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GUI export: Added cloud filtering option

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This commit is contained in:
matlabbe
2015-08-24 17:12:39 -04:00
parent d57e12023b
commit 58e3da18c2
5 changed files with 140 additions and 12 deletions
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4
guilib/include/rtabmap/gui/MainWindow.h
View File

@@ -232,7 +232,9 @@ private:
bool regenerateClouds,
int regenerateDecimation,
float regenerateVoxelSize,
float regenerateMaxDepth) const;
float regenerateMaxDepth,
float filteringRadius,
float filteringMinNeighbors) const;
bool getExportedScans(std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > & scans);
bool getExportedClouds(

30
guilib/src/ExportCloudsDialog.cpp
View File

@@ -51,6 +51,10 @@ ExportCloudsDialog::ExportCloudsDialog(QWidget *parent) :
connect(_ui->doubleSpinBox_voxelSize, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_maxDepth, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->groupBox_filtering, SIGNAL(clicked(bool)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_filteringRadius, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->spinBox_filteringMinNeighbors, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->groupBox_assemble, SIGNAL(clicked(bool)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_voxelSize_assembled, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
@@ -102,6 +106,10 @@ void ExportCloudsDialog::saveSettings(QSettings & settings, const QString & grou
settings.setValue("regenerate_voxel", this->getGenerateVoxel());
settings.setValue("regenerate_max_depth", this->getGenerateMaxDepth());
settings.setValue("filtering", this->getFiltering());
settings.setValue("filtering_radius", this->getFilteringRadius());
settings.setValue("filtering_min_neighbors", this->getFilteringMinNeighbors());
settings.setValue("assemble", this->getAssemble());
settings.setValue("assemble_voxel", this->getAssembleVoxel());
@@ -143,6 +151,10 @@ void ExportCloudsDialog::loadSettings(QSettings & settings, const QString & grou
_ui->doubleSpinBox_voxelSize->setValue(settings.value("regenerate_voxel", this->getGenerateVoxel()).toDouble());
_ui->doubleSpinBox_maxDepth->setValue(settings.value("regenerate_max_depth", this->getGenerateMaxDepth()).toDouble());
_ui->groupBox_filtering->setChecked(settings.value("filtering", this->getFiltering()).toBool());
_ui->doubleSpinBox_filteringRadius->setValue(settings.value("filtering_radius", this->getFilteringRadius()).toDouble());
_ui->spinBox_filteringMinNeighbors->setValue(settings.value("filtering_min_neighbors", this->getFilteringMinNeighbors()).toInt());
_ui->groupBox_assemble->setChecked(settings.value("assemble", this->getAssemble()).toBool());
_ui->doubleSpinBox_voxelSize_assembled->setValue(settings.value("assemble_voxel", this->getAssembleVoxel()).toDouble());
@@ -182,6 +194,10 @@ void ExportCloudsDialog::restoreDefaults()
_ui->doubleSpinBox_voxelSize->setValue(0.01);
_ui->doubleSpinBox_maxDepth->setValue(4);
_ui->groupBox_filtering->setChecked(false);
_ui->doubleSpinBox_filteringRadius->setValue(0.02);
_ui->spinBox_filteringMinNeighbors->setValue(2);
_ui->groupBox_assemble->setChecked(true);
_ui->doubleSpinBox_voxelSize_assembled->setValue(0.01);
@@ -263,11 +279,23 @@ double ExportCloudsDialog::getGenerateMaxDepth() const
return _ui->doubleSpinBox_maxDepth->value();
}
bool ExportCloudsDialog::getFiltering() const
{
return _ui->groupBox_filtering->isChecked();
}
double ExportCloudsDialog::getFilteringRadius() const
{
return _ui->doubleSpinBox_filteringRadius->value();
}
int ExportCloudsDialog::getFilteringMinNeighbors() const
{
return _ui->spinBox_filteringMinNeighbors->value();
}
bool ExportCloudsDialog::getAssemble() const
{
return _ui->groupBox_assemble->isChecked();
}
double ExportCloudsDialog::getAssembleVoxel() const
{
return _ui->doubleSpinBox_voxelSize_assembled->value();

4
guilib/src/ExportCloudsDialog.h
View File

@@ -61,6 +61,10 @@ public:
double getGenerateVoxel() const;
double getGenerateMaxDepth() const;
bool getFiltering() const;
double getFilteringRadius() const;
int getFilteringMinNeighbors() const;
bool getAssemble() const;
double getAssembleVoxel() const;

37
guilib/src/MainWindow.cpp
View File

@@ -4619,7 +4619,9 @@ bool MainWindow::getExportedClouds(
_exportDialog->getGenerate(),
_exportDialog->getGenerateDecimation(),
_exportDialog->getGenerateVoxel(),
_exportDialog->getGenerateMaxDepth());
_exportDialog->getGenerateMaxDepth(),
_exportDialog->getFiltering()?_exportDialog->getFilteringRadius():0.0f,
_exportDialog->getFiltering()?_exportDialog->getFilteringMinNeighbors():0.0f);
if(_exportDialog->getAssemble())
{
@@ -4642,14 +4644,29 @@ bool MainWindow::getExportedClouds(
_initProgressDialog->appendText(tr("Voxelize assembled cloud (%1 points, voxel size = %2 m)...")
.arg(assembledCloud->size())
.arg(_exportDialog->getGenerateVoxel()));
.arg(_exportDialog->getAssembleVoxel()));
QApplication::processEvents();
if(_exportDialog->getGenerateVoxel())
if(_exportDialog->getAssembleVoxel())
{
assembledCloud = util3d::voxelize(
assembledCloud,
_exportDialog->getGenerateVoxel());
_exportDialog->getAssembleVoxel());
}
_initProgressDialog->appendText(tr("Noise filtering (%1 points, radius = %2 m, min neighbors = %3)...")
.arg(assembledCloud->size())
.arg(_exportDialog->getFilteringRadius())
.arg(_exportDialog->getFilteringMinNeighbors()));
if(_exportDialog->getFiltering() &&
_exportDialog->getFilteringRadius() > 0.0 &&
_exportDialog->getFilteringMinNeighbors() > 0)
{
pcl::IndicesPtr indices = util3d::radiusFiltering(assembledCloud, (float)_exportDialog->getFilteringRadius(), _exportDialog->getFilteringMinNeighbors());
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudFiltered(new pcl::PointCloud<pcl::PointXYZRGB>);
pcl::copyPointCloud(*assembledCloud, *indices, *cloudFiltered);
assembledCloud = cloudFiltered;
}
clouds.clear();
clouds.insert(std::make_pair(0, assembledCloud));
}
@@ -5488,7 +5505,9 @@ std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > MainWindow::getClouds(
bool regenerateClouds,
int regenerateDecimation,
float regenerateVoxelSize,
float regenerateMaxDepth) const
float regenerateMaxDepth,
float filteringRadius,
float filteringMinNeighbors) const
{
std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr> clouds;
int i=0;
@@ -5542,6 +5561,14 @@ std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > MainWindow::getClouds(
if(cloud->size())
{
if(filteringRadius > 0.0f && filteringMinNeighbors > 0)
{
pcl::IndicesPtr indices = util3d::radiusFiltering(cloud, filteringRadius, filteringMinNeighbors);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudFiltered(new pcl::PointCloud<pcl::PointXYZRGB>);
pcl::copyPointCloud(*cloud, *indices, *cloudFiltered);
cloud = cloudFiltered;
}
clouds.insert(std::make_pair(iter->first, cloud));
inserted = true;
}

77
guilib/src/ui/exportCloudsDialog.ui
View File

@@ -6,8 +6,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>807</width>
<height>847</height>
<width>814</width>
<height>898</height>
</rect>
</property>
<property name="windowTitle">
@@ -23,9 +23,9 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-178</y>
<width>766</width>
<height>949</height>
<y>0</y>
<width>773</width>
<height>1064</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_13">
@@ -166,6 +166,73 @@
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_filtering">
<property name="title">
<string>Cloud filtering (remove noisy points)</string>
</property>
<property name="checkable">
<bool>true</bool>
</property>
<layout class="QGridLayout" name="gridLayout_9" columnstretch="0,1">
<item row="0" column="1">
<widget class="QLabel" name="label_110">
<property name="text">
<string>Radius search.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_filteringRadius">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>3</number>
</property>
<property name="minimum">
<double>0.001000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.020000000000000</double>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QSpinBox" name="spinBox_filteringMinNeighbors">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>100</number>
</property>
<property name="value">
<number>2</number>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_112">
<property name="text">
<string>Minimum neighbors in the search radius.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_assemble">
<property name="title">