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Voxel filter: added support for very large clouds. Gui/Export: added footprint filtering option. Moved all filtering options under Cloud Filtering group.

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This commit is contained in:
matlabbe
2021-05-14 21:02:09 -04:00
parent 4390cb6428
commit 8c336e1e39
3 changed files with 397 additions and 198 deletions
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75
guilib/src/ExportCloudsDialog.cpp
View File

@@ -126,6 +126,9 @@ ExportCloudsDialog::ExportCloudsDialog(QWidget *parent) :
connect(_ui->doubleSpinBox_minDepth, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_ceilingHeight, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_floorHeight, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_footprintWidth, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_footprintLength, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_footprintHeight, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->spinBox_decimation_scan, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_rangeMin, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_rangeMax, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
@@ -349,6 +352,9 @@ void ExportCloudsDialog::saveSettings(QSettings & settings, const QString & grou
settings.setValue("regenerate_min_depth", _ui->doubleSpinBox_minDepth->value());
settings.setValue("regenerate_ceiling", _ui->doubleSpinBox_ceilingHeight->value());
settings.setValue("regenerate_floor", _ui->doubleSpinBox_floorHeight->value());
settings.setValue("regenerate_footprint_height", _ui->doubleSpinBox_footprintHeight->value());
settings.setValue("regenerate_footprint_width", _ui->doubleSpinBox_footprintWidth->value());
settings.setValue("regenerate_footprint_length", _ui->doubleSpinBox_footprintLength->value());
settings.setValue("regenerate_scan_decimation", _ui->spinBox_decimation_scan->value());
settings.setValue("regenerate_scan_max_range", _ui->doubleSpinBox_rangeMax->value());
settings.setValue("regenerate_scan_min_range", _ui->doubleSpinBox_rangeMin->value());
@@ -507,6 +513,9 @@ void ExportCloudsDialog::loadSettings(QSettings & settings, const QString & grou
_ui->doubleSpinBox_minDepth->setValue(settings.value("regenerate_min_depth", _ui->doubleSpinBox_minDepth->value()).toDouble());
_ui->doubleSpinBox_ceilingHeight->setValue(settings.value("regenerate_ceiling", _ui->doubleSpinBox_ceilingHeight->value()).toDouble());
_ui->doubleSpinBox_floorHeight->setValue(settings.value("regenerate_floor", _ui->doubleSpinBox_floorHeight->value()).toDouble());
_ui->doubleSpinBox_footprintHeight->setValue(settings.value("regenerate_footprint_height", _ui->doubleSpinBox_footprintHeight->value()).toDouble());
_ui->doubleSpinBox_footprintWidth->setValue(settings.value("regenerate_footprint_width", _ui->doubleSpinBox_footprintWidth->value()).toDouble());
_ui->doubleSpinBox_footprintLength->setValue(settings.value("regenerate_footprint_length", _ui->doubleSpinBox_footprintLength->value()).toDouble());
_ui->spinBox_decimation_scan->setValue(settings.value("regenerate_scan_decimation", _ui->spinBox_decimation_scan->value()).toInt());
_ui->doubleSpinBox_rangeMax->setValue(settings.value("regenerate_scan_max_range", _ui->doubleSpinBox_rangeMax->value()).toDouble());
_ui->doubleSpinBox_rangeMin->setValue(settings.value("regenerate_scan_min_range", _ui->doubleSpinBox_rangeMin->value()).toDouble());
@@ -668,6 +677,9 @@ void ExportCloudsDialog::restoreDefaults()
_ui->doubleSpinBox_minDepth->setValue(0);
_ui->doubleSpinBox_ceilingHeight->setValue(0);
_ui->doubleSpinBox_floorHeight->setValue(0);
_ui->doubleSpinBox_footprintHeight->setValue(0);
_ui->doubleSpinBox_footprintLength->setValue(0);
_ui->doubleSpinBox_footprintWidth->setValue(0);
_ui->spinBox_decimation_scan->setValue(1);
_ui->doubleSpinBox_rangeMax->setValue(0);
_ui->doubleSpinBox_rangeMin->setValue(0);
@@ -681,8 +693,8 @@ void ExportCloudsDialog::restoreDefaults()
_ui->doubleSpinBox_bilateral_sigmaR->setValue(0.1);
_ui->checkBox_filtering->setChecked(false);
_ui->doubleSpinBox_filteringRadius->setValue(0.02);
_ui->spinBox_filteringMinNeighbors->setValue(2);
_ui->doubleSpinBox_filteringRadius->setValue(0.00);
_ui->spinBox_filteringMinNeighbors->setValue(5);
_ui->checkBox_assemble->setChecked(true);
_ui->doubleSpinBox_voxelSize_assembled->setValue(0.01);
@@ -3572,18 +3584,6 @@ std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::Indic
UERROR("Cloud %d not found in cache!", iter->first);
}
}
if(!cloud->empty() &&
(_ui->doubleSpinBox_ceilingHeight->value() != 0.0 || _ui->doubleSpinBox_floorHeight->value() != 0.0))
{
float min = _ui->doubleSpinBox_floorHeight->value();
float max = _ui->doubleSpinBox_ceilingHeight->value();
indices = util3d::passThrough(
util3d::transformPointCloud(cloud, iter->second),
indices,
"z",
min!=0.0f&&min<max?min:std::numeric_limits<int>::min(),
max!=0.0f?max:std::numeric_limits<int>::max());
}
}
else if(_ui->checkBox_fromDepth->isChecked() && uContains(cachedClouds, iter->first))
{
@@ -3689,15 +3689,58 @@ std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::Indic
}
}
if(indices->size())
if(_ui->checkBox_filtering->isChecked())
{
if(_ui->checkBox_filtering->isChecked() &&
if(!indices->empty() &&
(_ui->doubleSpinBox_ceilingHeight->value() != 0.0 ||
_ui->doubleSpinBox_floorHeight->value() != 0.0))
{
float min = _ui->doubleSpinBox_floorHeight->value();
float max = _ui->doubleSpinBox_ceilingHeight->value();
indices = util3d::passThrough(
util3d::transformPointCloud(cloud, iter->second),
indices,
"z",
min!=0.0f&&min<max?min:std::numeric_limits<int>::min(),
max!=0.0f?max:std::numeric_limits<int>::max());
}
if(!indices->empty() &&
( _ui->doubleSpinBox_footprintHeight->value() != 0.0 &&
_ui->doubleSpinBox_footprintWidth->value() != 0.0 &&
_ui->doubleSpinBox_footprintLength->value() != 0.0))
{
// filter footprint
float h = _ui->doubleSpinBox_footprintHeight->value();
float w = _ui->doubleSpinBox_footprintWidth->value();
float l = _ui->doubleSpinBox_footprintLength->value();
int before= indices->size();
indices = util3d::cropBox(
cloud,
indices,
Eigen::Vector4f(
-l/2.0f,
-w/2.0f,
h<0.0f?h:0,
1),
Eigen::Vector4f(
l/2.0f,
w/2.0f,
h<0.0f?-h:h,
1),
Transform::getIdentity(),
true);
}
if( !indices->empty() &&
_ui->doubleSpinBox_filteringRadius->value() > 0.0f &&
_ui->spinBox_filteringMinNeighbors->value() > 0)
{
indices = util3d::radiusFiltering(cloud, indices, _ui->doubleSpinBox_filteringRadius->value(), _ui->spinBox_filteringMinNeighbors->value());
}
}
if(!indices->empty())
{
if((_ui->comboBox_frame->isEnabled() && _ui->comboBox_frame->currentIndex()==2) && cloud->isOrganized())
{
cloud = util3d::transformPointCloud(cloud, localTransform.inverse()); // put back in camera frame

444
guilib/src/ui/exportCloudsDialog.ui
View File

@@ -23,9 +23,9 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-3906</y>
<y>-1225</y>
<width>780</width>
<height>5635</height>
<height>5739</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_13">
@@ -126,7 +126,7 @@
<item row="12" column="1">
<widget class="QLabel" name="label_binaryFile_9">
<property name="text">
<string>Cloud filtering. Remove sparse points that are far from surfaces.</string>
<string>Cloud filtering.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -664,33 +664,61 @@
<layout class="QVBoxLayout" name="verticalLayout_14">
<item>
<layout class="QGridLayout" name="gridLayout" columnstretch="0,0,1">
<item row="8" column="0">
<widget class="QToolButton" name="toolButton_distortionModel">
<item row="6" column="2">
<widget class="QLabel" name="label_134">
<property name="text">
<string>...</string>
<string>Path to a depth distortion model to apply (output from depth calibration).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QSpinBox" name="spinBox_fillDepthHoles">
<item row="3" column="2">
<widget class="QLabel" name="label_135">
<property name="text">
<string>ROI ratios [left, right, top, bottom] between 0 and 1. Only generate 3D points for pixels inside the region of interest (RGB image).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_maxDepth">
<property name="suffix">
<string> pixels</string>
<string> m</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QSpinBox" name="spinBox_decimation">
<property name="minimum">
<number>-32</number>
<property name="decimals">
<number>2</number>
</property>
<property name="maximum">
<number>32</number>
<double>100.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<number>1</number>
<double>4.000000000000000</double>
</property>
</widget>
</item>
<item row="5" column="2">
<widget class="QLabel" name="label_198">
<property name="text">
<string>Fill depth hole error.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLineEdit" name="lineEdit_roiRatios"/>
</item>
<item row="2" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_minDepth">
<property name="suffix">
@@ -721,12 +749,35 @@
</widget>
</item>
<item row="8" column="1">
<widget class="QCheckBox" name="checkBox_subtraction">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLineEdit" name="lineEdit_distortionModel"/>
</item>
<item row="7" column="1">
<widget class="QSpinBox" name="spinBox_fillDepthHolesError">
<property name="suffix">
<string> %</string>
<item row="8" column="2">
<widget class="QLabel" name="label_137">
<property name="text">
<string>Cloud subtraction. Superposed points from different nodes are filtered.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="2">
<widget class="QLabel" name="label_197">
<property name="text">
<string>Fill depth hole size (0 means no fill).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
@@ -740,6 +791,40 @@
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QSpinBox" name="spinBox_decimation">
<property name="minimum">
<number>-32</number>
</property>
<property name="maximum">
<number>32</number>
</property>
<property name="value">
<number>1</number>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QSpinBox" name="spinBox_fillDepthHolesError">
<property name="suffix">
<string> %</string>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QToolButton" name="toolButton_distortionModel">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QCheckBox" name="checkBox_bilateral">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QLabel" name="label_133">
<property name="text">
@@ -750,82 +835,7 @@
</property>
</widget>
</item>
<item row="6" column="2">
<widget class="QLabel" name="label_197">
<property name="text">
<string>Fill depth hole size (0 means no fill).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_maxDepth">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="maximum">
<double>100.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>4.000000000000000</double>
</property>
</widget>
</item>
<item row="8" column="2">
<widget class="QLabel" name="label_134">
<property name="text">
<string>Path to a depth distortion model to apply (output from depth calibration).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="7" column="2">
<widget class="QLabel" name="label_198">
<property name="text">
<string>Fill depth hole error.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="5" column="2">
<widget class="QLabel" name="label_135">
<property name="text">
<string>ROI ratios [left, right, top, bottom] between 0 and 1. Only generate 3D points for pixels inside the region of interest (RGB image).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLineEdit" name="lineEdit_roiRatios"/>
</item>
<item row="9" column="1">
<widget class="QCheckBox" name="checkBox_bilateral">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="9" column="2">
<widget class="QLabel" name="label_136">
<property name="text">
<string>Bilateral filtering of the depth image. Reduce noise in depth images.</string>
@@ -835,84 +845,10 @@
</property>
</widget>
</item>
<item row="10" column="2">
<widget class="QLabel" name="label_137">
<property name="text">
<string>Cloud subtraction. Superposed points from different nodes are filtered.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="10" column="1">
<widget class="QCheckBox" name="checkBox_subtraction">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QLabel" name="label_140">
<property name="text">
<string>Ceiling filtering height.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="2">
<widget class="QLabel" name="label_141">
<property name="text">
<string>Floor filtering height.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_ceilingHeight">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="minimum">
<double>-1000.000000000000000</double>
</property>
<property name="maximum">
<double>1000.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_floorHeight">
<widget class="QSpinBox" name="spinBox_fillDepthHoles">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="minimum">
<double>-1000.000000000000000</double>
</property>
<property name="maximum">
<double>1000.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
<string> pixels</string>
</property>
</widget>
</item>
@@ -1114,7 +1050,7 @@
<number>3</number>
</property>
<property name="minimum">
<double>0.001000000000000</double>
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
@@ -1130,7 +1066,7 @@
<item row="0" column="1">
<widget class="QLabel" name="label_110">
<property name="text">
<string>Radius search.</string>
<string>Search radius.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -1160,6 +1096,166 @@
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_ceilingHeight">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="minimum">
<double>-1000.000000000000000</double>
</property>
<property name="maximum">
<double>1000.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_140">
<property name="text">
<string>Ceiling filtering height.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_floorHeight">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="minimum">
<double>-1000.000000000000000</double>
</property>
<property name="maximum">
<double>1000.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_141">
<property name="text">
<string>Floor filtering height.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_footprintWidth">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>1000.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_143">
<property name="text">
<string>Footprint width.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_footprintLength">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>1000.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_144">
<property name="text">
<string>Footprint length.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_footprintHeight">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="minimum">
<double>-1000.000000000000000</double>
</property>
<property name="maximum">
<double>1000.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_145">
<property name="text">
<string>Footprint height. If negative, the footprint is filtered between [-height:height] around the base frame, otherwise it is [0:height]</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>