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Added Export scans and View scans menu actions, fixed occupancy grid voxel size export

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1622 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-07-29 14:11:08 +00:00
parent 51b5a91c6a
commit a81f5785a2
3 changed files with 279 additions and 8 deletions
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6
guilib/include/rtabmap/gui/MainWindow.h
View File

@@ -150,7 +150,9 @@ private slots:
void setAspectRatio720p();
void setAspectRatio1080p();
void exportGridMap();
void exportPointClouds();
void exportScans();
void exportClouds();
void viewScans();
void viewClouds();
void resetOdometry();
void triggerNewMap();
@@ -210,9 +212,11 @@ private:
float regenerateVoxelSize,
float regenerateMaxDepth) const;
bool getExportedScans(std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > & scans);
bool getExportedClouds(std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr> & clouds, std::map<int, pcl::PolygonMesh::Ptr> & meshes, bool toSave);
void saveClouds(const std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr> & clouds);
void saveMeshes(const std::map<int, pcl::PolygonMesh::Ptr> & meshes);
void saveScans(const std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr> & clouds);
private:
Ui_mainWindow * _ui;

265
guilib/src/MainWindow.cpp
View File

@@ -256,8 +256,10 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
connect(_ui->action480p, SIGNAL(triggered()), this, SLOT(setAspectRatio480p()));
connect(_ui->action720p, SIGNAL(triggered()), this, SLOT(setAspectRatio720p()));
connect(_ui->action1080p, SIGNAL(triggered()), this, SLOT(setAspectRatio1080p()));
connect(_ui->actionSave_point_cloud, SIGNAL(triggered()), this, SLOT(exportPointClouds()));
connect(_ui->actionSave_point_cloud, SIGNAL(triggered()), this, SLOT(exportClouds()));
connect(_ui->actionExport_2D_scans_ply_bmp, SIGNAL(triggered()), this, SLOT(exportScans()));
connect(_ui->actionExport_2D_Grid_map_bmp_png, SIGNAL(triggered()), this, SLOT(exportGridMap()));
connect(_ui->actionView_scans, SIGNAL(triggered()), this, SLOT(viewScans()));
connect(_ui->actionView_high_res_point_cloud, SIGNAL(triggered()), this, SLOT(viewClouds()));
connect(_ui->actionReset_Odometry, SIGNAL(triggered()), this, SLOT(resetOdometry()));
connect(_ui->actionTrigger_a_new_map, SIGNAL(triggered()), this, SLOT(triggerNewMap()));
@@ -265,7 +267,9 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_ui->actionPause->setShortcut(Qt::Key_Space);
_ui->actionSave_point_cloud->setEnabled(false);
_ui->actionExport_2D_scans_ply_bmp->setEnabled(false);
_ui->actionExport_2D_Grid_map_bmp_png->setEnabled(false);
_ui->actionView_scans->setEnabled(false);
_ui->actionView_high_res_point_cloud->setEnabled(false);
_ui->actionReset_Odometry->setEnabled(false);
@@ -1058,16 +1062,18 @@ void MainWindow::updateMapCloud(const std::map<int, Transform> & posesIn, const
_currentPosesMap = posesIn;
if(_currentPosesMap.size())
{
if(_depthsMap.size() && !_ui->actionSave_point_cloud->isEnabled())
if(_depthsMap.size())
{
//enable save cloud action
_ui->actionSave_point_cloud->setEnabled(true);
_ui->actionView_high_res_point_cloud->setEnabled(true);
}
if(_depths2DMap.size() && !_ui->actionExport_2D_Grid_map_bmp_png->isEnabled())
if(_depths2DMap.size())
{
_ui->actionExport_2D_scans_ply_bmp->setEnabled(true);
_ui->actionExport_2D_Grid_map_bmp_png->setEnabled(true);
_ui->actionView_scans->setEnabled(true);
}
}
}
@@ -2682,7 +2688,10 @@ void MainWindow::clearTheCache()
_odometryCorrection = Transform::getIdentity();
_lastOdomPose.setNull();
//disable save cloud action
_ui->actionExport_2D_Grid_map_bmp_png->setEnabled(false);
_ui->actionExport_2D_scans_ply_bmp->setEnabled(false);
_ui->actionSave_point_cloud->setEnabled(false);
_ui->actionView_scans->setEnabled(false);
_ui->actionView_high_res_point_cloud->setEnabled(false);
_likelihoodCurve->clear();
_rawLikelihoodCurve->clear();
@@ -2873,7 +2882,7 @@ void MainWindow::exportGridMap()
double gridCellSize = 0.05;
bool gridUnknownSpaceFilled = true;
bool ok;
QInputDialog::getDouble(this, tr("Grid cell size"), tr("Size (m):"), gridCellSize, 0.01, 1, 2, &ok);
gridCellSize = QInputDialog::getDouble(this, tr("Grid cell size"), tr("Size (m):"), gridCellSize, 0.01, 1, 2, &ok);
if(!ok)
{
return;
@@ -2943,7 +2952,145 @@ void MainWindow::exportGridMap()
}
}
void MainWindow::exportPointClouds()
void MainWindow::exportScans()
{
std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr> scans;
if(getExportedScans(scans))
{
if(scans.size())
{
this->saveScans(scans);
}
_initProgressDialog->setValue(_initProgressDialog->maximumSteps());
}
}
void MainWindow::viewScans()
{
std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr> scans;
if(getExportedScans(scans))
{
QWidget * window = new QWidget(this, Qt::Window);
window->setAttribute(Qt::WA_DeleteOnClose);
window->setWindowFlags(Qt::Dialog);
window->setWindowTitle(tr("Scans (%1 nodes)").arg(scans.size()));
window->setMinimumWidth(800);
window->setMinimumHeight(600);
CloudViewer * viewer = new CloudViewer(window);
viewer->setCameraLockZ(false);
QVBoxLayout *layout = new QVBoxLayout();
layout->addWidget(viewer);
window->setLayout(layout);
window->show();
uSleep(500);
for(std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr>::iterator iter = scans.begin(); iter!=scans.end(); ++iter)
{
_initProgressDialog->appendText(tr("Viewing the scan %1 (%2 points)...").arg(iter->first).arg(iter->second->size()));
_initProgressDialog->incrementStep();
viewer->addCloud(uFormat("cloud%d",iter->first), iter->second, iter->first>0?_currentPosesMap.at(iter->first):Transform::getIdentity());
_initProgressDialog->appendText(tr("Viewing the scan %1 (%2 points)... done.").arg(iter->first).arg(iter->second->size()));
}
_initProgressDialog->setValue(_initProgressDialog->maximumSteps());
}
}
bool MainWindow::getExportedScans(std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > & scans)
{
QMessageBox::StandardButton b = QMessageBox::question(this,
tr("Assemble scans?"),
tr("Do you want to assemble the scans in only one cloud?"),
QMessageBox::No | QMessageBox::Yes,
QMessageBox::Yes);
if(b != QMessageBox::No && b != QMessageBox::Yes)
{
return false;
}
double voxel = 0.01;
bool assemble = b == QMessageBox::Yes;
if(assemble)
{
bool ok;
voxel = QInputDialog::getDouble(this, tr("Voxel size"), tr("Voxel size (m):"), voxel, 0.00, 0.1, 2, &ok);
if(!ok)
{
return false;
}
}
pcl::PointCloud<pcl::PointXYZ>::Ptr assembledScans(new pcl::PointCloud<pcl::PointXYZ>());
std::map<int, Transform> poses = _ui->widget_mapVisibility->getVisiblePoses();
_initProgressDialog->setAutoClose(true, 1);
_initProgressDialog->resetProgress();
_initProgressDialog->show();
_initProgressDialog->setMaximumSteps(int(poses.size())*assemble?1:2+1);
int count = 1;
int i = 0;
for(std::map<int, Transform>::const_iterator iter = poses.begin(); iter!=poses.end(); ++iter)
{
bool inserted = false;
if(_depths2DMap.contains(iter->first))
{
cv::Mat depth2d = util3d::uncompressData(_depths2DMap.value(iter->first));
pcl::PointCloud<pcl::PointXYZ>::Ptr scan = util3d::depth2DToPointCloud(depth2d);
if(scan->size())
{
if(assemble)
{
*assembledScans += *util3d::transformPointCloud(scan, iter->second);;
if(count++ % 100 == 0)
{
if(assembledScans->size() && voxel)
{
assembledScans = util3d::voxelize(assembledScans, voxel);
}
}
}
else
{
scans.insert(std::make_pair(iter->first, scan));
}
inserted = true;
}
}
if(inserted)
{
_initProgressDialog->appendText(tr("Generated scan %1 (%2/%3).").arg(iter->first).arg(++i).arg(poses.size()));
}
else
{
_initProgressDialog->appendText(tr("Ignored scan %1 (%2/%3).").arg(iter->first).arg(++i).arg(poses.size()));
}
_initProgressDialog->incrementStep();
QApplication::processEvents();
}
if(assemble)
{
if(voxel && assembledScans->size())
{
assembledScans = util3d::voxelize(assembledScans, voxel);
}
if(assembledScans->size())
{
scans.insert(std::make_pair(0, assembledScans));
}
}
return true;
}
void MainWindow::exportClouds()
{
std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr> clouds;
std::map<int, pcl::PolygonMesh::Ptr> meshes;
@@ -3372,6 +3519,114 @@ void MainWindow::saveMeshes(const std::map<int, pcl::PolygonMesh::Ptr> & meshes)
}
}
void MainWindow::saveScans(const std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr> & scans)
{
if(scans.size() == 1)
{
QString path = QFileDialog::getSaveFileName(this, tr("Save to ..."), "scan.ply", tr("Point cloud data (*.ply *.pcd)"));
if(!path.isEmpty())
{
if(scans.begin()->second->size())
{
_initProgressDialog->appendText(tr("Saving the scan (%1 points)...").arg(scans.begin()->second->size()));
bool success =false;
if(QFileInfo(path).suffix() == "pcd")
{
success = pcl::io::savePCDFile(path.toStdString(), *scans.begin()->second) == 0;
}
else if(QFileInfo(path).suffix() == "ply")
{
success = pcl::io::savePLYFile(path.toStdString(), *scans.begin()->second) == 0;
}
else if(QFileInfo(path).suffix() == "")
{
//use ply by default
path += ".ply";
success = pcl::io::savePCDFile(path.toStdString(), *scans.begin()->second) == 0;
}
else
{
UERROR("Extension not recognized! (%s) Should be one of (*.ply *.pcd).", QFileInfo(path).suffix().toStdString().c_str());
}
if(success)
{
_initProgressDialog->incrementStep();
_initProgressDialog->appendText(tr("Saving the scan (%1 points)... done.").arg(scans.begin()->second->size()));
QMessageBox::information(this, tr("Save successful!"), tr("Scan saved to \"%1\"").arg(path));
}
else
{
QMessageBox::warning(this, tr("Save failed!"), tr("Failed to save to \"%1\"").arg(path));
}
}
else
{
QMessageBox::warning(this, tr("Save failed!"), tr("Scan is empty..."));
}
}
}
else if(scans.size())
{
QString path = QFileDialog::getExistingDirectory(this, tr("Save to (*.ply *.pcd)..."), _preferencesDialog->getWorkingDirectory(), 0);
if(!path.isEmpty())
{
bool ok = false;
QStringList items;
items.push_back("ply");
items.push_back("pcd");
QString suffix = QInputDialog::getItem(this, tr("File format"), tr("Which format?"), items, 0, false, &ok);
if(ok)
{
QString prefix = QInputDialog::getText(this, tr("File prefix"), tr("Prefix:"), QLineEdit::Normal, "scan", &ok);
if(ok)
{
for(std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr >::const_iterator iter=scans.begin(); iter!=scans.end(); ++iter)
{
if(iter->second->size())
{
pcl::PointCloud<pcl::PointXYZ>::Ptr transformedCloud;
transformedCloud = util3d::transformPointCloud(iter->second, _currentPosesMap.at(iter->first));
QString pathFile = path+QDir::separator()+QString("%1%2.%3").arg(prefix).arg(iter->first).arg(suffix);
bool success =false;
if(suffix == "pcd")
{
success = pcl::io::savePCDFile(pathFile.toStdString(), *transformedCloud) == 0;
}
else if(suffix == "ply")
{
success = pcl::io::savePLYFile(pathFile.toStdString(), *transformedCloud) == 0;
}
else
{
UFATAL("Extension not recognized! (%s)", suffix.toStdString().c_str());
}
if(success)
{
_initProgressDialog->appendText(tr("Saved scan %1 (%2 points) to %3.").arg(iter->first).arg(iter->second->size()).arg(pathFile));
}
else
{
_initProgressDialog->appendText(tr("Failed saving scan %1 (%2 points) to %3.").arg(iter->first).arg(iter->second->size()).arg(pathFile));
}
}
else
{
_initProgressDialog->appendText(tr("Scan %1 is empty!").arg(iter->first));
}
_initProgressDialog->incrementStep();
QApplication::processEvents();
}
}
}
}
}
}
pcl::PointCloud<pcl::PointXYZRGB>::Ptr MainWindow::createCloud(
int id,
const cv::Mat & rgb,

16
guilib/src/ui/mainWindow.ui
View File

@@ -35,6 +35,7 @@
<string>File</string>
</property>
<addaction name="actionSave_point_cloud"/>
<addaction name="actionExport_2D_scans_ply_bmp"/>
<addaction name="actionExport_2D_Grid_map_bmp_png"/>
<addaction name="separator"/>
<addaction name="actionExit"/>
@@ -63,6 +64,7 @@
<addaction name="actionData_recorder"/>
<addaction name="separator"/>
<addaction name="actionView_high_res_point_cloud"/>
<addaction name="actionView_scans"/>
</widget>
<widget class="QMenu" name="menu6">
<property name="title">
@@ -917,7 +919,7 @@
</action>
<action name="actionSave_point_cloud">
<property name="text">
<string>Export 3D clouds (*.pcd *.ply)...</string>
<string>Export 3D clouds (*.ply *.pcd)...</string>
</property>
</action>
<action name="actionDownload_all_clouds">
@@ -1041,7 +1043,17 @@
</action>
<action name="actionExport_2D_Grid_map_bmp_png">
<property name="text">
<string>Export 2D grid map (*.bmp *.png)...</string>
<string>Export 2D grid map (*.png *.bmp)...</string>
</property>
</action>
<action name="actionExport_2D_scans_ply_bmp">
<property name="text">
<string>Export 2D scans (*.ply *.pcd)...</string>
</property>
</action>
<action name="actionView_scans">
<property name="text">
<string>View scans...</string>
</property>
</action>
</widget>