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Added new options to filter source laser scans.

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SensorData can support laser scans CV_32FC6 format (point cloud with normals). Refactored RegistrationICP and updated CloudViewer to show PointNormal data.
Fixed bug with stereo clouds deterioration if decimation is set (CameraModel::scale()).
This commit is contained in:
matlabbe
2016-01-08 19:15:49 -05:00
parent e7565db5d0
commit 75f85f6b2a
31 changed files with 866 additions and 371 deletions
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36
guilib/include/rtabmap/gui/CloudViewer.h
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@@ -80,16 +80,22 @@ public:
const QColor & color = QColor());
bool updateCloud(
const std::string & id,
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
const Transform & pose = Transform::getIdentity(),
const QColor & color = QColor());
const std::string & id,
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
const Transform & pose = Transform::getIdentity(),
const QColor & color = QColor());
bool updateCloud(
const std::string & id,
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
const Transform & pose = Transform::getIdentity(),
const QColor & color = QColor());
const std::string & id,
const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
const Transform & pose = Transform::getIdentity(),
const QColor & color = QColor());
bool updateCloud(
const std::string & id,
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
const Transform & pose = Transform::getIdentity(),
const QColor & color = QColor());
bool addOrUpdateCloud(
const std::string & id,
@@ -98,10 +104,16 @@ public:
const QColor & color = QColor());
bool addOrUpdateCloud(
const std::string & id,
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
const Transform & pose = Transform::getIdentity(),
const QColor & color = QColor());
const std::string & id,
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
const Transform & pose = Transform::getIdentity(),
const QColor & color = QColor());
bool addOrUpdateCloud(
const std::string & id,
const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
const Transform & pose = Transform::getIdentity(),
const QColor & color = QColor());
bool addOrUpdateCloud(
const std::string & id,

3
guilib/include/rtabmap/gui/PreferencesDialog.h
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@@ -192,10 +192,13 @@ public:
int getSourceDatabaseStartPos() const; //Database group
bool getSourceDatabaseStampsUsed() const;//Database group
bool isSourceRGBDColorOnly() const;
int getSourceImageDecimation() const;
bool isSourceStereoDepthGenerated() const;
bool isSourceScanFromDepth() const;
int getSourceScanFromDepthDecimation() const;
double getSourceScanFromDepthMaxDepth() const;
double getSourceScanVoxelSize() const;
int getSourceScanNormalsK() const;
Transform getSourceLocalTransform() const; //Openni group
Transform getLaserLocalTransform() const; // directory images
Camera * createCamera(bool useRawImages = false); // return camera should be deleted if not null