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ExportDialog: added ground normals up option, added camera projection mask and decimation options. Export CLI: added --ground_normals_up and --cam_projection_mask options, changed --bin option by --ascii option (now binary by default). DBViewer: warn when scan from depth option is enabled but there is no depth.

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This commit is contained in:
matlabbe
2022-01-27 17:57:56 -05:00
parent a8e5bbf415
commit 402afc07ed
9 changed files with 626 additions and 352 deletions
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guilib/src/DatabaseViewer.cpp
+45 -26
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@@ -7767,32 +7767,30 @@ void DatabaseViewer::refineConstraint(int from, int to, bool silent)
ui_->doubleSpinBox_icp_minDepth->value(),
0,
ui_->parameters_toolbox->getParameters());
int maxLaserScans = cloudFrom->size();
fromS->sensorData().setLaserScan(LaserScan(util3d::laserScanFromPointCloud(*util3d::removeNaNFromPointCloud(cloudFrom), Transform()), maxLaserScans, 0));
toS->sensorData().setLaserScan(LaserScan(util3d::laserScanFromPointCloud(*util3d::removeNaNFromPointCloud(cloudTo), Transform()), maxLaserScans, 0));
if(!fromS->sensorData().laserScanCompressed().isEmpty() && !toS->sensorData().laserScanCompressed().isEmpty())
if(cloudFrom->empty() && cloudTo->empty())
{
std::string msg = "Option to generate scan from depth is checked (GUI Parameters->Refine), but "
"resulting clouds from depth are empty. Transformation estimation will likely "
"fails. Uncheck the parameter to use laser scans.";
UWARN(msg.c_str());
if(!silent)
{
QMessageBox::warning(this,
tr("Refine link"),
tr("%1").arg(msg.c_str()));
}
}
else if(!fromS->sensorData().laserScanCompressed().isEmpty() || !toS->sensorData().laserScanCompressed().isEmpty())
{
UWARN("There are laser scans in data, but generate laser scan from "
"depth image option is activated (GUI Parameters->Refine). "
"Ignoring saved laser scans...");
}
else
{
QString msg = tr("Generating laser scan from depth image is checked "
"(GUI Parameters->Refine), but selected nodes don't contain "
"depth data. Empty laser scans are generated, so transform "
"estimation will likely fail. Uncheck to use laser scans instead "
"(if there are some).");
if(!silent)
{
QMessageBox::warning(this,
tr("Refine a link"),
msg);
}
UWARN(msg.toStdString().c_str());
}
int maxLaserScans = cloudFrom->size();
fromS->sensorData().setLaserScan(LaserScan(util3d::laserScanFromPointCloud(*util3d::removeNaNFromPointCloud(cloudFrom), Transform()), maxLaserScans, 0));
toS->sensorData().setLaserScan(LaserScan(util3d::laserScanFromPointCloud(*util3d::removeNaNFromPointCloud(cloudTo), Transform()), maxLaserScans, 0));
}
else
{
@@ -8046,25 +8044,46 @@ bool DatabaseViewer::addConstraint(int from, int to, bool silent)
ui_->doubleSpinBox_icp_minDepth->value(),
0,
ui_->parameters_toolbox->getParameters());
if(cloudFrom->empty() && cloudTo->empty())
{
std::string msg = "Option to generate scan from depth is checked (GUI Parameters->Refine), but "
"resulting clouds from depth are empty. Transformation estimation will likely "
"fails. Uncheck the parameter to use laser scans.";
UWARN(msg.c_str());
if(!silent)
{
QMessageBox::warning(this,
tr("Add link"),
tr("%1").arg(msg.c_str()));
}
}
else if(!fromS->sensorData().laserScanCompressed().isEmpty() || !toS->sensorData().laserScanCompressed().isEmpty())
{
UWARN("There are laser scans in data, but generate laser scan from "
"depth image option is activated (GUI Parameters->Refine). Ignoring saved laser scans...");
}
int maxLaserScans = cloudFrom->size();
fromS->sensorData().setLaserScan(LaserScan(util3d::laserScanFromPointCloud(*util3d::removeNaNFromPointCloud(cloudFrom), Transform()), maxLaserScans, 0));
toS->sensorData().setLaserScan(LaserScan(util3d::laserScanFromPointCloud(*util3d::removeNaNFromPointCloud(cloudTo), Transform()), maxLaserScans, 0));
if(!fromS->sensorData().laserScanCompressed().isEmpty() || !toS->sensorData().laserScanCompressed().isEmpty())
{
UWARN("There are laser scans in data, but generate laser scan from "
"depth image option is activated. Ignoring saved laser scans...");
}
}
}
else if(!reextractVisualFeatures && fromS->getWords().empty() && toS->getWords().empty())
{
UWARN("\"%s\" is false and signatures (%d and %d) don't have words, "
std::string msg = uFormat("\"%s\" is false and signatures (%d and %d) don't have words, "
"registration will not be possible. Set \"%s\" to true.",
Parameters::kRGBDLoopClosureReextractFeatures().c_str(),
fromS->id(),
toS->id(),
Parameters::kRGBDLoopClosureReextractFeatures().c_str());
UWARN(msg.c_str());
if(!silent)
{
QMessageBox::warning(this,
tr("Add link"),
tr("%1").arg(msg.c_str()));
}
}
Transform guess;