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0.11.4: API change: added minDepth parameter to cloudFromXXXXX() methods and removed voxel parameter

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This commit is contained in:
matlabbe
2016-04-12 15:14:04 -04:00
parent f185a4d739
commit 684e9fb8b9
19 changed files with 310 additions and 183 deletions
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guilib/src/DatabaseViewer.cpp
+34 -12
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@@ -239,6 +239,7 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
connect(ui_->doubleSpinBox_gridCellSize, SIGNAL(editingFinished()), this, SLOT(updateGrid()));
connect(ui_->spinBox_projDecimation, SIGNAL(editingFinished()), this, SLOT(updateGrid()));
connect(ui_->doubleSpinBox_projMaxDepth, SIGNAL(editingFinished()), this, SLOT(updateGrid()));
connect(ui_->doubleSpinBox_projMinDepth, SIGNAL(editingFinished()), this, SLOT(updateGrid()));
connect(ui_->doubleSpinBox_projMaxAngle, SIGNAL(editingFinished()), this, SLOT(updateGrid()));
connect(ui_->spinBox_projClusterSize, SIGNAL(editingFinished()), this, SLOT(updateGrid()));
@@ -268,6 +269,7 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
connect(ui_->doubleSpinBox_gridCellSize, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
connect(ui_->spinBox_projDecimation, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
connect(ui_->doubleSpinBox_projMaxDepth, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
connect(ui_->doubleSpinBox_projMinDepth, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
connect(ui_->doubleSpinBox_projMaxAngle, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
connect(ui_->spinBox_projClusterSize, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
connect(ui_->groupBox_posefiltering, SIGNAL(clicked(bool)), this, SLOT(configModified()));
@@ -276,6 +278,7 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
connect(ui_->spinBox_icp_decimation, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
connect(ui_->doubleSpinBox_icp_maxDepth, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
connect(ui_->doubleSpinBox_icp_minDepth, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
connect(ui_->checkBox_icp_laserScan, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->doubleSpinBox_detectMore_radius, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
@@ -388,6 +391,7 @@ void DatabaseViewer::readSettings()
ui_->doubleSpinBox_gridCellSize->setValue(settings.value("gridCellSize", ui_->doubleSpinBox_gridCellSize->value()).toDouble());
ui_->spinBox_projDecimation->setValue(settings.value("projDecimation", ui_->spinBox_projDecimation->value()).toInt());
ui_->doubleSpinBox_projMaxDepth->setValue(settings.value("projMaxDepth", ui_->doubleSpinBox_projMaxDepth->value()).toDouble());
ui_->doubleSpinBox_projMinDepth->setValue(settings.value("projMinDepth", ui_->doubleSpinBox_projMinDepth->value()).toDouble());
ui_->doubleSpinBox_projMaxAngle->setValue(settings.value("projMaxAngle", ui_->doubleSpinBox_projMaxAngle->value()).toDouble());
ui_->spinBox_projClusterSize->setValue(settings.value("projClusterSize", ui_->spinBox_projClusterSize->value()).toInt());
ui_->groupBox_posefiltering->setChecked(settings.value("poseFiltering", ui_->groupBox_posefiltering->isChecked()).toBool());
@@ -411,6 +415,7 @@ void DatabaseViewer::readSettings()
settings.beginGroup("icp");
ui_->spinBox_icp_decimation->setValue(settings.value("decimation", ui_->spinBox_icp_decimation->value()).toInt());
ui_->doubleSpinBox_icp_maxDepth->setValue(settings.value("maxDepth", ui_->doubleSpinBox_icp_maxDepth->value()).toDouble());
ui_->doubleSpinBox_icp_minDepth->setValue(settings.value("minDepth", ui_->doubleSpinBox_icp_minDepth->value()).toDouble());
ui_->checkBox_icp_laserScan->setChecked(settings.value("icpLaserScan", ui_->checkBox_icp_laserScan->isChecked()).toBool());
settings.endGroup();
// Visual parameters
@@ -474,6 +479,7 @@ void DatabaseViewer::writeSettings()
settings.setValue("gridCellSize", ui_->doubleSpinBox_gridCellSize->value());
settings.setValue("projDecimation", ui_->spinBox_projDecimation->value());
settings.setValue("projMaxDepth", ui_->doubleSpinBox_projMaxDepth->value());
settings.setValue("projMinDepth", ui_->doubleSpinBox_projMinDepth->value());
settings.setValue("projMaxAngle", ui_->doubleSpinBox_projMaxAngle->value());
settings.setValue("projClusterSize", ui_->spinBox_projClusterSize->value());
settings.setValue("poseFiltering", ui_->groupBox_posefiltering->isChecked());
@@ -497,6 +503,7 @@ void DatabaseViewer::writeSettings()
settings.beginGroup("icp");
settings.setValue("decimation", ui_->spinBox_icp_decimation->value());
settings.setValue("maxDepth", ui_->doubleSpinBox_icp_maxDepth->value());
settings.setValue("minDepth", ui_->doubleSpinBox_icp_minDepth->value());
settings.setValue("icpLaserScan", ui_->checkBox_icp_laserScan->isChecked());
settings.endGroup();
@@ -1710,20 +1717,26 @@ void DatabaseViewer::generate3DMap()
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
UASSERT(data.imageRaw().empty() || data.imageRaw().type()==CV_8UC3 || data.imageRaw().type() == CV_8UC1);
UASSERT(data.depthOrRightRaw().empty() || data.depthOrRightRaw().type()==CV_8UC1 || data.depthOrRightRaw().type() == CV_16UC1 || data.depthOrRightRaw().type() == CV_32FC1);
cloud = util3d::cloudRGBFromSensorData(data, decimation, maxDepth, assemble?0.01:0);
pcl::IndicesPtr validIndices(new std::vector<int>);
cloud = util3d::cloudRGBFromSensorData(data, decimation, maxDepth, 0, validIndices.get());
if(assemble)
{
if(cloud->size())
{
cloud = rtabmap::util3d::transformPointCloud(cloud, pose);
if(assembledCloud->size() == 0)
cloud = util3d::voxelize(cloud, validIndices, 0.01);
if(cloud->size())
{
*assembledCloud = *cloud;
}
else
{
*assembledCloud += *cloud;
cloud = rtabmap::util3d::transformPointCloud(cloud, pose);
if(assembledCloud->size() == 0)
{
*assembledCloud = *cloud;
}
else
{
*assembledCloud += *cloud;
}
}
}
UINFO("Created cloud %d (%d points)", iter->first, (int)cloud->size());
@@ -3282,10 +3295,16 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
if(!data.depthOrRightRaw().empty())
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud;
pcl::IndicesPtr validIndices(new std::vector<int>);
cloud = util3d::cloudFromSensorData(data,
ui_->spinBox_projDecimation->value(),
ui_->doubleSpinBox_projMaxDepth->value(),
ui_->doubleSpinBox_gridCellSize->value());
ui_->doubleSpinBox_projMinDepth->value(),
validIndices.get());
if(ui_->doubleSpinBox_gridCellSize->value())
{
cloud = util3d::voxelize(cloud, validIndices, ui_->doubleSpinBox_gridCellSize->value());
}
if(cloud->size())
{
@@ -3607,9 +3626,10 @@ void DatabaseViewer::updateGraphView()
void DatabaseViewer::updateGrid()
{
if((sender() != ui_->spinBox_projDecimation && sender() != ui_->doubleSpinBox_projMaxDepth && sender()!=ui_->doubleSpinBox_projMaxAngle && sender()!=ui_->spinBox_projClusterSize) ||
if((sender() != ui_->spinBox_projDecimation && sender() != ui_->doubleSpinBox_projMaxDepth && sender() != ui_->doubleSpinBox_projMinDepth && sender()!=ui_->doubleSpinBox_projMaxAngle && sender()!=ui_->spinBox_projClusterSize) ||
(sender() == ui_->spinBox_projDecimation && ui_->groupBox_gridFromProjection->isChecked()) ||
(sender() == ui_->doubleSpinBox_projMaxDepth && ui_->groupBox_gridFromProjection->isChecked()) ||
(sender() == ui_->doubleSpinBox_projMinDepth && ui_->groupBox_gridFromProjection->isChecked()) ||
(sender() == ui_->doubleSpinBox_projMaxAngle && ui_->groupBox_gridFromProjection->isChecked()) ||
(sender() == ui_->spinBox_projClusterSize && ui_->groupBox_gridFromProjection->isChecked()))
{
@@ -3723,11 +3743,13 @@ void DatabaseViewer::refineConstraint(int from, int to, bool silent, bool update
pcl::PointCloud<pcl::PointXYZ>::Ptr cloudFrom = util3d::cloudFromSensorData(
dataFrom,
ui_->spinBox_icp_decimation->value(),
ui_->doubleSpinBox_icp_maxDepth->value());
ui_->doubleSpinBox_icp_maxDepth->value(),
ui_->doubleSpinBox_icp_minDepth->value());
pcl::PointCloud<pcl::PointXYZ>::Ptr cloudTo = util3d::cloudFromSensorData(
dataTo,
ui_->spinBox_icp_decimation->value(),
ui_->doubleSpinBox_icp_maxDepth->value());
ui_->doubleSpinBox_icp_maxDepth->value(),
ui_->doubleSpinBox_icp_minDepth->value());
int maxLaserScans = cloudFrom->size();
dataFrom.setLaserScanRaw(util3d::laserScanFromPointCloud(*util3d::removeNaNFromPointCloud(cloudFrom), Transform()), maxLaserScans, 0);
dataTo.setLaserScanRaw(util3d::laserScanFromPointCloud(*util3d::removeNaNFromPointCloud(cloudTo), Transform()), maxLaserScans, 0);