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Added OSF file support. Added ability to pause lidar capture if from file. Updated Preferences->"test odometry" button to support lidar only or both.

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This commit is contained in:
matlabbe
2024-08-24 20:23:38 -07:00
parent fc61efbc47
commit 29f0565b5c
7 changed files with 272 additions and 166 deletions
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17
guilib/src/OdometryViewer.cpp
View File

@@ -185,6 +185,8 @@ void OdometryViewer::processData(const rtabmap::OdometryEvent & odom)
bool lost = false;
bool lostStateChanged = false;
imageView_->setVisible(!odom.data().imageRaw().empty() || !odom.data().depthOrRightRaw().empty());
if(odom.pose().isNull())
{
UDEBUG("odom lost"); // use last pose
@@ -211,7 +213,7 @@ void OdometryViewer::processData(const rtabmap::OdometryEvent & odom)
cloudView_->setBackgroundColor(Qt::black);
}
timeLabel_->setText(QString("%1 s").arg(odom.info().timeEstimation));
timeLabel_->setText(QString("%1 s").arg(odom.info().timeEstimation));
if(cloudShown_->isChecked() &&
!odom.data().imageRaw().empty() &&
@@ -219,8 +221,8 @@ void OdometryViewer::processData(const rtabmap::OdometryEvent & odom)
(odom.data().stereoCameraModels().size() || odom.data().cameraModels().size()))
{
UDEBUG("New pose = %s, quality=%d", odom.pose().prettyPrint().c_str(), quality);
if(!odom.data().depthRaw().empty())
if(!odom.data().depthRaw().empty())
{
if(odom.data().imageRaw().cols % decimationSpin_->value() == 0 &&
odom.data().imageRaw().rows % decimationSpin_->value() == 0)
@@ -238,14 +240,14 @@ void OdometryViewer::processData(const rtabmap::OdometryEvent & odom)
}
}
else
{
validDecimationValue_ = decimationSpin_->value();
{
validDecimationValue_ = decimationSpin_->value();
}
// visualization: buffering the clouds
// Create the new cloud
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
pcl::IndicesPtr validIndices(new std::vector<int>);
pcl::IndicesPtr validIndices(new std::vector<int>);
cloud = util3d::cloudRGBFromSensorData(
odom.data(),
validDecimationValue_,
@@ -257,7 +259,7 @@ void OdometryViewer::processData(const rtabmap::OdometryEvent & odom)
if(voxelSpin_->value())
{
cloud = util3d::voxelize(cloud, validIndices, voxelSpin_->value());
}
}
if(cloud->size())
{
@@ -489,6 +491,7 @@ void OdometryViewer::processData(const rtabmap::OdometryEvent & odom)
imageView_->update();
cloudView_->update();
cloudView_->refreshView();
QApplication::processEvents();
processingData_ = false;
}

60
guilib/src/PreferencesDialog.cpp
View File

@@ -4810,10 +4810,14 @@ void PreferencesDialog::selectOusterPcapPath()
{
dir = getWorkingDirectory();
}
QString path = QFileDialog::getOpenFileName(this, tr("Select file"), dir, tr("Ouster recording (*.pcap)"));
QString path = QFileDialog::getOpenFileName(this, tr("Select file"), dir, tr("Ouster recording (*.pcap *.osf)"));
if (!path.isEmpty())
{
_ui->lineEdit_ouster_pcap_path->setText(path);
if(QFileInfo(path).suffix() == "pcap")
{
selectOusterJsonPath();
}
}
}
@@ -7115,10 +7119,12 @@ Lidar * PreferencesDialog::createLidar()
{
if(!_ui->lineEdit_ouster_pcap_path->text().isEmpty())
{
// PCAP mode
// PCAP/OSF mode
lidar = new LidarOuster(
_ui->lineEdit_ouster_pcap_path->text().toStdString(),
_ui->lineEdit_ouster_json_path->text().toStdString(),
0, // lidar mode ignored
0, // timestamp mode ignored
_ui->checkBox_ouster_reflectivity->isChecked(),
_ui->checkBox_ouster_imu->isChecked(),
this->getGeneralInputRate(),
@@ -7130,9 +7136,9 @@ Lidar * PreferencesDialog::createLidar()
lidar = new LidarOuster(
_ui->lineEdit_ouster_ip_hostname->text().toStdString(),
"", // data destination ignored
_ui->comboBox_ouster_lidar_mode->currentIndex(),
_ui->comboBox_ouster_timestamp->currentIndex(),
"", // data destination
_ui->checkBox_ouster_reflectivity->isChecked(),
_ui->checkBox_ouster_imu->isChecked(),
this->getGeneralInputRate(),
@@ -7297,8 +7303,9 @@ void PreferencesDialog::setSLAMMode(bool enabled)
void PreferencesDialog::testOdometry()
{
Camera * camera = this->createCamera();
if(!camera)
Camera * camera = this->getSourceDriver()!=-1?this->createCamera():0;
Lidar * lidar = this->getLidarSourceDriver()!=-1?this->createLidar():0;
if(!camera && !lidar)
{
return;
}
@@ -7356,18 +7363,30 @@ void PreferencesDialog::testOdometry()
odomViewer->resize(1280, 480+QPushButton().minimumHeight());
odomViewer->registerToEventsManager();
SensorCaptureThread cameraThread(camera, this->getAllParameters()); // take ownership of camera
cameraThread.setMirroringEnabled(isSourceMirroring());
cameraThread.setColorOnly(_ui->checkbox_rgbd_colorOnly->isChecked());
cameraThread.setImageDecimation(_ui->spinBox_source_imageDecimation->value());
cameraThread.setHistogramMethod(_ui->comboBox_source_histogramMethod->currentIndex());
SensorCaptureThread * cameraThread;
if(lidar && camera)
{
cameraThread = new SensorCaptureThread(lidar, camera, this->getAllParameters()); // take ownership of lidar and camera
}
else if(camera)
{
cameraThread = new SensorCaptureThread(camera, this->getAllParameters()); // take ownership of camera
}
else // lidar
{
cameraThread = new SensorCaptureThread(lidar, this->getAllParameters()); // take ownership of lidar
}
cameraThread->setMirroringEnabled(isSourceMirroring());
cameraThread->setColorOnly(_ui->checkbox_rgbd_colorOnly->isChecked());
cameraThread->setImageDecimation(_ui->spinBox_source_imageDecimation->value());
cameraThread->setHistogramMethod(_ui->comboBox_source_histogramMethod->currentIndex());
if(_ui->checkbox_source_feature_detection->isChecked())
{
cameraThread.enableFeatureDetection(this->getAllParameters());
cameraThread->enableFeatureDetection(this->getAllParameters());
}
cameraThread.setStereoToDepth(_ui->checkbox_stereo_depthGenerated->isChecked());
cameraThread.setStereoExposureCompensation(_ui->checkBox_stereo_exposureCompensation->isChecked());
cameraThread.setScanParameters(
cameraThread->setStereoToDepth(_ui->checkbox_stereo_depthGenerated->isChecked());
cameraThread->setStereoExposureCompensation(_ui->checkBox_stereo_exposureCompensation->isChecked());
cameraThread->setScanParameters(
_ui->checkBox_source_scanFromDepth->isChecked(),
_ui->spinBox_source_scanDownsampleStep->value(),
_ui->doubleSpinBox_source_scanRangeMin->value(),
@@ -7379,23 +7398,23 @@ void PreferencesDialog::testOdometry()
_ui->checkBox_source_scanDeskewing->isChecked());
if(_ui->comboBox_imuFilter_strategy->currentIndex()>0 && dynamic_cast<DBReader*>(camera) == 0)
{
cameraThread.enableIMUFiltering(_ui->comboBox_imuFilter_strategy->currentIndex()-1, this->getAllParameters(), _ui->checkBox_imuFilter_baseFrameConversion->isChecked());
cameraThread->enableIMUFiltering(_ui->comboBox_imuFilter_strategy->currentIndex()-1, this->getAllParameters(), _ui->checkBox_imuFilter_baseFrameConversion->isChecked());
}
if(isDepthFilteringAvailable())
{
if(_ui->groupBox_bilateral->isChecked())
{
cameraThread.enableBilateralFiltering(
cameraThread->enableBilateralFiltering(
_ui->doubleSpinBox_bilateral_sigmaS->value(),
_ui->doubleSpinBox_bilateral_sigmaR->value());
}
if(!_ui->lineEdit_source_distortionModel->text().isEmpty())
{
cameraThread.setDistortionModel(_ui->lineEdit_source_distortionModel->text().toStdString());
cameraThread->setDistortionModel(_ui->lineEdit_source_distortionModel->text().toStdString());
}
}
UEventsManager::createPipe(&cameraThread, &odomThread, "SensorEvent");
UEventsManager::createPipe(cameraThread, &odomThread, "SensorEvent");
if(imuThread)
{
UEventsManager::createPipe(imuThread, &odomThread, "IMUEvent");
@@ -7404,7 +7423,7 @@ void PreferencesDialog::testOdometry()
UEventsManager::createPipe(odomViewer, &odomThread, "OdometryResetEvent");
odomThread.start();
cameraThread.start();
cameraThread->start();
if(imuThread)
{
@@ -7419,8 +7438,9 @@ void PreferencesDialog::testOdometry()
imuThread->join(true);
delete imuThread;
}
cameraThread.join(true);
cameraThread->join(true);
odomThread.join(true);
delete cameraThread;
}
void PreferencesDialog::testCamera()

8
guilib/src/ui/preferencesDialog.ui
View File

@@ -63,9 +63,9 @@
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<y>-3879</y>
<width>713</width>
<height>4720</height>
<height>4737</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
@@ -95,7 +95,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>0</number>
<number>5</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,0">
@@ -9188,7 +9188,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<item row="4" column="2">
<widget class="QLabel" name="label_759">
<property name="text">
<string>Path to a *.PCAP file. IP is ignored if PCAP file is used. A JSON file should be provided, see below.</string>
<string>Path to a *.PCAP or *.OSF file. IP is ignored if PCAP/OSF file is used. A JSON file should be provided if PCAP is used, see below.</string>
</property>
<property name="wordWrap">
<bool>true</bool>