mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 09:30:25 +08:00
CameraImages: moved scan filtering stuff to CameraThread
Preferences->Source: refactored scan filtering parameters OdometryF2M and OdometryF2F: moved odom orientation init from IMU to OdometryROS instead
This commit is contained in:
matlabbe
@@ -247,11 +247,13 @@ public:
|
||||
bool isSourceStereoDepthGenerated() const;
|
||||
bool isSourceStereoExposureCompensation() const;
|
||||
bool isSourceScanFromDepth() const;
|
||||
int getSourceScanFromDepthDecimation() const;
|
||||
double getSourceScanFromDepthMaxDepth() const;
|
||||
int getSourceScanDownsampleStep() const;
|
||||
double getSourceScanRangeMin() const;
|
||||
double getSourceScanRangeMax() const;
|
||||
double getSourceScanVoxelSize() const;
|
||||
int getSourceScanNormalsK() const;
|
||||
double getSourceScanNormalsRadius() const;
|
||||
bool isSourceScanForceGroundNormalsUp() const;
|
||||
Transform getSourceLocalTransform() const; //Openni group
|
||||
Transform getLaserLocalTransform() const; // directory images
|
||||
Transform getIMULocalTransform() const; // directory images
|
||||
|
||||
@@ -4863,13 +4863,15 @@ void MainWindow::startDetection()
|
||||
_camera->setImageDecimation(_preferencesDialog->getSourceImageDecimation());
|
||||
_camera->setStereoToDepth(_preferencesDialog->isSourceStereoDepthGenerated());
|
||||
_camera->setStereoExposureCompensation(_preferencesDialog->isSourceStereoExposureCompensation());
|
||||
_camera->setScanFromDepth(
|
||||
_camera->setScanParameters(
|
||||
_preferencesDialog->isSourceScanFromDepth(),
|
||||
_preferencesDialog->getSourceScanFromDepthDecimation(),
|
||||
_preferencesDialog->getSourceScanFromDepthMaxDepth(),
|
||||
_preferencesDialog->getSourceScanDownsampleStep(),
|
||||
_preferencesDialog->getSourceScanRangeMin(),
|
||||
_preferencesDialog->getSourceScanRangeMax(),
|
||||
_preferencesDialog->getSourceScanVoxelSize(),
|
||||
_preferencesDialog->getSourceScanNormalsK(),
|
||||
_preferencesDialog->getSourceScanNormalsRadius());
|
||||
_preferencesDialog->getSourceScanNormalsRadius(),
|
||||
_preferencesDialog->isSourceScanForceGroundNormalsUp());
|
||||
if(_preferencesDialog->isDepthFilteringAvailable())
|
||||
{
|
||||
if(_preferencesDialog->isBilateralFiltering())
|
||||
|
||||
@@ -603,8 +603,6 @@ 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_odom, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
|
||||
connect(_ui->comboBox_cameraImages_odomFormat, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
|
||||
connect(_ui->lineEdit_cameraImages_gt, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
|
||||
@@ -661,13 +659,14 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
|
||||
connect(_ui->doubleSpinBox_bilateral_sigmaS, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
|
||||
connect(_ui->doubleSpinBox_bilateral_sigmaR, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
|
||||
|
||||
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()));
|
||||
connect(_ui->doubleSpinBox_cameraImages_scanNormalsRadius, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
|
||||
connect(_ui->checkBox_cameraImages_scanForceGroundNormalsUp, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
|
||||
connect(_ui->checkBox_source_scanFromDepth, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
|
||||
connect(_ui->spinBox_source_scanDownsampleStep, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
|
||||
connect(_ui->doubleSpinBox_source_scanRangeMin, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
|
||||
connect(_ui->doubleSpinBox_source_scanRangeMax, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
|
||||
connect(_ui->doubleSpinBox_source_scanVoxelSize, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
|
||||
connect(_ui->spinBox_source_scanNormalsK, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
|
||||
connect(_ui->doubleSpinBox_source_scanNormalsRadius, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
|
||||
connect(_ui->checkBox_source_scanForceGroundNormalsUp, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
|
||||
|
||||
|
||||
//Rtabmap basic
|
||||
@@ -1731,8 +1730,6 @@ 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_odom->setText("");
|
||||
_ui->comboBox_cameraImages_odomFormat->setCurrentIndex(0);
|
||||
_ui->lineEdit_cameraImages_gt->setText("");
|
||||
@@ -1742,13 +1739,14 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
|
||||
_ui->lineEdit_cameraImages_imu_transform->setText("0 0 1 0 -1 0 1 0 0");
|
||||
_ui->spinBox_cameraImages_max_imu_rate->setValue(0);
|
||||
|
||||
_ui->groupBox_scanFromDepth->setChecked(false);
|
||||
_ui->spinBox_cameraScanFromDepth_decimation->setValue(8);
|
||||
_ui->doubleSpinBox_cameraSCanFromDepth_maxDepth->setValue(4.0);
|
||||
_ui->doubleSpinBox_cameraImages_scanVoxelSize->setValue(0.025f);
|
||||
_ui->spinBox_cameraImages_scanNormalsK->setValue(20);
|
||||
_ui->doubleSpinBox_cameraImages_scanNormalsRadius->setValue(0.0);
|
||||
_ui->checkBox_cameraImages_scanForceGroundNormalsUp->setChecked(false);
|
||||
_ui->checkBox_source_scanFromDepth->setChecked(false);
|
||||
_ui->spinBox_source_scanDownsampleStep->setValue(1);
|
||||
_ui->doubleSpinBox_source_scanRangeMin->setValue(0);
|
||||
_ui->doubleSpinBox_source_scanRangeMax->setValue(0);
|
||||
_ui->doubleSpinBox_source_scanVoxelSize->setValue(0.0f);
|
||||
_ui->spinBox_source_scanNormalsK->setValue(0);
|
||||
_ui->doubleSpinBox_source_scanNormalsRadius->setValue(0.0);
|
||||
_ui->checkBox_source_scanForceGroundNormalsUp->setChecked(false);
|
||||
|
||||
_ui->groupBox_depthFromScan->setChecked(false);
|
||||
_ui->groupBox_depthFromScan_fillHoles->setChecked(true);
|
||||
@@ -2145,8 +2143,6 @@ 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_odom->setText(settings.value("odom_path", _ui->lineEdit_cameraImages_odom->text()).toString());
|
||||
_ui->comboBox_cameraImages_odomFormat->setCurrentIndex(settings.value("odom_format", _ui->comboBox_cameraImages_odomFormat->currentIndex()).toInt());
|
||||
_ui->lineEdit_cameraImages_gt->setText(settings.value("gt_path", _ui->lineEdit_cameraImages_gt->text()).toString());
|
||||
@@ -2162,16 +2158,16 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
|
||||
_ui->source_video_lineEdit_path->setText(settings.value("path", _ui->source_video_lineEdit_path->text()).toString());
|
||||
settings.endGroup(); // video
|
||||
|
||||
settings.beginGroup("ScanFromDepth");
|
||||
_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());
|
||||
_ui->doubleSpinBox_cameraImages_scanNormalsRadius->setValue(settings.value("normalsRadius", _ui->doubleSpinBox_cameraImages_scanNormalsRadius->value()).toDouble());
|
||||
_ui->checkBox_cameraImages_scanForceGroundNormalsUp->setChecked(settings.value("normalsUp", _ui->checkBox_cameraImages_scanForceGroundNormalsUp->isChecked()).toBool());
|
||||
|
||||
settings.endGroup();//ScanFromDepth
|
||||
settings.beginGroup("Scan");
|
||||
_ui->checkBox_source_scanFromDepth->setChecked(settings.value("fromDepth", _ui->checkBox_source_scanFromDepth->isChecked()).toBool());
|
||||
_ui->spinBox_source_scanDownsampleStep->setValue(settings.value("downsampleStep", _ui->spinBox_source_scanDownsampleStep->value()).toInt());
|
||||
_ui->doubleSpinBox_source_scanRangeMin->setValue(settings.value("rangeMin", _ui->doubleSpinBox_source_scanRangeMin->value()).toDouble());
|
||||
_ui->doubleSpinBox_source_scanRangeMax->setValue(settings.value("rangeMax", _ui->doubleSpinBox_source_scanRangeMax->value()).toDouble());
|
||||
_ui->doubleSpinBox_source_scanVoxelSize->setValue(settings.value("voxelSize", _ui->doubleSpinBox_source_scanVoxelSize->value()).toDouble());
|
||||
_ui->spinBox_source_scanNormalsK->setValue(settings.value("normalsK", _ui->spinBox_source_scanNormalsK->value()).toInt());
|
||||
_ui->doubleSpinBox_source_scanNormalsRadius->setValue(settings.value("normalsRadius", _ui->doubleSpinBox_source_scanNormalsRadius->value()).toDouble());
|
||||
_ui->checkBox_source_scanForceGroundNormalsUp->setChecked(settings.value("normalsUp", _ui->checkBox_source_scanForceGroundNormalsUp->isChecked()).toBool());
|
||||
settings.endGroup();//Scan
|
||||
|
||||
settings.beginGroup("DepthFromScan");
|
||||
_ui->groupBox_depthFromScan->setChecked(settings.value("depthFromScan", _ui->groupBox_depthFromScan->isChecked()).toBool());
|
||||
@@ -2569,8 +2565,6 @@ 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("odom_path", _ui->lineEdit_cameraImages_odom->text());
|
||||
settings.setValue("odom_format", _ui->comboBox_cameraImages_odomFormat->currentIndex());
|
||||
settings.setValue("gt_path", _ui->lineEdit_cameraImages_gt->text());
|
||||
@@ -2585,14 +2579,15 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
|
||||
settings.setValue("path", _ui->source_video_lineEdit_path->text());
|
||||
settings.endGroup(); // video
|
||||
|
||||
settings.beginGroup("ScanFromDepth");
|
||||
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.setValue("normalsRadius", _ui->doubleSpinBox_cameraImages_scanNormalsRadius->value());
|
||||
settings.setValue("normalsUp", _ui->checkBox_cameraImages_scanForceGroundNormalsUp->isChecked());
|
||||
settings.beginGroup("Scan");
|
||||
settings.setValue("fromDepth", _ui->checkBox_source_scanFromDepth->isChecked());
|
||||
settings.setValue("downsampleStep", _ui->spinBox_source_scanDownsampleStep->value());
|
||||
settings.setValue("rangeMin", _ui->doubleSpinBox_source_scanRangeMin->value());
|
||||
settings.setValue("rangeMax", _ui->doubleSpinBox_source_scanRangeMax->value());
|
||||
settings.setValue("voxelSize", _ui->doubleSpinBox_source_scanVoxelSize->value());
|
||||
settings.setValue("normalsK", _ui->spinBox_source_scanNormalsK->value());
|
||||
settings.setValue("normalsRadius", _ui->doubleSpinBox_source_scanNormalsRadius->value());
|
||||
settings.setValue("normalsUp", _ui->checkBox_source_scanForceGroundNormalsUp->isChecked());
|
||||
settings.endGroup();
|
||||
|
||||
settings.beginGroup("DepthFromScan");
|
||||
@@ -4364,7 +4359,8 @@ void PreferencesDialog::updateSourceGrpVisibility()
|
||||
_ui->groupBox_sourceRGB->setVisible(_ui->comboBox_sourceType->currentIndex() == 2);
|
||||
_ui->groupBox_sourceDatabase->setVisible(_ui->comboBox_sourceType->currentIndex() == 3);
|
||||
|
||||
_ui->groupBox_scanFromDepth->setVisible(_ui->comboBox_sourceType->currentIndex() <= 1 || _ui->comboBox_sourceType->currentIndex() == 3);
|
||||
_ui->checkBox_source_scanFromDepth->setVisible(_ui->comboBox_sourceType->currentIndex() <= 1 || _ui->comboBox_sourceType->currentIndex() == 3);
|
||||
_ui->label_source_scanFromDepth->setVisible(_ui->comboBox_sourceType->currentIndex() <= 1 || _ui->comboBox_sourceType->currentIndex() == 3);
|
||||
|
||||
_ui->stackedWidget_rgbd->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 &&
|
||||
(_ui->comboBox_cameraRGBD->currentIndex() == kSrcOpenNI2-kSrcRGBD ||
|
||||
@@ -4953,27 +4949,35 @@ bool PreferencesDialog::isSourceStereoExposureCompensation() const
|
||||
}
|
||||
bool PreferencesDialog::isSourceScanFromDepth() const
|
||||
{
|
||||
return _ui->groupBox_scanFromDepth->isChecked();
|
||||
return _ui->checkBox_source_scanFromDepth->isChecked();
|
||||
}
|
||||
int PreferencesDialog::getSourceScanFromDepthDecimation() const
|
||||
int PreferencesDialog::getSourceScanDownsampleStep() const
|
||||
{
|
||||
return _ui->spinBox_cameraScanFromDepth_decimation->value();
|
||||
return _ui->spinBox_source_scanDownsampleStep->value();
|
||||
}
|
||||
double PreferencesDialog::getSourceScanFromDepthMaxDepth() const
|
||||
double PreferencesDialog::getSourceScanRangeMin() const
|
||||
{
|
||||
return _ui->doubleSpinBox_cameraSCanFromDepth_maxDepth->value();
|
||||
return _ui->doubleSpinBox_source_scanRangeMin->value();
|
||||
}
|
||||
double PreferencesDialog::getSourceScanRangeMax() const
|
||||
{
|
||||
return _ui->doubleSpinBox_source_scanRangeMax->value();
|
||||
}
|
||||
double PreferencesDialog::getSourceScanVoxelSize() const
|
||||
{
|
||||
return _ui->doubleSpinBox_cameraImages_scanVoxelSize->value();
|
||||
return _ui->doubleSpinBox_source_scanVoxelSize->value();
|
||||
}
|
||||
int PreferencesDialog::getSourceScanNormalsK() const
|
||||
{
|
||||
return _ui->spinBox_cameraImages_scanNormalsK->value();
|
||||
return _ui->spinBox_source_scanNormalsK->value();
|
||||
}
|
||||
double PreferencesDialog::getSourceScanNormalsRadius() const
|
||||
{
|
||||
return _ui->doubleSpinBox_cameraImages_scanNormalsRadius->value();
|
||||
return _ui->doubleSpinBox_source_scanNormalsRadius->value();
|
||||
}
|
||||
bool PreferencesDialog::isSourceScanForceGroundNormalsUp() const
|
||||
{
|
||||
return _ui->checkBox_source_scanForceGroundNormalsUp->isChecked();
|
||||
}
|
||||
|
||||
Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
|
||||
@@ -5111,12 +5115,7 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
|
||||
((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(),
|
||||
_ui->doubleSpinBox_cameraImages_scanNormalsRadius->value(),
|
||||
this->getLaserLocalTransform(),
|
||||
_ui->checkBox_cameraImages_scanForceGroundNormalsUp->isChecked());
|
||||
this->getLaserLocalTransform());
|
||||
((CameraRGBDImages*)camera)->setTimestamps(
|
||||
_ui->checkBox_cameraImages_timestamps->isChecked(),
|
||||
_ui->lineEdit_cameraImages_timestamps->text().toStdString(),
|
||||
@@ -5160,12 +5159,7 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
|
||||
((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(),
|
||||
_ui->doubleSpinBox_cameraImages_scanNormalsRadius->value(),
|
||||
this->getLaserLocalTransform(),
|
||||
_ui->checkBox_cameraImages_scanForceGroundNormalsUp->isChecked());
|
||||
this->getLaserLocalTransform());
|
||||
((CameraStereoImages*)camera)->setTimestamps(
|
||||
_ui->checkBox_cameraImages_timestamps->isChecked(),
|
||||
_ui->lineEdit_cameraImages_timestamps->text().toStdString(),
|
||||
@@ -5292,12 +5286,7 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
|
||||
((CameraImages*)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(),
|
||||
_ui->doubleSpinBox_cameraImages_scanNormalsRadius->value(),
|
||||
this->getLaserLocalTransform(),
|
||||
_ui->checkBox_cameraImages_scanForceGroundNormalsUp->isChecked());
|
||||
this->getLaserLocalTransform());
|
||||
((CameraImages*)camera)->setDepthFromScan(
|
||||
_ui->groupBox_depthFromScan->isChecked(),
|
||||
!_ui->groupBox_depthFromScan_fillHoles->isChecked()?0:_ui->radioButton_depthFromScan_vertical->isChecked()?1:-1,
|
||||
@@ -5574,13 +5563,15 @@ void PreferencesDialog::testOdometry()
|
||||
cameraThread.setImageDecimation(_ui->spinBox_source_imageDecimation->value());
|
||||
cameraThread.setStereoToDepth(_ui->checkbox_stereo_depthGenerated->isChecked());
|
||||
cameraThread.setStereoExposureCompensation(_ui->checkBox_stereo_exposureCompensation->isChecked());
|
||||
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(),
|
||||
_ui->doubleSpinBox_cameraImages_scanNormalsRadius->value());
|
||||
cameraThread.setScanParameters(
|
||||
_ui->checkBox_source_scanFromDepth->isChecked(),
|
||||
_ui->spinBox_source_scanDownsampleStep->value(),
|
||||
_ui->doubleSpinBox_source_scanRangeMin->value(),
|
||||
_ui->doubleSpinBox_source_scanRangeMax->value(),
|
||||
_ui->doubleSpinBox_source_scanVoxelSize->value(),
|
||||
_ui->spinBox_source_scanNormalsK->value(),
|
||||
_ui->doubleSpinBox_source_scanNormalsRadius->value(),
|
||||
_ui->checkBox_source_scanForceGroundNormalsUp->isChecked());
|
||||
if(isDepthFilteringAvailable())
|
||||
{
|
||||
if(_ui->groupBox_bilateral->isChecked())
|
||||
@@ -5639,13 +5630,15 @@ void PreferencesDialog::testCamera()
|
||||
cameraThread.setImageDecimation(_ui->spinBox_source_imageDecimation->value());
|
||||
cameraThread.setStereoToDepth(_ui->checkbox_stereo_depthGenerated->isChecked());
|
||||
cameraThread.setStereoExposureCompensation(_ui->checkBox_stereo_exposureCompensation->isChecked());
|
||||
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(),
|
||||
_ui->doubleSpinBox_cameraImages_scanNormalsRadius->value());
|
||||
cameraThread.setScanParameters(
|
||||
_ui->checkBox_source_scanFromDepth->isChecked(),
|
||||
_ui->spinBox_source_scanDownsampleStep->value(),
|
||||
_ui->doubleSpinBox_source_scanRangeMin->value(),
|
||||
_ui->doubleSpinBox_source_scanRangeMax->value(),
|
||||
_ui->doubleSpinBox_source_scanVoxelSize->value(),
|
||||
_ui->spinBox_source_scanNormalsK->value(),
|
||||
_ui->doubleSpinBox_source_scanNormalsRadius->value(),
|
||||
_ui->checkBox_source_scanForceGroundNormalsUp->isChecked());
|
||||
if(isDepthFilteringAvailable())
|
||||
{
|
||||
if(_ui->groupBox_bilateral->isChecked())
|
||||
|
||||
@@ -94,7 +94,7 @@
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<y>-1939</y>
|
||||
<width>680</width>
|
||||
<height>2986</height>
|
||||
</rect>
|
||||
@@ -126,7 +126,7 @@
|
||||
<enum>QFrame::Raised</enum>
|
||||
</property>
|
||||
<property name="currentIndex">
|
||||
<number>14</number>
|
||||
<number>5</number>
|
||||
</property>
|
||||
<widget class="QWidget" name="page_22">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
|
||||
@@ -5881,71 +5881,20 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_scanFromDepth">
|
||||
<property name="title">
|
||||
<string>Generate laser scan from depth image</string>
|
||||
</property>
|
||||
<property name="checkable">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_63" columnstretch="0,1">
|
||||
<item row="0" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_cameraScanFromDepth_decimation">
|
||||
<property name="maximum">
|
||||
<number>99999</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>1</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="label_299">
|
||||
<property name="text">
|
||||
<string>Decimation (should be a multiple of the image size). Note that it is done after general image decimation above.</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="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_cameraSCanFromDepth_maxDepth">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>9999.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="label_301">
|
||||
<property name="text">
|
||||
<string>Maximum depth.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QGridLayout" name="gridLayout_62" columnstretch="0,1">
|
||||
<item row="2" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_cameraImages_scanNormalsK">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_source_scanRangeMin">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>9999.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_source_scanNormalsK">
|
||||
<property name="toolTip">
|
||||
<string><html><head/><body><p>KITTI: 130 000 points</p></body></html></string>
|
||||
</property>
|
||||
@@ -5960,10 +5909,10 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="label_300">
|
||||
<property name="text">
|
||||
<string>Downsample step size for laser scans. If your laser scans are created from depth images, use Decimation above instead (faster).</string>
|
||||
<string>Downsample step size for laser scans. If your laser scans are created from depth images, the step is used as decimation of the depth images.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
@@ -5973,8 +5922,8 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_cameraImages_scanVoxelSize">
|
||||
<item row="4" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_source_scanVoxelSize">
|
||||
<property name="toolTip">
|
||||
<string><html><head/><body><p>KITTI: 130 000 points</p></body></html></string>
|
||||
</property>
|
||||
@@ -5989,8 +5938,8 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_cameraImages_scanDownsampleStep">
|
||||
<item row="1" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_source_scanDownsampleStep">
|
||||
<property name="toolTip">
|
||||
<string><html><head/><body><p>KITTI: 130 000 points</p></body></html></string>
|
||||
</property>
|
||||
@@ -6002,7 +5951,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<item row="4" column="1">
|
||||
<widget class="QLabel" name="label_302">
|
||||
<property name="text">
|
||||
<string>Voxel size for uniform sampling. Note that it is done after downsampling.</string>
|
||||
@@ -6015,7 +5964,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<item row="5" column="1">
|
||||
<widget class="QLabel" name="label_304">
|
||||
<property name="text">
|
||||
<string>K nearest neighbors for normals computation (0=disabled, 20 can be a good default value). Useful if the ICP registration approach is point to plane.</string>
|
||||
@@ -6028,7 +5977,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<item row="6" column="1">
|
||||
<widget class="QLabel" name="label_425">
|
||||
<property name="text">
|
||||
<string>Search radius for normals computation (0=disabled). Useful if the ICP registration approach is point to plane.</string>
|
||||
@@ -6041,8 +5990,8 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_cameraImages_scanNormalsRadius">
|
||||
<item row="6" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_source_scanNormalsRadius">
|
||||
<property name="toolTip">
|
||||
<string><html><head/><body><p>KITTI: 130 000 points</p></body></html></string>
|
||||
</property>
|
||||
@@ -6051,7 +6000,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="1">
|
||||
<item row="7" column="1">
|
||||
<widget class="QLabel" name="label_453">
|
||||
<property name="text">
|
||||
<string>Force ground normals to be all upward. Useful to make sure Velodyne's scans on ground have all normals upward.</string>
|
||||
@@ -6064,13 +6013,69 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_cameraImages_scanForceGroundNormalsUp">
|
||||
<item row="7" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_source_scanForceGroundNormalsUp">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_source_scanRangeMax">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>9999.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QLabel" name="label_522">
|
||||
<property name="text">
|
||||
<string>Minimum range, filter points below that range. 0 means disabled.</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="QLabel" name="label_523">
|
||||
<property name="text">
|
||||
<string>Maximum range, filter points above that range. 0 means disabled.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_source_scanFromDepth">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="label_source_scanFromDepth">
|
||||
<property name="text">
|
||||
<string>Generate laser scan from depth image.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
</layout>
|
||||
|
||||
Reference in New Issue
Block a user