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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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corelib/src/Optimizer.cpp
+13 -28
View File
@@ -101,16 +101,16 @@ Optimizer * Optimizer::create(Optimizer::Type type, const ParametersMap & parame
} }
if(!OptimizerG2O::available() && type == Optimizer::kTypeG2O) if(!OptimizerG2O::available() && type == Optimizer::kTypeG2O)
{ {
if(OptimizerTORO::available()) if(OptimizerGTSAM::available())
{
UWARN("g2o optimizer not available. TORO will be used instead.");
type = Optimizer::kTypeTORO;
}
else if(OptimizerGTSAM::available())
{ {
UWARN("g2o optimizer not available. GTSAM will be used instead."); UWARN("g2o optimizer not available. GTSAM will be used instead.");
type = Optimizer::kTypeGTSAM; type = Optimizer::kTypeGTSAM;
} }
else if(OptimizerTORO::available())
{
UWARN("g2o optimizer not available. TORO will be used instead.");
type = Optimizer::kTypeTORO;
}
else if(OptimizerCeres::available()) else if(OptimizerCeres::available())
{ {
UWARN("g2o optimizer not available. ceres will be used instead."); UWARN("g2o optimizer not available. ceres will be used instead.");
@@ -119,16 +119,16 @@ Optimizer * Optimizer::create(Optimizer::Type type, const ParametersMap & parame
} }
if(!OptimizerGTSAM::available() && type == Optimizer::kTypeGTSAM) if(!OptimizerGTSAM::available() && type == Optimizer::kTypeGTSAM)
{ {
if(OptimizerTORO::available()) if(OptimizerG2O::available())
{
UWARN("GTSAM optimizer not available. TORO will be used instead.");
type = Optimizer::kTypeTORO;
}
else if(OptimizerG2O::available())
{ {
UWARN("GTSAM optimizer not available. g2o will be used instead."); UWARN("GTSAM optimizer not available. g2o will be used instead.");
type = Optimizer::kTypeG2O; type = Optimizer::kTypeG2O;
} }
else if(OptimizerTORO::available())
{
UWARN("GTSAM optimizer not available. TORO will be used instead.");
type = Optimizer::kTypeTORO;
}
else if(OptimizerCeres::available()) else if(OptimizerCeres::available())
{ {
UWARN("GTSAM optimizer not available. ceres will be used instead."); UWARN("GTSAM optimizer not available. ceres will be used instead.");
@@ -137,26 +137,11 @@ Optimizer * Optimizer::create(Optimizer::Type type, const ParametersMap & parame
} }
if(!OptimizerCVSBA::available() && type == Optimizer::kTypeCVSBA) if(!OptimizerCVSBA::available() && type == Optimizer::kTypeCVSBA)
{ {
if(OptimizerTORO::available()) if(OptimizerG2O::available())
{
UWARN("CVSBA optimizer not available. TORO will be used instead.");
type = Optimizer::kTypeTORO;
}
else if(OptimizerGTSAM::available())
{
UWARN("CVSBA optimizer not available. GTSAM will be used instead.");
type = Optimizer::kTypeGTSAM;
}
else if(OptimizerG2O::available())
{ {
UWARN("CVSBA optimizer not available. g2o will be used instead."); UWARN("CVSBA optimizer not available. g2o will be used instead.");
type = Optimizer::kTypeG2O; type = Optimizer::kTypeG2O;
} }
else if(OptimizerCeres::available())
{
UWARN("CVSBA optimizer not available. ceres will be used instead.");
type = Optimizer::kTypeCeres;
}
} }
if(!OptimizerCeres::available() && type == Optimizer::kTypeCeres) if(!OptimizerCeres::available() && type == Optimizer::kTypeCeres)
{ {
guilib/src/ExportCloudsDialog.cpp
+12
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); 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)) else if(_ui->checkBox_fromDepth->isChecked() && uContains(cachedClouds, iter->first))
{ {
guilib/src/ui/exportCloudsDialog.ui
+75 -17
View File
@@ -23,9 +23,9 @@
<property name="geometry"> <property name="geometry">
<rect> <rect>
<x>0</x> <x>0</x>
<y>-2387</y> <y>-547</y>
<width>780</width> <width>780</width>
<height>4880</height> <height>4944</height>
</rect> </rect>
</property> </property>
<layout class="QVBoxLayout" name="verticalLayout_13"> <layout class="QVBoxLayout" name="verticalLayout_13">
@@ -397,14 +397,14 @@
<layout class="QVBoxLayout" name="verticalLayout_14"> <layout class="QVBoxLayout" name="verticalLayout_14">
<item> <item>
<layout class="QGridLayout" name="gridLayout" columnstretch="0,0,1"> <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"> <widget class="QToolButton" name="toolButton_distortionModel">
<property name="text"> <property name="text">
<string>...</string> <string>...</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="4" column="1"> <item row="6" column="1">
<widget class="QSpinBox" name="spinBox_fillDepthHoles"> <widget class="QSpinBox" name="spinBox_fillDepthHoles">
<property name="suffix"> <property name="suffix">
<string> pixels</string> <string> pixels</string>
@@ -430,7 +430,7 @@
<string> m</string> <string> m</string>
</property> </property>
<property name="decimals"> <property name="decimals">
<number>1</number> <number>2</number>
</property> </property>
<property name="maximum"> <property name="maximum">
<double>100.000000000000000</double> <double>100.000000000000000</double>
@@ -453,10 +453,10 @@
</property> </property>
</widget> </widget>
</item> </item>
<item row="6" column="1"> <item row="8" column="1">
<widget class="QLineEdit" name="lineEdit_distortionModel"/> <widget class="QLineEdit" name="lineEdit_distortionModel"/>
</item> </item>
<item row="5" column="1"> <item row="7" column="1">
<widget class="QSpinBox" name="spinBox_fillDepthHolesError"> <widget class="QSpinBox" name="spinBox_fillDepthHolesError">
<property name="suffix"> <property name="suffix">
<string> %</string> <string> %</string>
@@ -483,7 +483,7 @@
</property> </property>
</widget> </widget>
</item> </item>
<item row="4" column="2"> <item row="6" column="2">
<widget class="QLabel" name="label_197"> <widget class="QLabel" name="label_197">
<property name="text"> <property name="text">
<string>Fill depth hole size (0 means no fill).</string> <string>Fill depth hole size (0 means no fill).</string>
@@ -502,7 +502,7 @@
<string> m</string> <string> m</string>
</property> </property>
<property name="decimals"> <property name="decimals">
<number>1</number> <number>2</number>
</property> </property>
<property name="maximum"> <property name="maximum">
<double>100.000000000000000</double> <double>100.000000000000000</double>
@@ -515,7 +515,7 @@
</property> </property>
</widget> </widget>
</item> </item>
<item row="6" column="2"> <item row="8" column="2">
<widget class="QLabel" name="label_134"> <widget class="QLabel" name="label_134">
<property name="text"> <property name="text">
<string>Path to a depth distortion model to apply (output from depth calibration).</string> <string>Path to a depth distortion model to apply (output from depth calibration).</string>
@@ -525,7 +525,7 @@
</property> </property>
</widget> </widget>
</item> </item>
<item row="5" column="2"> <item row="7" column="2">
<widget class="QLabel" name="label_198"> <widget class="QLabel" name="label_198">
<property name="text"> <property name="text">
<string>Fill depth hole error.</string> <string>Fill depth hole error.</string>
@@ -538,7 +538,7 @@
</property> </property>
</widget> </widget>
</item> </item>
<item row="3" column="2"> <item row="5" column="2">
<widget class="QLabel" name="label_135"> <widget class="QLabel" name="label_135">
<property name="text"> <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> <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> </property>
</widget> </widget>
</item> </item>
<item row="3" column="1"> <item row="5" column="1">
<widget class="QLineEdit" name="lineEdit_roiRatios"/> <widget class="QLineEdit" name="lineEdit_roiRatios"/>
</item> </item>
<item row="7" column="1"> <item row="9" column="1">
<widget class="QCheckBox" name="checkBox_bilateral"> <widget class="QCheckBox" name="checkBox_bilateral">
<property name="text"> <property name="text">
<string/> <string/>
</property> </property>
</widget> </widget>
</item> </item>
<item row="7" column="2"> <item row="9" column="2">
<widget class="QLabel" name="label_136"> <widget class="QLabel" name="label_136">
<property name="text"> <property name="text">
<string>Bilateral filtering of the depth image. Reduce noise in depth images.</string> <string>Bilateral filtering of the depth image. Reduce noise in depth images.</string>
@@ -568,7 +568,7 @@
</property> </property>
</widget> </widget>
</item> </item>
<item row="8" column="2"> <item row="10" column="2">
<widget class="QLabel" name="label_137"> <widget class="QLabel" name="label_137">
<property name="text"> <property name="text">
<string>Cloud subtraction. Superposed points from different nodes are filtered.</string> <string>Cloud subtraction. Superposed points from different nodes are filtered.</string>
@@ -578,13 +578,71 @@
</property> </property>
</widget> </widget>
</item> </item>
<item row="8" column="1"> <item row="10" column="1">
<widget class="QCheckBox" name="checkBox_subtraction"> <widget class="QCheckBox" name="checkBox_subtraction">
<property name="text"> <property name="text">
<string/> <string/>
</property> </property>
</widget> </widget>
</item> </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> </layout>
</item> </item>
<item> <item>