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Refactoring Registration: added RegistrationInfo class, pipeline registration. Camera source: create laser scan from depth image. Removed OdometryICP as the same behavior can be achieved with OdometryF2F and "Reg/Strategy" = 1 (ICP) or 2 (Vis+ICP).

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This commit is contained in:
matlabbe
2016-01-06 17:26:55 -05:00
parent 1c66ad1db2
commit 28d9bbb85d
35 changed files with 1209 additions and 1362 deletions
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82
guilib/src/CameraViewer.cpp
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@@ -30,6 +30,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/core/CameraEvent.h>
#include <rtabmap/core/util3d.h>
#include <rtabmap/core/util2d.h>
#include <rtabmap/core/util3d_filtering.h>
#include <rtabmap/gui/ImageView.h>
#include <rtabmap/gui/CloudViewer.h>
#include <rtabmap/utilite/UCv2Qt.h>
@@ -40,6 +41,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <QLabel>
#include <QSpinBox>
#include <QDialogButtonBox>
#include <QCheckBox>
#include <QPushButton>
namespace rtabmap {
@@ -66,13 +69,24 @@ CameraViewer::CameraViewer(QWidget * parent) :
decimationSpin_->setMaximum(16);
decimationSpin_->setValue(1);
pause_ = new QPushButton("Pause", this);
pause_->setCheckable(true);
showCloudCheckbox_ = new QCheckBox("Show RGB-D cloud", this);
showCloudCheckbox_->setEnabled(false);
showCloudCheckbox_->setChecked(true);
showScanCheckbox_ = new QCheckBox("Show scan", this);
showScanCheckbox_->setEnabled(false);
QDialogButtonBox * buttonBox = new QDialogButtonBox(this);
buttonBox->setStandardButtons(QDialogButtonBox::Close);
connect(buttonBox, SIGNAL(rejected()), this, SLOT(reject()));
QHBoxLayout * layout2 = new QHBoxLayout();
layout2->addWidget(pause_);
layout2->addWidget(decimationLabel);
layout2->addWidget(decimationSpin_);
layout2->addWidget(showCloudCheckbox_);
layout2->addWidget(showScanCheckbox_);
layout2->addStretch(1);
layout2->addWidget(buttonBox);
@@ -123,42 +137,68 @@ void CameraViewer::showImage(const rtabmap::SensorData & data)
{
imageView_->setImageDepth(uCvMat2QImage(util2d::decimate(data.depthOrRightRaw(), validDecimationValue_)));
}
if((data.stereoCameraModel().isValid() || (data.cameraModels().size() && data.cameraModels().at(0).isValid())))
if(!data.depthOrRightRaw().empty() &&
(data.stereoCameraModel().isValid() || (data.cameraModels().size() && data.cameraModels().at(0).isValid())))
{
if(!data.imageRaw().empty() && !data.depthOrRightRaw().empty())
if(showCloudCheckbox_->isChecked())
{
cloudView_->addOrUpdateCloud("cloud", util3d::cloudRGBFromSensorData(data, validDecimationValue_));
cloudView_->setVisible(true);
cloudView_->update();
}
else if(!data.depthOrRightRaw().empty())
{
cloudView_->addOrUpdateCloud("cloud", util3d::cloudFromSensorData(data, validDecimationValue_));
cloudView_->setVisible(true);
cloudView_->update();
if(!data.imageRaw().empty() && !data.depthOrRightRaw().empty())
{
showCloudCheckbox_->setEnabled(true);
cloudView_->addOrUpdateCloud("cloud", util3d::cloudRGBFromSensorData(data, validDecimationValue_));
}
else if(!data.depthOrRightRaw().empty())
{
showCloudCheckbox_->setEnabled(true);
cloudView_->addOrUpdateCloud("cloud", util3d::cloudFromSensorData(data, validDecimationValue_));
}
}
}
else
if(!data.laserScanRaw().empty())
{
cloudView_->setVisible(false);
showScanCheckbox_->setEnabled(true);
if(showScanCheckbox_->isChecked())
{
cloudView_->addOrUpdateCloud("scan", util3d::downsample(util3d::laserScanToPointCloud(data.laserScanRaw()), validDecimationValue_), Transform::getIdentity(), Qt::yellow);
}
}
cloudView_->setVisible(showCloudCheckbox_->isEnabled() || showScanCheckbox_->isEnabled());
if(showCloudCheckbox_->isEnabled() || showScanCheckbox_->isEnabled())
{
cloudView_->update();
}
if(cloudView_->getAddedClouds().contains("cloud"))
{
cloudView_->setCloudVisibility("cloud", showCloudCheckbox_->isChecked());
}
if(cloudView_->getAddedClouds().contains("scan"))
{
cloudView_->setCloudVisibility("scan", showScanCheckbox_->isChecked());
}
processingImages_ = false;
}
void CameraViewer::handleEvent(UEvent * event)
{
if(event->getClassName().compare("CameraEvent") == 0)
if(!pause_->isChecked())
{
CameraEvent * camEvent = (CameraEvent*)event;
if(camEvent->getCode() == CameraEvent::kCodeData)
if(event->getClassName().compare("CameraEvent") == 0)
{
if(camEvent->data().isValid())
CameraEvent * camEvent = (CameraEvent*)event;
if(camEvent->getCode() == CameraEvent::kCodeData)
{
if(!processingImages_ && this->isVisible() && camEvent->data().isValid())
if(camEvent->data().isValid())
{
processingImages_ = true;
QMetaObject::invokeMethod(this, "showImage",
Q_ARG(rtabmap::SensorData, camEvent->data()));
if(!processingImages_ && this->isVisible() && camEvent->data().isValid())
{
processingImages_ = true;
QMetaObject::invokeMethod(this, "showImage",
Q_ARG(rtabmap::SensorData, camEvent->data()));
}
}
}
}