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DBViewer: Added option to crop empty space from local grid and scans after 2d occupancy grid is manually edited

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This commit is contained in:
matlabbe
2020-02-13 17:32:39 -05:00
parent 79b480da4b
commit 5fef44ec2b
11 changed files with 558 additions and 49 deletions
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21
corelib/include/rtabmap/core/DBDriver.h
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@@ -96,6 +96,7 @@ public:
float cellSize,
const cv::Point3f & viewpoint);
void updateDepthImage(int nodeId, const cv::Mat & image);
void updateLaserScan(int nodeId, const LaserScan & scan);
public:
void addInfoAfterRun(int stMemSize, int lastSignAdded, int processMemUsed, int databaseMemUsed, int dictionarySize, const ParametersMap & parameters) const;
@@ -219,16 +220,20 @@ protected:
virtual void updateLinkQuery(const Link & link) const = 0;
virtual void updateOccupancyGridQuery(
int nodeId,
const cv::Mat & ground,
const cv::Mat & obstacles,
const cv::Mat & empty,
float cellSize,
const cv::Point3f & viewpoint) const = 0;
int nodeId,
const cv::Mat & ground,
const cv::Mat & obstacles,
const cv::Mat & empty,
float cellSize,
const cv::Point3f & viewpoint) const = 0;
virtual void updateDepthImageQuery(
int nodeId,
const cv::Mat & image) const = 0;
int nodeId,
const cv::Mat & image) const = 0;
virtual void updateLaserScanQuery(
int nodeId,
const LaserScan & scan) const = 0;
virtual void addStatisticsQuery(const Statistics & statistics) const = 0;
virtual void savePreviewImageQuery(const cv::Mat & image) const = 0;

6
corelib/include/rtabmap/core/DBDriverSqlite3.h
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@@ -100,6 +100,10 @@ protected:
int nodeId,
const cv::Mat & image) const;
void updateLaserScanQuery(
int nodeId,
const LaserScan & scan) const;
virtual void addStatisticsQuery(const Statistics & statistics) const;
virtual void savePreviewImageQuery(const cv::Mat & image) const;
virtual cv::Mat loadPreviewImageQuery() const;
@@ -150,6 +154,7 @@ private:
std::string queryStepImage() const;
std::string queryStepDepth() const;
std::string queryStepDepthUpdate() const;
std::string queryStepScanUpdate() const;
std::string queryStepSensorData() const;
std::string queryStepLinkUpdate() const;
std::string queryStepLink() const;
@@ -160,6 +165,7 @@ private:
void stepImage(sqlite3_stmt * ppStmt, int id, const cv::Mat & imageBytes) const;
void stepDepth(sqlite3_stmt * ppStmt, const SensorData & sensorData) const;
void stepDepthUpdate(sqlite3_stmt * ppStmt, int nodeId, const cv::Mat & imageCompressed) const;
void stepScanUpdate(sqlite3_stmt * ppStmt, int nodeId, const LaserScan & image) const;
void stepSensorData(sqlite3_stmt * ppStmt, const SensorData & sensorData) const;
void stepLink(sqlite3_stmt * ppStmt, const Link & link) const;
void stepWordsChanged(sqlite3_stmt * ppStmt, int signatureId, int oldWordId, int newWordId) const;

2
corelib/include/rtabmap/core/util3d.h
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@@ -196,7 +196,7 @@ pcl::PointCloud<pcl::PointXYZ> RTABMAP_EXP laserScanFromDepthImages(
float maxDepth,
float minDepth);
LaserScan RTABMAP_EXP laserScanFromPointCloud(const pcl::PCLPointCloud2 & cloud, bool filterNaNs = true);
LaserScan RTABMAP_EXP laserScanFromPointCloud(const pcl::PCLPointCloud2 & cloud, bool filterNaNs = true, bool is2D = false, const Transform & transform = Transform());
// return CV_32FC3 (x,y,z)
cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform(), bool filterNaNs = true);

7
corelib/include/rtabmap/core/util3d_filtering.h
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@@ -235,6 +235,13 @@ pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_EXP passThrough(
float max,
bool negative = false);
pcl::IndicesPtr RTABMAP_EXP cropBox(
const pcl::PCLPointCloud2::Ptr & cloud,
const pcl::IndicesPtr & indices,
const Eigen::Vector4f & min,
const Eigen::Vector4f & max,
const Transform & transform = Transform::getIdentity(),
bool negative = false);
pcl::IndicesPtr RTABMAP_EXP cropBox(
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
const pcl::IndicesPtr & indices,