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Code Issues Packages Projects Releases Wiki Activity

Integration of CLAMS depth calibration #114

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This commit is contained in:
matlabbe
2016-09-19 14:01:06 -04:00
parent 861cc437f4
commit 3434b95d68
30 changed files with 2867 additions and 79 deletions
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4
guilib/src/CMakeLists.txt
View File

@@ -27,6 +27,7 @@ SET(headers_ui
../include/${PROJECT_PREFIX}/gui/GraphViewer.h
./CreateSimpleCalibrationDialog.h
./ParametersToolBox.h
./DepthCalibrationDialog.h
)
SET(uis
@@ -42,6 +43,7 @@ SET(uis
./ui/exportScansDialog.ui
./ui/calibrationDialog.ui
./ui/createSimpleCalibrationDialog.ui
./ui/depthCalibrationDialog.ui
)
SET(qrc
@@ -91,6 +93,8 @@ SET(SRC_FILES
./GraphViewer.cpp
./CreateSimpleCalibrationDialog.cpp
./ParametersToolBox.cpp
./DepthCalibrationDialog.cpp
${moc_srcs}
${moc_uis}
${srcs_qrc}

450
guilib/src/DepthCalibrationDialog.cpp Normal file
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@@ -0,0 +1,450 @@
/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include <DepthCalibrationDialog.h>
#include "ui_depthCalibrationDialog.h"
#include "rtabmap/gui/ProgressDialog.h"
#include "rtabmap/gui/CloudViewer.h"
#include "rtabmap/gui/ImageView.h"
#include "rtabmap/utilite/ULogger.h"
#include "rtabmap/utilite/UThread.h"
#include "rtabmap/utilite/UCv2Qt.h"
#include "rtabmap/core/util3d.h"
#include "rtabmap/core/util3d_filtering.h"
#include "rtabmap/core/util3d_transforms.h"
#include "rtabmap/core/clams/slam_calibrator.h"
#include "rtabmap/core/clams/frame_projector.h"
#include <QPushButton>
#include <QDir>
#include <QFileInfo>
#include <QUrl>
#include <QtGui/QDesktopServices>
#include <QMessageBox>
#include <QFileDialog>
namespace rtabmap {
DepthCalibrationDialog::DepthCalibrationDialog(QWidget *parent) :
QDialog(parent),
_canceled(false),
_model(0)
{
_ui = new Ui_DepthCalibrationDialog();
_ui->setupUi(this);
connect(_ui->buttonBox->button(QDialogButtonBox::RestoreDefaults), SIGNAL(clicked()), this, SLOT(restoreDefaults()));
connect(_ui->buttonBox->button(QDialogButtonBox::Save), SIGNAL(clicked()), this, SLOT(saveModel()));
connect(_ui->buttonBox->button(QDialogButtonBox::Ok), SIGNAL(clicked()), this, SLOT(accept()));
_ui->buttonBox->button(QDialogButtonBox::Ok)->setText("Calibrate");
restoreDefaults();
connect(_ui->spinBox_decimation, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_maxDepth, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_minDepth, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_voxelSize, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_coneRadius, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_coneStdDevThresh, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->checkBox_laserScan, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
_ui->buttonBox->button(QDialogButtonBox::Ok)->setFocus();
_progressDialog = new ProgressDialog(this);
_progressDialog->setVisible(false);
_progressDialog->setAutoClose(true, 2);
_progressDialog->setMinimumWidth(600);
_progressDialog->setCancelButtonVisible(true);
connect(_progressDialog, SIGNAL(canceled()), this, SLOT(cancel()));
}
DepthCalibrationDialog::~DepthCalibrationDialog()
{
delete _ui;
if(_model)
{
delete _model;
}
}
void DepthCalibrationDialog::saveSettings(QSettings & settings, const QString & group) const
{
if(!group.isEmpty())
{
settings.beginGroup(group);
}
settings.setValue("decimation", _ui->spinBox_decimation->value());
settings.setValue("max_depth", _ui->doubleSpinBox_maxDepth->value());
settings.setValue("min_depth", _ui->doubleSpinBox_minDepth->value());
settings.setValue("voxel",_ui->doubleSpinBox_voxelSize->value());
settings.setValue("cone_radius",_ui->doubleSpinBox_coneRadius->value());
settings.setValue("cone_stddev_thresh",_ui->doubleSpinBox_coneStdDevThresh->value());
settings.setValue("laser_scan",_ui->checkBox_laserScan->isChecked());
if(!group.isEmpty())
{
settings.endGroup();
}
}
void DepthCalibrationDialog::loadSettings(QSettings & settings, const QString & group)
{
if(!group.isEmpty())
{
settings.beginGroup(group);
}
_ui->spinBox_decimation->setValue(settings.value("decimation", _ui->spinBox_decimation->value()).toInt());
_ui->doubleSpinBox_maxDepth->setValue(settings.value("max_depth", _ui->doubleSpinBox_maxDepth->value()).toDouble());
_ui->doubleSpinBox_minDepth->setValue(settings.value("min_depth", _ui->doubleSpinBox_minDepth->value()).toDouble());
_ui->doubleSpinBox_voxelSize->setValue(settings.value("voxel", _ui->doubleSpinBox_voxelSize->value()).toDouble());
_ui->doubleSpinBox_coneRadius->setValue(settings.value("cone_radius", _ui->doubleSpinBox_coneRadius->value()).toDouble());
_ui->doubleSpinBox_coneStdDevThresh->setValue(settings.value("cone_stddev_thresh", _ui->doubleSpinBox_coneStdDevThresh->value()).toDouble());
_ui->checkBox_laserScan->setChecked(settings.value("laser_scan", _ui->checkBox_laserScan->isChecked()).toBool());
if(!group.isEmpty())
{
settings.endGroup();
}
}
void DepthCalibrationDialog::restoreDefaults()
{
_ui->spinBox_decimation->setValue(1);
_ui->doubleSpinBox_maxDepth->setValue(3.5);
_ui->doubleSpinBox_minDepth->setValue(0);
_ui->doubleSpinBox_voxelSize->setValue(0.01);
_ui->doubleSpinBox_coneRadius->setValue(0.02);
_ui->doubleSpinBox_coneStdDevThresh->setValue(0.1); // 0.03
_ui->checkBox_laserScan->setChecked(false);
_ui->checkBox_resetModel->setChecked(true);
}
void DepthCalibrationDialog::saveModel()
{
if(_model && _model->getTrainingSamples())
{
QString path = QFileDialog::getSaveFileName(this, tr("Save distortion model to ..."), _workingDirectory+QDir::separator()+"distortion_model.bin", tr("Distortion model (*.bin)"));
if(!path.isEmpty())
{
//
// Save depth calibration
//
cv::Mat results = _model->visualize(ULogger::level() == ULogger::kDebug?_workingDirectory.toStdString():"");
_model->save(path.toStdString());
if(!results.empty())
{
QString name = QString(path).replace(".bin", ".png", Qt::CaseInsensitive);
cv::imwrite(name.toStdString(), results);
QDesktopServices::openUrl(QUrl::fromLocalFile(name));
}
QMessageBox::information(this, tr("Depth Calibration"), tr("Distortion model saved to \"%1\"!").arg(path));
}
}
}
void DepthCalibrationDialog::cancel()
{
_canceled = true;
_progressDialog->appendText(tr("Canceled!"));
}
void DepthCalibrationDialog::calibrate(
const std::map<int, Transform> & poses,
const QMap<int, Signature> & cachedSignatures,
const QString & workingDirectory,
const ParametersMap & parameters)
{
_canceled = false;
_workingDirectory = workingDirectory;
_ui->buttonBox->button(QDialogButtonBox::Save)->setEnabled(_model && _model->getTrainingSamples()>0);
if(_model)
{
_ui->label_trainingSamples->setNum((int)_model->getTrainingSamples());
}
if(this->exec() == QDialog::Accepted)
{
if(_model && _ui->checkBox_resetModel->isChecked())
{
delete _model;
_model = 0;
}
_progressDialog->setMaximumSteps(poses.size()*2 + 3);
if(_ui->doubleSpinBox_voxelSize->value() > 0.0)
{
_progressDialog->setMaximumSteps(_progressDialog->maximumSteps()+1);
}
_progressDialog->resetProgress();
_progressDialog->show();
std::map<int, rtabmap::SensorData> sequence;
// Create the map
pcl::PointCloud<pcl::PointXYZ>::Ptr map(new pcl::PointCloud<pcl::PointXYZ>);
int index=1;
for(std::map<int, Transform>::const_iterator iter = poses.begin(); iter!=poses.end() && !_canceled; ++iter, ++index)
{
int points = 0;
if(!iter->second.isNull())
{
pcl::IndicesPtr indices(new std::vector<int>);
if(cachedSignatures.contains(iter->first))
{
const Signature & s = cachedSignatures.find(iter->first).value();
SensorData data = s.sensorData();
if(data.cameraModels().size() == 1 && data.cameraModels()[0].isValidForReprojection())
{
cv::Mat image, depth, laserScan;
data.uncompressData(&image, &depth, _ui->checkBox_laserScan->isChecked()?&laserScan:0);
if(!image.empty() && !depth.empty())
{
UASSERT(iter->first == data.id());
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud;
if(_ui->checkBox_laserScan->isChecked())
{
cloud = util3d::laserScanToPointCloud(laserScan);
indices->resize(cloud->size());
for(unsigned int i=0; i<indices->size(); ++i)
{
indices->at(i) = i;
}
}
else
{
cloud = util3d::cloudFromSensorData(
data,
_ui->spinBox_decimation->value(),
_ui->doubleSpinBox_maxDepth->value(),
_ui->doubleSpinBox_minDepth->value(),
indices.get(),
parameters);
}
if(indices->size())
{
if(_ui->doubleSpinBox_voxelSize->value() > 0.0)
{
cloud = util3d::voxelize(cloud, indices, _ui->doubleSpinBox_voxelSize->value());
}
cloud = util3d::transformPointCloud(cloud, iter->second);
points+=cloud->size();
*map += *cloud;
sequence.insert(std::make_pair(iter->first, data));
cv::Size size = data.cameraModels()[0].imageSize();
if(_model &&
(_model->getWidth()!=size.width ||
_model->getHeight()!=size.height))
{
QString msg = tr("Depth images (%1x%2) in the map don't have the "
"same size then in the current model (%3x%4). You may want "
"to check \"Reset previous model\" before trying again.")
.arg(size.width).arg(size.height)
.arg(_model->getWidth()).arg(_model->getHeight());
QMessageBox::warning(this, tr("Depth Calibration"), msg);
_progressDialog->appendText(msg, Qt::darkRed);
_progressDialog->setAutoClose(false);
return;
}
}
}
}
else
{
_progressDialog->appendText(tr("Not suitable camera model found for node %1, ignoring this node!").arg(iter->first), Qt::darkYellow);
_progressDialog->setAutoClose(false);
}
}
else
{
UERROR("Cloud %d not found in cache!", iter->first);
}
}
else
{
UERROR("transform is null!?");
}
if(points>0)
{
_progressDialog->appendText(tr("Generated cloud %1 with %2 points (%3/%4).")
.arg(iter->first).arg(points).arg(index).arg(poses.size()));
}
else
{
_progressDialog->appendText(tr("Ignored cloud %1 (%2/%3).").arg(iter->first).arg(index).arg(poses.size()));
}
_progressDialog->incrementStep();
QApplication::processEvents();
}
if(!_canceled && map->size() && sequence.size())
{
if(_ui->doubleSpinBox_voxelSize->value() > 0.0)
{
_progressDialog->appendText(tr("Voxel filtering (%1 m) of the merged point cloud (%2 points)")
.arg(_ui->doubleSpinBox_voxelSize->value())
.arg(map->size()));
QApplication::processEvents();
QApplication::processEvents();
map = util3d::voxelize(map, _ui->doubleSpinBox_voxelSize->value());
_progressDialog->incrementStep();
}
if(ULogger::level() == ULogger::kDebug)
{
//
// Show 3D map with frustums
//
QDialog * window = new QDialog(this->parentWidget()?this->parentWidget():this, Qt::Window);
window->setAttribute(Qt::WA_DeleteOnClose, true);
window->setWindowTitle(tr("Map"));
window->setMinimumWidth(800);
window->setMinimumHeight(600);
CloudViewer * viewer = new CloudViewer(window);
viewer->setCameraLockZ(false);
viewer->setFrustumShown(true);
QVBoxLayout *layout = new QVBoxLayout();
layout->addWidget(viewer);
window->setLayout(layout);
connect(window, SIGNAL(finished(int)), viewer, SLOT(clear()));
window->show();
uSleep(500);
_progressDialog->appendText(tr("Viewing the cloud (%1 points and %2 poses)...").arg(map->size()).arg(sequence.size()));
_progressDialog->incrementStep();
viewer->addCloud("map", map);
Transform opticalRot(0, 0, 1, 0, -1, 0, 0, 0, 0, -1, 0, 0);
for(std::map<int, SensorData>::iterator iter=sequence.begin(); iter!=sequence.end(); ++iter)
{
Transform baseToCamera = iter->second.cameraModels()[0].localTransform()*opticalRot.inverse();
viewer->addOrUpdateFrustum(uFormat("frustum%d",iter->first), poses.at(iter->first) * baseToCamera, 0.2);
}
_progressDialog->appendText(tr("Viewing the cloud (%1 points and %2 poses)... done.").arg(map->size()).arg(sequence.size()));
viewer->update();
}
_progressDialog->appendText(tr("CLAMS depth calibration..."));
QApplication::processEvents();
QApplication::processEvents();
QDialog * dialog = new QDialog(this->parentWidget()?this->parentWidget():this, Qt::Window);
dialog->setAttribute(Qt::WA_DeleteOnClose, true);
dialog->setWindowTitle(tr("Original/Map"));
dialog->setMinimumWidth(sequence.begin()->second.cameraModels()[0].imageWidth());
ImageView * imageView1 = new ImageView(dialog);
imageView1->setMinimumSize(320, 240);
ImageView * imageView2 = new ImageView(dialog);
imageView2->setMinimumSize(320, 240);
QVBoxLayout * vlayout = new QVBoxLayout();
vlayout->setMargin(0);
vlayout->addWidget(imageView1, 1);
vlayout->addWidget(imageView2, 1);
dialog->setLayout(vlayout);
if(ULogger::level() == ULogger::kDebug)
{
dialog->show();
}
//clams::DiscreteDepthDistortionModel model = clams::calibrate(sequence, poses, map);
const cv::Size & imageSize = sequence.begin()->second.cameraModels()[0].imageSize();
if(_model == 0)
{
_model = new clams::DiscreteDepthDistortionModel(imageSize.width, imageSize.height);
}
UASSERT(_model->getWidth() == imageSize.width && _model->getHeight() == imageSize.height);
// -- For all selected frames, accumulate training examples
// in the distortion model.
size_t counts;
index = 0;
for(std::map<int, rtabmap::Transform>::const_iterator iter = poses.begin(); iter != poses.end() && !_canceled; ++iter)
{
size_t idx = iter->first;
std::map<int, rtabmap::SensorData>::const_iterator ster = sequence.find(idx);
if(ster!=sequence.end())
{
cv::Mat depthImage;
ster->second.uncompressDataConst(0, &depthImage);
cv::Mat mapDepth;
clams::FrameProjector projector(ster->second.cameraModels()[0]);
mapDepth = projector.estimateMapDepth(
map,
iter->second.inverse(),
depthImage,
_ui->doubleSpinBox_coneRadius->value(),
_ui->doubleSpinBox_coneStdDevThresh->value());
if(ULogger::level() == ULogger::kDebug)
{
imageView1->setImage(uCvMat2QImage(depthImage));
imageView2->setImage(uCvMat2QImage(mapDepth));
}
counts = _model->accumulate(mapDepth, depthImage);
_progressDialog->appendText(tr("Added %1 training examples from node %2 (%3/%4).").arg(counts).arg(iter->first).arg(++index).arg(sequence.size()));
}
_progressDialog->incrementStep();
QApplication::processEvents();
}
_progressDialog->appendText(tr("CLAMS depth calibration... done!"));
QApplication::processEvents();
if(!_canceled)
{
this->saveModel();
}
}
else
{
QMessageBox::warning(this, tr("Depth Calibration"), tr("The resulting map is empty!"));
}
_progressDialog->setValue(_progressDialog->maximumSteps());
}
}
} /* namespace rtabmap */

83
guilib/src/DepthCalibrationDialog.h Normal file
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@@ -0,0 +1,83 @@
/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef GUILIB_SRC_DEPTHCALIBRATIONDIALOG_H_
#define GUILIB_SRC_DEPTHCALIBRATIONDIALOG_H_
#include <QDialog>
#include <QMap>
#include <QtCore/QSettings>
#include <rtabmap/core/Signature.h>
#include <rtabmap/core/Parameters.h>
class Ui_DepthCalibrationDialog;
namespace clams {
class DiscreteDepthDistortionModel;
}
namespace rtabmap {
class ProgressDialog;
class DepthCalibrationDialog : public QDialog
{
Q_OBJECT
public:
DepthCalibrationDialog(QWidget * parent = 0);
virtual ~DepthCalibrationDialog();
void saveSettings(QSettings & settings, const QString & group = "") const;
void loadSettings(QSettings & settings, const QString & group = "");
void calibrate(const std::map<int, Transform> & poses,
const QMap<int, Signature> & cachedSignatures,
const QString & workingDirectory,
const ParametersMap & parameters);
signals:
void configChanged();
public slots:
void restoreDefaults();
private slots:
void saveModel();
void cancel();
private:
Ui_DepthCalibrationDialog * _ui;
ProgressDialog * _progressDialog;
bool _canceled;
clams::DiscreteDepthDistortionModel * _model;
QString _workingDirectory;
};
} /* namespace rtabmap */
#endif /* GUILIB_SRC_DEPTHCALIBRATIONDIALOG_H_ */

103
guilib/src/ExportCloudsDialog.cpp
View File

@@ -41,6 +41,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/util3d.h"
#include "rtabmap/core/Graph.h"
#include "rtabmap/core/GainCompensator.h"
#include "rtabmap/core/clams/discrete_depth_distortion_model.h"
#include <pcl/conversions.h>
#include <pcl/io/pcd_io.h>
@@ -58,7 +59,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
namespace rtabmap {
ExportCloudsDialog::ExportCloudsDialog(QWidget *parent) :
QDialog(parent)
QDialog(parent),
_canceled(false)
{
_ui = new Ui_ExportCloudsDialog();
_ui->setupUi(this);
@@ -77,6 +79,8 @@ ExportCloudsDialog::ExportCloudsDialog(QWidget *parent) :
connect(_ui->spinBox_decimation, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_maxDepth, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_minDepth, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->lineEdit_distortionModel, SIGNAL(textChanged(const QString &)), this, SIGNAL(configChanged()));
connect(_ui->toolButton_distortionModel, SIGNAL(clicked()), this, SLOT(selectDistortionModel()));
connect(_ui->groupBox_filtering, SIGNAL(clicked(bool)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_filteringRadius, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
@@ -120,6 +124,8 @@ ExportCloudsDialog::ExportCloudsDialog(QWidget *parent) :
_progressDialog->setVisible(false);
_progressDialog->setAutoClose(true, 2);
_progressDialog->setMinimumWidth(600);
_progressDialog->setCancelButtonVisible(true);
connect(_progressDialog, SIGNAL(canceled()), this, SLOT(cancel()));
#ifdef DISABLE_VTK
_ui->doubleSpinBox_meshDecimationFactor->setEnabled(false);
@@ -148,6 +154,12 @@ void ExportCloudsDialog::updateTexturingAvailability()
_ui->label_meshDecimation->setEnabled(_ui->doubleSpinBox_meshDecimationFactor->isEnabled());
}
void ExportCloudsDialog::cancel()
{
_canceled = true;
_progressDialog->appendText(tr("Canceled!"));
}
void ExportCloudsDialog::saveSettings(QSettings & settings, const QString & group) const
{
if(!group.isEmpty())
@@ -162,6 +174,7 @@ void ExportCloudsDialog::saveSettings(QSettings & settings, const QString & grou
settings.setValue("regenerate_decimation", _ui->spinBox_decimation->value());
settings.setValue("regenerate_max_depth", _ui->doubleSpinBox_maxDepth->value());
settings.setValue("regenerate_min_depth", _ui->doubleSpinBox_minDepth->value());
settings.setValue("regenerate_distortion_model", _ui->lineEdit_distortionModel->text());
settings.setValue("filtering", _ui->groupBox_filtering->isChecked());
@@ -225,6 +238,7 @@ void ExportCloudsDialog::loadSettings(QSettings & settings, const QString & grou
_ui->spinBox_decimation->setValue(settings.value("regenerate_decimation", _ui->spinBox_decimation->value()).toInt());
_ui->doubleSpinBox_maxDepth->setValue(settings.value("regenerate_max_depth", _ui->doubleSpinBox_maxDepth->value()).toDouble());
_ui->doubleSpinBox_minDepth->setValue(settings.value("regenerate_min_depth", _ui->doubleSpinBox_minDepth->value()).toDouble());
_ui->lineEdit_distortionModel->setText(settings.value("regenerate_distortion_model", _ui->lineEdit_distortionModel->text()).toString());
_ui->groupBox_filtering->setChecked(settings.value("filtering", _ui->groupBox_filtering->isChecked()).toBool());
_ui->doubleSpinBox_filteringRadius->setValue(settings.value("filtering_radius", _ui->doubleSpinBox_filteringRadius->value()).toDouble());
@@ -285,6 +299,7 @@ void ExportCloudsDialog::restoreDefaults()
_ui->spinBox_decimation->setValue(1);
_ui->doubleSpinBox_maxDepth->setValue(4);
_ui->doubleSpinBox_minDepth->setValue(0);
_ui->lineEdit_distortionModel->setText("");
_ui->groupBox_filtering->setChecked(false);
_ui->doubleSpinBox_filteringRadius->setValue(0.02);
@@ -339,6 +354,20 @@ void ExportCloudsDialog::updateReconstructionFlavor()
_ui->groupBox_organized->setVisible(_ui->comboBox_pipeline->currentIndex() == 0);
}
void ExportCloudsDialog::selectDistortionModel()
{
QString dir = _ui->lineEdit_distortionModel->text();
if(dir.isEmpty())
{
dir = _workingDirectory;
}
QString path = QFileDialog::getOpenFileName(this, tr("Select file"), dir, tr("Distortion model (*.bin)"));
if(path.size())
{
_ui->lineEdit_distortionModel->setText(path);
}
}
void ExportCloudsDialog::setSaveButton()
{
_ui->buttonBox->button(QDialogButtonBox::Ok)->setVisible(false);
@@ -423,7 +452,7 @@ void ExportCloudsDialog::exportClouds(
saveClouds(workingDirectory, poses, clouds, _ui->checkBox_binary->isChecked());
}
}
else
else if(!_canceled)
{
_progressDialog->setAutoClose(false);
}
@@ -605,6 +634,8 @@ bool ExportCloudsDialog::getExportedClouds(
std::map<int, pcl::PolygonMesh::Ptr> & meshes,
std::map<int, pcl::TextureMesh::Ptr> & textureMeshes)
{
_canceled = false;
_workingDirectory = workingDirectory;
enableRegeneration(cachedSignatures.size());
if(this->exec() == QDialog::Accepted)
{
@@ -650,6 +681,11 @@ bool ExportCloudsDialog::getExportedClouds(
cachedClouds,
parameters);
if(_canceled)
{
return false;
}
if(clouds.empty())
{
_progressDialog->setAutoClose(false);
@@ -686,6 +722,10 @@ bool ExportCloudsDialog::getExportedClouds(
_progressDialog->appendText(tr("Cloud %1 has gain %2").arg(jter->first).arg(gain));
_progressDialog->incrementStep();
QApplication::processEvents();
if(_canceled)
{
return false;
}
}
}
}
@@ -721,6 +761,10 @@ bool ExportCloudsDialog::getExportedClouds(
_progressDialog->appendText(tr("Assembled cloud %1, total=%2 (%3/%4).").arg(iter->first).arg(assembledCloud->size()).arg(++i).arg(clouds.size()));
_progressDialog->incrementStep();
QApplication::processEvents();
if(_canceled)
{
return false;
}
}
pcl::copyPointCloud(*assembledCloud, *rawAssembledCloud);
@@ -740,6 +784,11 @@ bool ExportCloudsDialog::getExportedClouds(
clouds.insert(std::make_pair(0, std::make_pair(assembledCloud, pcl::IndicesPtr(new std::vector<int>))));
}
if(_canceled)
{
return false;
}
std::map<int, Transform> viewPoints = poses;
if(_ui->groupBox_mls->isChecked())
{
@@ -787,6 +836,10 @@ bool ExportCloudsDialog::getExportedClouds(
_progressDialog->appendText(tr("Smoothing (MLS) the cloud (%1 points)...").arg(cloudWithNormals->size()));
QApplication::processEvents();
if(_canceled)
{
return false;
}
cloudWithNormals = util3d::mls(
cloudWithoutNormals,
@@ -832,6 +885,10 @@ bool ExportCloudsDialog::getExportedClouds(
_progressDialog->incrementStep();
QApplication::processEvents();
if(_canceled)
{
return false;
}
}
//used for organized texturing below
@@ -968,6 +1025,10 @@ bool ExportCloudsDialog::getExportedClouds(
_progressDialog->incrementStep();
QApplication::processEvents();
if(_canceled)
{
return false;
}
}
if(_ui->checkBox_assemble->isChecked() && mergedClouds->size())
@@ -1015,7 +1076,6 @@ bool ExportCloudsDialog::getExportedClouds(
_progressDialog->incrementStep();
QApplication::processEvents();
}
}
else
{
@@ -1073,10 +1133,19 @@ bool ExportCloudsDialog::getExportedClouds(
_progressDialog->incrementStep();
QApplication::processEvents();
if(_canceled)
{
return false;
}
}
}
}
if(_canceled)
{
return false;
}
// texture mesh
UDEBUG("texture mapping=%d", _ui->checkBox_textureMapping->isChecked()?1:0);
if(_ui->checkBox_textureMapping->isEnabled() && _ui->checkBox_textureMapping->isChecked())
@@ -1228,6 +1297,10 @@ bool ExportCloudsDialog::getExportedClouds(
_progressDialog->appendText(tr("TextureMesh %1 created [cameras=%2] (%3/%4).").arg(iter->first).arg(cameraPoses.size()).arg(++i).arg(meshes.size()));
_progressDialog->incrementStep();
QApplication::processEvents();
if(_canceled)
{
return false;
}
}
if(textureMeshes.size() > 1 && _ui->checkBox_assemble->isChecked())
@@ -1260,7 +1333,7 @@ std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::Indic
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr previousCloud;
pcl::IndicesPtr previousIndices;
Transform previousPose;
for(std::map<int, Transform>::const_iterator iter = poses.begin(); iter!=poses.end(); ++iter, ++index)
for(std::map<int, Transform>::const_iterator iter = poses.begin(); iter!=poses.end() && !_canceled; ++iter, ++index)
{
int points = 0;
int totalIndices = 0;
@@ -1278,6 +1351,16 @@ std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::Indic
d.uncompressData(&image, &depth, 0);
if(!image.empty() && !depth.empty())
{
if(!_ui->lineEdit_distortionModel->text().isEmpty() &&
QFileInfo(_ui->lineEdit_distortionModel->text()).exists())
{
clams::DiscreteDepthDistortionModel model;
model.load(_ui->lineEdit_distortionModel->text().toStdString());
depth = depth.clone();// make sure we are not modifying data in cached signatures.
model.undistort(depth);
d.setDepthOrRightRaw(depth);
}
UASSERT(iter->first == d.id());
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudWithoutNormals;
cloudWithoutNormals = util3d::cloudRGBFromSensorData(
@@ -1555,6 +1638,10 @@ void ExportCloudsDialog::saveClouds(
}
_progressDialog->incrementStep();
QApplication::processEvents();
if(_canceled)
{
return;
}
}
}
}
@@ -1708,6 +1795,10 @@ void ExportCloudsDialog::saveMeshes(
}
_progressDialog->incrementStep();
QApplication::processEvents();
if(_canceled)
{
return;
}
}
}
}
@@ -1847,6 +1938,10 @@ void ExportCloudsDialog::saveTextureMeshes(
}
_progressDialog->incrementStep();
QApplication::processEvents();
if(_canceled)
{
return;
}
}
}
}

4
guilib/src/ExportCloudsDialog.h
View File

@@ -87,8 +87,10 @@ public slots:
private slots:
void updateReconstructionFlavor();
void selectDistortionModel();
void updateMLSGrpVisibility();
void updateTexturingAvailability();
void cancel();
private:
std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > getClouds(
@@ -118,6 +120,8 @@ private:
private:
Ui_ExportCloudsDialog * _ui;
ProgressDialog * _progressDialog;
QString _workingDirectory;
bool _canceled;
};
}

91
guilib/src/MainWindow.cpp
View File

@@ -65,6 +65,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "ExportScansDialog.h"
#include "AboutDialog.h"
#include "PostProcessingDialog.h"
#include "DepthCalibrationDialog.h"
#include <QtGui/QCloseEvent>
#include <QtGui/QPixmap>
@@ -165,7 +166,8 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_rawLikelihoodCurve(0),
_autoScreenCaptureOdomSync(false),
_autoScreenCaptureRAM(false),
_firstCall(true)
_firstCall(true),
_progressCanceled(false)
{
UDEBUG("");
@@ -186,6 +188,8 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_exportScansDialog->setObjectName("ExportScansDialog");
_postProcessingDialog = new PostProcessingDialog(this);
_postProcessingDialog->setObjectName("PostProcessingDialog");
_depthCalibrationDialog = new DepthCalibrationDialog(this);
_depthCalibrationDialog->setObjectName("DepthCalibrationDialog");
_ui = new Ui_mainWindow();
UDEBUG("Setup ui...");
@@ -235,6 +239,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_preferencesDialog->loadWindowGeometry(_exportCloudsDialog);
_preferencesDialog->loadWindowGeometry(_exportScansDialog);
_preferencesDialog->loadWindowGeometry(_postProcessingDialog);
_preferencesDialog->loadWindowGeometry(_depthCalibrationDialog);
_preferencesDialog->loadWindowGeometry(_aboutDialog);
setupMainLayout(_preferencesDialog->isVerticalLayoutUsed());
@@ -281,6 +286,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_initProgressDialog = new ProgressDialog(this);
_initProgressDialog->setWindowTitle(tr("Progress dialog"));
_initProgressDialog->setMinimumWidth(800);
connect(_initProgressDialog, SIGNAL(canceled()), this, SLOT(cancelProgress()));
connect(_ui->widget_mapVisibility, SIGNAL(visibilityChanged(int, bool)), this, SLOT(updateNodeVisibility(int, bool)));
@@ -375,6 +381,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
connect(_ui->actionTrigger_a_new_map, SIGNAL(triggered()), this, SLOT(triggerNewMap()));
connect(_ui->actionData_recorder, SIGNAL(triggered()), this, SLOT(dataRecorder()));
connect(_ui->actionPost_processing, SIGNAL(triggered()), this, SLOT(postProcessing()));
connect(_ui->actionDepth_Calibration, SIGNAL(triggered()), this, SLOT(depthCalibration()));
_ui->actionPause->setShortcut(Qt::Key_Space);
_ui->actionSave_GUI_config->setShortcut(QKeySequence::Save);
@@ -458,6 +465,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
connect(_exportCloudsDialog, SIGNAL(configChanged()), this, SLOT(configGUIModified()));
connect(_exportScansDialog, SIGNAL(configChanged()), this, SLOT(configGUIModified()));
connect(_postProcessingDialog, SIGNAL(configChanged()), this, SLOT(configGUIModified()));
connect(_depthCalibrationDialog, SIGNAL(configChanged()), this, SLOT(configGUIModified()));
connect(_ui->toolBar->toggleViewAction(), SIGNAL(toggled(bool)), this, SLOT(configGUIModified()));
connect(_ui->toolBar, SIGNAL(orientationChanged(Qt::Orientation)), this, SLOT(configGUIModified()));
connect(statusBarAction, SIGNAL(toggled(bool)), this, SLOT(configGUIModified()));
@@ -518,6 +526,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_preferencesDialog->loadWidgetState(_exportCloudsDialog);
_preferencesDialog->loadWidgetState(_exportScansDialog);
_preferencesDialog->loadWidgetState(_postProcessingDialog);
_preferencesDialog->loadWidgetState(_depthCalibrationDialog);
if(_ui->statsToolBox->findChildren<StatItem*>().size() == 0)
{
@@ -848,12 +857,13 @@ void MainWindow::processCameraInfo(const rtabmap::CameraInfo & info)
{
_firstStamp = info.stamp;
}
_ui->statsToolBox->updateStat("Camera/Time total/ms", _preferencesDialog->isTimeUsedInFigures()?info.stamp-_firstStamp:(float)info.id, info.timeTotal*1000.0f);
_ui->statsToolBox->updateStat("Camera/Time capturing/ms", _preferencesDialog->isTimeUsedInFigures()?info.stamp-_firstStamp:(float)info.id, info.timeCapture*1000.0f);
_ui->statsToolBox->updateStat("Camera/Time undistort depth/ms", _preferencesDialog->isTimeUsedInFigures()?info.stamp-_firstStamp:(float)info.id, info.timeUndistortDepth*1000.0f);
_ui->statsToolBox->updateStat("Camera/Time decimation/ms", _preferencesDialog->isTimeUsedInFigures()?info.stamp-_firstStamp:(float)info.id, info.timeImageDecimation*1000.0f);
_ui->statsToolBox->updateStat("Camera/Time disparity/ms", _preferencesDialog->isTimeUsedInFigures()?info.stamp-_firstStamp:(float)info.id, info.timeDisparity*1000.0f);
_ui->statsToolBox->updateStat("Camera/Time mirroring/ms", _preferencesDialog->isTimeUsedInFigures()?info.stamp-_firstStamp:(float)info.id, info.timeMirroring*1000.0f);
_ui->statsToolBox->updateStat("Camera/Time scan_from_depth/ms", _preferencesDialog->isTimeUsedInFigures()?info.stamp-_firstStamp:(float)info.id, info.timeScanFromDepth*1000.0f);
_ui->statsToolBox->updateStat("Camera/Time scan from depth/ms", _preferencesDialog->isTimeUsedInFigures()?info.stamp-_firstStamp:(float)info.id, info.timeScanFromDepth*1000.0f);
}
void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataIgnored)
@@ -1907,6 +1917,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
{
_ui->actionExport_images_RGB_jpg_Depth_png->setEnabled(!_cachedSignatures.empty() && !_currentPosesMap.empty());
_ui->actionExport_cameras_in_Bundle_format_out->setEnabled(!_cachedSignatures.empty() && !_currentPosesMap.empty());
_ui->actionDepth_Calibration->setEnabled(!_cachedSignatures.empty() && !_currentPosesMap.empty());
}
_processingStatistics = false;
@@ -2170,6 +2181,10 @@ void MainWindow::updateMapCloud(
if(poses.size() < 200 || i % 100 == 0)
{
QApplication::processEvents();
if(_progressCanceled)
{
break;
}
}
}
}
@@ -3254,6 +3269,8 @@ void MainWindow::processRtabmapEvent3DMap(const rtabmap::RtabmapEvent3DMap & eve
{
_initProgressDialog->appendText("Updating the 3D map cloud...");
_initProgressDialog->incrementStep();
_initProgressDialog->setCancelButtonVisible(true);
_progressCanceled = false;
QApplication::processEvents();
std::map<int, Transform> poses = event.getPoses();
alignPosesToGroundTruth(poses, groundTruth);
@@ -3277,10 +3294,13 @@ void MainWindow::processRtabmapEvent3DMap(const rtabmap::RtabmapEvent3DMap & eve
{
_ui->actionExport_images_RGB_jpg_Depth_png->setEnabled(!_cachedSignatures.empty() && !_currentPosesMap.empty());
_ui->actionExport_cameras_in_Bundle_format_out->setEnabled(!_cachedSignatures.empty() && !_currentPosesMap.empty());
_ui->actionDepth_Calibration->setEnabled(!_cachedSignatures.empty() && !_currentPosesMap.empty());
}
_processingDownloadedMap = false;
}
_initProgressDialog->setValue(_initProgressDialog->maximumSteps());
_initProgressDialog->setCancelButtonVisible(false);
_progressCanceled = false;
}
void MainWindow::processRtabmapGlobalPathEvent(const rtabmap::RtabmapGlobalPathEvent & event)
@@ -3379,7 +3399,7 @@ void MainWindow::applyPrefSettings(PreferencesDialog::PANEL_FLAGS flags)
{
if(dynamic_cast<DBReader*>(_camera->camera()) != 0)
{
_camera->setImageRate( _preferencesDialog->getSourceDatabaseStampsUsed()?-1:_preferencesDialog->getGeneralInputRate());
_camera->setImageRate( _preferencesDialog->isSourceDatabaseStampsUsed()?-1:_preferencesDialog->getGeneralInputRate());
}
else
{
@@ -3755,6 +3775,12 @@ void MainWindow::beep()
QApplication::beep();
}
void MainWindow::cancelProgress()
{
_progressCanceled = true;
_initProgressDialog->appendText(tr("Canceled!"));
}
void MainWindow::configGUIModified()
{
this->setWindowModified(true);
@@ -3774,6 +3800,7 @@ void MainWindow::saveConfigGUI()
_preferencesDialog->saveWidgetState(_exportCloudsDialog);
_preferencesDialog->saveWidgetState(_exportScansDialog);
_preferencesDialog->saveWidgetState(_postProcessingDialog);
_preferencesDialog->saveWidgetState(_depthCalibrationDialog);
_preferencesDialog->saveWidgetState(_ui->graphicsView_graphView);
_preferencesDialog->saveSettings();
this->saveFigures();
@@ -4012,7 +4039,7 @@ void MainWindow::startDetection()
float detectionRate = uStr2Float(parameters.at(Parameters::kRtabmapDetectionRate()));
int bufferingSize = uStr2Float(parameters.at(Parameters::kRtabmapImageBufferSize()));
if(((detectionRate!=0.0f && detectionRate <= inputRate) || (detectionRate > 0.0f && inputRate == 0.0f)) &&
(_preferencesDialog->getSourceDriver() != PreferencesDialog::kSrcDatabase || !_preferencesDialog->getSourceDatabaseStampsUsed()))
(_preferencesDialog->getSourceDriver() != PreferencesDialog::kSrcDatabase || !_preferencesDialog->isSourceDatabaseStampsUsed()))
{
int button = QMessageBox::question(this,
tr("Incompatible frame rates!"),
@@ -4028,7 +4055,7 @@ void MainWindow::startDetection()
}
}
if(bufferingSize != 0 &&
(_preferencesDialog->getSourceDriver() != PreferencesDialog::kSrcDatabase || !_preferencesDialog->getSourceDatabaseStampsUsed()))
(_preferencesDialog->getSourceDriver() != PreferencesDialog::kSrcDatabase || !_preferencesDialog->isSourceDatabaseStampsUsed()))
{
int button = QMessageBox::question(this,
tr("Some images may be skipped!"),
@@ -4090,6 +4117,10 @@ void MainWindow::startDetection()
_preferencesDialog->getSourceScanFromDepthMaxDepth(),
_preferencesDialog->getSourceScanVoxelSize(),
_preferencesDialog->getSourceScanNormalsK());
if(_preferencesDialog->getSourceType() == PreferencesDialog::kSrcRGBD)
{
_camera->setDistortionModel(_preferencesDialog->getSourceDistortionModel().toStdString());
}
//Create odometry thread if rgbd slam
if(uStr2Bool(parameters.at(Parameters::kRGBDEnabled()).c_str()))
@@ -4468,6 +4499,8 @@ void MainWindow::postProcessing()
_initProgressDialog->clear();
_initProgressDialog->show();
_initProgressDialog->appendText("Post-processing beginning!");
_initProgressDialog->setCancelButtonVisible(true);
_progressCanceled = false;
int totalSteps = 0;
if(refineNeighborLinks)
@@ -4498,7 +4531,7 @@ void MainWindow::postProcessing()
UDEBUG("");
UASSERT(detectLoopClosureIterations>0);
for(int n=0; n<detectLoopClosureIterations; ++n)
for(int n=0; n<detectLoopClosureIterations && !_progressCanceled; ++n)
{
_initProgressDialog->appendText(tr("Looking for more loop closures, clustering poses... (iteration=%1/%2, radius=%3 m angle=%4 degrees)")
.arg(n+1).arg(detectLoopClosureIterations).arg(clusterRadius).arg(clusterAngle));
@@ -4513,7 +4546,7 @@ void MainWindow::postProcessing()
int i=0;
std::set<int> addedLinks;
for(std::multimap<int, int>::iterator iter=clusters.begin(); iter!= clusters.end(); ++iter, ++i)
for(std::multimap<int, int>::iterator iter=clusters.begin(); iter!= clusters.end() && !_progressCanceled; ++iter, ++i)
{
int from = iter->first;
int to = iter->second;
@@ -4552,9 +4585,6 @@ void MainWindow::postProcessing()
}
else
{
_initProgressDialog->incrementStep();
QApplication::processEvents();
Signature signatureFrom = _cachedSignatures[from];
Signature signatureTo = _cachedSignatures[to];
@@ -4579,6 +4609,7 @@ void MainWindow::postProcessing()
}
}
}
_initProgressDialog->incrementStep();
}
_initProgressDialog->appendText(tr("Iteration %1/%2: Detected %3 loop closures!")
.arg(n+1).arg(detectLoopClosureIterations).arg(addedLinks.size()/2));
@@ -4610,7 +4641,7 @@ void MainWindow::postProcessing()
_initProgressDialog->appendText(tr("Total new loop closures detected=%1").arg(loopClosuresAdded));
}
if(refineNeighborLinks || refineLoopClosureLinks)
if(!_progressCanceled && (refineNeighborLinks || refineLoopClosureLinks))
{
UDEBUG("");
if(refineLoopClosureLinks)
@@ -4623,7 +4654,7 @@ void MainWindow::postProcessing()
RegistrationIcp regIcp(parameters);
int i=0;
for(std::multimap<int, Link>::iterator iter = _currentLinksMap.begin(); iter!=_currentLinksMap.end(); ++iter, ++i)
for(std::multimap<int, Link>::iterator iter = _currentLinksMap.begin(); iter!=_currentLinksMap.end() && !_progressCanceled; ++iter, ++i)
{
int type = iter->second.type();
@@ -4712,7 +4743,7 @@ void MainWindow::postProcessing()
_initProgressDialog->appendText(tr("Optimizing graph with updated links... done!"));
_initProgressDialog->incrementStep();
if(sba)
if(!_progressCanceled && sba)
{
UASSERT(Optimizer::isAvailable(sbaType));
_initProgressDialog->appendText(tr("SBA (%1 nodes, %2 constraints, %3 iterations)...")
@@ -4759,10 +4790,28 @@ void MainWindow::postProcessing()
_initProgressDialog->setValue(_initProgressDialog->maximumSteps());
_initProgressDialog->appendText("Post-processing finished!");
_initProgressDialog->setCancelButtonVisible(false);
_progressCanceled = false;
delete optimizer;
}
void MainWindow::depthCalibration()
{
if(_currentPosesMap.size() && _cachedSignatures.size())
{
_depthCalibrationDialog->calibrate(
_currentPosesMap,
_cachedSignatures,
_preferencesDialog->getWorkingDirectory(),
_preferencesDialog->getAllParameters());
}
else
{
QMessageBox::warning(this, tr("Depth Calibration"), tr("No data in cache. Try to refresh the cache."));
}
}
void MainWindow::deleteMemory()
{
QMessageBox::StandardButton button;
@@ -5157,6 +5206,7 @@ void MainWindow::clearTheCache()
_ui->actionPost_processing->setEnabled(false);
_ui->actionSave_point_cloud->setEnabled(false);
_ui->actionExport_cameras_in_Bundle_format_out->setEnabled(false);
_ui->actionDepth_Calibration->setEnabled(false);
_ui->actionExport_images_RGB_jpg_Depth_png->setEnabled(false);
_ui->actionView_scans->setEnabled(false);
_ui->actionExport_octomap->setEnabled(false);
@@ -6008,7 +6058,7 @@ void MainWindow::changeState(MainWindow::State newState)
}
}
actions = _ui->menuFile->actions();
if(actions.size()==16)
if(actions.size()==17)
{
if(actions.at(2)->isSeparator())
{
@@ -6018,9 +6068,9 @@ void MainWindow::changeState(MainWindow::State newState)
{
UWARN("Menu File separators have not the same order.");
}
if(actions.at(12)->isSeparator())
if(actions.at(13)->isSeparator())
{
actions.at(12)->setVisible(!monitoring);
actions.at(13)->setVisible(!monitoring);
}
else
{
@@ -6083,6 +6133,7 @@ void MainWindow::changeState(MainWindow::State newState)
_ui->actionExport_octomap->setEnabled(false);
#endif
_ui->actionExport_cameras_in_Bundle_format_out->setEnabled(!_cachedSignatures.empty() && !_currentPosesMap.empty());
_ui->actionDepth_Calibration->setEnabled(!_cachedSignatures.empty() && !_currentPosesMap.empty());
_ui->actionDownload_all_clouds->setEnabled(false);
_ui->actionDownload_graph->setEnabled(false);
_ui->menuSelect_source->setEnabled(true);
@@ -6144,6 +6195,7 @@ void MainWindow::changeState(MainWindow::State newState)
_ui->actionExport_octomap->setEnabled(false);
#endif
_ui->actionExport_cameras_in_Bundle_format_out->setEnabled(!_cachedSignatures.empty() && !_currentPosesMap.empty());
_ui->actionDepth_Calibration->setEnabled(!_cachedSignatures.empty() && !_currentPosesMap.empty());
_ui->actionDownload_all_clouds->setEnabled(true);
_ui->actionDownload_graph->setEnabled(true);
_ui->menuSelect_source->setEnabled(true);
@@ -6190,6 +6242,7 @@ void MainWindow::changeState(MainWindow::State newState)
_ui->actionView_scans->setEnabled(false);
_ui->actionExport_octomap->setEnabled(false);
_ui->actionExport_cameras_in_Bundle_format_out->setEnabled(false);
_ui->actionDepth_Calibration->setEnabled(false);
_ui->actionDownload_all_clouds->setEnabled(false);
_ui->actionDownload_graph->setEnabled(false);
_ui->menuSelect_source->setEnabled(false);
@@ -6233,6 +6286,7 @@ void MainWindow::changeState(MainWindow::State newState)
_ui->actionView_scans->setEnabled(false);
_ui->actionExport_octomap->setEnabled(false);
_ui->actionExport_cameras_in_Bundle_format_out->setEnabled(false);
_ui->actionDepth_Calibration->setEnabled(false);
_ui->actionDownload_all_clouds->setEnabled(false);
_ui->actionDownload_graph->setEnabled(false);
_state = kDetecting;
@@ -6267,6 +6321,7 @@ void MainWindow::changeState(MainWindow::State newState)
_ui->actionExport_octomap->setEnabled(false);
#endif
_ui->actionExport_cameras_in_Bundle_format_out->setEnabled(!_cachedSignatures.empty() && !_currentPosesMap.empty());
_ui->actionDepth_Calibration->setEnabled(!_cachedSignatures.empty() && !_currentPosesMap.empty());
_ui->actionDownload_all_clouds->setEnabled(true);
_ui->actionDownload_graph->setEnabled(true);
_state = kPaused;
@@ -6297,6 +6352,7 @@ void MainWindow::changeState(MainWindow::State newState)
_ui->actionView_scans->setEnabled(false);
_ui->actionExport_octomap->setEnabled(false);
_ui->actionExport_cameras_in_Bundle_format_out->setEnabled(false);
_ui->actionDepth_Calibration->setEnabled(false);
_ui->actionDelete_memory->setEnabled(true);
_ui->actionDownload_all_clouds->setEnabled(true);
_ui->actionDownload_graph->setEnabled(true);
@@ -6332,6 +6388,7 @@ void MainWindow::changeState(MainWindow::State newState)
_ui->actionExport_octomap->setEnabled(false);
#endif
_ui->actionExport_cameras_in_Bundle_format_out->setEnabled(!_cachedSignatures.empty() && !_currentPosesMap.empty());
_ui->actionDepth_Calibration->setEnabled(!_cachedSignatures.empty() && !_currentPosesMap.empty());
_ui->actionDelete_memory->setEnabled(true);
_ui->actionDownload_all_clouds->setEnabled(true);
_ui->actionDownload_graph->setEnabled(true);

75
guilib/src/PreferencesDialog.cpp
View File

@@ -33,6 +33,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <QtCore/QSettings>
#include <QtCore/QDir>
#include <QtCore/QTimer>
#include <QUrl>
#include <QFileDialog>
#include <QInputDialog>
@@ -42,6 +43,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <QProgressDialog>
#include <QScrollBar>
#include <QStatusBar>
#include <QDesktopServices>
#include <QtGui/QCloseEvent>
#include "ui_preferencesDialog.h"
@@ -60,6 +62,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/Optimizer.h"
#include "rtabmap/core/OptimizerG2O.h"
#include "rtabmap/core/DBReader.h"
#include "rtabmap/core/clams/discrete_depth_distortion_model.h"
#include "rtabmap/gui/LoopClosureViewer.h"
#include "rtabmap/gui/CameraViewer.h"
@@ -70,6 +73,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "ExportScansDialog.h"
#include "PostProcessingDialog.h"
#include "CreateSimpleCalibrationDialog.h"
#include "DepthCalibrationDialog.h"
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UConversion.h>
@@ -505,8 +509,11 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->pushButton_calibrate_simple, SIGNAL(clicked()), this, SLOT(calibrateSimple()));
connect(_ui->toolButton_openniOniPath, SIGNAL(clicked()), this, SLOT(selectSourceOniPath()));
connect(_ui->toolButton_openni2OniPath, SIGNAL(clicked()), this, SLOT(selectSourceOni2Path()));
connect(_ui->toolButton_source_distortionModel, SIGNAL(clicked()), this, SLOT(selectSourceDistortionModel()));
connect(_ui->toolButton_distortionModel, SIGNAL(clicked()), this, SLOT(visualizeDistortionModel()));
connect(_ui->lineEdit_openniOniPath, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->lineEdit_openni2OniPath, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->lineEdit_source_distortionModel, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->groupBox_scanFromDepth, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->spinBox_cameraScanFromDepth_decimation, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
@@ -1336,6 +1343,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->lineEdit_cameraRGBDImages_path_rgb->setText("");
_ui->lineEdit_cameraRGBDImages_path_depth->setText("");
_ui->doubleSpinBox_cameraRGBDImages_scale->setValue(1.0);
_ui->lineEdit_source_distortionModel->setText("");
_ui->source_comboBox_image_type->setCurrentIndex(kSrcDC1394-kSrcDC1394);
_ui->lineEdit_cameraStereoImages_path_left->setText("");
@@ -1639,6 +1647,7 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
settings.beginGroup("rgbd");
_ui->comboBox_cameraRGBD->setCurrentIndex(settings.value("driver", _ui->comboBox_cameraRGBD->currentIndex()).toInt());
_ui->checkbox_rgbd_colorOnly->setChecked(settings.value("rgbdColorOnly", _ui->checkbox_rgbd_colorOnly->isChecked()).toBool());
_ui->lineEdit_source_distortionModel->setText(settings.value("distortion_model", _ui->lineEdit_source_distortionModel->text()).toString());
settings.endGroup(); // rgbd
settings.beginGroup("stereo");
@@ -2066,6 +2075,7 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.beginGroup("rgbd");
settings.setValue("driver", _ui->comboBox_cameraRGBD->currentIndex());
settings.setValue("rgbdColorOnly", _ui->checkbox_rgbd_colorOnly->isChecked());
settings.setValue("distortion_model", _ui->lineEdit_source_distortionModel->text());
settings.endGroup(); // rgbd
settings.beginGroup("stereo");
@@ -2566,6 +2576,7 @@ void PreferencesDialog::saveWidgetState(const QWidget * widget)
const PostProcessingDialog * postProcessingDialog = qobject_cast<const PostProcessingDialog *>(widget);
const GraphViewer * graphViewer = qobject_cast<const GraphViewer *>(widget);
const CalibrationDialog * calibrationDialog = qobject_cast<const CalibrationDialog *>(widget);
const DepthCalibrationDialog * depthCalibrationDialog = qobject_cast<const DepthCalibrationDialog *>(widget);
if(cloudViewer)
{
@@ -2595,6 +2606,10 @@ void PreferencesDialog::saveWidgetState(const QWidget * widget)
{
calibrationDialog->saveSettings(settings);
}
else if(depthCalibrationDialog)
{
depthCalibrationDialog->saveSettings(settings);
}
else
{
UERROR("Widget \"%s\" cannot be exported in config file.", widget->objectName().toStdString().c_str());
@@ -2621,6 +2636,7 @@ void PreferencesDialog::loadWidgetState(QWidget * widget)
PostProcessingDialog * postProcessingDialog = qobject_cast<PostProcessingDialog *>(widget);
GraphViewer * graphViewer = qobject_cast<GraphViewer *>(widget);
CalibrationDialog * calibrationDialog = qobject_cast<CalibrationDialog *>(widget);
DepthCalibrationDialog * depthCalibrationDialog = qobject_cast<DepthCalibrationDialog *>(widget);
if(cloudViewer)
{
@@ -2650,6 +2666,10 @@ void PreferencesDialog::loadWidgetState(QWidget * widget)
{
calibrationDialog->loadSettings(settings);
}
else if(depthCalibrationDialog)
{
depthCalibrationDialog->loadSettings(settings);
}
else
{
UERROR("Widget \"%s\" cannot be loaded from config file.", widget->objectName().toStdString().c_str());
@@ -2788,6 +2808,31 @@ void PreferencesDialog::openDatabaseViewer()
}
}
void PreferencesDialog::visualizeDistortionModel()
{
if(!_ui->lineEdit_source_distortionModel->text().isEmpty() &&
QFileInfo(_ui->lineEdit_source_distortionModel->text()).exists())
{
clams::DiscreteDepthDistortionModel model;
model.load(_ui->lineEdit_source_distortionModel->text().toStdString());
if(model.isValid())
{
cv::Mat img = model.visualize();
QString name = QFileInfo(_ui->lineEdit_source_distortionModel->text()).baseName()+".png";
cv::imwrite(name.toStdString(), img);
QDesktopServices::openUrl(QUrl::fromLocalFile(name));
}
else
{
QMessageBox::warning(this, tr("Distortion Model"), tr("Model loaded from \"%1\" is not valid!").arg(_ui->lineEdit_source_distortionModel->text()));
}
}
else
{
QMessageBox::warning(this, tr("Distortion Model"), tr("File \"%1\" doesn't exist!").arg(_ui->lineEdit_source_distortionModel->text()));
}
}
void PreferencesDialog::selectCalibrationPath()
{
QString dir = _ui->lineEdit_calibrationFile->text();
@@ -2972,6 +3017,20 @@ void PreferencesDialog::selectSourceStereoVideoPath2()
}
}
void PreferencesDialog::selectSourceDistortionModel()
{
QString dir = _ui->lineEdit_source_distortionModel->text();
if(dir.isEmpty())
{
dir = getWorkingDirectory();
}
QString path = QFileDialog::getOpenFileName(this, tr("Select file"), _ui->lineEdit_source_distortionModel->text(), tr("Distortion model (*.bin)"));
if(!path.isEmpty())
{
_ui->lineEdit_source_distortionModel->setText(path);
}
}
void PreferencesDialog::selectSourceOniPath()
{
QString dir = _ui->lineEdit_openniOniPath->text();
@@ -4054,7 +4113,7 @@ Transform PreferencesDialog::getLaserLocalTransform() const
return t;
}
bool PreferencesDialog::getSourceDatabaseStampsUsed() const
bool PreferencesDialog::isSourceDatabaseStampsUsed() const
{
return _ui->source_checkBox_useDbStamps->isChecked();
}
@@ -4062,6 +4121,10 @@ bool PreferencesDialog::isSourceRGBDColorOnly() const
{
return _ui->checkbox_rgbd_colorOnly->isChecked();
}
QString PreferencesDialog::getSourceDistortionModel() const
{
return _ui->lineEdit_source_distortionModel->text();
}
int PreferencesDialog::getSourceImageDecimation() const
{
return _ui->spinBox_source_imageDecimation->value();
@@ -4577,6 +4640,11 @@ void PreferencesDialog::testOdometry()
_ui->doubleSpinBox_cameraSCanFromDepth_maxDepth->value(),
_ui->doubleSpinBox_cameraImages_scanVoxelSize->value(),
_ui->spinBox_cameraImages_scanNormalsK->value());
if(this->getSourceType() == PreferencesDialog::kSrcRGBD &&
!_ui->lineEdit_source_distortionModel->text().isEmpty())
{
cameraThread.setDistortionModel(_ui->lineEdit_source_distortionModel->text().toStdString());
}
UEventsManager::createPipe(&cameraThread, &odomThread, "CameraEvent");
UEventsManager::createPipe(&odomThread, odomViewer, "OdometryEvent");
UEventsManager::createPipe(odomViewer, &odomThread, "OdometryResetEvent");
@@ -4612,6 +4680,11 @@ void PreferencesDialog::testCamera()
_ui->doubleSpinBox_cameraSCanFromDepth_maxDepth->value(),
_ui->doubleSpinBox_cameraImages_scanVoxelSize->value(),
_ui->spinBox_cameraImages_scanNormalsK->value());
if(this->getSourceType() == PreferencesDialog::kSrcRGBD &&
!_ui->lineEdit_source_distortionModel->text().isEmpty())
{
cameraThread.setDistortionModel(_ui->lineEdit_source_distortionModel->text().toStdString());
}
UEventsManager::createPipe(&cameraThread, window, "CameraEvent");
cameraThread.start();

11
guilib/src/ProgressDialog.cpp
View File

@@ -53,12 +53,16 @@ ProgressDialog::ProgressDialog(QWidget *parent, Qt::WindowFlags flags) :
_detailedText->setLineWrapMode(QTextEdit::NoWrap);
_closeButton = new QPushButton(this);
_closeButton->setText("Close");
_cancelButton = new QPushButton(this);
_cancelButton->setText("Cancel");
_cancelButton-> setVisible(false);
_closeWhenDoneCheckBox = new QCheckBox(this);
_closeWhenDoneCheckBox->setChecked(true);
_closeWhenDoneCheckBox->setText("Close when done.");
_endMessage = "Finished!";
this->clear();
connect(_closeButton, SIGNAL(clicked()), this, SLOT(close()));
connect(_cancelButton, SIGNAL(clicked()), this, SIGNAL(canceled()));
QVBoxLayout * layout = new QVBoxLayout(this);
layout->addWidget(_text);
@@ -67,6 +71,8 @@ ProgressDialog::ProgressDialog(QWidget *parent, Qt::WindowFlags flags) :
QHBoxLayout * hLayout = new QHBoxLayout();
layout->addLayout(hLayout);
hLayout->addWidget(_closeWhenDoneCheckBox);
hLayout->addStretch();
hLayout->addWidget(_cancelButton);
hLayout->addWidget(_closeButton);
this->setLayout(layout);
@@ -87,6 +93,11 @@ void ProgressDialog::setAutoClose(bool on, int delayedClosingTimeSec)
_closeWhenDoneCheckBox->setChecked(on);
}
void ProgressDialog::setCancelButtonVisible(bool visible)
{
_cancelButton->setVisible(visible);
}
void ProgressDialog::appendText(const QString & text, const QColor & color)
{
_text->setText(text);

333
guilib/src/ui/depthCalibrationDialog.ui Normal file
View File

@@ -0,0 +1,333 @@
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>DepthCalibrationDialog</class>
<widget class="QDialog" name="DepthCalibrationDialog">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>524</width>
<height>449</height>
</rect>
</property>
<property name="windowTitle">
<string>Depth Calibration</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<widget class="QLabel" name="label_111">
<property name="text">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;CLAMS approach is used for depth calibration. Please visit &lt;a href=&quot;http://www.alexteichman.com/octo/clams/&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;CLAMS website&lt;/span&gt;&lt;/a&gt; for tips about how to get a good map for depth calibration. If you want to process multiple mapping sessions, uncheck &amp;quot;Reset previous model&amp;quot;. If logger's level is debug, 3D map and generated depth images will be shown during the calibration.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="textFormat">
<enum>Qt::RichText</enum>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<layout class="QGridLayout" name="gridLayout" columnstretch="0,1">
<item row="5" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_minDepth">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>1</number>
</property>
<property name="maximum">
<double>100.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_voxel">
<property name="text">
<string>Voxel size. Set 0 to disable.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_voxelSize">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>3</number>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.010000000000000</double>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_coneRadius">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="minimum">
<double>0.010000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.020000000000000</double>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QCheckBox" name="checkBox_laserScan">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_132">
<property name="text">
<string>Maximum depth (0 means no limit).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_maxDepth">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>1</number>
</property>
<property name="maximum">
<double>100.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>4.000000000000000</double>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_133">
<property name="text">
<string>Minimum depth.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_voxel_2">
<property name="text">
<string>Cone radius.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QLabel" name="label_voxel_3">
<property name="text">
<string>Cone std dev threshold.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_coneStdDevThresh">
<property name="suffix">
<string/>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="minimum">
<double>0.010000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.030000000000000</double>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="checkBox_resetModel">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_110">
<property name="text">
<string>Use 3D laser scans for 3D map.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_109">
<property name="text">
<string>Reset previous model.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_108">
<property name="text">
<string>Decimation (1-2-4-8-...).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QSpinBox" name="spinBox_decimation">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>32</number>
</property>
<property name="value">
<number>1</number>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QLabel" name="label_112">
<property name="text">
<string>Current model:</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_trainingSamples">
<property name="text">
<string>0</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_114">
<property name="text">
<string>training samples</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
<item>
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QDialogButtonBox" name="buttonBox">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="standardButtons">
<set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok|QDialogButtonBox::RestoreDefaults|QDialogButtonBox::Save</set>
</property>
</widget>
</item>
</layout>
</widget>
<resources/>
<connections>
<connection>
<sender>buttonBox</sender>
<signal>rejected()</signal>
<receiver>DepthCalibrationDialog</receiver>
<slot>reject()</slot>
<hints>
<hint type="sourcelabel">
<x>316</x>
<y>260</y>
</hint>
<hint type="destinationlabel">
<x>286</x>
<y>274</y>
</hint>
</hints>
</connection>
</connections>
</ui>

78
guilib/src/ui/exportCloudsDialog.ui
View File

@@ -25,7 +25,7 @@
<x>0</x>
<y>0</y>
<width>773</width>
<height>1648</height>
<height>1689</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_13">
@@ -150,31 +150,8 @@
</property>
<layout class="QVBoxLayout" name="verticalLayout_14">
<item>
<layout class="QGridLayout" name="gridLayout" columnstretch="0,1">
<item row="0" column="0">
<widget class="QSpinBox" name="spinBox_decimation">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>32</number>
</property>
<property name="value">
<number>1</number>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_108">
<property name="text">
<string>3D cloud decimation (1-2-4-8-...).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<layout class="QGridLayout" name="gridLayout" columnstretch="0,0,1">
<item row="1" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_maxDepth">
<property name="suffix">
<string> m</string>
@@ -193,7 +170,40 @@
</property>
</widget>
</item>
<item row="1" column="1">
<item row="0" column="2">
<widget class="QLabel" name="label_108">
<property name="text">
<string>3D cloud decimation (1-2-4-8-...).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QSpinBox" name="spinBox_decimation">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>32</number>
</property>
<property name="value">
<number>1</number>
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QLabel" name="label_134">
<property name="text">
<string>Path to a depth distortion model to apply (output from depth calibration).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QLabel" name="label_132">
<property name="text">
<string>3D cloud maximum depth (0 means no limit).</string>
@@ -203,7 +213,7 @@
</property>
</widget>
</item>
<item row="2" column="1">
<item row="2" column="2">
<widget class="QLabel" name="label_133">
<property name="text">
<string>3D cloud minimum depth.</string>
@@ -213,7 +223,7 @@
</property>
</widget>
</item>
<item row="2" column="0">
<item row="2" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_minDepth">
<property name="suffix">
<string> m</string>
@@ -232,6 +242,16 @@
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLineEdit" name="lineEdit_distortionModel"/>
</item>
<item row="3" column="0">
<widget class="QToolButton" name="toolButton_distortionModel">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
</layout>
</item>
<item>

6
guilib/src/ui/mainWindow.ui
View File

@@ -56,6 +56,7 @@
<addaction name="menuExport_poses"/>
<addaction name="actionExport_images_RGB_jpg_Depth_png"/>
<addaction name="actionExport_cameras_in_Bundle_format_out"/>
<addaction name="actionDepth_Calibration"/>
<addaction name="separator"/>
<addaction name="actionClose_database"/>
<addaction name="separator"/>
@@ -1345,6 +1346,11 @@
<string>RealSense</string>
</property>
</action>
<action name="actionDepth_Calibration">
<property name="text">
<string>Depth calibration...</string>
</property>
</action>
</widget>
<customwidgets>
<customwidget>

58
guilib/src/ui/preferencesDialog.ui
View File

@@ -63,7 +63,7 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-490</y>
<y>-179</y>
<width>673</width>
<height>2496</height>
</rect>
@@ -2357,7 +2357,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<item>
<widget class="QStackedWidget" name="stackedWidget_src">
<property name="currentIndex">
<number>1</number>
<number>0</number>
</property>
<widget class="QWidget" name="page_41">
<layout class="QVBoxLayout" name="verticalLayout_64">
@@ -2384,7 +2384,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</widget>
</item>
<item>
<layout class="QGridLayout" name="gridLayout_55" columnstretch="0,0,1">
<layout class="QGridLayout" name="gridLayout_55" columnstretch="0,0,0,1,0">
<item row="0" column="1">
<widget class="QComboBox" name="comboBox_cameraRGBD">
<property name="sizeAdjustPolicy">
@@ -2432,7 +2432,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</item>
</widget>
</item>
<item row="0" column="2">
<item row="0" column="3">
<widget class="QLabel" name="label_228">
<property name="text">
<string>Driver</string>
@@ -2442,7 +2442,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="3" column="2">
<item row="1" column="3">
<widget class="QLabel" name="label_229">
<property name="text">
<string>Only RGB images are published.</string>
@@ -2452,7 +2452,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="3" column="1">
<item row="1" column="1">
<widget class="QCheckBox" name="checkbox_rgbd_colorOnly">
<property name="text">
<string/>
@@ -2462,12 +2462,56 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QToolButton" name="toolButton_source_distortionModel">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
<item row="2" column="3">
<widget class="QLabel" name="label_341">
<property name="text">
<string>Distortion model (output from depth calibration).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLineEdit" name="lineEdit_source_distortionModel">
<property name="minimumSize">
<size>
<width>100</width>
<height>0</height>
</size>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QToolButton" name="toolButton_distortionModel">
<property name="toolTip">
<string>Open database viewer</string>
</property>
<property name="text">
<string/>
</property>
<property name="icon">
<iconset resource="../GuiLib.qrc">
<normaloff>:/images/mag_glass.png</normaloff>:/images/mag_glass.png</iconset>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QStackedWidget" name="stackedWidget_rgbd">
<property name="currentIndex">
<number>2</number>
<number>1</number>
</property>
<widget class="QWidget" name="page_32">
<layout class="QVBoxLayout" name="verticalLayout_63">