Merge pull request #76 from i3drobotics/master

update default matcher settings
i3drobotics · May 6, 2021 · 6bba110 · 6bba110
2 parents c0eb0aa + 78946f1
commit 6bba110
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Showing 16 changed files with 45 additions and 70 deletions.
diff --git a/.gitignore b/.gitignore
@@ -15,4 +15,5 @@ installer/Output/*
 /3rdparty/opencv-contrib-cuda/opencv-contrib-cuda-vc15.exe
 /3rdparty/opencv-contrib-cuda/cuda
 /3rdparty/opencv-contrib-cuda/cudnn
-/3rdparty/i3drsgm/i3drsgm
+/3rdparty/i3drsgm/i3drsgm
+/3rdparty/opencv-contrib-cuda/opencv-4.5.0-contrib-cuda11.1-cudnn8.0.4-vc15.exe
diff --git a/Appcast.xml b/Appcast.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="utf-8"?>
 <rss
-	version="1.3.1.1"
+	version="1.3.1.2"
 	xmlns:atom="http://www.w3.org/2005/Atom"
 	xmlns:sparkle="http://www.andymatuschak.org/xml-namespaces/sparkle"
 	xmlns:fervor="https://github.com/pypt/fervor"
@@ -14,8 +14,8 @@
 		<atom:link href="https://raw.githubusercontent.com/i3drobotics/stereo-vision-toolkit/master/Appcast.xml" rel="self" type="application/rss+xml" />
 
 		<item>
-			<title>Version 1.3.1.1</title>
-			<pubDate>Wed, 28 April 2021 11:03 +0000</pubDate>
+			<title>Version 1.3.1.2</title>
+			<pubDate>Thu, 6 May 2021 16:09 +0000</pubDate>
 			<guid isPermaLink="true">https://raw.githubusercontent.com/i3drobotics/stereo-vision-toolkit/master/ReleaseNotes.html</guid>
 
 			<!-- One of those (<link> is preferred by Fervor, <sparkle:releaseNotesLink> is used by Sparkle) -->
@@ -28,8 +28,8 @@
 
 			<!-- Windows version. -->
 			<enclosure
-				url="https://github.com/i3drobotics/stereo-vision-toolkit/releases/download/v1.3.1.1/StereoVisionToolkit-1.3.1.1-Win64.exe"
-				fervor:version="1.3.1.1"
+				url="https://github.com/i3drobotics/stereo-vision-toolkit/releases/download/v1.3.1.2/StereoVisionToolkit-1.3.1.2-Win64.exe"
+				fervor:version="1.3.1.2"
 				fervor:platform="Q_OS_WIN32"
 				length="121651640"
 				type="application/octet-stream" />

diff --git a/AppcastDev.xml b/AppcastDev.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="utf-8"?>
 <rss
-	version="1.3.1a.24"
+	version="1.3.1.2"
 	xmlns:atom="http://www.w3.org/2005/Atom"
 	xmlns:sparkle="http://www.andymatuschak.org/xml-namespaces/sparkle"
 	xmlns:fervor="https://github.com/i3drobotics/fervor"
@@ -14,8 +14,8 @@
 		<atom:link href="https://raw.githubusercontent.com/i3drobotics/stereo-vision-toolkit/dev/AppcastDev.xml" rel="self" type="application/rss+xml" />
 
 		<item>
-			<title>Version 1.3.1a.24</title>
-			<pubDate>Fri, 16 April 2021 15:29 +0000</pubDate>
+			<title>Version 1.3.1.2</title>
+			<pubDate>Thu, 6 May 2021 17:55 +0000</pubDate>
 			<guid isPermaLink="true">https://raw.githubusercontent.com/i3drobotics/stereo-vision-toolkit/dev/ReleaseNotesDev.html</guid>
 
 			<!-- One of those (<link> is preferred by Fervor, <sparkle:releaseNotesLink> is used by Sparkle) -->
@@ -28,8 +28,8 @@
 
 			<!-- Windows version. -->
 			<enclosure
-				url="https://github.com/i3drobotics/stereo-vision-toolkit/releases/download/v1.3.1a.24/StereoVisionToolkit-1.3.1a.24-Win64.exe"
-				fervor:version="1.3.1a.24"
+				url="https://github.com/i3drobotics/stereo-vision-toolkit/releases/download/v1.3.1.2/StereoVisionToolkit-1.3.1.2-Win64.exe"
+				fervor:version="1.3.1.2"
 				fervor:platform="Q_OS_WIN32"
 				length="1105468427"
 				type="application/octet-stream" />

diff --git a/README.md b/README.md
@@ -3,7 +3,7 @@
 [Software Website](https://i3drobotics.github.io/stereo-vision-toolkit/)
 
 ## Latest Release
-Download the latest release v1.3.1 [here](https://github.com/i3drobotics/stereo-vision-toolkit/releases/download/v1.3.1.1/StereoVisionToolkit-1.3.1.1-Win64.exe)
+Download the latest release v1.3.1 [here](https://github.com/i3drobotics/stereo-vision-toolkit/releases/download/v1.3.1.2/StereoVisionToolkit-1.3.1.2-Win64.exe)
 
 For detailed instructions see the [User Guide](https://i3drobotics.github.io/stereo-vision-toolkit/app/UserGuide.pdf)
 
@@ -34,7 +34,7 @@ We have included support for two of OpenCV's matchers: the basic block matcher a
 I3DR's own 3D matching algorithm (I3DRSGM) is also built into this application by default however a license is required to be able to run it. Please contact info@i3drobotics.com for requesting a license. 
 
 ## Installation
-Download and install the windows installer for the latest release [here](https://github.com/i3drobotics/stereo-vision-toolkit/releases/download/v1.3.1.1/StereoVisionToolkit-1.3.1.1-Win64.exe).
+Download and install the windows installer for the latest release [here](https://github.com/i3drobotics/stereo-vision-toolkit/releases/download/v1.3.1.2/StereoVisionToolkit-1.3.1.2-Win64.exe).
 
 See the [User Guide](https://i3drobotics.github.io/stereo-vision-toolkit/app/UserGuide.pdf) for details on using the software as well as building from source. 
 

diff --git a/ReleaseNotes.html b/ReleaseNotes.html
@@ -1,7 +1,7 @@
-Stereo Vision Toolkit v1.3.1.1
+Stereo Vision Toolkit v1.3.1.2
 
 Changes:
-- Update documentation
+- Update default matcher parameters for I3DRSGM
 
 Known issues:
 - ROS perception YAML's data arrays must be on single line in YAML file.

diff --git a/ReleaseNotesDev.html b/ReleaseNotesDev.html
@@ -1,10 +1,7 @@
-Stereo Vision Toolkit v1.3.1a.24 [Development release]
+Stereo Vision Toolkit v1.3.1.2 [Development release]
 
-Improvements:
-- Load/save YAML calibrations as ROS perception supported YAML (changed from OpenCV FileStorage yaml)
-
-Bug fixes:
-- Fix Titania frame sync issues
+Changes:
+- Update default matcher parameters for I3DRSGM
 
 Known Issues:
 - ROS perception YAML's data arrays must be on single line in YAML file.

diff --git a/ReleaseNotesDevTmp.html b/ReleaseNotesDevTmp.html
@@ -1,10 +1,7 @@
-Stereo Vision Toolkit v1.3.1a.24 [Development release]
+Stereo Vision Toolkit v1.3.1.2 [Development release]
 
-Improvements:
-- Load/save YAML calibrations as ROS perception supported YAML (changed from OpenCV FileStorage yaml)
-
-Bug fixes:
-- Fix Titania frame sync issues
+Changes:
+- Update default matcher parameters for I3DRSGM
 
 Known Issues:
 - ROS perception YAML's data arrays must be on single line in YAML file.

diff --git a/ReleaseNotesTmp.html b/ReleaseNotesTmp.html
@@ -1,35 +1,7 @@
-Stereo Vision Toolkit v1.3.1
+Stereo Vision Toolkit v1.3.1.2
 
 Changes:
-- Add ML detector using YOLO or Tensorflow
-- Add loading of stereo image pair from image files (.png, .jpg, .jpeg)
-- Add toggle to show epipolar lines for checking calibration
-- Add RGBD streaming using shared memory (for use with I3DRStereo3D Unity package)
-- Add I3DR Titania stereo camera support
-- Add Vimba camera integration
-- Add colour image capture to Basler cameras
-- Add point cloud texture options (depth colourmap or image)
-- Add colour to loading/saving stereo videos
-- Add about dialogue to show software version
-- Add separate camera capture and processing threads
-- Add video saving of individual camera images or disparity
-- Add WLS filter to OpenCV BM and SGBM matchers
-- Add hostname and hostID to license message if I3DRSGM license is not found
-- Add new camera serials
-- Change load/save YAML calibration to use ROS perception supported YAML (changed from OpenCV FileStorage yaml)
-- Upgrade to OpenCV v4.5.0
-- Upgrade to CUDA 11.1
-- Upgrade to I3DRSGM v1.0.11
-- Upgrade to using Pylon v6.1.1.18345 library for Basler cameras
-
-Bug fixes:
-- Fix YAML file generates invalid Q matrix
-- Fix missing link to online documentation
-- Fix overwriting image during save
-- Fix non rectified images saved with '_rect' suffix
-- Fix maximum point cloud z value being set incorrectly
-- Fix camera capture delay when processing load is high
-- Fix I3DRSGM failed to initalise when switching to camera with different resolution
+- Update default matcher parameters for I3DRSGM
 
 Known issues:
 - ROS perception YAML's data arrays must be on single line in YAML file.

diff --git a/docs/app/UserGuide.pdf b/docs/app/UserGuide.pdf
diff --git a/docs/userguide/UserGuide.docx b/docs/userguide/UserGuide.docx
diff --git a/src/matcher/widgets/matcherwidgeti3drsgm.cpp b/src/matcher/widgets/matcherwidgeti3drsgm.cpp
@@ -28,14 +28,15 @@ MatcherWidgetI3DRSGM::MatcherWidgetI3DRSGM(QWidget* parent)
     connect(ui->checkBoxExtendDisparity, SIGNAL(toggled(bool)), this,
             SLOT(enableExtendDisparity(bool)));
 
-    connect(ui->saveParametersButton, SIGNAL(clicked(bool)), this,
-            SLOT(onSaveClicked()));
+    // connect(ui->saveParametersButton, SIGNAL(clicked(bool)), this,
+    //         SLOT(onSaveClicked()));
+    ui->saveParametersButton->setVisible(false);
 
+    enableInterpolatation(ui->interpolateCheck->isChecked());
+    enableExtendDisparity(ui->checkBoxExtendDisparity->isChecked());
     updateBlockSize(ui->blockSizeSlider->value());
     updateMinDisparity(ui->minDisparitySlider->value());
     updateDisparityRange(ui->disparityRangeSlider->value());
-    enableInterpolatation(ui->interpolateCheck->isChecked());
-    enableExtendDisparity(ui->checkBoxExtendDisparity->isChecked());
     negative_disparity = ui->minDisparitySlider->value() <= 0;
     ui->checkBoxNegativeDisparity->setChecked(negative_disparity);
 

diff --git a/src/matcher/widgets/matcherwidgeti3drsgm.ui b/src/matcher/widgets/matcherwidgeti3drsgm.ui
@@ -130,6 +130,9 @@
        <property name="text">
         <string/>
        </property>
+       <property name="checked">
+        <bool>true</bool>
+       </property>
       </widget>
      </item>
      <item row="1" column="3">
@@ -271,13 +274,13 @@
         <number>1</number>
        </property>
        <property name="maximum">
-        <number>128</number>
+        <number>300</number>
        </property>
        <property name="singleStep">
         <number>1</number>
        </property>
        <property name="value">
-        <number>64</number>
+        <number>80</number>
        </property>
        <property name="orientation">
         <enum>Qt::Horizontal</enum>
@@ -425,7 +428,7 @@
         </size>
        </property>
        <property name="text">
-        <string>64</string>
+        <string>1280</string>
        </property>
        <property name="margin">
         <number>5</number>

diff --git a/src/matcher/widgets/matcherwidgetopencvblock.cpp b/src/matcher/widgets/matcherwidgetopencvblock.cpp
@@ -92,8 +92,10 @@ MatcherWidgetOpenCVBlock::MatcherWidgetOpenCVBlock(QWidget* parent)
     connect(ui->checkBoxWLSFilter, SIGNAL(toggled(bool)), this,
             SLOT(enableWLSFilter(bool)));
 
-    connect(ui->saveParametersButton, SIGNAL(clicked(bool)), this,
-            SLOT(onSaveClicked()));
+//    connect(ui->saveParametersButton, SIGNAL(clicked(bool)), this,
+//            SLOT(onSaveClicked()));
+
+    ui->saveParametersButton->setVisible(false);
 
 #ifdef WITH_OPENCV_CONTRIB
     ui->checkBoxWLSFilter->setVisible(true);

diff --git a/src/matcher/widgets/matcherwidgetopencvsgbm.cpp b/src/matcher/widgets/matcherwidgetopencvsgbm.cpp
@@ -83,8 +83,10 @@ MatcherWidgetOpenCVSGBM::MatcherWidgetOpenCVSGBM(QWidget* parent)
   connect(ui->checkBoxWLSFilter, SIGNAL(toggled(bool)), this,
           SLOT(enableWLSFilter(bool)));
 
-  connect(ui->saveParametersButton, SIGNAL(clicked(bool)), this,
-          SLOT(onSaveClicked()));
+//  connect(ui->saveParametersButton, SIGNAL(clicked(bool)), this,
+//          SLOT(onSaveClicked()));
+
+  ui->saveParametersButton->setVisible(false);
 
 #ifdef WITH_OPENCV_CONTRIB
     ui->checkBoxWLSFilter->setVisible(true);

diff --git a/src/svtkwindow.cpp b/src/svtkwindow.cpp
@@ -109,7 +109,7 @@ SVTKWindow::SVTKWindow(QWidget* parent)
     default_deimos_init_settings.packetDelay = -1;
     default_deimos_init_settings.packetSize = -1;
 
-    default_phobos_basler_usb_init_settings.exposure = 5;
+    default_phobos_basler_usb_init_settings.exposure = 2.5;
     default_phobos_basler_usb_init_settings.gain = 0;
     default_phobos_basler_usb_init_settings.fps = 10;
     default_phobos_basler_usb_init_settings.binning = 1;

diff --git a/version.txt b/version.txt
@@ -1 +1 @@
-1.3.1.1
+1.3.1.2