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Optimizer: fall back on g2o or gtsam first if one or the other is not available (instead of going TORO). ExportClouds: added ceiling and floor filtering options.

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This commit is contained in:
matlabbe
2020-11-22 01:23:08 -05:00
parent f5d7dc2814
commit 98a499b603
3 changed files with 100 additions and 45 deletions
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12
guilib/src/ExportCloudsDialog.cpp
View File

@@ -3209,6 +3209,18 @@ 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<float>::lowest(),
max!=0.0f?max:std::numeric_limits<float>::max());
}
}
else if(_ui->checkBox_fromDepth->isChecked() && uContains(cachedClouds, iter->first))
{

92
guilib/src/ui/exportCloudsDialog.ui
View File

@@ -23,9 +23,9 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-2387</y>
<y>-547</y>
<width>780</width>
<height>4880</height>
<height>4944</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_13">
@@ -397,14 +397,14 @@
<layout class="QVBoxLayout" name="verticalLayout_14">
<item>
<layout class="QGridLayout" name="gridLayout" columnstretch="0,0,1">
<item row="6" column="0">
<item row="8" column="0">
<widget class="QToolButton" name="toolButton_distortionModel">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
<item row="4" column="1">
<item row="6" column="1">
<widget class="QSpinBox" name="spinBox_fillDepthHoles">
<property name="suffix">
<string> pixels</string>
@@ -430,7 +430,7 @@
<string> m</string>
</property>
<property name="decimals">
<number>1</number>
<number>2</number>
</property>
<property name="maximum">
<double>100.000000000000000</double>
@@ -453,10 +453,10 @@
</property>
</widget>
</item>
<item row="6" column="1">
<item row="8" column="1">
<widget class="QLineEdit" name="lineEdit_distortionModel"/>
</item>
<item row="5" column="1">
<item row="7" column="1">
<widget class="QSpinBox" name="spinBox_fillDepthHolesError">
<property name="suffix">
<string> %</string>
@@ -483,7 +483,7 @@
</property>
</widget>
</item>
<item row="4" column="2">
<item row="6" column="2">
<widget class="QLabel" name="label_197">
<property name="text">
<string>Fill depth hole size (0 means no fill).</string>
@@ -502,7 +502,7 @@
<string> m</string>
</property>
<property name="decimals">
<number>1</number>
<number>2</number>
</property>
<property name="maximum">
<double>100.000000000000000</double>
@@ -515,7 +515,7 @@
</property>
</widget>
</item>
<item row="6" column="2">
<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>
@@ -525,7 +525,7 @@
</property>
</widget>
</item>
<item row="5" column="2">
<item row="7" column="2">
<widget class="QLabel" name="label_198">
<property name="text">
<string>Fill depth hole error.</string>
@@ -538,7 +538,7 @@
</property>
</widget>
</item>
<item row="3" column="2">
<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>
@@ -548,17 +548,17 @@
</property>
</widget>
</item>
<item row="3" column="1">
<item row="5" column="1">
<widget class="QLineEdit" name="lineEdit_roiRatios"/>
</item>
<item row="7" column="1">
<item row="9" column="1">
<widget class="QCheckBox" name="checkBox_bilateral">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="7" column="2">
<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>
@@ -568,7 +568,7 @@
</property>
</widget>
</item>
<item row="8" column="2">
<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>
@@ -578,13 +578,71 @@
</property>
</widget>
</item>
<item row="8" column="1">
<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="maximum">
<double>100.000000000000000</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">
<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>0.000000000000000</double>
</property>
</widget>
</item>
</layout>
</item>
<item>