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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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107
guilib/src/ui/exportCloudsDialog.ui
View File

@@ -23,9 +23,9 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-2684</y>
<width>773</width>
<height>4103</height>
<y>0</y>
<width>778</width>
<height>4058</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_13">
@@ -52,21 +52,21 @@
</property>
</widget>
</item>
<item row="8" column="0">
<item row="9" column="0">
<widget class="QCheckBox" name="checkBox_regenerate">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="9" column="0">
<item row="10" column="0">
<widget class="QCheckBox" name="checkBox_filtering">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="8" column="1">
<item row="9" column="1">
<widget class="QLabel" name="label_regenerate">
<property name="text">
<string>Regenerate clouds. This can be used to regenerate the point clouds at higher density than those used for online visualization.</string>
@@ -76,7 +76,14 @@
</property>
</widget>
</item>
<item row="7" column="1">
<item row="12" column="0">
<widget class="QCheckBox" name="checkBox_gainCompensation">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QLabel" name="label_voxel">
<property name="text">
<string>Voxel size. Set 0 to disable. When organized meshes are assembled, this is the radius in which the vertices of the polygons are merged.</string>
@@ -86,13 +93,6 @@
</property>
</widget>
</item>
<item row="11" column="0">
<widget class="QCheckBox" name="checkBox_gainCompensation">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_binaryFile_2">
<property name="text">
@@ -103,7 +103,7 @@
</property>
</widget>
</item>
<item row="11" column="1">
<item row="12" column="1">
<widget class="QLabel" name="label_gainCompensation">
<property name="text">
<string>Gain compensation. Normalize brightness of images.</string>
@@ -133,7 +133,7 @@
</property>
</widget>
</item>
<item row="12" column="1">
<item row="13" column="1">
<widget class="QLabel" name="label_binaryFile_12">
<property name="text">
<string>Meshing.</string>
@@ -143,7 +143,14 @@
</property>
</widget>
</item>
<item row="9" column="1">
<item row="11" column="0">
<widget class="QCheckBox" name="checkBox_smoothing">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="10" column="1">
<widget class="QLabel" name="label_binaryFile_9">
<property name="text">
<string>Cloud filtering. Remove sparse points that are far from surfaces.</string>
@@ -153,8 +160,8 @@
</property>
</widget>
</item>
<item row="10" column="0">
<widget class="QCheckBox" name="checkBox_smoothing">
<item row="13" column="0">
<widget class="QCheckBox" name="checkBox_meshing">
<property name="text">
<string/>
</property>
@@ -170,14 +177,7 @@
</property>
</widget>
</item>
<item row="12" column="0">
<widget class="QCheckBox" name="checkBox_meshing">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="10" column="1">
<item row="11" column="1">
<widget class="QLabel" name="label_binaryFile_10">
<property name="text">
<string>Cloud smoothing using Moving Least Squares algorithm (MLS).</string>
@@ -187,7 +187,7 @@
</property>
</widget>
</item>
<item row="7" column="0">
<item row="8" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_voxelSize_assembled">
<property name="suffix">
<string> m</string>
@@ -206,6 +206,13 @@
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QCheckBox" name="checkBox_assemble">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_normal">
<property name="text">
@@ -216,23 +223,6 @@
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QCheckBox" name="checkBox_binary">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QCheckBox" name="checkBox_assemble">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QComboBox" name="comboBox_frame">
<item>
@@ -257,6 +247,16 @@
</item>
</widget>
</item>
<item row="3" column="0">
<widget class="QCheckBox" name="checkBox_binary">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_binaryFile_11">
<property name="text">
@@ -277,6 +277,23 @@
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_normal_2">
<property name="text">
<string>Set the search radius for the normal estimation.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_normalRadiusSearch">
<property name="singleStep">
<double>0.010000000000000</double>
</property>
</widget>
</item>
</layout>
</item>
<item>

313
guilib/src/ui/preferencesDialog.ui
View File

@@ -63,7 +63,7 @@
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<y>-831</y>
<width>678</width>
<height>2739</height>
</rect>
@@ -95,7 +95,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>21</number>
<number>1</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -512,6 +512,31 @@ Show a yellow background when the number of odometry inliers goes under this thr
<layout class="QVBoxLayout" name="verticalLayout_112">
<item>
<layout class="QGridLayout" name="gridLayout_2" columnstretch="0,0,1">
<item row="3" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_maxDepth_odom">
<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="5" column="1">
<widget class="QLineEdit" name="lineEdit_roiRatios_odom"/>
</item>
<item row="5" column="0">
<widget class="QLineEdit" name="lineEdit_roiRatios"/>
</item>
<item row="0" column="0">
<widget class="QLabel" name="label_154">
<property name="text">
@@ -597,7 +622,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="12" column="0">
<item row="13" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity">
<property name="suffix">
<string/>
@@ -616,7 +641,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="12" column="1">
<item row="13" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_odom">
<property name="suffix">
<string/>
@@ -635,7 +660,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="12" column="2">
<item row="13" column="2">
<widget class="QLabel" name="label_155">
<property name="text">
<string>Opacity.</string>
@@ -648,7 +673,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="13" column="2">
<item row="14" column="2">
<widget class="QLabel" name="label_157">
<property name="text">
<string>Point size (1..64).</string>
@@ -712,25 +737,6 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_maxDepth_odom">
<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="3" column="2">
<widget class="QLabel" name="label_132">
<property name="text">
@@ -798,12 +804,6 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QLineEdit" name="lineEdit_roiRatios"/>
</item>
<item row="5" column="1">
<widget class="QLineEdit" name="lineEdit_roiRatios_odom"/>
</item>
<item row="5" column="2">
<widget class="QLabel" name="label_353">
<property name="text">
@@ -858,7 +858,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="13" column="0">
<item row="14" column="0">
<widget class="QSpinBox" name="spinBox_ptsize">
<property name="minimum">
<number>1</number>
@@ -871,7 +871,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="13" column="1">
<item row="14" column="1">
<widget class="QSpinBox" name="spinBox_ptsize_odom">
<property name="minimum">
<number>1</number>
@@ -1010,6 +1010,26 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="12" column="2">
<widget class="QLabel" name="label_427">
<property name="text">
<string>Normal radius search. If not 0, normals will be computed and added to created cloud for visualization (keys 7, 8 and 9).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="12" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_normalRadiusSearch">
<property name="singleStep">
<double>0.010000000000000</double>
</property>
</widget>
</item>
</layout>
</item>
<item>
@@ -1117,7 +1137,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
<string>Laser Scan</string>
</property>
<layout class="QGridLayout" name="gridLayout_79" columnstretch="0,0,1">
<item row="8" column="1">
<item row="9" column="1">
<widget class="QSpinBox" name="spinBox_ptsize_odom_scan">
<property name="minimum">
<number>1</number>
@@ -1127,7 +1147,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="8" column="2">
<item row="9" column="2">
<widget class="QLabel" name="label_158">
<property name="text">
<string>Scan point size (1..64).</string>
@@ -1169,7 +1189,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="7" column="2">
<item row="8" column="2">
<widget class="QLabel" name="label_156">
<property name="text">
<string>Scan opacity.</string>
@@ -1195,7 +1215,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="8" column="0">
<item row="9" column="0">
<widget class="QSpinBox" name="spinBox_ptsize_scan">
<property name="minimum">
<number>1</number>
@@ -1235,7 +1255,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="7" column="0">
<item row="8" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_scan">
<property name="suffix">
<string/>
@@ -1267,7 +1287,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="7" column="1">
<item row="8" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_odom_scan">
<property name="suffix">
<string/>
@@ -1440,6 +1460,26 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="7" column="2">
<widget class="QLabel" name="label_428">
<property name="text">
<string>Normal radius search. If not 0, normals will be computed and added to created cloud for visualization (keys 7, 8 and 9).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_normalRadiusSearch_scan">
<property name="singleStep">
<double>0.010000000000000</double>
</property>
</widget>
</item>
</layout>
</widget>
</item>
@@ -5283,6 +5323,29 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_425">
<property name="text">
<string>Search radius for normals computation (0=disabled). Useful if the ICP registration approach is point to plane.</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_cameraImages_scanNormalsRadius">
<property name="toolTip">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;KITTI: 130 000 points&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
</widget>
</item>
</layout>
</item>
</layout>
@@ -5995,6 +6058,16 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<layout class="QVBoxLayout" name="verticalLayout_10">
<item>
<layout class="QGridLayout" name="gridLayout_42" columnstretch="0,1">
<item row="15" column="0">
<widget class="QSpinBox" name="spinBox_imagePostDecimation">
<property name="minimum">
<number>-16</number>
</property>
<property name="maximum">
<number>16</number>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QSpinBox" name="general_spinBox_maxStMemSize">
<property name="minimum">
@@ -6066,19 +6139,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_retrieved_3">
<property name="text">
<string>Bad signatures are ignored.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QCheckBox" name="general_checkBox_initWMWithAllNodes">
<property name="text">
@@ -6089,10 +6149,10 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="9" column="1">
<widget class="QLabel" name="label_retrieved_5">
<item row="6" column="1">
<widget class="QLabel" name="label_retrieved_3">
<property name="text">
<string>Keep raw sensor data. Only useful to save loop closure computation time when features re-extraction is enabled. Disable to save RAM memory.</string>
<string>Bad signatures are ignored.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -6122,10 +6182,10 @@ 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_retrieved_11">
<item row="9" column="1">
<widget class="QLabel" name="label_retrieved_5">
<property name="text">
<string>Create map labels. The first node of a map will be labelled as &quot;map#&quot; where # is the map ID.</string>
<string>Keep raw sensor data. Only useful to save loop closure computation time when features re-extraction is enabled. Disable to save RAM memory.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -6145,6 +6205,19 @@ 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_retrieved_11">
<property name="text">
<string>Create map labels. The first node of a map will be labelled as &quot;map#&quot; where # is the map ID.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="16" column="0">
<widget class="QSpinBox" name="general_spinBox_laserScanDownsample">
<property name="minimumSize">
@@ -6161,6 +6234,16 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="11" column="0">
<widget class="QCheckBox" name="general_checkBox_keepDescriptors">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="11" column="1">
<widget class="QLabel" name="label_retrieved_12">
<property name="text">
@@ -6174,16 +6257,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="11" column="0">
<widget class="QCheckBox" name="general_checkBox_keepDescriptors">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="14" column="1">
<widget class="QLabel" name="label_retrieved_13">
<property name="text">
@@ -6256,13 +6329,13 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="15" column="0">
<widget class="QSpinBox" name="spinBox_imagePostDecimation">
<property name="minimum">
<number>-16</number>
<item row="6" column="0">
<widget class="QCheckBox" name="general_checkBox_badSignaturesIgnored">
<property name="text">
<string/>
</property>
<property name="maximum">
<number>16</number>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
@@ -6292,16 +6365,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QCheckBox" name="general_checkBox_badSignaturesIgnored">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="15" column="1">
<widget class="QLabel" name="label_retrieved_6">
<property name="text">
@@ -6315,6 +6378,16 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="12" column="0">
<widget class="QCheckBox" name="general_checkBox_saveDepth16bits">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_retrieved_7">
<property name="text">
@@ -6341,16 +6414,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="12" column="0">
<widget class="QCheckBox" name="general_checkBox_saveDepth16bits">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="14" column="0">
<widget class="QSpinBox" name="spinBox_imagePreDecimation">
<property name="minimum">
@@ -6380,10 +6443,20 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="13" column="0">
<widget class="QCheckBox" name="general_checkBox_compressionParallelized">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="17" column="1">
<widget class="QLabel" name="label_retrieved_14">
<property name="text">
<string>If &gt; 0 and laser scans are 3D without normals, normals will be computed with K search neighbors when creating a signature.</string>
<string>If &gt; 0 and laser scans don't have normals, normals will be computed with K search neighbors when creating a signature.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -6406,8 +6479,8 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="13" column="0">
<widget class="QCheckBox" name="general_checkBox_compressionParallelized">
<item row="10" column="0">
<widget class="QCheckBox" name="general_checkBox_saveIntermediateNodeData">
<property name="text">
<string/>
</property>
@@ -6429,13 +6502,29 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="10" column="0">
<widget class="QCheckBox" name="general_checkBox_saveIntermediateNodeData">
<item row="18" column="1">
<widget class="QLabel" name="label_retrieved_17">
<property name="text">
<string/>
<string>If &gt; 0 and laser scans don't have normals, normals will be computed with radius search when creating a signature.</string>
</property>
<property name="checked">
<bool>false</bool>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="18" column="0">
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_laserScanNormalRadius">
<property name="minimumSize">
<size>
<width>50</width>
<height>0</height>
</size>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
</widget>
</item>
@@ -13764,6 +13853,26 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
</property>
</widget>
</item>
<item row="10" column="1">
<widget class="QLabel" name="label_426">
<property name="text">
<string>Search radius to compute normals for point to plane. Normals won't be recomputed if uniform sampling is disabled and that there are already normals in the laser scans.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="10" column="0">
<widget class="QDoubleSpinBox" name="loopClosure_icpPointToPlaneNormalsRadius">
<property name="singleStep">
<double>0.010000000000000</double>
</property>
</widget>
</item>
</layout>
</item>
<item>