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New 2d scan type: CV_32FC5 (x,y,normal_x,normal_y,normal_z)

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This commit is contained in:
matlabbe
2017-08-27 19:58:49 -04:00
parent 52a4e8964f
commit 423b47a5ff
12 changed files with 292 additions and 206 deletions
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4
guilib/src/DatabaseViewer.cpp
View File

@@ -3757,7 +3757,7 @@ void DatabaseViewer::updateConstraintView(
constraintsViewer_->removeCloud("scan1");
if(!dataFrom.laserScanRaw().empty())
{
if(dataFrom.laserScanRaw().channels() == 6)
if(dataFrom.laserScanRaw().channels() >= 5)
{
pcl::PointCloud<pcl::PointNormal>::Ptr scan;
scan = rtabmap::util3d::laserScanToPointCloudNormal(dataFrom.laserScanRaw(), dataFrom.laserScanInfo().localTransform());
@@ -3780,7 +3780,7 @@ void DatabaseViewer::updateConstraintView(
}
if(!dataTo.laserScanRaw().empty())
{
if(dataTo.laserScanRaw().channels() == 6)
if(dataTo.laserScanRaw().channels() >= 5)
{
pcl::PointCloud<pcl::PointNormal>::Ptr scan;
scan = rtabmap::util3d::laserScanToPointCloudNormal(dataTo.laserScanRaw(), t*dataTo.laserScanInfo().localTransform());

12
guilib/src/EditDepthArea.h
View File

@@ -57,12 +57,12 @@ public slots:
void resetChanges();
protected:
void mousePressEvent(QMouseEvent *event) override;
void mouseMoveEvent(QMouseEvent *event) override;
void mouseReleaseEvent(QMouseEvent *event) override;
void paintEvent(QPaintEvent *event) override;
void resizeEvent(QResizeEvent *event) override;
void contextMenuEvent(QContextMenuEvent * e) override;
virtual void mousePressEvent(QMouseEvent *event);
virtual void mouseMoveEvent(QMouseEvent *event);
virtual void mouseReleaseEvent(QMouseEvent *event);
virtual void paintEvent(QPaintEvent *event);
virtual void resizeEvent(QResizeEvent *event);
virtual void contextMenuEvent(QContextMenuEvent * e);
private:
void drawLineTo(const QPoint &endPoint);

13
guilib/src/MainWindow.cpp
View File

@@ -2888,7 +2888,7 @@ void MainWindow::createAndAddScanToMap(int nodeId, const Transform & pose, int m
{
cloudRGBWithNormals = util3d::laserScanToPointCloudRGBNormal(scan, iter->sensorData().laserScanInfo().localTransform());
}
else if(scan.channels() == 6 && _preferencesDialog->getCloudVoxelSizeScan(0) <= 0.0)
else if((scan.channels() == 5 || scan.channels() == 6) && _preferencesDialog->getCloudVoxelSizeScan(0) <= 0.0)
{
cloudWithNormals = util3d::laserScanToPointCloudNormal(scan, iter->sensorData().laserScanInfo().localTransform());
}
@@ -2983,7 +2983,7 @@ void MainWindow::createAndAddScanToMap(int nodeId, const Transform & pose, int m
pcl::PointCloud<pcl::Normal>::Ptr normals;
if(cloud->size())
{
if(scan.channels() == 2)
if(scan.channels() == 2 || scan.channels() == 5)
{
normals = util3d::computeFastOrganizedNormals2D(cloud, _preferencesDialog->getScanNormalKSearch(), _preferencesDialog->getScanNormalRadiusSearch(), scanViewpoint);
}
@@ -3024,7 +3024,14 @@ void MainWindow::createAndAddScanToMap(int nodeId, const Transform & pose, int m
added = _cloudViewer->addCloud(scanName, cloudWithNormals, pose, color);
if(added && nodeId > 0)
{
scan = util3d::laserScanFromPointCloud(*cloudWithNormals);
if(scan.channels() == 5)
{
scan = util3d::laserScan2dFromPointCloud(*cloudWithNormals);
}
else
{
scan = util3d::laserScanFromPointCloud(*cloudWithNormals);
}
}
}
else if(cloudRGB.get())

85
guilib/src/ui/preferencesDialog.ui
View File

@@ -63,25 +63,16 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-831</y>
<y>0</y>
<width>678</width>
<height>2739</height>
<height>2736</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -95,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>1</number>
<number>21</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -4570,16 +4561,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<string>Directory of images (optional settings)</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_93">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -12580,16 +12562,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
<widget class="QWidget" name="page_54">
<layout class="QVBoxLayout" name="verticalLayout_85">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -12729,16 +12702,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
</widget>
<widget class="QWidget" name="page_55">
<layout class="QVBoxLayout" name="verticalLayout_86">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -12896,16 +12860,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -12985,16 +12940,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -13106,16 +13052,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -13808,7 +13745,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
<item row="8" column="1">
<widget class="QLabel" name="label_144">
<property name="text">
<string>Point to plane ICP. Only for ICP 3D.</string>
<string>Point to plane ICP.</string>
</property>
<property name="wordWrap">
<bool>true</bool>