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databaseViewer: updated default ICP parameters, and optimized view of the constraints while refining

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1853 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-10-14 21:06:30 +00:00
parent 8b67633b34
commit 07f4edff3b
2 changed files with 196 additions and 145 deletions
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331
guilib/src/DatabaseViewer.cpp
View File

@@ -1055,7 +1055,8 @@ void DatabaseViewer::update(int value,
QLabel * labelParents,
QLabel * labelChildren,
rtabmap::ImageView * view,
QLabel * labelId)
QLabel * labelId,
bool updateConstraintView)
{
UTimer timer;
labelIndex->setText(QString::number(value));
@@ -1160,56 +1161,59 @@ void DatabaseViewer::update(int value,
updateConstraintButtons();
updateWordsMatching();
// update constraint view
int from = ids_.at(ui_->horizontalSlider_A->value());
int to = ids_.at(ui_->horizontalSlider_B->value());
bool set = false;
for(int i=0; i<loopLinks_.size() || i<neighborLinks_.size(); ++i)
if(updateConstraintView)
{
if(i < loopLinks_.size())
// update constraint view
int from = ids_.at(ui_->horizontalSlider_A->value());
int to = ids_.at(ui_->horizontalSlider_B->value());
bool set = false;
for(int i=0; i<loopLinks_.size() || i<neighborLinks_.size(); ++i)
{
if((loopLinks_[i].from() == from && loopLinks_[i].to() == to) ||
(loopLinks_[i].from() == to && loopLinks_[i].to() == from))
if(i < loopLinks_.size())
{
if(i != ui_->horizontalSlider_loops->value())
if((loopLinks_[i].from() == from && loopLinks_[i].to() == to) ||
(loopLinks_[i].from() == to && loopLinks_[i].to() == from))
{
ui_->horizontalSlider_loops->setValue(i);
if(i != ui_->horizontalSlider_loops->value())
{
ui_->horizontalSlider_loops->setValue(i);
}
ui_->horizontalSlider_neighbors->blockSignals(true);
ui_->horizontalSlider_neighbors->setValue(0);
ui_->horizontalSlider_neighbors->blockSignals(false);
set = true;
break;
}
}
if(i < neighborLinks_.size())
{
if((neighborLinks_[i].from() == from && neighborLinks_[i].to() == to) ||
(neighborLinks_[i].from() == to && neighborLinks_[i].to() == from))
{
if(i != ui_->horizontalSlider_neighbors->value())
{
ui_->horizontalSlider_neighbors->setValue(i);
}
ui_->horizontalSlider_loops->blockSignals(true);
ui_->horizontalSlider_loops->setValue(0);
ui_->horizontalSlider_loops->blockSignals(false);
set = true;
break;
}
ui_->horizontalSlider_neighbors->blockSignals(true);
ui_->horizontalSlider_neighbors->setValue(0);
ui_->horizontalSlider_neighbors->blockSignals(false);
set = true;
break;
}
}
if(i < neighborLinks_.size())
if(!set)
{
if((neighborLinks_[i].from() == from && neighborLinks_[i].to() == to) ||
(neighborLinks_[i].from() == to && neighborLinks_[i].to() == from))
{
if(i != ui_->horizontalSlider_neighbors->value())
{
ui_->horizontalSlider_neighbors->setValue(i);
}
ui_->horizontalSlider_loops->blockSignals(true);
ui_->horizontalSlider_loops->setValue(0);
ui_->horizontalSlider_loops->blockSignals(false);
set = true;
break;
}
ui_->horizontalSlider_loops->blockSignals(true);
ui_->horizontalSlider_neighbors->blockSignals(true);
ui_->horizontalSlider_loops->setValue(0);
ui_->horizontalSlider_neighbors->setValue(0);
ui_->constraintsViewer->removeAllClouds();
ui_->constraintsViewer->render();
ui_->horizontalSlider_loops->blockSignals(false);
ui_->horizontalSlider_neighbors->blockSignals(false);
}
}
if(!set)
{
ui_->horizontalSlider_loops->blockSignals(true);
ui_->horizontalSlider_neighbors->blockSignals(true);
ui_->horizontalSlider_loops->setValue(0);
ui_->horizontalSlider_neighbors->setValue(0);
ui_->constraintsViewer->removeAllClouds();
ui_->constraintsViewer->render();
ui_->horizontalSlider_loops->blockSignals(false);
ui_->horizontalSlider_neighbors->blockSignals(false);
}
if(rect.isValid())
{
@@ -1313,7 +1317,9 @@ void DatabaseViewer::sliderLoopValueChanged(int value)
this->updateConstraintView(loopLinks_.at(value));
}
void DatabaseViewer::updateConstraintView(const rtabmap::Link & link)
void DatabaseViewer::updateConstraintView(const rtabmap::Link & link,
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloudFrom,
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloudTo)
{
std::multimap<int, Link>::iterator iter = findLink(linksRefined_, link.from(), link.to());
rtabmap::Transform t = link.transform();
@@ -1327,139 +1333,178 @@ void DatabaseViewer::updateConstraintView(const rtabmap::Link & link)
ui_->label_constraint->setText(t.prettyPrint().c_str());
bool updateA = false;
bool updateB = false;
ui_->horizontalSlider_A->blockSignals(true);
ui_->horizontalSlider_B->blockSignals(true);
if(ui_->horizontalSlider_A->value() == idToIndex_.value(link.from()))
{
ui_->horizontalSlider_B->setValue(idToIndex_.value(link.to()));
updateB=true;
}
else if(ui_->horizontalSlider_A->value() == idToIndex_.value(link.to()))
{
ui_->horizontalSlider_B->setValue(idToIndex_.value(link.from()));
updateB=true;
}
else if(ui_->horizontalSlider_B->value() == idToIndex_.value(link.from()))
{
ui_->horizontalSlider_A->setValue(idToIndex_.value(link.to()));
updateA = true;
}
else if(ui_->horizontalSlider_B->value() == idToIndex_.value(link.to()))
{
ui_->horizontalSlider_A->setValue(idToIndex_.value(link.from()));
updateA=true;
}
else
{
ui_->horizontalSlider_A->blockSignals(true);
ui_->horizontalSlider_B->blockSignals(true);
ui_->horizontalSlider_A->setValue(idToIndex_.value(link.from()));
ui_->horizontalSlider_B->setValue(idToIndex_.value(link.to()));
ui_->horizontalSlider_A->blockSignals(false);
ui_->horizontalSlider_B->blockSignals(false);
sliderAValueChanged(idToIndex_.value(link.from()));
sliderBValueChanged(idToIndex_.value(link.to()));
updateA=updateB=true;
}
ui_->horizontalSlider_A->blockSignals(false);
ui_->horizontalSlider_B->blockSignals(false);
if(updateA)
{
this->update(idToIndex_.value(link.from()),
ui_->label_indexA,
ui_->label_parentsA,
ui_->label_childrenA,
ui_->graphicsView_A,
ui_->label_idA,
false); // don't update constraints view!
}
if(updateB)
{
this->update(idToIndex_.value(link.to()),
ui_->label_indexB,
ui_->label_parentsB,
ui_->label_childrenB,
ui_->graphicsView_B,
ui_->label_idB,
false); // don't update constraints view!
}
float fxA, fyA, cxA, cyA;
float fxB, fyB, cxB, cyB;
rtabmap::Transform localTransformA, localTransformB;
std::vector<unsigned char> imageBytesA, depthBytesA, depth2dBytesA;
memory_->getImageDepth(link.from(), imageBytesA, depthBytesA, depth2dBytesA, fxA, fyA, cxA, cyA, localTransformA);
cv::Mat imageA = rtabmap::util3d::uncompressImage(imageBytesA);
cv::Mat depthA = rtabmap::util3d::uncompressImage(depthBytesA);
cv::Mat depth2dA = rtabmap::util3d::uncompressData(depth2dBytesA);
UASSERT(imageA.empty() || imageA.type()==CV_8UC3 || imageA.type() == CV_8UC1);
UASSERT(depthA.empty() || depthA.type()==CV_8UC1 || depthA.type() == CV_16UC1 || depthA.type() == CV_32FC1);
std::vector<unsigned char> imageBytesB, depthBytesB, depth2dBytesB;
memory_->getImageDepth(link.to(), imageBytesB, depthBytesB, depth2dBytesB, fxB, fyB, cxB, cyB, localTransformB);
cv::Mat imageB = rtabmap::util3d::uncompressImage(imageBytesB);
cv::Mat depthB = rtabmap::util3d::uncompressImage(depthBytesB);
cv::Mat depth2dB = rtabmap::util3d::uncompressData(depth2dBytesB);
//cloud 3d
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudA;
if(depthA.type() == CV_8UC1)
if(cloudFrom->size() == 0 && cloudTo->size() == 0)
{
cv::Mat leftImg;
if(imageA.channels() == 3)
float fxA, fyA, cxA, cyA;
float fxB, fyB, cxB, cyB;
rtabmap::Transform localTransformA, localTransformB;
std::vector<unsigned char> imageBytesA, depthBytesA, depth2dBytesA;
memory_->getImageDepth(link.from(), imageBytesA, depthBytesA, depth2dBytesA, fxA, fyA, cxA, cyA, localTransformA);
cv::Mat imageA = rtabmap::util3d::uncompressImage(imageBytesA);
cv::Mat depthA = rtabmap::util3d::uncompressImage(depthBytesA);
cv::Mat depth2dA = rtabmap::util3d::uncompressData(depth2dBytesA);
UASSERT(imageA.empty() || imageA.type()==CV_8UC3 || imageA.type() == CV_8UC1);
UASSERT(depthA.empty() || depthA.type()==CV_8UC1 || depthA.type() == CV_16UC1 || depthA.type() == CV_32FC1);
std::vector<unsigned char> imageBytesB, depthBytesB, depth2dBytesB;
memory_->getImageDepth(link.to(), imageBytesB, depthBytesB, depth2dBytesB, fxB, fyB, cxB, cyB, localTransformB);
cv::Mat imageB = rtabmap::util3d::uncompressImage(imageBytesB);
cv::Mat depthB = rtabmap::util3d::uncompressImage(depthBytesB);
cv::Mat depth2dB = rtabmap::util3d::uncompressData(depth2dBytesB);
//cloud 3d
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudA;
if(depthA.type() == CV_8UC1)
{
cv::cvtColor(imageA, leftImg, CV_BGR2GRAY);
cv::Mat leftImg;
if(imageA.channels() == 3)
{
cv::cvtColor(imageA, leftImg, CV_BGR2GRAY);
}
else
{
leftImg = imageA;
}
cv::Mat disparity = util3d::disparityFromStereoImages(leftImg, depthA);
cloudA = rtabmap::util3d::cloudFromDisparityRGB(
imageA,
disparity,
cxA, cyA,
fxA, fyA,
1);
}
else
{
leftImg = imageA;
cloudA = rtabmap::util3d::cloudFromDepthRGB(
imageA,
depthA,
cxA, cyA,
fxA, fyA,
1);
}
cv::Mat disparity = util3d::disparityFromStereoImages(leftImg, depthA);
cloudA = rtabmap::util3d::cloudFromDisparityRGB(
imageA,
disparity,
cxA, cyA,
fxA, fyA,
1);
}
else
{
cloudA = rtabmap::util3d::cloudFromDepthRGB(
imageA,
depthA,
cxA, cyA,
fxA, fyA,
1);
}
cloudA = rtabmap::util3d::removeNaNFromPointCloud(cloudA);
cloudA = rtabmap::util3d::transformPointCloud(cloudA, localTransformA);
cloudA = rtabmap::util3d::removeNaNFromPointCloud(cloudA);
cloudA = rtabmap::util3d::transformPointCloud(cloudA, localTransformA);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudB;
if(depthB.type() == CV_8UC1)
{
cv::Mat leftImg;
if(imageB.channels() == 3)
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudB;
if(depthB.type() == CV_8UC1)
{
cv::cvtColor(imageB, leftImg, CV_BGR2GRAY);
cv::Mat leftImg;
if(imageB.channels() == 3)
{
cv::cvtColor(imageB, leftImg, CV_BGR2GRAY);
}
else
{
leftImg = imageB;
}
cloudB = rtabmap::util3d::cloudFromDisparityRGB(
imageB,
util3d::disparityFromStereoImages(leftImg, depthB),
cxB, cyB,
fxB, fyB,
1);
}
else
{
leftImg = imageB;
cloudB = rtabmap::util3d::cloudFromDepthRGB(
imageB,
depthB,
cxB, cyB,
fxB, fyB,
1);
}
cloudB = rtabmap::util3d::removeNaNFromPointCloud(cloudB);
cloudB = rtabmap::util3d::transformPointCloud(cloudB, t*localTransformB);
//cloud 2d
pcl::PointCloud<pcl::PointXYZ>::Ptr scanA, scanB;
scanA = rtabmap::util3d::depth2DToPointCloud(depth2dA);
scanB = rtabmap::util3d::depth2DToPointCloud(depth2dB);
scanB = rtabmap::util3d::transformPointCloud(scanB, t);
if(cloudA->size())
{
ui_->constraintsViewer->addOrUpdateCloud("cloud0", cloudA);
}
if(cloudB->size())
{
ui_->constraintsViewer->addOrUpdateCloud("cloud1", cloudB);
}
if(scanA->size())
{
ui_->constraintsViewer->addOrUpdateCloud("scan0", scanA);
}
if(scanB->size())
{
ui_->constraintsViewer->addOrUpdateCloud("scan1", scanB);
}
cloudB = rtabmap::util3d::cloudFromDisparityRGB(
imageB,
util3d::disparityFromStereoImages(leftImg, depthB),
cxB, cyB,
fxB, fyB,
1);
}
else
{
cloudB = rtabmap::util3d::cloudFromDepthRGB(
imageB,
depthB,
cxB, cyB,
fxB, fyB,
1);
}
cloudB = rtabmap::util3d::removeNaNFromPointCloud(cloudB);
cloudB = rtabmap::util3d::transformPointCloud(cloudB, t*localTransformB);
//cloud 2d
pcl::PointCloud<pcl::PointXYZ>::Ptr scanA, scanB;
scanA = rtabmap::util3d::depth2DToPointCloud(depth2dA);
scanB = rtabmap::util3d::depth2DToPointCloud(depth2dB);
scanB = rtabmap::util3d::transformPointCloud(scanB, t);
if(cloudA->size())
{
ui_->constraintsViewer->addOrUpdateCloud("cloud0", cloudA);
}
if(cloudB->size())
{
ui_->constraintsViewer->addOrUpdateCloud("cloud1", cloudB);
}
if(scanA->size())
{
ui_->constraintsViewer->addOrUpdateCloud("scan0", scanA);
}
if(scanB->size())
{
ui_->constraintsViewer->addOrUpdateCloud("scan1", scanB);
if(cloudFrom->size())
{
ui_->constraintsViewer->addOrUpdateCloud("cloud0", cloudFrom);
}
if(cloudTo->size())
{
ui_->constraintsViewer->addOrUpdateCloud("cloud1", cloudTo);
}
}
ui_->constraintsViewer->render();
@@ -1703,6 +1748,8 @@ void DatabaseViewer::refineConstraint(int from, int to)
std::vector<unsigned char> imageBytesB, depthBytesB, depth2dBytesB;
memory_->getImageDepth(currentLink.to(), imageBytesB, depthBytesB, depth2dBytesB, fxB, fyB, cxB, cyB, localTransformB);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloudA(new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloudB(new pcl::PointCloud<pcl::PointXYZ>);
if(ui_->checkBox_icp_2d->isChecked())
{
//2D
@@ -1739,14 +1786,14 @@ void DatabaseViewer::refineConstraint(int from, int to)
cv::Mat depthA = rtabmap::util3d::uncompressImage(depthBytesA);
cv::Mat depthB = rtabmap::util3d::uncompressImage(depthBytesB);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloudA = util3d::getICPReadyCloud(depthA,
cloudA = util3d::getICPReadyCloud(depthA,
fxA, fyA, cxA, cyA,
ui_->spinBox_icp_decimation->value(),
ui_->doubleSpinBox_icp_maxDepth->value(),
ui_->doubleSpinBox_icp_voxel->value(),
0, // no sampling
localTransformA);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloudB = util3d::getICPReadyCloud(depthB,
cloudB = util3d::getICPReadyCloud(depthB,
fxB, fyB, cxB, cyB,
ui_->spinBox_icp_decimation->value(),
ui_->doubleSpinBox_icp_maxDepth->value(),
@@ -1811,7 +1858,11 @@ void DatabaseViewer::refineConstraint(int from, int to)
{
linksRefined_.insert(std::make_pair<int, Link>(newLink.from(), newLink));
}
this->updateConstraintView(newLink);
if(ui_->dockWidget_constraints->isVisible())
{
cloudB = util3d::transformPointCloud(cloudB, transform);
this->updateConstraintView(newLink, cloudA, cloudB);
}
}
else
{

10
guilib/src/ui/DatabaseViewer.ui
View File

@@ -7,7 +7,7 @@
<x>0</x>
<y>0</y>
<width>1076</width>
<height>665</height>
<height>675</height>
</rect>
</property>
<property name="windowTitle">
@@ -565,10 +565,10 @@
<number>1</number>
</property>
<property name="maximum">
<number>8</number>
<number>16</number>
</property>
<property name="value">
<number>4</number>
<number>8</number>
</property>
</widget>
</item>
@@ -614,7 +614,7 @@
<double>1.000000000000000</double>
</property>
<property name="value">
<double>0.005000000000000</double>
<double>0.010000000000000</double>
</property>
</widget>
</item>
@@ -670,7 +670,7 @@
<string/>
</property>
<property name="checked">
<bool>true</bool>
<bool>false</bool>
</property>
</widget>
</item>