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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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61
guilib/src/PreferencesDialog.cpp
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@@ -401,6 +401,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->lineEdit_cameraImages_path_scans, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->lineEdit_cameraImages_laser_transform, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->spinBox_cameraImages_max_scan_pts, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->spinBox_cameraImages_scanDownsampleStep, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->doubleSpinBox_cameraImages_scanVoxelSize, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->lineEdit_cameraImages_gt, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->comboBox_cameraImages_gtFormat, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
@@ -415,6 +417,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->checkBox_stereoVideo_rectify, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkbox_rgbd_colorOnly, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->spinBox_source_imageDecimation, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkbox_stereo_depthGenerated, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->pushButton_calibrate, SIGNAL(clicked()), this, SLOT(calibrate()));
connect(_ui->pushButton_calibrate_simple, SIGNAL(clicked()), this, SLOT(calibrateSimple()));
@@ -426,6 +429,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->groupBox_scanFromDepth, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->spinBox_cameraScanFromDepth_decimation, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->doubleSpinBox_cameraSCanFromDepth_maxDepth, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->doubleSpinBox_cameraImages_scanVoxelSize, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->spinBox_cameraImages_scanNormalsK, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
//Rtabmap basic
connect(_ui->general_doubleSpinBox_timeThr, SIGNAL(valueChanged(double)), _ui->general_doubleSpinBox_timeThr_2, SLOT(setValue(double)));
@@ -1078,7 +1083,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_3dRenderingMaxDepth[i]->setValue(0.0);
_3dRenderingShowScans[i]->setChecked(true);
_3dRenderingDownsamplingScan[i]->setValue(0);
_3dRenderingDownsamplingScan[i]->setValue(1);
_3dRenderingVoxelSizeScan[i]->setValue(0.0);
_3dRenderingOpacity[i]->setValue(i==0?1.0:0.5);
_3dRenderingPtSize[i]->setValue(2);
@@ -1168,6 +1173,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
}
_ui->checkbox_rgbd_colorOnly->setChecked(false);
_ui->spinBox_source_imageDecimation->setValue(1);
_ui->checkbox_stereo_depthGenerated->setChecked(false);
_ui->openni2_autoWhiteBalance->setChecked(true);
_ui->openni2_autoExposure->setChecked(true);
@@ -1199,12 +1205,16 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->lineEdit_cameraImages_path_scans->setText("");
_ui->lineEdit_cameraImages_laser_transform->setText("0 0 0 0 0 0");
_ui->spinBox_cameraImages_max_scan_pts->setValue(0);
_ui->spinBox_cameraImages_scanDownsampleStep->setValue(1);
_ui->doubleSpinBox_cameraImages_scanVoxelSize->setValue(0.0f);
_ui->lineEdit_cameraImages_gt->setText("");
_ui->comboBox_cameraImages_gtFormat->setCurrentIndex(0);
_ui->groupBox_scanFromDepth->setChecked(false);
_ui->spinBox_cameraScanFromDepth_decimation->setValue(8);
_ui->doubleSpinBox_cameraSCanFromDepth_maxDepth->setValue(4.0);
_ui->doubleSpinBox_cameraImages_scanVoxelSize->setValue(0.0f);
_ui->spinBox_cameraImages_scanNormalsK->setValue(0);
}
else if(groupBox->objectName() == _ui->groupBox_rtabmap_basic0->objectName())
{
@@ -1441,6 +1451,7 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
_ui->comboBox_sourceType->setCurrentIndex(settings.value("type", _ui->comboBox_sourceType->currentIndex()).toInt());
_ui->lineEdit_sourceDevice->setText(settings.value("device",_ui->lineEdit_sourceDevice->text()).toString());
_ui->lineEdit_sourceLocalTransform->setText(settings.value("localTransform",_ui->lineEdit_sourceLocalTransform->text()).toString());
_ui->spinBox_source_imageDecimation->setValue(settings.value("imageDecimation",_ui->spinBox_source_imageDecimation->value()).toInt());
settings.beginGroup("rgbd");
_ui->comboBox_cameraRGBD->setCurrentIndex(settings.value("driver", _ui->comboBox_cameraRGBD->currentIndex()).toInt());
@@ -1507,6 +1518,8 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
_ui->lineEdit_cameraImages_path_scans->setText(settings.value("path_scans", _ui->lineEdit_cameraImages_path_scans->text()).toString());
_ui->lineEdit_cameraImages_laser_transform->setText(settings.value("scan_transform", _ui->lineEdit_cameraImages_laser_transform->text()).toString());
_ui->spinBox_cameraImages_max_scan_pts->setValue(settings.value("scan_max_pts", _ui->spinBox_cameraImages_max_scan_pts->value()).toInt());
_ui->spinBox_cameraImages_scanDownsampleStep->setValue(settings.value("scan_downsample_step", _ui->spinBox_cameraImages_scanDownsampleStep->value()).toInt());
_ui->doubleSpinBox_cameraImages_scanVoxelSize->setValue(settings.value("scan_voxel_size", _ui->doubleSpinBox_cameraImages_scanVoxelSize->value()).toDouble());
_ui->lineEdit_cameraImages_gt->setText(settings.value("gt_path", _ui->lineEdit_cameraImages_gt->text()).toString());
_ui->comboBox_cameraImages_gtFormat->setCurrentIndex(settings.value("gt_format", _ui->comboBox_cameraImages_gtFormat->currentIndex()).toInt());
settings.endGroup(); // images
@@ -1520,6 +1533,8 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
_ui->groupBox_scanFromDepth->setChecked(settings.value("enabled", _ui->groupBox_scanFromDepth->isChecked()).toBool());
_ui->spinBox_cameraScanFromDepth_decimation->setValue(settings.value("decimation", _ui->spinBox_cameraScanFromDepth_decimation->value()).toInt());
_ui->doubleSpinBox_cameraSCanFromDepth_maxDepth->setValue(settings.value("maxDepth", _ui->doubleSpinBox_cameraSCanFromDepth_maxDepth->value()).toDouble());
_ui->doubleSpinBox_cameraImages_scanVoxelSize->setValue(settings.value("voxelSize", _ui->doubleSpinBox_cameraImages_scanVoxelSize->value()).toDouble());
_ui->spinBox_cameraImages_scanNormalsK->setValue(settings.value("normalsK", _ui->spinBox_cameraImages_scanNormalsK->value()).toInt());
settings.endGroup();//ScanFromDepth
settings.beginGroup("Database");
@@ -1794,6 +1809,7 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.setValue("type", _ui->comboBox_sourceType->currentIndex());
settings.setValue("device", _ui->lineEdit_sourceDevice->text());
settings.setValue("localTransform", _ui->lineEdit_sourceLocalTransform->text());
settings.setValue("imageDecimation", _ui->spinBox_source_imageDecimation->value());
settings.beginGroup("rgbd");
settings.setValue("driver", _ui->comboBox_cameraRGBD->currentIndex());
@@ -1859,6 +1875,8 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.setValue("path_scans", _ui->lineEdit_cameraImages_path_scans->text());
settings.setValue("scan_transform", _ui->lineEdit_cameraImages_laser_transform->text());
settings.setValue("scan_max_pts", _ui->spinBox_cameraImages_max_scan_pts->value());
settings.setValue("scan_downsample_step", _ui->spinBox_cameraImages_scanDownsampleStep->value());
settings.setValue("scan_voxel_size", _ui->doubleSpinBox_cameraImages_scanVoxelSize->value());
settings.setValue("gt_path", _ui->lineEdit_cameraImages_gt->text());
settings.setValue("gt_format", _ui->comboBox_cameraImages_gtFormat->currentIndex());
settings.endGroup(); // images
@@ -1872,6 +1890,8 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.setValue("enabled", _ui->groupBox_scanFromDepth->isChecked());
settings.setValue("decimation", _ui->spinBox_cameraScanFromDepth_decimation->value());
settings.setValue("maxDepth", _ui->doubleSpinBox_cameraSCanFromDepth_maxDepth->value());
settings.setValue("voxelSize", _ui->doubleSpinBox_cameraImages_scanVoxelSize->value());
settings.setValue("normalsK", _ui->spinBox_cameraImages_scanNormalsK->value());
settings.endGroup();
settings.beginGroup("Database");
@@ -3337,6 +3357,8 @@ void PreferencesDialog::updateSourceGrpVisibility()
(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcRGBDImages-kSrcRGBD) ||
(_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoImages-kSrcStereo) ||
(_ui->comboBox_sourceType->currentIndex() == 2 && _ui->comboBox_sourceType->currentIndex() == kSrcImages-kSrcRGB));
_ui->groupBox_scan->setVisible(_ui->comboBox_sourceType->currentIndex() != 3);
}
/*** GETTERS ***/
@@ -3650,6 +3672,10 @@ bool PreferencesDialog::isSourceRGBDColorOnly() const
{
return _ui->checkbox_rgbd_colorOnly->isChecked();
}
int PreferencesDialog::getSourceImageDecimation() const
{
return _ui->spinBox_source_imageDecimation->value();
}
bool PreferencesDialog::isSourceStereoDepthGenerated() const
{
return _ui->checkbox_stereo_depthGenerated->isChecked();
@@ -3666,6 +3692,14 @@ double PreferencesDialog::getSourceScanFromDepthMaxDepth() const
{
return _ui->doubleSpinBox_cameraSCanFromDepth_maxDepth->value();
}
double PreferencesDialog::getSourceScanVoxelSize() const
{
return _ui->doubleSpinBox_cameraImages_scanVoxelSize->value();
}
int PreferencesDialog::getSourceScanNormalsK() const
{
return _ui->spinBox_cameraImages_scanNormalsK->value();
}
Camera * PreferencesDialog::createCamera(bool useRawImages)
{
@@ -3765,6 +3799,9 @@ Camera * PreferencesDialog::createCamera(bool useRawImages)
((CameraRGBDImages*)camera)->setScanPath(
_ui->lineEdit_cameraImages_path_scans->text().isEmpty()?"":_ui->lineEdit_cameraImages_path_scans->text().append(QDir::separator()).toStdString(),
_ui->spinBox_cameraImages_max_scan_pts->value(),
_ui->spinBox_cameraImages_scanDownsampleStep->value(),
_ui->doubleSpinBox_cameraImages_scanVoxelSize->value(),
_ui->spinBox_cameraImages_scanNormalsK->value(),
this->getLaserLocalTransform());
((CameraRGBDImages*)camera)->setTimestamps(_ui->checkBox_cameraImages_timestamps->isChecked(), _ui->lineEdit_cameraImages_timestamps->text().toStdString());
}
@@ -3802,6 +3839,9 @@ Camera * PreferencesDialog::createCamera(bool useRawImages)
((CameraStereoImages*)camera)->setScanPath(
_ui->lineEdit_cameraImages_path_scans->text().isEmpty()?"":_ui->lineEdit_cameraImages_path_scans->text().append(QDir::separator()).toStdString(),
_ui->spinBox_cameraImages_max_scan_pts->value(),
_ui->spinBox_cameraImages_scanDownsampleStep->value(),
_ui->doubleSpinBox_cameraImages_scanVoxelSize->value(),
_ui->spinBox_cameraImages_scanNormalsK->value(),
this->getLaserLocalTransform());
((CameraStereoImages*)camera)->setTimestamps(_ui->checkBox_cameraImages_timestamps->isChecked(), _ui->lineEdit_cameraImages_timestamps->text().toStdString());
}
@@ -3843,6 +3883,9 @@ Camera * PreferencesDialog::createCamera(bool useRawImages)
((CameraRGBDImages*)camera)->setScanPath(
_ui->lineEdit_cameraImages_path_scans->text().isEmpty()?"":_ui->lineEdit_cameraImages_path_scans->text().append(QDir::separator()).toStdString(),
_ui->spinBox_cameraImages_max_scan_pts->value(),
_ui->spinBox_cameraImages_scanDownsampleStep->value(),
_ui->doubleSpinBox_cameraImages_scanVoxelSize->value(),
_ui->spinBox_cameraImages_scanNormalsK->value(),
this->getLaserLocalTransform());
((CameraRGBDImages*)camera)->setTimestamps(_ui->checkBox_cameraImages_timestamps->isChecked(), _ui->lineEdit_cameraImages_timestamps->text().toStdString());
}
@@ -4072,8 +4115,14 @@ void PreferencesDialog::testOdometry()
CameraThread cameraThread(camera, this->getAllParameters()); // take ownership of camera
cameraThread.setMirroringEnabled(isSourceMirroring());
cameraThread.setColorOnly(_ui->checkbox_rgbd_colorOnly->isChecked());
cameraThread.setImageDecimation(_ui->spinBox_source_imageDecimation->value());
cameraThread.setStereoToDepth(_ui->checkbox_stereo_depthGenerated->isChecked());
cameraThread.setScanFromDepth(_ui->groupBox_scanFromDepth->isChecked(), _ui->spinBox_cameraScanFromDepth_decimation->value(), _ui->doubleSpinBox_cameraSCanFromDepth_maxDepth->value());
cameraThread.setScanFromDepth(
_ui->groupBox_scanFromDepth->isChecked(),
_ui->spinBox_cameraScanFromDepth_decimation->value(),
_ui->doubleSpinBox_cameraSCanFromDepth_maxDepth->value(),
_ui->doubleSpinBox_cameraImages_scanVoxelSize->value(),
_ui->spinBox_cameraImages_scanNormalsK->value());
UEventsManager::createPipe(&cameraThread, &odomThread, "CameraEvent");
UEventsManager::createPipe(&odomThread, odomViewer, "OdometryEvent");
UEventsManager::createPipe(odomViewer, &odomThread, "OdometryResetEvent");
@@ -4140,8 +4189,14 @@ void PreferencesDialog::testCamera()
CameraThread cameraThread(camera, this->getAllParameters());
cameraThread.setMirroringEnabled(isSourceMirroring());
cameraThread.setColorOnly(_ui->checkbox_rgbd_colorOnly->isChecked());
cameraThread.setImageDecimation(_ui->spinBox_source_imageDecimation->value());
cameraThread.setStereoToDepth(_ui->checkbox_stereo_depthGenerated->isChecked());
cameraThread.setScanFromDepth(_ui->groupBox_scanFromDepth->isChecked(), _ui->spinBox_cameraScanFromDepth_decimation->value(), _ui->doubleSpinBox_cameraSCanFromDepth_maxDepth->value());
cameraThread.setScanFromDepth(
_ui->groupBox_scanFromDepth->isChecked(),
_ui->spinBox_cameraScanFromDepth_decimation->value(),
_ui->doubleSpinBox_cameraSCanFromDepth_maxDepth->value(),
_ui->doubleSpinBox_cameraImages_scanVoxelSize->value(),
_ui->spinBox_cameraImages_scanNormalsK->value());
UEventsManager::createPipe(&cameraThread, window, "CameraEvent");
cameraThread.start();