From d8ebbc2645b68b4735d030ff2ceba162499918bc Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Sun, 13 Dec 2020 15:27:17 -0500
Subject: [PATCH] CameraK4A: rectifying color image (this improves a lot visual
 odometry accuracy)

---
 corelib/src/camera/CameraK4A.cpp   |  5 +++--
 guilib/src/ui/preferencesDialog.ui | 25 ++++++++++++++++++++-----
 2 files changed, 23 insertions(+), 7 deletions(-)

diff --git a/corelib/src/camera/CameraK4A.cpp b/corelib/src/camera/CameraK4A.cpp
index 73f47836e2..fffd90b69b 100644
--- a/corelib/src/camera/CameraK4A.cpp
+++ b/corelib/src/camera/CameraK4A.cpp
@@ -286,8 +286,6 @@ bool CameraK4A::init(const std::string & calibrationFolder, const std::string &
 				cv::Size(calibration_.depth_camera_calibration.resolution_width, calibration_.depth_camera_calibration.resolution_height),
 				K,D,R,P,
 				this->getLocalTransform());
-		UASSERT(model_.isValidForRectification());
-		model_.initRectificationMap();
 	}
 	else
 	{
@@ -317,6 +315,8 @@ bool CameraK4A::init(const std::string & calibrationFolder, const std::string &
 				K,D,R,P,
 				this->getLocalTransform());
 	}
+	UASSERT(model_.isValidForRectification());
+	model_.initRectificationMap();
 
 	if (ULogger::level() <= ULogger::kInfo)
 	{
@@ -490,6 +490,7 @@ SensorData CameraK4A::captureImage(CameraInfo * info)
 
 				cv::cvtColor(bgra, bgrCV, CV_BGRA2BGR);
 			}
+			bgrCV = model_.rectifyImage(bgrCV);
 
 			// Release the image
 			k4a_image_release(rgb_image_);
diff --git a/guilib/src/ui/preferencesDialog.ui b/guilib/src/ui/preferencesDialog.ui
index 9f621a4af1..2ea46cdcd6 100644
--- a/guilib/src/ui/preferencesDialog.ui
+++ b/guilib/src/ui/preferencesDialog.ui
@@ -63,7 +63,7 @@
           <property name="geometry">
            <rect>
             <x>0</x>
-            <y>0</y>
+            <y>-677</y>
             <width>686</width>
             <height>3286</height>
            </rect>
@@ -95,7 +95,7 @@
                 <enum>QFrame::Raised</enum>
                </property>
                <property name="currentIndex">
-                <number>10</number>
+                <number>5</number>
                </property>
                <widget class="QWidget" name="page_22">
                 <layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -3220,7 +3220,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                            <item>
                             <widget class="QStackedWidget" name="stackedWidget_rgbd">
                              <property name="currentIndex">
-                              <number>9</number>
+                              <number>10</number>
                              </property>
                              <widget class="QWidget" name="page_32">
                               <layout class="QVBoxLayout" name="verticalLayout_63">
@@ -4476,6 +4476,9 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                                     <property name="text">
                                      <string>Frames per second</string>
                                     </property>
+                                    <property name="textInteractionFlags">
+                                     <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                                    </property>
                                    </widget>
                                   </item>
                                   <item row="5" column="0">
@@ -4567,11 +4570,14 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                                   <item row="3" column="2">
                                    <widget class="QLabel" name="label_558">
                                     <property name="text">
-                                     <string>Use IR for RGB image (odometry may be better)</string>
+                                     <string>Use IR for RGB image (may work better in dark areas).</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="1">
@@ -4606,12 +4612,21 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                                     <property name="wordWrap">
                                      <bool>true</bool>
                                     </property>
+                                    <property name="textInteractionFlags">
+                                     <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                                    </property>
                                    </widget>
                                   </item>
                                   <item row="0" column="2">
                                    <widget class="QLabel" name="label_600">
                                     <property name="text">
-                                     <string>RGB camera resolution</string>
+                                     <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;RGB camera resolution. Note that when color camera is used (IR mode is not checked below), to &lt;span style=&quot; font-weight:600;&quot;&gt;avoid black borders in point clouds&lt;/span&gt; generated, set ROI ratios under 3D Rendering settings to &amp;quot;0.05 0.05 0.05 0.05&amp;quot; under Map and Odom columns.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                                    </property>
+                                    <property name="wordWrap">
+                                     <bool>true</bool>
+                                    </property>
+                                    <property name="textInteractionFlags">
+                                     <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
                                     </property>
                                    </widget>
                                   </item>