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Improved performance of create2DMap() and fixed unknown space filled rotation when laser scans are inverted. Added fill unknown space option to DatabaseViewer.

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This commit is contained in:
matlabbe
2015-09-28 15:30:01 -04:00
parent 7ea730bb0a
commit 3fa6124ad0
3 changed files with 83 additions and 47 deletions
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30
guilib/src/DatabaseViewer.cpp
View File

@@ -224,7 +224,8 @@ DatabaseViewer::DatabaseViewer(QWidget * parent) :
connect(ui_->comboBox_graphOptimizer, SIGNAL(currentIndexChanged(int)), this, SLOT(updateGraphView()));
connect(ui_->checkBox_2dslam, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
connect(ui_->spinBox_optimizationDepth, SIGNAL(editingFinished()), this, SLOT(updateGraphView()));
connect(ui_->checkBox_gridErode, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
connect(ui_->checkBox_gridErode, SIGNAL(stateChanged(int)), this, SLOT(updateGrid()));
connect(ui_->checkBox_gridFillUnkownSpace, SIGNAL(stateChanged(int)), this, SLOT(updateGrid()));
connect(ui_->groupBox_posefiltering, SIGNAL(clicked(bool)), this, SLOT(updateGraphView()));
connect(ui_->doubleSpinBox_posefilteringRadius, SIGNAL(editingFinished()), this, SLOT(updateGraphView()));
connect(ui_->doubleSpinBox_posefilteringAngle, SIGNAL(editingFinished()), this, SLOT(updateGraphView()));
@@ -267,6 +268,7 @@ DatabaseViewer::DatabaseViewer(QWidget * parent) :
connect(ui_->checkBox_2dslam, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->spinBox_optimizationDepth, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
connect(ui_->checkBox_gridErode, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->checkBox_gridFillUnkownSpace, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->groupBox_gridFromProjection, SIGNAL(clicked(bool)), this, SLOT(configModified()));
connect(ui_->doubleSpinBox_gridCellSize, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
connect(ui_->spinBox_projDecimation, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
@@ -387,6 +389,7 @@ void DatabaseViewer::readSettings()
ui_->checkBox_2dslam->setChecked(settings.value("slam2d", ui_->checkBox_2dslam->isChecked()).toBool());
ui_->spinBox_optimizationDepth->setValue(settings.value("depth", ui_->spinBox_optimizationDepth->value()).toInt());
ui_->checkBox_gridErode->setChecked(settings.value("erode", ui_->checkBox_gridErode->isChecked()).toBool());
ui_->checkBox_gridFillUnkownSpace->setChecked(settings.value("unknownSpaceFilled", ui_->checkBox_gridFillUnkownSpace->isChecked()).toBool());
settings.endGroup();
settings.beginGroup("grid");
@@ -481,6 +484,7 @@ void DatabaseViewer::writeSettings()
settings.setValue("slam2d", ui_->checkBox_2dslam->isChecked());
settings.setValue("depth", ui_->spinBox_optimizationDepth->value());
settings.setValue("erode", ui_->checkBox_gridErode->isChecked());
settings.setValue("unknownSpaceFilled", ui_->checkBox_gridFillUnkownSpace->isChecked());
settings.endGroup();
// save Grid settings
@@ -2516,18 +2520,20 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
{
if(memory_ && value >=0 && value < (int)graphes_.size())
{
std::map<int, rtabmap::Transform> & graph = uValueAt(graphes_, value);
if(ui_->dockWidget_graphView->isVisible() && localMaps_.size() == 0)
{
//update scans
UINFO("Update local maps list...");
for(int i=0; i<ids_.size(); ++i)
std::vector<int> ids = uKeys(graph);
for(unsigned int i=0; i<ids.size(); ++i)
{
UTimer time;
bool added = false;
if(ui_->groupBox_gridFromProjection->isChecked())
{
SensorData data = memory_->getNodeData(ids_.at(i), true);
SensorData data = memory_->getNodeData(ids.at(i), true);
if(!data.depthOrRightRaw().empty())
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud;
@@ -2553,7 +2559,7 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
if(!ground.empty() || !obstacles.empty())
{
localMaps_.insert(std::make_pair(ids_.at(i), std::make_pair(ground, obstacles)));
localMaps_.insert(std::make_pair(ids.at(i), std::make_pair(ground, obstacles)));
added = true;
}
}
@@ -2561,26 +2567,32 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
}
else
{
SensorData data = memory_->getNodeData(ids_.at(i), false);
SensorData data = memory_->getNodeData(ids.at(i), false);
if(!data.laserScanCompressed().empty())
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud;
cv::Mat laserScan;
data.uncompressDataConst(0, 0, &laserScan);
cv::Mat ground, obstacles;
util3d::occupancy2DFromLaserScan(laserScan, ground, obstacles, ui_->doubleSpinBox_gridCellSize->value());
localMaps_.insert(std::make_pair(ids_.at(i), std::make_pair(ground, obstacles)));
util3d::occupancy2DFromLaserScan(
laserScan,
ground,
obstacles,
ui_->doubleSpinBox_gridCellSize->value(),
ui_->checkBox_gridFillUnkownSpace->isChecked(),
data.laserScanMaxRange());
localMaps_.insert(std::make_pair(ids.at(i), std::make_pair(ground, obstacles)));
added = true;
}
}
if(added)
{
UINFO("Processed grid map %d/%d (%fs)", i+1, (int)ids_.size(), time.ticks());
UINFO("Processed grid map %d/%d (%fs)", i+1, (int)ids.size(), time.ticks());
}
}
UINFO("Update local maps list... done");
}
std::map<int, rtabmap::Transform> & graph = uValueAt(graphes_, value);
ui_->graphViewer->updateGraph(graph, graphLinks_, mapIds_);
if(graph.size() && localMaps_.size() && ui_->graphViewer->isGridMapVisible())
{

22
guilib/src/ui/DatabaseViewer.ui
View File

@@ -829,7 +829,7 @@
<item>
<widget class="QToolBox" name="toolBox">
<property name="currentIndex">
<number>2</number>
<number>3</number>
</property>
<widget class="QWidget" name="page">
<property name="geometry">
@@ -1345,7 +1345,7 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-26</y>
<y>0</y>
<width>333</width>
<height>333</height>
</rect>
@@ -1585,8 +1585,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>243</width>
<height>284</height>
<width>320</width>
<height>311</height>
</rect>
</property>
<attribute name="label">
@@ -1635,6 +1635,20 @@
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_64">
<property name="text">
<string>Fill unknown space</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QCheckBox" name="checkBox_gridFillUnkownSpace">
<property name="text">
<string/>
</property>
</widget>
</item>
</layout>
</item>
<item>