property>
</widget> </widget>
</item> </item>
<item row="2" column="2">
<widget class="QLabel" name="label_stereo_rectify">
<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="2" column="1">
<widget class="QCheckBox" name="checkBox_stereo_rectify">
<property name="text">
<string/>
</property>
</widget>
</item>
</layout> </layout>
</item> </item>
<item> <item>
<widget class="QStackedWidget" name="stackedWidget_stereo"> <widget class="QStackedWidget" name="stackedWidget_stereo">
<property name="currentIndex"> <property name="currentIndex">
<number>4</number> <number>2</number>
</property> </property>
<widget class="QWidget" name="page_49"> <widget class="QWidget" name="page_49">
<layout class="QVBoxLayout" name="verticalLayout_91"> <layout class="QVBoxLayout" name="verticalLayout_91">
@@ -3683,13 +3703,6 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<string>Stereo Images</string> <string>Stereo Images</string>
</property> </property>
<layout class="QGridLayout" name="gridLayout_61" columnstretch="0,0,1"> <layout class="QGridLayout" name="gridLayout_61" columnstretch="0,0,1">
<item row="2" column="1">
<widget class="QCheckBox" name="checkBox_stereoImages_rectify">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="0" column="0"> <item row="0" column="0">
<widget class="QToolButton" name="toolButton_cameraStereoImages_path_left"> <widget class="QToolButton" name="toolButton_cameraStereoImages_path_left">
<property name="text"> <property name="text">
@@ -3697,7 +3710,7 @@ 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="0"> <item row="2" column="0">
<spacer name="verticalSpacer_38"> <spacer name="verticalSpacer_38">
<property name="orientation"> <property name="orientation">
<enum>Qt::Vertical</enum> <enum>Qt::Vertical</enum>
@@ -3710,19 +3723,6 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property> </property>
</spacer> </spacer>
</item> </item>
<item row="2" column="2">
<widget class="QLabel" name="label_250">
<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="0" column="2"> <item row="0" column="2">
<widget class="QLabel" name="label_249"> <widget class="QLabel" name="label_249">
<property name="text"> <property name="text">
@@ -3803,20 +3803,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property> </property>
</widget> </widget>
</item> </item>
<item row="0" column="2"> <item row="2" column="0">
<widget class="QLabel" name="label_339">
<property name="text">
<string>Side-by-Side (SBS) video or left video.</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">
<spacer name="verticalSpacer_39"> <spacer name="verticalSpacer_39">
<property name="orientation"> <property name="orientation">
<enum>Qt::Vertical</enum> <enum>Qt::Vertical</enum>
@@ -3829,10 +3816,10 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property> </property>
</spacer> </spacer>
</item> </item>
<item row="2" column="2"> <item row="0" column="2">
<widget class="QLabel" name="label_234"> <widget class="QLabel" name="label_339">
<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>Side-by-Side (SBS) video or left video.</string>
</property> </property>
<property name="wordWrap"> <property name="wordWrap">
<bool>true</bool> <bool>true</bool>
@@ -3842,13 +3829,6 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property> </property>
</widget> </widget>
</item> </item>
<item row="2" column="1">
<widget class="QCheckBox" name="checkBox_stereoVideo_rectify">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="1" column="2"> <item row="1" column="2">
<widget class="QLabel" name="label_340"> <widget class="QLabel" name="label_340">
<property name="text"> <property name="text">