i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 17:40:23 +08:00
Code Issues Packages Projects Releases Wiki Activity

Refactored GainCompensator. Export Dialog: Added option to do full gain compensation with all locations.

Browse Source
This commit is contained in:
matlabbe
2016-10-26 19:03:44 -04:00
parent d102c43f9a
commit 185f03985e
3 changed files with 229 additions and 77 deletions
Download Patch File Download Diff File Expand all files Collapse all files

28
guilib/src/ExportCloudsDialog.cpp
View File

@@ -113,6 +113,7 @@ ExportCloudsDialog::ExportCloudsDialog(QWidget *parent) :
connect(_ui->doubleSpinBox_gainOverlap, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_gainAlpha, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_gainBeta, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->checkBox_gainLinkedLocationsOnly, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->groupBox_meshing, SIGNAL(clicked(bool)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_gp3Radius, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
@@ -208,6 +209,7 @@ void ExportCloudsDialog::saveSettings(QSettings & settings, const QString & grou
settings.setValue("gain_overlap", _ui->doubleSpinBox_gainOverlap->value());
settings.setValue("gain_alpha", _ui->doubleSpinBox_gainAlpha->value());
settings.setValue("gain_beta", _ui->doubleSpinBox_gainBeta->value());
settings.setValue("gain_linked_locations", _ui->checkBox_gainLinkedLocationsOnly->isChecked());
settings.setValue("mesh", _ui->groupBox_meshing->isChecked());
settings.setValue("mesh_radius", _ui->doubleSpinBox_gp3Radius->value());
@@ -271,6 +273,7 @@ void ExportCloudsDialog::loadSettings(QSettings & settings, const QString & grou
_ui->doubleSpinBox_gainOverlap->setValue(settings.value("gain_overlap", _ui->doubleSpinBox_gainOverlap->value()).toDouble());
_ui->doubleSpinBox_gainAlpha->setValue(settings.value("gain_alpha", _ui->doubleSpinBox_gainAlpha->value()).toDouble());
_ui->doubleSpinBox_gainBeta->setValue(settings.value("gain_beta", _ui->doubleSpinBox_gainBeta->value()).toDouble());
_ui->checkBox_gainLinkedLocationsOnly->setChecked(settings.value("gain_linked_locations", _ui->checkBox_gainLinkedLocationsOnly->isChecked()).toBool());
_ui->groupBox_meshing->setChecked(settings.value("mesh", _ui->groupBox_meshing->isChecked()).toBool());
_ui->doubleSpinBox_gp3Radius->setValue(settings.value("mesh_radius", _ui->doubleSpinBox_gp3Radius->value()).toDouble());
@@ -327,11 +330,12 @@ void ExportCloudsDialog::restoreDefaults()
_ui->doubleSpinBox_dilationVoxelSize->setValue(0.01);
_ui->spinBox_dilationSteps->setValue(0);
_ui->groupBox_gain->setChecked(true);
_ui->groupBox_gain->setChecked(false);
_ui->doubleSpinBox_gainRadius->setValue(0.02);
_ui->doubleSpinBox_gainOverlap->setValue(0.05);
_ui->doubleSpinBox_gainAlpha->setValue(0.01);
_ui->doubleSpinBox_gainBeta->setValue(10);
_ui->checkBox_gainLinkedLocationsOnly->setChecked(false);
_ui->groupBox_meshing->setChecked(false);
_ui->doubleSpinBox_gp3Radius->setValue(0.04);
@@ -713,7 +717,27 @@ bool ExportCloudsDialog::getExportedClouds(
QApplication::processEvents();
QApplication::processEvents();
compensator.feed(clouds, links);
if(!_ui->checkBox_gainLinkedLocationsOnly->isChecked())
{
std::multimap<int, Link> allLinks;
for(std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> >::const_iterator iter=clouds.begin(); iter!=clouds.end(); ++iter)
{
int from = iter->first;
std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> >::const_iterator jter = iter;
++jter;
for(;jter!=clouds.end(); ++jter)
{
int to = jter->first;
allLinks.insert(std::make_pair(from, Link(from, to, Link::kUserClosure, poses.at(from).inverse()*poses.at(to))));
}
}
compensator.feed(clouds, allLinks);
}
else
{
compensator.feed(clouds, links);
}
_progressDialog->appendText(tr("Applying gain compensation..."));
for(std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> >::iterator jter=clouds.begin();jter!=clouds.end(); ++jter)