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util3d_filtering: refactored implementations using templates. Parameters: Changed Grid/DepthMin|Max to Grid/RangeMin|Max, added Grid/PreVoxelFiltering, added GridBlobal/OctoMapOccupancyThr. OccupancyGrid: supporting input clouds already having normals. Memory: don't save working directory parameter to database.

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This commit is contained in:
matlabbe
2018-02-13 10:16:48 -05:00
parent 09cae9cbd3
commit 4c0a612ab5
16 changed files with 926 additions and 1203 deletions
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8
guilib/src/DatabaseViewer.cpp
View File

@@ -327,7 +327,7 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
connect(ui_->checkBox_grid_2d, SIGNAL(stateChanged(int)), this, SLOT(updateGrid()));
connect(ui_->comboBox_octomap_rendering_type, SIGNAL(currentIndexChanged(int)), this, SLOT(updateOctomapView()));
connect(ui_->spinBox_grid_depth, SIGNAL(valueChanged(int)), this, SLOT(updateOctomapView()));
connect(ui_->checkBox_grid_empty, SIGNAL(stateChanged(int)), this, SLOT(updateOctomapView()));
connect(ui_->checkBox_grid_empty, SIGNAL(stateChanged(int)), this, SLOT(updateGrid()));
connect(ui_->doubleSpinBox_gainCompensationRadius, SIGNAL(valueChanged(double)), this, SLOT(updateConstraintView()));
connect(ui_->doubleSpinBox_voxelSize, SIGNAL(valueChanged(double)), this, SLOT(updateConstraintView()));
connect(ui_->doubleSpinBox_voxelSize, SIGNAL(valueChanged(double)), this, SLOT(update3dView()));
@@ -2411,7 +2411,7 @@ void DatabaseViewer::regenerateLocalMaps()
viewpoint = cv::Point3f(t.x(), t.y(), t.z());
}
grid.createLocalMap(cloud, s.getPose(), ground, obstacles, empty, viewpoint);
grid.createLocalMap<pcl::PointXYZRGB>(cloud, s.getPose(), ground, obstacles, empty, viewpoint);
}
}
else
@@ -2533,7 +2533,7 @@ void DatabaseViewer::regenerateCurrentLocalMaps()
viewpoint = cv::Point3f(t.x(), t.y(), t.z());
}
grid.createLocalMap(cloud, s.getPose(), ground, obstacles, empty, viewpoint);
grid.createLocalMap<pcl::PointXYZRGB>(cloud, s.getPose(), ground, obstacles, empty, viewpoint);
}
}
else
@@ -4575,7 +4575,7 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
#ifdef RTABMAP_OCTOMAP
if(ui_->checkBox_octomap->isChecked())
{
octomap_ = new OctoMap(cellSize);
octomap_ = new OctoMap(parameters);
bool updateAborted = false;
for(std::map<int, std::pair<std::pair<cv::Mat, cv::Mat>, cv::Mat> >::iterator iter=localMaps.begin(); iter!=localMaps.end(); ++iter)
{

21
guilib/src/MainWindow.cpp
View File

@@ -251,13 +251,10 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent, bool sh
_preferencesDialog->loadWindowGeometry(_aboutDialog);
setupMainLayout(_preferencesDialog->isVerticalLayoutUsed());
_occupancyGrid = new OccupancyGrid(_preferencesDialog->getAllParameters());
ParametersMap parameters = _preferencesDialog->getAllParameters();
_occupancyGrid = new OccupancyGrid();
#ifdef RTABMAP_OCTOMAP
_octomap = new OctoMap(
_occupancyGrid->getCellSize(),
_preferencesDialog->getOctomapOccupancyThr(),
_occupancyGrid->isFullUpdate(),
_occupancyGrid->getUpdateError());
_octomap = new OctoMap(parameters);
#endif
// Timer
@@ -4733,11 +4730,7 @@ void MainWindow::startDetection()
#ifdef RTABMAP_OCTOMAP
UASSERT(_octomap != 0);
delete _octomap;
_octomap = new OctoMap(
_occupancyGrid->getCellSize(),
_preferencesDialog->getOctomapOccupancyThr(),
_occupancyGrid->isFullUpdate(),
_occupancyGrid->getUpdateError());
_octomap = new OctoMap(parameters);
#endif
// clear odometry visual stuff
@@ -6051,11 +6044,7 @@ void MainWindow::clearTheCache()
// re-create one if the resolution has changed
UASSERT(_octomap != 0);
delete _octomap;
_octomap = new OctoMap(
_occupancyGrid->getCellSize(),
_preferencesDialog->getOctomapOccupancyThr(),
_occupancyGrid->isFullUpdate(),
_occupancyGrid->getUpdateError());
_octomap = new OctoMap(_preferencesDialog->getAllParameters());
#endif
_occupancyGrid->clear();
}

14
guilib/src/PreferencesDialog.cpp
View File

@@ -455,7 +455,6 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->checkBox_octomap_show3dMap, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->comboBox_octomap_renderingType, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->spinBox_octomap_pointSize, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->doubleSpinBox_octomap_occupancyThr, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->groupBox_organized, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->doubleSpinBox_mesh_angleTolerance, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
@@ -912,9 +911,10 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->groupBox_grid_3d->setObjectName(Parameters::kGrid3D().c_str());
_ui->checkBox_grid_groundObstacle->setObjectName(Parameters::kGridGroundIsObstacle().c_str());
_ui->doubleSpinBox_grid_resolution->setObjectName(Parameters::kGridCellSize().c_str());
_ui->checkBox_grid_preVoxelFiltering->setObjectName(Parameters::kGridPreVoxelFiltering().c_str());
_ui->spinBox_grid_decimation->setObjectName(Parameters::kGridDepthDecimation().c_str());
_ui->doubleSpinBox_grid_maxDepth->setObjectName(Parameters::kGridDepthMax().c_str());
_ui->doubleSpinBox_grid_minDepth->setObjectName(Parameters::kGridDepthMin().c_str());
_ui->doubleSpinBox_grid_maxDepth->setObjectName(Parameters::kGridRangeMax().c_str());
_ui->doubleSpinBox_grid_minDepth->setObjectName(Parameters::kGridRangeMin().c_str());
_ui->lineEdit_grid_roi->setObjectName(Parameters::kGridDepthRoiRatios().c_str());
_ui->checkBox_grid_projRayTracing->setObjectName(Parameters::kGridRayTracing().c_str());
_ui->doubleSpinBox_grid_footprintLength->setObjectName(Parameters::kGridFootprintLength().c_str());
@@ -942,6 +942,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->doubleSpinBox_grid_minMapSize->setObjectName(Parameters::kGridGlobalMinSize().c_str());
_ui->spinBox_grid_maxNodes->setObjectName(Parameters::kGridGlobalMaxNodes().c_str());
_ui->doubleSpinBox_grid_footprintRadius->setObjectName(Parameters::kGridGlobalFootprintRadius().c_str());
_ui->doubleSpinBox_grid_octomapOccThr->setObjectName(Parameters::kGridGlobalOctoMapOccupancyThr().c_str());
_ui->checkBox_grid_erode->setObjectName(Parameters::kGridGlobalEroded().c_str());
//Odometry
@@ -1469,7 +1470,6 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->checkBox_octomap_show3dMap->setChecked(true);
_ui->comboBox_octomap_renderingType->setCurrentIndex(0);
_ui->spinBox_octomap_pointSize->setValue(5);
_ui->doubleSpinBox_octomap_occupancyThr->setValue(0.5);
}
else if(groupBox->objectName() == _ui->groupBox_logging1->objectName())
{
@@ -1857,7 +1857,6 @@ void PreferencesDialog::readGuiSettings(const QString & filePath)
_ui->checkBox_octomap_2dgrid->setChecked(settings.value("octomap_2dgrid", _ui->checkBox_octomap_2dgrid->isChecked()).toBool());
_ui->checkBox_octomap_show3dMap->setChecked(settings.value("octomap_3dmap", _ui->checkBox_octomap_show3dMap->isChecked()).toBool());
_ui->comboBox_octomap_renderingType->setCurrentIndex(settings.value("octomap_rendering_type", _ui->comboBox_octomap_renderingType->currentIndex()).toInt());
_ui->doubleSpinBox_octomap_occupancyThr->setValue(settings.value("octomap_occupancy_thr", _ui->doubleSpinBox_octomap_occupancyThr->value()).toDouble());
_ui->spinBox_octomap_pointSize->setValue(settings.value("octomap_point_size", _ui->spinBox_octomap_pointSize->value()).toInt());
_ui->groupBox_organized->setChecked(settings.value("meshing", _ui->groupBox_organized->isChecked()).toBool());
@@ -2261,7 +2260,6 @@ void PreferencesDialog::writeGuiSettings(const QString & filePath) const
settings.setValue("octomap_2dgrid", _ui->checkBox_octomap_2dgrid->isChecked());
settings.setValue("octomap_3dmap", _ui->checkBox_octomap_show3dMap->isChecked());
settings.setValue("octomap_rendering_type", _ui->comboBox_octomap_renderingType->currentIndex());
settings.setValue("octomap_occupancy_thr", _ui->doubleSpinBox_octomap_occupancyThr->value());
settings.setValue("octomap_point_size", _ui->spinBox_octomap_pointSize->value());
@@ -4322,10 +4320,6 @@ int PreferencesDialog::getOctomapTreeDepth() const
{
return _ui->spinBox_octomap_treeDepth->value();
}
double PreferencesDialog::getOctomapOccupancyThr() const
{
return _ui->doubleSpinBox_octomap_occupancyThr->value();
}
int PreferencesDialog::getOctomapPointSize() const
{
return _ui->spinBox_octomap_pointSize->value();

261
guilib/src/ui/preferencesDialog.ui
View File

@@ -63,9 +63,9 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-284</y>
<y>0</y>
<width>678</width>
<height>2778</height>
<height>2811</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
@@ -95,7 +95,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>5</number>
<number>16</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -2042,32 +2042,6 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_octomap_treeDepth_4">
<property name="text">
<string>Occupancy threshold.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_octomap_occupancyThr">
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.050000000000000</double>
</property>
<property name="value">
<double>0.500000000000000</double>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_octomap_treeDepth">
<property name="text">
@@ -2120,6 +2094,16 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="checkBox_octomap_2dgrid">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_octomap_treeDepth_3">
<property name="text">
@@ -2146,16 +2130,6 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="checkBox_octomap_2dgrid">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_octomap_treeDepth_8">
<property name="text">
@@ -9314,6 +9288,16 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QCheckBox" name="checkbox_rgbd_createOccupancyGrid">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QLabel" name="label_325">
<property name="text">
@@ -9346,8 +9330,8 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QCheckBox" name="checkbox_rgbd_createOccupancyGrid">
<item row="1" column="0">
<widget class="QCheckBox" name="checkBox_grid_projMapFrame">
<property name="text">
<string/>
</property>
@@ -9382,8 +9366,85 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="checkBox_grid_projMapFrame">
<item row="3" column="1">
<widget class="QLabel" name="label_323">
<property name="text">
<string>Minimum range from the sensor.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_minDepth">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>1</number>
</property>
<property name="maximum">
<double>100.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_320">
<property name="text">
<string>Maximum range from the sensor (0 means no limit).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_maxDepth">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>1</number>
</property>
<property name="maximum">
<double>100.000000000000000</double>
</property>
<property name="singleStep">
<double>1.000000000000000</double>
</property>
<property name="value">
<double>4.000000000000000</double>
</property>
</widget>
</item>
<item row="14" column="1">
<widget class="QLabel" name="label_456">
<property name="text">
<string>Input cloud is downsampled by voxel filter (voxel size is cell size) before doing segmentation of obstacles and ground.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="14" column="0">
<widget class="QCheckBox" name="checkBox_grid_preVoxelFiltering">
<property name="text">
<string/>
</property>
@@ -9444,70 +9505,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_minDepth">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>1</number>
</property>
<property name="maximum">
<double>100.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_323">
<property name="text">
<string>Minimum depth.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_maxDepth">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>1</number>
</property>
<property name="maximum">
<double>100.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>4.000000000000000</double>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_320">
<property name="text">
<string>Maximum depth (0 means no limit).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLineEdit" name="lineEdit_grid_roi">
<property name="readOnly">
@@ -9908,7 +9905,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="5" column="1">
<item row="6" column="1">
<widget class="QLabel" name="label_224">
<property name="text">
<string>Erode obstacle cells.</string>
@@ -9934,7 +9931,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="5" column="0">
<item row="6" column="0">
<widget class="QCheckBox" name="checkBox_grid_erode">
<property name="text">
<string/>
@@ -9944,6 +9941,13 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QSpinBox" name="spinBox_grid_maxNodes">
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_footprintRadius">
<property name="suffix">
@@ -9976,13 +9980,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QSpinBox" name="spinBox_grid_maxNodes">
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_minMapSize">
<property name="suffix">
@@ -10053,6 +10050,38 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_457">
<property name="text">
<string>OctoMap occupancy threshold.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_octomapOccThr">
<property name="suffix">
<string/>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
</layout>
</item>
</layout>