Skip to content

Commit

Permalink
Using normalized IR intensity
Browse files Browse the repository at this point in the history
  • Loading branch information
@borongyuan
borongyuan committed Jan 4, 2024
1 parent fb8cc45 commit c91b954
Show file tree
Hide file tree
Showing 4 changed files with 33 additions and 34 deletions.
6 changes: 3 additions & 3 deletions corelib/include/rtabmap/core/camera/CameraDepthAI.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -59,7 +59,7 @@ class RTABMAP_CORE_EXPORT CameraDepthAI :
void setDepthProfile(int confThreshold = 200, int lrcThreshold = 5);
void setRectification(bool useSpecTranslation, float alphaScaling = 0.0f);
void setIMU(bool imuPublished, bool publishInterIMU);
void setIrBrightness(float dotProjectormA = 0.0f, float floodLightmA = 200.0f);
void setIrIntensity(float dotIntensity = 0.0f, float floodIntensity = 0.0f);
void setDetectFeatures(int detectFeatures = 0);
void setBlobPath(const std::string & blobPath);
void setGFTTDetector(bool useHarrisDetector = false, float minDistance = 7.0f, int numTargetFeatures = 1000);
Expand All @@ -86,8 +86,8 @@ class RTABMAP_CORE_EXPORT CameraDepthAI :
float alphaScaling_;
bool imuPublished_;
bool publishInterIMU_;
float dotProjectormA_;
float floodLightmA_;
float dotIntensity_;
float floodIntensity_;
int detectFeatures_;
bool useHarrisDetector_;
float minDistance_;
Expand Down
17 changes: 8 additions & 9 deletions corelib/src/camera/CameraDepthAI.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -62,8 +62,8 @@ CameraDepthAI::CameraDepthAI(
alphaScaling_(0.0),
imuPublished_(true),
publishInterIMU_(false),
dotProjectormA_(0.0),
floodLightmA_(200.0),
dotIntensity_(0.0),
floodIntensity_(0.0),
detectFeatures_(0),
useHarrisDetector_(false),
minDistance_(7.0),
Expand Down Expand Up @@ -127,11 +127,11 @@ void CameraDepthAI::setIMU(bool imuPublished, bool publishInterIMU)
#endif
}

void CameraDepthAI::setIrBrightness(float dotProjectormA, float floodLightmA)
void CameraDepthAI::setIrIntensity(float dotIntensity, float floodIntensity)
{
#ifdef RTABMAP_DEPTHAI
dotProjectormA_ = dotProjectormA;
floodLightmA_ = floodLightmA;
dotIntensity_ = dotIntensity;
floodIntensity_ = floodIntensity;
#else
UERROR("CameraDepthAI: RTAB-Map is not built with depthai-core support!");
#endif
Expand Down Expand Up @@ -535,11 +535,10 @@ bool CameraDepthAI::init(const std::string & calibrationFolder, const std::strin
});
}

std::vector<std::tuple<std::string, int, int>> irDrivers = device_->getIrDrivers();
if(!irDrivers.empty())
if(!device_->getIrDrivers().empty())
{
device_->setIrLaserDotProjectorBrightness(dotProjectormA_);
device_->setIrFloodLightBrightness(floodLightmA_);
device_->setIrLaserDotProjectorIntensity(dotIntensity_);
device_->setIrFloodLightIntensity(floodIntensity_);
}

uSleep(2000); // avoid bad frames on start
Expand Down
18 changes: 9 additions & 9 deletions guilib/src/PreferencesDialog.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -817,8 +817,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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->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->doubleSpinBox_depthai_dot_intensity, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->doubleSpinBox_depthai_flood_intensity, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->comboBox_depthai_detect_features, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->lineEdit_depthai_blob_path, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->toolButton_depthai_blob_path, SIGNAL(clicked()), this, SLOT(selectSourceDepthaiBlobPath()));
Expand Down Expand Up @@ -2156,8 +2156,8 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->checkBox_depthai_use_spec_translation->setChecked(false);
_ui->doubleSpinBox_depthai_alpha_scaling->setValue(0.0);
_ui->checkBox_depthai_imu_published->setChecked(true);
_ui->doubleSpinBox_depthai_laser_dot_brightness->setValue(0.0);
_ui->doubleSpinBox_depthai_floodlight_brightness->setValue(200.0);
_ui->doubleSpinBox_depthai_dot_intensity->setValue(0.0);
_ui->doubleSpinBox_depthai_flood_intensity->setValue(0.0);
_ui->comboBox_depthai_detect_features->setCurrentIndex(0);
_ui->lineEdit_depthai_blob_path->clear();

Expand Down Expand Up @@ -2649,8 +2649,8 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
_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->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->doubleSpinBox_depthai_dot_intensity->setValue(settings.value("dot_intensity", _ui->doubleSpinBox_depthai_dot_intensity->value()).toDouble());
_ui->doubleSpinBox_depthai_flood_intensity->setValue(settings.value("flood_intensity", _ui->doubleSpinBox_depthai_flood_intensity->value()).toDouble());
_ui->comboBox_depthai_detect_features->setCurrentIndex(settings.value("detect_features", _ui->comboBox_depthai_detect_features->currentIndex()).toInt());
_ui->lineEdit_depthai_blob_path->setText(settings.value("blob_path", _ui->lineEdit_depthai_blob_path->text()).toString());
settings.endGroup(); // DepthAI
Expand Down Expand Up @@ -3186,8 +3186,8 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
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("dot_intensity", _ui->doubleSpinBox_depthai_dot_intensity->value());
settings.setValue("flood_intensity", _ui->doubleSpinBox_depthai_flood_intensity->value());
settings.setValue("detect_features", _ui->comboBox_depthai_detect_features->currentIndex());
settings.setValue("blob_path", _ui->lineEdit_depthai_blob_path->text());
settings.endGroup(); // DepthAI
Expand Down Expand Up @@ -6508,7 +6508,7 @@ Camera * PreferencesDialog::createCamera(
((CameraDepthAI*)camera)->setDepthProfile(_ui->spinBox_depthai_conf_threshold->value(), _ui->spinBox_depthai_lrc_threshold->value());
((CameraDepthAI*)camera)->setRectification(_ui->checkBox_depthai_use_spec_translation->isChecked(), _ui->doubleSpinBox_depthai_alpha_scaling->value());
((CameraDepthAI*)camera)->setIMU(_ui->checkBox_depthai_imu_published->isChecked(), _ui->checkbox_publishInterIMU->isChecked());
((CameraDepthAI*)camera)->setIrBrightness(_ui->doubleSpinBox_depthai_laser_dot_brightness->value(), _ui->doubleSpinBox_depthai_floodlight_brightness->value());
((CameraDepthAI*)camera)->setIrIntensity(_ui->doubleSpinBox_depthai_dot_intensity->value(), _ui->doubleSpinBox_depthai_flood_intensity->value());
((CameraDepthAI*)camera)->setDetectFeatures(_ui->comboBox_depthai_detect_features->currentIndex());
((CameraDepthAI*)camera)->setBlobPath(_ui->lineEdit_depthai_blob_path->text().toStdString());
if(_ui->comboBox_depthai_detect_features->currentIndex() == 1)
Expand Down
26 changes: 13 additions & 13 deletions guilib/src/ui/preferencesDialog.ui
View file
Original file line number Diff line number Diff line change
Expand Up @@ -5974,12 +5974,12 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</widget>
</item>
<item row="7" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_depthai_laser_dot_brightness">
<property name="suffix">
<string> mA</string>
</property>
<widget class="QDoubleSpinBox" name="doubleSpinBox_depthai_dot_intensity">
<property name="maximum">
<double>1200.000000000000000</double>
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.050000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
Expand All @@ -5996,7 +5996,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<item row="8" column="1">
<widget class="QLabel" name="label_677">
<property name="text">
<string>Floodlight brightness.</string>
<string>IR flood light intensity.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
Expand All @@ -6009,7 +6009,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<item row="7" column="1">
<widget class="QLabel" name="label_676">
<property name="text">
<string>Laser dot brightness.</string>
<string>IR laser dot projector intensity.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
Expand Down Expand Up @@ -6143,15 +6143,15 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</widget>
</item>
<item row="8" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_depthai_floodlight_brightness">
<property name="suffix">
<string> mA</string>
</property>
<widget class="QDoubleSpinBox" name="doubleSpinBox_depthai_flood_intensity">
<property name="maximum">
<double>1500.000000000000000</double>
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.050000000000000</double>
</property>
<property name="value">
<double>200.000000000000000</double>
<double>0.000000000000000</double>
</property>
</widget>
</item>
Expand Down

0 comments on commit c91b954

Please sign in to comment.