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When Mem/DepthAsMask is false, features without depth are triangulated using odometry. Added parameter RGBD/LocalBundleOnLoopClosure.

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This commit is contained in:
matlabbe
2018-06-01 16:26:09 -04:00
parent 0bf83c0cd6
commit 7424a1f463
9 changed files with 285 additions and 60 deletions
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45
guilib/src/MainWindow.cpp
View File

@@ -3416,35 +3416,42 @@ void MainWindow::createAndAddFeaturesToMap(int nodeId, const Transform & pose, i
int oi=0;
UASSERT(iter->getWords().size() == iter->getWords3().size());
std::multimap<int, cv::KeyPoint>::const_iterator kter=iter->getWords().begin();
float maxDepth = _preferencesDialog->getCloudMaxDepth(0);
UDEBUG("rgb.channels()=%d");
for(std::multimap<int, cv::Point3f>::const_iterator jter=iter->getWords3().begin();
jter!=iter->getWords3().end(); ++jter, ++kter, ++oi)
jter!=iter->getWords3().end(); ++jter, ++kter)
{
(*cloud)[oi].x = jter->second.x;
(*cloud)[oi].y = jter->second.y;
(*cloud)[oi].z = jter->second.z;
int u = kter->second.pt.x+0.5;
int v = kter->second.pt.y+0.5;
if(!rgb.empty() &&
uIsInBounds(u, 0, rgb.cols-1) &&
uIsInBounds(v, 0, rgb.rows-1))
if(util3d::isFinite(jter->second) && (maxDepth == 0.0f || jter->second.z < maxDepth))
{
if(rgb.channels() == 1)
(*cloud)[oi].x = jter->second.x;
(*cloud)[oi].y = jter->second.y;
(*cloud)[oi].z = jter->second.z;
int u = kter->second.pt.x+0.5;
int v = kter->second.pt.y+0.5;
if(!rgb.empty() &&
uIsInBounds(u, 0, rgb.cols-1) &&
uIsInBounds(v, 0, rgb.rows-1))
{
(*cloud)[oi].r = (*cloud)[oi].g = (*cloud)[oi].b = rgb.at<unsigned char>(v, u);
if(rgb.channels() == 1)
{
(*cloud)[oi].r = (*cloud)[oi].g = (*cloud)[oi].b = rgb.at<unsigned char>(v, u);
}
else
{
cv::Vec3b bgr = rgb.at<cv::Vec3b>(v, u);
(*cloud)[oi].b = bgr.val[0];
(*cloud)[oi].g = bgr.val[1];
(*cloud)[oi].r = bgr.val[2];
}
}
else
{
cv::Vec3b bgr = rgb.at<cv::Vec3b>(v, u);
(*cloud)[oi].b = bgr.val[0];
(*cloud)[oi].g = bgr.val[1];
(*cloud)[oi].r = bgr.val[2];
(*cloud)[oi].r = (*cloud)[oi].g = (*cloud)[oi].b = 255;
}
}
else
{
(*cloud)[oi].r = (*cloud)[oi].g = (*cloud)[oi].b = 255;
++oi;
}
}
cloud->resize(oi);
if(!_cloudViewer->addCloud(cloudName, cloud, pose, color))
{
UERROR("Adding features cloud %d to viewer failed!", nodeId);

1
guilib/src/PreferencesDialog.cpp
View File

@@ -880,6 +880,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->checkBox_localSpacePathOdomPosesUsed->setObjectName(Parameters::kRGBDProximityPathRawPosesUsed().c_str());
_ui->rgdb_localImmunizationRatio->setObjectName(Parameters::kRGBDLocalImmunizationRatio().c_str());
_ui->loopClosure_reextract->setObjectName(Parameters::kRGBDLoopClosureReextractFeatures().c_str());
_ui->loopClosure_bunlde->setObjectName(Parameters::kRGBDLocalBundleOnLoopClosure().c_str());
_ui->checkbox_rgbd_createOccupancyGrid->setObjectName(Parameters::kRGBDCreateOccupancyGrid().c_str());
// Registration

70
guilib/src/ui/preferencesDialog.ui
View File

@@ -63,7 +63,7 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-363</y>
<y>0</y>
<width>681</width>
<height>2811</height>
</rect>
@@ -95,7 +95,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>5</number>
<number>12</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -8598,7 +8598,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="10" column="1">
<item row="11" column="1">
<widget class="QLabel" name="label_space2">
<property name="text">
<string>Local radius for nodes selection in the local map. This parameter is used in some approaches of the sub-panels.</string>
@@ -8624,7 +8624,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="8" column="1">
<item row="9" column="1">
<widget class="QLabel" name="label_scanMatching_3">
<property name="text">
<string>Maximum local locations retrieved (0=disabled) near the current pose in the local map or on the current planned path (those on the planned path have priority).</string>
@@ -8637,7 +8637,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="10" column="0">
<item row="11" column="0">
<widget class="QDoubleSpinBox" name="localDetection_radius">
<property name="suffix">
<string> m</string>
@@ -8660,7 +8660,14 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="9" column="0">
<item row="6" column="0">
<widget class="QCheckBox" name="odomScanHistory">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="10" column="0">
<widget class="QDoubleSpinBox" name="rgdb_localImmunizationRatio">
<property name="suffix">
<string/>
@@ -8692,12 +8699,8 @@ 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="odomScanHistory">
<property name="text">
<string/>
</property>
</widget>
<item row="9" column="0">
<widget class="QSpinBox" name="spinBox_maxLocalLocationsRetrieved"/>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_153">
@@ -8712,9 +8715,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QSpinBox" name="spinBox_maxLocalLocationsRetrieved"/>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_163">
<property name="text">
@@ -8744,6 +8744,13 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QCheckBox" name="loopClosure_reextract">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QDoubleSpinBox" name="rgdb_newMapOdomChange">
<property name="suffix">
@@ -8763,14 +8770,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QCheckBox" name="loopClosure_reextract">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="9" column="1">
<item row="10" column="1">
<widget class="QLabel" name="label_scanMatching_5">
<property name="text">
<string>Ratio of working memory for which local nodes are immunized from transfer.</string>
@@ -8822,6 +8822,13 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QCheckBox" name="rgbd_savedLocalizationIgnored">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QDoubleSpinBox" name="rgdb_angularSpeedUpdate">
<property name="suffix">
@@ -8851,8 +8858,21 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QCheckBox" name="rgbd_savedLocalizationIgnored">
<item row="8" column="1">
<widget class="QLabel" name="label_scanMatching_10">
<property name="text">
<string>Do local bundle adjustment with neighborhood of the loop closure.</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="loopClosure_bunlde">
<property name="text">
<string/>
</property>