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GUI: ask for MLS when saving or viewing high res clouds (added parameter values in progress dialog)

Browse Source 
Source: added focalLength parameter for RGBD camera (if not null, it will override the value from the camera)

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1557 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-07-14 01:25:28 +00:00
parent bcc9469c91
commit 7cfb985478
7 changed files with 277 additions and 124 deletions
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4
guilib/include/rtabmap/gui/MainWindow.h
View File

@@ -195,8 +195,8 @@ private:
float voxelSize,
int decimation,
float maxDepth) const;
std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > createPointClouds(const std::map<int, Transform> & poses) const;
std::map<int, pcl::PolygonMesh::Ptr> createMeshes(const std::map<int, Transform> & poses) const;
std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > createPointClouds(const std::map<int, Transform> & poses, bool applyMLS) const;
std::map<int, pcl::PolygonMesh::Ptr> createMeshes(const std::map<int, Transform> & poses, bool applyMLS) const;
void savePointClouds(const std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr> & clouds);
void saveMeshes(const std::map<int, pcl::PolygonMesh::Ptr> & meshes);

1
guilib/include/rtabmap/gui/PreferencesDialog.h
View File

@@ -159,6 +159,7 @@ public:
Src getSourceRGBD() const; // Openni group
QString getSourceOpenniDevice() const; //Openni group
Transform getSourceOpenniLocalTransform() const; //Openni group
float getSourceOpenniFocalLength() const; // Openni group
int getIgnoredDCComponents() const;

282
guilib/src/MainWindow.cpp
View File

@@ -1962,20 +1962,23 @@ void MainWindow::startDetection()
camera = new CameraOpenni(
_preferencesDialog->getSourceOpenniDevice().toStdString(),
_preferencesDialog->getGeneralInputRate(),
_preferencesDialog->getSourceOpenniLocalTransform());
_preferencesDialog->getSourceOpenniLocalTransform(),
_preferencesDialog->getSourceOpenniFocalLength());
}
else if(_preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI2)
{
camera = new CameraOpenNI2(
_preferencesDialog->getGeneralInputRate(),
_preferencesDialog->getSourceOpenniLocalTransform());
_preferencesDialog->getSourceOpenniLocalTransform(),
_preferencesDialog->getSourceOpenniFocalLength());
}
else if(_preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcFreenect)
{
camera = new CameraFreenect(
_preferencesDialog->getSourceOpenniDevice().isEmpty()?0:atoi(_preferencesDialog->getSourceOpenniDevice().toStdString().c_str()),
_preferencesDialog->getGeneralInputRate(),
_preferencesDialog->getSourceOpenniLocalTransform());
_preferencesDialog->getSourceOpenniLocalTransform(),
_preferencesDialog->getSourceOpenniFocalLength());
}
else if(_preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_CV ||
_preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_CV_ASUS)
@@ -1983,7 +1986,8 @@ void MainWindow::startDetection()
camera = new CameraOpenNICV(
_preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_CV_ASUS,
_preferencesDialog->getGeneralInputRate(),
_preferencesDialog->getSourceOpenniLocalTransform());
_preferencesDialog->getSourceOpenniLocalTransform(),
_preferencesDialog->getSourceOpenniFocalLength());
}
else
{
@@ -2804,8 +2808,14 @@ void MainWindow::savePointClouds()
{
int button = QMessageBox::question(this,
tr("One or multiple files?"),
tr("Merge all clouds together?"),
QMessageBox::Yes | QMessageBox::No | QMessageBox::Cancel);
tr("Merge all clouds together?"
"\n\nNote that all saving parameters [decimation=%1, voxel=%2m, max depth=%3m] can be found in "
"Preferences -> GUI -> 3D Rendering under Saving column.")
.arg(_preferencesDialog->getCloudDecimation(2))
.arg(_preferencesDialog->getCloudVoxelSize(2))
.arg(_preferencesDialog->getCloudMaxDepth(2)),
QMessageBox::Yes | QMessageBox::No | QMessageBox::Cancel,
QMessageBox::Yes);
if(button == QMessageBox::Yes || button == QMessageBox::No)
{
@@ -2820,22 +2830,45 @@ void MainWindow::savePointClouds()
if(button == QMessageBox::Yes)
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = this->createAssembledCloud(poses);
if(_preferencesDialog->getMeshSmoothing(1))
button = QMessageBox::question(
this,
tr("Smoothing..."),
tr("Would you want to smooth the surface using Moving "
"Least Squares algorithm? (The cloud has %1 points, this "
"may take a while to process!)").arg(cloud->size()),
QMessageBox::Yes | QMessageBox::No | QMessageBox::Cancel,
QMessageBox::No);
if(button == QMessageBox::Yes || button == QMessageBox::No)
{
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloudWithNormals;
_initProgressDialog->appendText(tr("Smoothing the surface using Moving Least Squares algorithm..."));
_initProgressDialog->incrementStep();
QApplication::processEvents();
if(button == QMessageBox::Yes)
{
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloudWithNormals;
_initProgressDialog->appendText(tr("Smoothing the surface using Moving Least Squares (MLS) algorithm... "
"[search radius=%1m]").arg(_preferencesDialog->getMeshSmoothingRadius(1)));
_initProgressDialog->incrementStep();
QApplication::processEvents();
cloudWithNormals = util3d::computeNormalsSmoothed(cloud, (float)_preferencesDialog->getMeshSmoothingRadius(1));
cloud->clear();
pcl::copyPointCloud(*cloudWithNormals, *cloud);
cloudWithNormals = util3d::computeNormalsSmoothed(cloud, (float)_preferencesDialog->getMeshSmoothingRadius(1));
cloud->clear();
pcl::copyPointCloud(*cloudWithNormals, *cloud);
}
clouds.insert(std::make_pair(0, cloud));
}
clouds.insert(std::make_pair(0, cloud));
}
else
{
clouds = this->createPointClouds(poses);
button = QMessageBox::question(
this,
tr("Smoothing..."),
tr("Would you want to smooth the surface using Moving "
"Least Squares algorithm? (This "
"may take a while to process!)"),
QMessageBox::Yes | QMessageBox::No | QMessageBox::Cancel,
QMessageBox::No);
if(button == QMessageBox::Yes || button == QMessageBox::No)
{
clouds = this->createPointClouds(poses, button == QMessageBox::Yes);
}
}
savePointClouds(clouds);
_initProgressDialog->setValue(_initProgressDialog->maximumSteps());
@@ -2848,8 +2881,14 @@ void MainWindow::saveMeshes()
tr("One or multiple files?"),
tr("Merge all clouds together before surface reconstruction?\n"
" Yes: Output a single mesh for the merged clouds.\n"
" No: Output a mesh for each cloud."),
QMessageBox::Yes | QMessageBox::No | QMessageBox::Cancel);
" No: Output a mesh for each cloud."
"\n\nNote that all saving parameters [decimation=%1, voxel=%2m, max depth=%3m] can be found in "
"Preferences -> GUI -> 3D Rendering under Saving column.")
.arg(_preferencesDialog->getCloudDecimation(2))
.arg(_preferencesDialog->getCloudVoxelSize(2))
.arg(_preferencesDialog->getCloudMaxDepth(2)),
QMessageBox::Yes | QMessageBox::No | QMessageBox::Cancel,
QMessageBox::Yes);
if(button == QMessageBox::Yes || button == QMessageBox::No)
{
@@ -2869,33 +2908,57 @@ void MainWindow::saveMeshes()
QApplication::processEvents();
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloudWithNormals;
if(_preferencesDialog->getMeshSmoothing(1))
button = QMessageBox::question(
this,
tr("Smoothing..."),
tr("Would you want to smooth the surface using Moving "
"Least Squares algorithm? (The cloud has %1 points, this "
"may take a while to process!)").arg(cloud->size()),
QMessageBox::Yes | QMessageBox::No | QMessageBox::Cancel,
QMessageBox::No);
if(button == QMessageBox::Yes || button == QMessageBox::No)
{
_initProgressDialog->appendText(tr("Smoothing the surface using Moving Least Squares algorithm..."));
if(button == QMessageBox::Yes)
{
_initProgressDialog->appendText(tr("Smoothing the surface using Moving Least Squares (MLS) algorithm... "
"[search radius=%1m]").arg(_preferencesDialog->getMeshSmoothingRadius(1)));
_initProgressDialog->incrementStep();
QApplication::processEvents();
cloudWithNormals = util3d::computeNormalsSmoothed(cloud, (float)_preferencesDialog->getMeshSmoothingRadius(1));
}
else
{
_initProgressDialog->appendText(tr("Computing surface normals (without smoothing)... "
"[K neighbors=%1]").arg(_preferencesDialog->getMeshNormalKSearch(1)));
_initProgressDialog->incrementStep();
QApplication::processEvents();
cloudWithNormals = util3d::computeNormals(cloud, _preferencesDialog->getMeshNormalKSearch(1));
}
_initProgressDialog->appendText(tr("Greedy projection triangulation... [radius=%1m]").arg(_preferencesDialog->getMeshGP3Radius(1)));
_initProgressDialog->incrementStep();
QApplication::processEvents();
cloudWithNormals = util3d::computeNormalsSmoothed(cloud, (float)_preferencesDialog->getMeshSmoothingRadius(1));
pcl::PolygonMesh::Ptr mesh = util3d::createMesh(cloudWithNormals, _preferencesDialog->getMeshGP3Radius(1));
meshes.insert(std::make_pair(0, mesh));
}
else
{
_initProgressDialog->appendText(tr("Computing surface normals (without smoothing)..."));
_initProgressDialog->incrementStep();
QApplication::processEvents();
cloudWithNormals = util3d::computeNormals(cloud, _preferencesDialog->getMeshNormalKSearch(1));
}
_initProgressDialog->appendText(tr("Greedy projection triangulation..."));
_initProgressDialog->incrementStep();
QApplication::processEvents();
pcl::PolygonMesh::Ptr mesh = util3d::createMesh(cloudWithNormals, _preferencesDialog->getMeshGP3Radius(1));
meshes.insert(std::make_pair(0, mesh));
}
else
{
meshes = this->createMeshes(poses);
button = QMessageBox::question(
this,
tr("Smoothing..."),
tr("Would you want to smooth the surface using Moving "
"Least Squares algorithm? (This "
"may take a while to process!)"),
QMessageBox::Yes | QMessageBox::No | QMessageBox::Cancel,
QMessageBox::No);
if(button == QMessageBox::Yes || button == QMessageBox::No)
{
meshes = this->createMeshes(poses, button == QMessageBox::Yes);
}
}
saveMeshes(meshes);
_initProgressDialog->setValue(_initProgressDialog->maximumSteps());
@@ -2908,8 +2971,14 @@ void MainWindow::viewPointClouds()
{
int button = QMessageBox::question(this,
tr("One or multiple clouds?"),
tr("Merge all clouds together?"),
QMessageBox::Yes | QMessageBox::No | QMessageBox::Cancel);
tr("Merge all clouds together?"
"\n\nNote that all saving parameters [decimation=%1, voxel=%2m, max depth=%3m] can be found in "
"Preferences -> GUI -> 3D Rendering under High res view column.")
.arg(_preferencesDialog->getCloudDecimation(2))
.arg(_preferencesDialog->getCloudVoxelSize(2))
.arg(_preferencesDialog->getCloudMaxDepth(2)),
QMessageBox::Yes | QMessageBox::No | QMessageBox::Cancel,
QMessageBox::Yes);
if(button == QMessageBox::Yes || button == QMessageBox::No)
{
@@ -2925,23 +2994,46 @@ void MainWindow::viewPointClouds()
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = this->createAssembledCloud(poses);
if(_preferencesDialog->getMeshSmoothing(1))
button = QMessageBox::question(
this,
tr("Smoothing..."),
tr("Would you want to smooth the surface using Moving "
"Least Squares algorithm? (The cloud has %1 points, this "
"may take a while to process!)").arg(cloud->size()),
QMessageBox::Yes | QMessageBox::No | QMessageBox::Cancel,
QMessageBox::No);
if(button == QMessageBox::Yes || button == QMessageBox::No)
{
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloudWithNormals;
_initProgressDialog->appendText(tr("Smoothing the surface using Moving Least Squares algorithm..."));
_initProgressDialog->incrementStep();
QApplication::processEvents();
if(button == QMessageBox::Yes)
{
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloudWithNormals;
_initProgressDialog->appendText(tr("Smoothing the surface using Moving Least Squares (MLS) algorithm... "
"[search radius=%1m]").arg(_preferencesDialog->getMeshSmoothingRadius(1)));
_initProgressDialog->incrementStep();
QApplication::processEvents();
cloudWithNormals = util3d::computeNormalsSmoothed(cloud, (float)_preferencesDialog->getMeshSmoothingRadius(1));
cloud->clear();
pcl::copyPointCloud(*cloudWithNormals, *cloud);
cloudWithNormals = util3d::computeNormalsSmoothed(cloud, (float)_preferencesDialog->getMeshSmoothingRadius(1));
cloud->clear();
pcl::copyPointCloud(*cloudWithNormals, *cloud);
}
clouds.insert(std::make_pair(0, cloud));
}
clouds.insert(std::make_pair(0, cloud));
}
else
{
clouds = this->createPointClouds(poses);
button = QMessageBox::question(
this,
tr("Smoothing..."),
tr("Would you want to smooth the surface using Moving "
"Least Squares algorithm? (This "
"may take a while to process!)"),
QMessageBox::Yes | QMessageBox::No | QMessageBox::Cancel,
QMessageBox::No);
if(button == QMessageBox::Yes || button == QMessageBox::No)
{
clouds = this->createPointClouds(poses, button == QMessageBox::Yes);
}
}
if(clouds.size())
@@ -2972,10 +3064,6 @@ void MainWindow::viewPointClouds()
_initProgressDialog->appendText(tr("Viewing the cloud %1 (%2 points)... done.").arg(iter->first).arg(iter->second->size()));
}
}
else
{
QMessageBox::warning(this, tr("Viewing clouds failed!"), tr("Clouds are empty..."));
}
_initProgressDialog->setValue(_initProgressDialog->maximumSteps());
}
@@ -2987,8 +3075,14 @@ void MainWindow::viewMeshes()
tr("One or multiple meshes?"),
tr("Merge all clouds together before surface reconstruction?\n"
" Yes: Output a single mesh for the merged clouds.\n"
" No: Output a mesh for each cloud."),
QMessageBox::Yes | QMessageBox::No | QMessageBox::Cancel);
" No: Output a mesh for each cloud."
"\n\nNote that all saving parameters [decimation=%1, voxel=%2m, max depth=%3m] can be found in "
"Preferences -> GUI -> 3D Rendering under High res view column.")
.arg(_preferencesDialog->getCloudDecimation(2))
.arg(_preferencesDialog->getCloudVoxelSize(2))
.arg(_preferencesDialog->getCloudMaxDepth(2)),
QMessageBox::Yes | QMessageBox::No | QMessageBox::Cancel,
QMessageBox::Yes);
if(button == QMessageBox::Yes || button == QMessageBox::No)
{
@@ -3008,33 +3102,57 @@ void MainWindow::viewMeshes()
QApplication::processEvents();
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloudWithNormals;
if(_preferencesDialog->getMeshSmoothing(1))
button = QMessageBox::question(
this,
tr("Smoothing..."),
tr("Would you want to smooth the surface using Moving "
"Least Squares algorithm? (The cloud has %1 points, this "
"may take a while to process!)").arg(cloud->size()),
QMessageBox::Yes | QMessageBox::No | QMessageBox::Cancel,
QMessageBox::No);
if(button == QMessageBox::Yes || button == QMessageBox::No)
{
_initProgressDialog->appendText(tr("Smoothing the surface using Moving Least Squares algorithm..."));
if(button == QMessageBox::Yes)
{
_initProgressDialog->appendText(tr("Smoothing the surface using Moving Least Squares (MLS) algorithm... "
"[search radius=%1m]").arg(_preferencesDialog->getMeshSmoothingRadius(1)));
_initProgressDialog->incrementStep();
QApplication::processEvents();
cloudWithNormals = util3d::computeNormalsSmoothed(cloud, (float)_preferencesDialog->getMeshSmoothingRadius(1));
}
else
{
_initProgressDialog->appendText(tr("Computing surface normals (without smoothing)... "
"[K neighbors=%1]").arg(_preferencesDialog->getMeshNormalKSearch(1)));
_initProgressDialog->incrementStep();
QApplication::processEvents();
cloudWithNormals = util3d::computeNormals(cloud, _preferencesDialog->getMeshNormalKSearch(1));
}
_initProgressDialog->appendText(tr("Greedy projection triangulation... [radius=%1m]").arg(_preferencesDialog->getMeshGP3Radius(1)));
_initProgressDialog->incrementStep();
QApplication::processEvents();
cloudWithNormals = util3d::computeNormalsSmoothed(cloud, (float)_preferencesDialog->getMeshSmoothingRadius(1));
pcl::PolygonMesh::Ptr mesh = util3d::createMesh(cloudWithNormals, _preferencesDialog->getMeshGP3Radius(1));
meshes.insert(std::make_pair(0, mesh));
}
else
{
_initProgressDialog->appendText(tr("Computing surface normals (without smoothing)..."));
_initProgressDialog->incrementStep();
QApplication::processEvents();
cloudWithNormals = util3d::computeNormals(cloud, _preferencesDialog->getMeshNormalKSearch(1));
}
_initProgressDialog->appendText(tr("Greedy projection triangulation..."));
_initProgressDialog->incrementStep();
QApplication::processEvents();
pcl::PolygonMesh::Ptr mesh = util3d::createMesh(cloudWithNormals, _preferencesDialog->getMeshGP3Radius(1));
meshes.insert(std::make_pair(0, mesh));
}
else
{
meshes = this->createMeshes(poses);
button = QMessageBox::question(
this,
tr("Smoothing..."),
tr("Would you want to smooth the surface using Moving "
"Least Squares algorithm? (This "
"may take a while to process!)"),
QMessageBox::Yes | QMessageBox::No | QMessageBox::Cancel,
QMessageBox::No);
if(button == QMessageBox::Yes || button == QMessageBox::No)
{
meshes = this->createMeshes(poses, button == QMessageBox::Yes);
}
}
if(meshes.size())
@@ -3067,10 +3185,6 @@ void MainWindow::viewMeshes()
QApplication::processEvents();
}
}
else
{
QMessageBox::warning(this, tr("Viewing meshes failed!"), tr("Meshes are empty..."));
}
_initProgressDialog->setValue(_initProgressDialog->maximumSteps());
}
@@ -3485,7 +3599,9 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr MainWindow::createAssembledCloud(const st
return assembledCloud;
}
std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > MainWindow::createPointClouds(const std::map<int, Transform> & poses) const
std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > MainWindow::createPointClouds(
const std::map<int, Transform> & poses,
bool applyMLS) const
{
std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr> clouds;
int i=0;
@@ -3515,7 +3631,7 @@ std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > MainWindow::createPointCl
if(cloud->size())
{
if(_preferencesDialog->getMeshSmoothing(1))
if(applyMLS)
{
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloudWithNormals;
cloudWithNormals = util3d::computeNormalsSmoothed(cloud, (float)_preferencesDialog->getMeshSmoothingRadius(1));
@@ -3552,7 +3668,7 @@ std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > MainWindow::createPointCl
return clouds;
}
std::map<int, pcl::PolygonMesh::Ptr> MainWindow::createMeshes(const std::map<int, Transform> & poses) const
std::map<int, pcl::PolygonMesh::Ptr> MainWindow::createMeshes(const std::map<int, Transform> & poses, bool applyMLS) const
{
std::map<int, pcl::PolygonMesh::Ptr> meshes;
int i=0;
@@ -3584,7 +3700,7 @@ std::map<int, pcl::PolygonMesh::Ptr> MainWindow::createMeshes(const std::map<int
if(cloud->size())
{
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloudWithNormals;
if(_preferencesDialog->getMeshSmoothing(1))
if(applyMLS)
{
cloudWithNormals = util3d::computeNormalsSmoothed(cloud, (float)_preferencesDialog->getMeshSmoothingRadius(1));
}

35
guilib/src/PreferencesDialog.cpp
View File

@@ -174,7 +174,6 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_3dRenderingSmoothing.resize(2);
_3dRenderingSmoothing[0] = _ui->checkBox_mls;
_3dRenderingSmoothing[1] = _ui->checkBox_mls_save;
_3dRenderingSmoothingRadius.resize(2);
_3dRenderingSmoothingRadius[0] = _ui->doubleSpinBox_mlsRadius;
@@ -197,13 +196,13 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_3dRenderingNormalKSearch[i], SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_3dRenderingGP3Radius[i], SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_3dRenderingSmoothing[i], SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_3dRenderingSmoothingRadius[i], SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
}
if(i<1)
{
connect(_3dRenderingMeshing[i], SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_3dRenderingSmoothing[i], SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
}
}
@@ -257,6 +256,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->radioButton_openni2->setEnabled(CameraOpenNI2::available());
connect(_ui->lineEdit_openniDevice, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->lineEdit_openniLocalTransform, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->doubleSpinBox_openniFocal, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
//Rtabmap basic
connect(_ui->general_doubleSpinBox_timeThr, SIGNAL(valueChanged(double)), _ui->general_doubleSpinBox_timeThr_2, SLOT(setValue(double)));
@@ -762,13 +763,13 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_3dRenderingNormalKSearch[i]->setValue(20);
_3dRenderingGP3Radius[i]->setValue(0.04);
_3dRenderingSmoothing[i]->setChecked(i==0?false:true);
_3dRenderingSmoothingRadius[i]->setValue(0.04);
}
if(i<1)
{
_3dRenderingMeshing[i]->setChecked(false);
_3dRenderingSmoothing[i]->setChecked(false);
}
}
@@ -806,6 +807,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->radioButton_opennicvasus->setChecked(false);
_ui->lineEdit_openniDevice->setText("");
_ui->lineEdit_openniLocalTransform->setText("0 0 0 -PI_2 0 -PI_2");
_ui->doubleSpinBox_openniFocal->setValue(0.0);
}
else if(groupBox->objectName() == _ui->groupBox_rtabmap_basic0->objectName())
{
@@ -995,13 +997,13 @@ void PreferencesDialog::readGuiSettings(const QString & filePath)
_3dRenderingNormalKSearch[i]->setValue(settings.value(tr("meshNormalKSearch%1").arg(i), _3dRenderingNormalKSearch[i]->value()).toInt());
_3dRenderingGP3Radius[i]->setValue(settings.value(tr("meshGP3Radius%1").arg(i), _3dRenderingGP3Radius[i]->value()).toDouble());
_3dRenderingSmoothing[i]->setChecked(settings.value(tr("meshSmoothing%1").arg(i), _3dRenderingSmoothing[i]->isChecked()).toBool());
_3dRenderingSmoothingRadius[i]->setValue(settings.value(tr("meshSmoothingRadius%1").arg(i), _3dRenderingSmoothingRadius[i]->value()).toDouble());
}
if(i<1)
{
_3dRenderingMeshing[i]->setChecked(settings.value(tr("meshing%1").arg(i), _3dRenderingMeshing[i]->isChecked()).toBool());
_3dRenderingSmoothing[i]->setChecked(settings.value(tr("meshSmoothing%1").arg(i), _3dRenderingSmoothing[i]->isChecked()).toBool());
}
}
@@ -1061,6 +1063,7 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
_ui->radioButton_opennicvasus->setChecked(settings.value("openniCvAsusType", _ui->radioButton_opennicvasus->isChecked()).toBool());
_ui->lineEdit_openniDevice->setText(settings.value("device",_ui->lineEdit_openniDevice->text()).toString());
_ui->lineEdit_openniLocalTransform->setText(settings.value("localTransform",_ui->lineEdit_openniLocalTransform->text()).toString());
_ui->doubleSpinBox_openniFocal->setValue(settings.value("focalLength", _ui->doubleSpinBox_openniFocal->value()).toDouble());
settings.endGroup(); // Openni
}
@@ -1205,13 +1208,13 @@ void PreferencesDialog::writeGuiSettings(const QString & filePath)
settings.setValue(tr("meshNormalKSearch%1").arg(i), _3dRenderingNormalKSearch[i]->value());
settings.setValue(tr("meshGP3Radius%1").arg(i), _3dRenderingGP3Radius[i]->value());
settings.setValue(tr("meshSmoothing%1").arg(i), _3dRenderingSmoothing[i]->isChecked());
settings.setValue(tr("meshSmoothingRadius%1").arg(i), _3dRenderingSmoothingRadius[i]->value());
}
if(i<1)
{
settings.setValue(tr("meshing%1").arg(i), _3dRenderingMeshing[i]->isChecked());
settings.setValue(tr("meshSmoothing%1").arg(i), _3dRenderingSmoothing[i]->isChecked());
}
}
settings.setValue("cloudFiltering", _ui->groupBox_poseFiltering->isChecked());
@@ -1270,6 +1273,7 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath)
settings.setValue("openniCvAsusType", _ui->radioButton_opennicvasus->isChecked());
settings.setValue("device", _ui->lineEdit_openniDevice->text());
settings.setValue("localTransform", _ui->lineEdit_openniLocalTransform->text());
settings.setValue("focalLength", _ui->doubleSpinBox_openniFocal->value());
settings.endGroup();
}
@@ -2432,7 +2436,7 @@ bool PreferencesDialog::isCloudsShown(int index) const
}
bool PreferencesDialog::isCloudMeshing(int index) const
{
UASSERT(index >= 0 && index <= 1);
UASSERT(index == 0);
return _3dRenderingMeshing[index]->isChecked();
}
double PreferencesDialog::getCloudVoxelSize(int index) const
@@ -2488,7 +2492,7 @@ double PreferencesDialog::getMeshGP3Radius(int index) const
}
bool PreferencesDialog::getMeshSmoothing(int index) const
{
UASSERT(index >= 0 && index <= 1);
UASSERT(index == 0);
return _3dRenderingSmoothing[index]->isChecked();
}
double PreferencesDialog::getMeshSmoothingRadius(int index) const
@@ -2636,6 +2640,11 @@ Transform PreferencesDialog::getSourceOpenniLocalTransform() const
return t;
}
float PreferencesDialog::getSourceOpenniFocalLength() const
{
return _ui->doubleSpinBox_openniFocal->value();
}
bool PreferencesDialog::isStatisticsPublished() const
{
return _ui->general_checkBox_publishStats->isChecked();
@@ -2768,13 +2777,15 @@ void PreferencesDialog::testOdometry(int type)
camera = new CameraOpenni(
this->getSourceOpenniDevice().toStdString(),
this->getGeneralInputRate(),
this->getSourceOpenniLocalTransform());
this->getSourceOpenniLocalTransform(),
this->getSourceOpenniFocalLength());
}
else if(this->getSourceRGBD() == kSrcOpenNI2)
{
camera = new CameraOpenNI2(
this->getGeneralInputRate(),
this->getSourceOpenniLocalTransform());
this->getSourceOpenniLocalTransform(),
this->getSourceOpenniFocalLength());
}
else if(this->getSourceRGBD() == kSrcFreenect)
@@ -2782,14 +2793,16 @@ void PreferencesDialog::testOdometry(int type)
camera = new CameraFreenect(
this->getSourceOpenniDevice().isEmpty()?0:atoi(this->getSourceOpenniDevice().toStdString().c_str()),
this->getGeneralInputRate(),
this->getSourceOpenniLocalTransform());
this->getSourceOpenniLocalTransform(),
this->getSourceOpenniFocalLength());
}
else if(this->getSourceRGBD() == kSrcOpenNI_CV || this->getSourceRGBD() == kSrcOpenNI_CV_ASUS)
{
camera = new CameraOpenNICV(
this->getSourceRGBD() == kSrcOpenNI_CV_ASUS,
this->getGeneralInputRate(),
this->getSourceOpenniLocalTransform());
this->getSourceOpenniLocalTransform(),
this->getSourceOpenniFocalLength());
}
else
{

36
guilib/src/ui/preferencesDialog.ui
View File

@@ -63,9 +63,9 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-457</y>
<y>-313</y>
<width>709</width>
<height>1140</height>
<height>853</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>17</number>
<number>1</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29">
@@ -1019,16 +1019,6 @@ High-res view</string>
</property>
</widget>
</item>
<item row="14" column="2">
<widget class="QCheckBox" name="checkBox_mls_save">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="15" column="2">
<widget class="QDoubleSpinBox" name="doubleSpinBox_mlsRadius_save">
<property name="suffix">
@@ -1686,6 +1676,9 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<property name="text">
<string>OpenNI-PCL</string>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item>
@@ -1770,6 +1763,23 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_openniFocal">
<property name="maximum">
<double>1000.000000000000000</double>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_160">
<property name="text">
<string>Intrinsic focal length (fx=fy, K[4]). Set 0 to use the default from the camera. Examples: ~525 for Kinect, ~545 for Xtion Pro Live.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
</layout>