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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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103
guilib/src/ExportCloudsDialog.cpp
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@@ -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;
}
}
}
}