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Added util3d::projectCloudToCamera() method (creating a registered depth image from the laser scan), used for "Generate depth from scan" option of CameraImages

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This commit is contained in:
matlabbe
2016-01-11 17:21:06 -05:00
parent 94adc6fa1b
commit 42e1590abe
12 changed files with 696 additions and 296 deletions
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46
guilib/src/PreferencesDialog.cpp
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@@ -405,6 +405,9 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->doubleSpinBox_cameraImages_scanVoxelSize, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->lineEdit_cameraImages_gt, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->comboBox_cameraImages_gtFormat, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->groupBox_depthFromScan, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkBox_depthFromScan_vertical, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkBox_depthFromScan_fillBorders, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->toolButton_cameraStereoImages_path_left, SIGNAL(clicked()), this, SLOT(selectSourceStereoImagesPathLeft()));
connect(_ui->toolButton_cameraStereoImages_path_right, SIGNAL(clicked()), this, SLOT(selectSourceStereoImagesPathRight()));
@@ -1215,6 +1218,10 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->doubleSpinBox_cameraSCanFromDepth_maxDepth->setValue(4.0);
_ui->doubleSpinBox_cameraImages_scanVoxelSize->setValue(0.0f);
_ui->spinBox_cameraImages_scanNormalsK->setValue(0);
_ui->groupBox_depthFromScan->setChecked(false);
_ui->checkBox_depthFromScan_vertical->setChecked(true);
_ui->checkBox_depthFromScan_fillBorders->setChecked(false);
}
else if(groupBox->objectName() == _ui->groupBox_rtabmap_basic0->objectName())
{
@@ -1537,6 +1544,12 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
_ui->spinBox_cameraImages_scanNormalsK->setValue(settings.value("normalsK", _ui->spinBox_cameraImages_scanNormalsK->value()).toInt());
settings.endGroup();//ScanFromDepth
settings.beginGroup("DepthFromScan");
_ui->groupBox_depthFromScan->setChecked(settings.value("depthFromScan", _ui->groupBox_depthFromScan->isChecked()).toBool());
_ui->checkBox_depthFromScan_vertical->setChecked(settings.value("depthFromScanVertical", _ui->checkBox_depthFromScan_vertical->isChecked()).toBool());
_ui->checkBox_depthFromScan_fillBorders->setChecked(settings.value("depthFromScanFillBorders", _ui->checkBox_depthFromScan_fillBorders->isChecked()).toBool());
settings.endGroup();
settings.beginGroup("Database");
_ui->source_database_lineEdit_path->setText(settings.value("path",_ui->source_database_lineEdit_path->text()).toString());
_ui->source_checkBox_ignoreOdometry->setChecked(settings.value("ignoreOdometry", _ui->source_checkBox_ignoreOdometry->isChecked()).toBool());
@@ -1894,6 +1907,12 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.setValue("normalsK", _ui->spinBox_cameraImages_scanNormalsK->value());
settings.endGroup();
settings.beginGroup("DepthFromScan");
settings.setValue("depthFromScan", _ui->groupBox_depthFromScan->isChecked());
settings.setValue("depthFromScanVertical", _ui->checkBox_depthFromScan_vertical->isChecked());
settings.setValue("depthFromScanFillBorders", _ui->checkBox_depthFromScan_fillBorders->isChecked());
settings.endGroup();
settings.beginGroup("Database");
settings.setValue("path", _ui->source_database_lineEdit_path->text());
settings.setValue("ignoreOdometry", _ui->source_checkBox_ignoreOdometry->isChecked());
@@ -3356,9 +3375,11 @@ void PreferencesDialog::updateSourceGrpVisibility()
_ui->groupBox_sourceImages_optional->setVisible(
(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcRGBDImages-kSrcRGBD) ||
(_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoImages-kSrcStereo) ||
(_ui->comboBox_sourceType->currentIndex() == 2 && _ui->comboBox_sourceType->currentIndex() == kSrcImages-kSrcRGB));
(_ui->comboBox_sourceType->currentIndex() == 2 && _ui->source_comboBox_image_type->currentIndex() == kSrcImages-kSrcRGB));
_ui->groupBox_scan->setVisible(_ui->comboBox_sourceType->currentIndex() != 3);
_ui->groupBox_depthFromScan->setVisible(_ui->comboBox_sourceType->currentIndex() == 2 && _ui->source_comboBox_image_type->currentIndex() == kSrcImages-kSrcRGB);
}
/*** GETTERS ***/
@@ -3879,7 +3900,9 @@ Camera * PreferencesDialog::createCamera(bool useRawImages)
((CameraImages*)camera)->setDirRefreshed(_ui->source_images_refreshDir->isChecked());
((CameraImages*)camera)->setImagesRectified(_ui->checkBox_rgbImages_rectify->isChecked());
((CameraRGBDImages*)camera)->setGroundTruthPath(_ui->lineEdit_cameraImages_gt->text().toStdString(), _ui->comboBox_cameraImages_gtFormat->currentIndex());
((CameraRGBDImages*)camera)->setGroundTruthPath(
_ui->lineEdit_cameraImages_gt->text().toStdString(),
_ui->comboBox_cameraImages_gtFormat->currentIndex());
((CameraRGBDImages*)camera)->setScanPath(
_ui->lineEdit_cameraImages_path_scans->text().isEmpty()?"":_ui->lineEdit_cameraImages_path_scans->text().append(QDir::separator()).toStdString(),
_ui->spinBox_cameraImages_max_scan_pts->value(),
@@ -3887,7 +3910,13 @@ Camera * PreferencesDialog::createCamera(bool useRawImages)
_ui->doubleSpinBox_cameraImages_scanVoxelSize->value(),
_ui->spinBox_cameraImages_scanNormalsK->value(),
this->getLaserLocalTransform());
((CameraRGBDImages*)camera)->setTimestamps(_ui->checkBox_cameraImages_timestamps->isChecked(), _ui->lineEdit_cameraImages_timestamps->text().toStdString());
((CameraRGBDImages*)camera)->setDepthFromScan(
_ui->groupBox_depthFromScan->isChecked(),
_ui->checkBox_depthFromScan_vertical->isChecked(),
_ui->checkBox_depthFromScan_fillBorders->isChecked());
((CameraRGBDImages*)camera)->setTimestamps(
_ui->checkBox_cameraImages_timestamps->isChecked(),
_ui->lineEdit_cameraImages_timestamps->text().toStdString());
}
else if(driver == kSrcDatabase)
{
@@ -3903,11 +3932,12 @@ Camera * PreferencesDialog::createCamera(bool useRawImages)
{
// don't set calibration folder if we want raw images
QString dir = this->getCameraInfoDir();
QString name = QFileInfo(_ui->lineEdit_calibrationFile->text()
.remove("_left.yaml")
.remove("_right.yaml")
.remove("_pose.yaml")
.remove(".yaml")).baseName();
QString calibrationFile = _ui->lineEdit_calibrationFile->text();
if(!(driver >= kSrcRGB && driver <= kSrcVideo))
{
calibrationFile.remove("_left.yaml").remove("_right.yaml").remove("_pose.yaml");
}
QString name = QFileInfo(calibrationFile.remove(".yaml")).baseName();
if(!_ui->lineEdit_calibrationFile->text().isEmpty())
{
QDir d = QFileInfo(_ui->lineEdit_calibrationFile->text()).dir();