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Added bilateral filtering option. CloudViewer: lighting and edge visibility options.

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This commit is contained in:
matlabbe
2016-11-03 17:04:31 -04:00
parent 70dbac10c7
commit a7971373a6
14 changed files with 593 additions and 28 deletions
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25
guilib/src/ExportCloudsDialog.cpp
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@@ -39,6 +39,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/util3d_surface.h"
#include "rtabmap/core/util3d_transforms.h"
#include "rtabmap/core/util3d.h"
#include "rtabmap/core/util2d.h"
#include "rtabmap/core/Graph.h"
#include "rtabmap/core/GainCompensator.h"
#include "rtabmap/core/clams/discrete_depth_distortion_model.h"
@@ -83,6 +84,10 @@ ExportCloudsDialog::ExportCloudsDialog(QWidget *parent) :
connect(_ui->lineEdit_distortionModel, SIGNAL(textChanged(const QString &)), this, SIGNAL(configChanged()));
connect(_ui->toolButton_distortionModel, SIGNAL(clicked()), this, SLOT(selectDistortionModel()));
connect(_ui->groupBox_bilateral, SIGNAL(clicked(bool)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_bilateral_sigmaS, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_bilateral_sigmaR, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->groupBox_filtering, SIGNAL(clicked(bool)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_filteringRadius, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->spinBox_filteringMinNeighbors, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
@@ -181,6 +186,9 @@ void ExportCloudsDialog::saveSettings(QSettings & settings, const QString & grou
settings.setValue("regenerate_min_depth", _ui->doubleSpinBox_minDepth->value());
settings.setValue("regenerate_distortion_model", _ui->lineEdit_distortionModel->text());
settings.setValue("bilateral", _ui->groupBox_bilateral->isChecked());
settings.setValue("bilateral_sigma_s", _ui->doubleSpinBox_bilateral_sigmaS->value());
settings.setValue("bilateral_sigma_r", _ui->doubleSpinBox_bilateral_sigmaR->value());
settings.setValue("filtering", _ui->groupBox_filtering->isChecked());
settings.setValue("filtering_radius", _ui->doubleSpinBox_filteringRadius->value());
@@ -246,6 +254,10 @@ void ExportCloudsDialog::loadSettings(QSettings & settings, const QString & grou
_ui->doubleSpinBox_minDepth->setValue(settings.value("regenerate_min_depth", _ui->doubleSpinBox_minDepth->value()).toDouble());
_ui->lineEdit_distortionModel->setText(settings.value("regenerate_distortion_model", _ui->lineEdit_distortionModel->text()).toString());
_ui->groupBox_bilateral->setChecked(settings.value("bilateral", _ui->groupBox_bilateral->isChecked()).toBool());
_ui->doubleSpinBox_bilateral_sigmaS->setValue(settings.value("bilateral_sigma_s", _ui->doubleSpinBox_bilateral_sigmaS->value()).toDouble());
_ui->doubleSpinBox_bilateral_sigmaR->setValue(settings.value("bilateral_sigma_r", _ui->doubleSpinBox_bilateral_sigmaR->value()).toDouble());
_ui->groupBox_filtering->setChecked(settings.value("filtering", _ui->groupBox_filtering->isChecked()).toBool());
_ui->doubleSpinBox_filteringRadius->setValue(settings.value("filtering_radius", _ui->doubleSpinBox_filteringRadius->value()).toDouble());
_ui->spinBox_filteringMinNeighbors->setValue(settings.value("filtering_min_neighbors", _ui->spinBox_filteringMinNeighbors->value()).toInt());
@@ -309,6 +321,10 @@ void ExportCloudsDialog::restoreDefaults()
_ui->doubleSpinBox_minDepth->setValue(0);
_ui->lineEdit_distortionModel->setText("");
_ui->groupBox_bilateral->setChecked(false);
_ui->doubleSpinBox_bilateral_sigmaS->setValue(10.0);
_ui->doubleSpinBox_bilateral_sigmaR->setValue(0.1);
_ui->groupBox_filtering->setChecked(false);
_ui->doubleSpinBox_filteringRadius->setValue(0.02);
_ui->spinBox_filteringMinNeighbors->setValue(2);
@@ -1432,6 +1448,15 @@ std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::Indic
d.setDepthOrRightRaw(depth);
}
// bilateral filtering
if(_ui->groupBox_bilateral->isChecked())
{
depth = util2d::fastBilateralFiltering(depth,
_ui->doubleSpinBox_bilateral_sigmaS->value(),
_ui->doubleSpinBox_bilateral_sigmaR->value());
d.setDepthOrRightRaw(depth);
}
UASSERT(iter->first == d.id());
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudWithoutNormals;
cloudWithoutNormals = util3d::cloudRGBFromSensorData(