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0.13.3: scan2d with normals support/registration

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This commit is contained in:
matlabbe
2017-08-25 18:02:40 -04:00
parent 964a052be1
commit 52a4e8964f
28 changed files with 1029 additions and 337 deletions
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37
guilib/src/PreferencesDialog.cpp
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@@ -410,9 +410,11 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->doubleSpinBox_ceilingFilterHeight, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->doubleSpinBox_floorFilterHeight, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->spinBox_normalKSearch, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->doubleSpinBox_normalRadiusSearch, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->doubleSpinBox_ceilingFilterHeight_scan, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->doubleSpinBox_floorFilterHeight_scan, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->spinBox_normalKSearch_scan, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->doubleSpinBox_normalRadiusSearch_scan, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->checkBox_showGraphs, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->checkBox_showFrustums, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
@@ -585,6 +587,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->doubleSpinBox_cameraSCanFromDepth_maxDepth, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->doubleSpinBox_cameraImages_scanVoxelSize, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->spinBox_cameraImages_scanNormalsK, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->doubleSpinBox_cameraImages_scanNormalsRadius, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
//Rtabmap basic
connect(_ui->general_doubleSpinBox_timeThr, SIGNAL(valueChanged(double)), _ui->general_doubleSpinBox_timeThr_2, SLOT(setValue(double)));
@@ -650,6 +653,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->spinBox_imagePostDecimation->setObjectName(Parameters::kMemImagePostDecimation().c_str());
_ui->general_spinBox_laserScanDownsample->setObjectName(Parameters::kMemLaserScanDownsampleStepSize().c_str());
_ui->general_spinBox_laserScanNormalK->setObjectName(Parameters::kMemLaserScanNormalK().c_str());
_ui->general_doubleSpinBox_laserScanNormalRadius->setObjectName(Parameters::kMemLaserScanNormalRadius().c_str());
_ui->checkBox_useOdomFeatures->setObjectName(Parameters::kMemUseOdomFeatures().c_str());
// Database
@@ -857,7 +861,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->loopClosure_icpEpsilon->setObjectName(Parameters::kIcpEpsilon().c_str());
_ui->loopClosure_icpRatio->setObjectName(Parameters::kIcpCorrespondenceRatio().c_str());
_ui->loopClosure_icpPointToPlane->setObjectName(Parameters::kIcpPointToPlane().c_str());
_ui->loopClosure_icpPointToPlaneNormals->setObjectName(Parameters::kIcpPointToPlaneNormalNeighbors().c_str());
_ui->loopClosure_icpPointToPlaneNormals->setObjectName(Parameters::kIcpPointToPlaneK().c_str());
_ui->loopClosure_icpPointToPlaneNormalsRadius->setObjectName(Parameters::kIcpPointToPlaneRadius().c_str());
_ui->groupBox_libpointmatcher->setObjectName(Parameters::kIcpPM().c_str());
_ui->lineEdit_IcpPMConfigPath->setObjectName(Parameters::kIcpPMConfig().c_str());
@@ -1374,10 +1379,12 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->doubleSpinBox_ceilingFilterHeight->setValue(0);
_ui->doubleSpinBox_floorFilterHeight->setValue(0);
_ui->spinBox_normalKSearch->setValue(10);
_ui->doubleSpinBox_normalRadiusSearch->setValue(0.0);
_ui->doubleSpinBox_ceilingFilterHeight_scan->setValue(0);
_ui->doubleSpinBox_floorFilterHeight_scan->setValue(0);
_ui->spinBox_normalKSearch_scan->setValue(0);
_ui->doubleSpinBox_normalRadiusSearch_scan->setValue(0.0);
_ui->checkBox_showGraphs->setChecked(true);
_ui->checkBox_showFrustums->setChecked(false);
@@ -1542,6 +1549,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->doubleSpinBox_cameraSCanFromDepth_maxDepth->setValue(4.0);
_ui->doubleSpinBox_cameraImages_scanVoxelSize->setValue(0.025f);
_ui->spinBox_cameraImages_scanNormalsK->setValue(20);
_ui->doubleSpinBox_cameraImages_scanNormalsRadius->setValue(0.0);
_ui->groupBox_depthFromScan->setChecked(false);
_ui->groupBox_depthFromScan_fillHoles->setChecked(true);
@@ -1769,9 +1777,11 @@ void PreferencesDialog::readGuiSettings(const QString & filePath)
_ui->doubleSpinBox_ceilingFilterHeight->setValue(settings.value("cloudCeilingHeight", _ui->doubleSpinBox_ceilingFilterHeight->value()).toDouble());
_ui->doubleSpinBox_floorFilterHeight->setValue(settings.value("cloudFloorHeight", _ui->doubleSpinBox_floorFilterHeight->value()).toDouble());
_ui->spinBox_normalKSearch->setValue(settings.value("normalKSearch", _ui->spinBox_normalKSearch->value()).toInt());
_ui->doubleSpinBox_normalRadiusSearch->setValue(settings.value("normalRadiusSearch", _ui->doubleSpinBox_normalRadiusSearch->value()).toDouble());
_ui->doubleSpinBox_ceilingFilterHeight_scan->setValue(settings.value("scanCeilingHeight", _ui->doubleSpinBox_ceilingFilterHeight_scan->value()).toDouble());
_ui->doubleSpinBox_floorFilterHeight_scan->setValue(settings.value("scanFloorHeight", _ui->doubleSpinBox_floorFilterHeight_scan->value()).toDouble());
_ui->spinBox_normalKSearch_scan->setValue(settings.value("scanNormalKSearch", _ui->spinBox_normalKSearch_scan->value()).toInt());
_ui->doubleSpinBox_normalRadiusSearch_scan->setValue(settings.value("scanNormalRadiusSearch", _ui->doubleSpinBox_normalRadiusSearch_scan->value()).toDouble());
_ui->checkBox_showGraphs->setChecked(settings.value("showGraphs", _ui->checkBox_showGraphs->isChecked()).toBool());
_ui->checkBox_showFrustums->setChecked(settings.value("showFrustums", _ui->checkBox_showFrustums->isChecked()).toBool());
@@ -1933,6 +1943,7 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
_ui->doubleSpinBox_cameraSCanFromDepth_maxDepth->setValue(settings.value("maxDepth", _ui->doubleSpinBox_cameraSCanFromDepth_maxDepth->value()).toDouble());
_ui->doubleSpinBox_cameraImages_scanVoxelSize->setValue(settings.value("voxelSize", _ui->doubleSpinBox_cameraImages_scanVoxelSize->value()).toDouble());
_ui->spinBox_cameraImages_scanNormalsK->setValue(settings.value("normalsK", _ui->spinBox_cameraImages_scanNormalsK->value()).toInt());
_ui->doubleSpinBox_cameraImages_scanNormalsRadius->setValue(settings.value("normalsRadius", _ui->doubleSpinBox_cameraImages_scanNormalsRadius->value()).toDouble());
settings.endGroup();//ScanFromDepth
settings.beginGroup("DepthFromScan");
@@ -2155,9 +2166,11 @@ void PreferencesDialog::writeGuiSettings(const QString & filePath) const
settings.setValue("cloudCeilingHeight", _ui->doubleSpinBox_ceilingFilterHeight->value());
settings.setValue("cloudFloorHeight", _ui->doubleSpinBox_floorFilterHeight->value());
settings.setValue("normalKSearch", _ui->spinBox_normalKSearch->value());
settings.setValue("normalRadiusSearch", _ui->doubleSpinBox_normalRadiusSearch->value());
settings.setValue("scanCeilingHeight", _ui->doubleSpinBox_ceilingFilterHeight_scan->value());
settings.setValue("scanFloorHeight", _ui->doubleSpinBox_floorFilterHeight_scan->value());
settings.setValue("scanNormalKSearch", _ui->spinBox_normalKSearch_scan->value());
settings.setValue("scanNormalRadiusSearch", _ui->doubleSpinBox_normalRadiusSearch_scan->value());
settings.setValue("showGraphs", _ui->checkBox_showGraphs->isChecked());
settings.setValue("showFrustums", _ui->checkBox_showFrustums->isChecked());
@@ -2321,6 +2334,7 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.setValue("maxDepth", _ui->doubleSpinBox_cameraSCanFromDepth_maxDepth->value());
settings.setValue("voxelSize", _ui->doubleSpinBox_cameraImages_scanVoxelSize->value());
settings.setValue("normalsK", _ui->spinBox_cameraImages_scanNormalsK->value());
settings.setValue("normalsRadius", _ui->doubleSpinBox_cameraImages_scanNormalsRadius->value());
settings.endGroup();
settings.beginGroup("DepthFromScan");
@@ -4286,6 +4300,10 @@ int PreferencesDialog::getNormalKSearch() const
{
return _ui->spinBox_normalKSearch->value();
}
double PreferencesDialog::getNormalRadiusSearch() const
{
return _ui->doubleSpinBox_normalRadiusSearch->value();
}
double PreferencesDialog::getScanCeilingFilteringHeight() const
{
return _ui->doubleSpinBox_ceilingFilterHeight_scan->value();
@@ -4298,6 +4316,10 @@ int PreferencesDialog::getScanNormalKSearch() const
{
return _ui->spinBox_normalKSearch_scan->value();
}
double PreferencesDialog::getScanNormalRadiusSearch() const
{
return _ui->doubleSpinBox_normalRadiusSearch_scan->value();
}
bool PreferencesDialog::isGraphsShown() const
{
@@ -4636,6 +4658,10 @@ int PreferencesDialog::getSourceScanNormalsK() const
{
return _ui->spinBox_cameraImages_scanNormalsK->value();
}
double PreferencesDialog::getSourceScanNormalsRadius() const
{
return _ui->doubleSpinBox_cameraImages_scanNormalsRadius->value();
}
Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
{
@@ -4743,6 +4769,7 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
_ui->spinBox_cameraImages_scanDownsampleStep->value(),
_ui->doubleSpinBox_cameraImages_scanVoxelSize->value(),
_ui->spinBox_cameraImages_scanNormalsK->value(),
_ui->doubleSpinBox_cameraImages_scanNormalsRadius->value(),
this->getLaserLocalTransform());
((CameraRGBDImages*)camera)->setTimestamps(
_ui->checkBox_cameraImages_timestamps->isChecked(),
@@ -4788,6 +4815,7 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
_ui->spinBox_cameraImages_scanDownsampleStep->value(),
_ui->doubleSpinBox_cameraImages_scanVoxelSize->value(),
_ui->spinBox_cameraImages_scanNormalsK->value(),
_ui->doubleSpinBox_cameraImages_scanNormalsRadius->value(),
this->getLaserLocalTransform());
((CameraStereoImages*)camera)->setTimestamps(
_ui->checkBox_cameraImages_timestamps->isChecked(),
@@ -4893,6 +4921,7 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
_ui->spinBox_cameraImages_scanDownsampleStep->value(),
_ui->doubleSpinBox_cameraImages_scanVoxelSize->value(),
_ui->spinBox_cameraImages_scanNormalsK->value(),
_ui->doubleSpinBox_cameraImages_scanNormalsRadius->value(),
this->getLaserLocalTransform());
((CameraImages*)camera)->setDepthFromScan(
_ui->groupBox_depthFromScan->isChecked(),
@@ -5138,7 +5167,8 @@ void PreferencesDialog::testOdometry()
_ui->spinBox_cameraScanFromDepth_decimation->value(),
_ui->doubleSpinBox_cameraSCanFromDepth_maxDepth->value(),
_ui->doubleSpinBox_cameraImages_scanVoxelSize->value(),
_ui->spinBox_cameraImages_scanNormalsK->value());
_ui->spinBox_cameraImages_scanNormalsK->value(),
_ui->doubleSpinBox_cameraImages_scanNormalsRadius->value());
if(isDepthFilteringAvailable())
{
if(_ui->groupBox_bilateral->isChecked())
@@ -5186,7 +5216,8 @@ void PreferencesDialog::testCamera()
_ui->spinBox_cameraScanFromDepth_decimation->value(),
_ui->doubleSpinBox_cameraSCanFromDepth_maxDepth->value(),
_ui->doubleSpinBox_cameraImages_scanVoxelSize->value(),
_ui->spinBox_cameraImages_scanNormalsK->value());
_ui->spinBox_cameraImages_scanNormalsK->value(),
_ui->doubleSpinBox_cameraImages_scanNormalsRadius->value());
if(isDepthFilteringAvailable())
{
if(_ui->groupBox_bilateral->isChecked())