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3D->3D estimation refining: using 3x sqrt(variance) instead of sqrt(9x variance). GUI: added features cloud rendering option. CloudViewer: fixed slow updateCameraTargetPosition()

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This commit is contained in:
matlabbe
2016-03-01 17:33:27 -05:00
parent a89b8cb4fe
commit b6fb947310
12 changed files with 354 additions and 102 deletions
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21
corelib/include/rtabmap/core/OdometryInfo.h
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@@ -52,6 +52,27 @@ public:
distanceTravelled(0.0f),
type(0)
{}
OdometryInfo copyWithoutData() const
{
OdometryInfo output;
output.lost = lost;
output.matches = matches;
output.inliers = inliers;
output.icpInliersRatio = icpInliersRatio;
output.variance = variance;
output.features = features;
output.localMapSize = localMapSize;
output.timeEstimation = timeEstimation;
output.timeParticleFiltering = timeParticleFiltering;
output.stamp = stamp;
output.transform = transform;
output.transformFiltered = transformFiltered;
output.transformGroundTruth = transformGroundTruth;
output.distanceTravelled = distanceTravelled;
return output;
}
bool lost;
int matches;
int inliers;

2
corelib/include/rtabmap/core/Parameters.h
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@@ -382,7 +382,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Vis, EstimationType, int, 0, "Motion estimation approach: 0:3D->3D, 1:3D->2D (PnP), 2:2D->2D (Epipolar Geometry)");
RTABMAP_PARAM(Vis, ForwardEstOnly, bool, true, "Forward estimation only (A->B). If false, a transformation is also computed in backward direction (B->A), then the two resulting transforms are merged (middle interpolation between the transforms).");
RTABMAP_PARAM(Vis, InlierDistance, float, 0.1, "[Vis/EstimationType = 0] Maximum distance for feature correspondences. Used by 3D->3D estimation approach.");
RTABMAP_PARAM(Vis, RefineIterations, int, 10, "[Vis/EstimationType = 0] Number of iterations used to refine the transformation found by RANSAC. 0 means that the transformation is not refined.");
RTABMAP_PARAM(Vis, RefineIterations, int, 5, "[Vis/EstimationType = 0] Number of iterations used to refine the transformation found by RANSAC. 0 means that the transformation is not refined.");
RTABMAP_PARAM(Vis, PnPReprojError, float, 2.0, "[Vis/EstimationType = 1] PnP reprojection error.");
RTABMAP_PARAM(Vis, PnPFlags, int, 1, "[Vis/EstimationType = 1] PnP flags: 0=Iterative, 1=EPNP, 2=P3P");
#ifdef RTABMAP_OPENCV3

1
corelib/src/DBDriverSqlite3.cpp
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@@ -1777,7 +1777,6 @@ void DBDriverSqlite3::loadSignaturesQuery(const std::list<int> & ids, std::list<
UFATAL("Wrong format of the Data.calibration field (size=%d bytes)", dataSize);
}
UWARN("Set %d models to %d", models.size(), (*iter)->id());
(*iter)->sensorData().setCameraModels(models);
(*iter)->sensorData().setStereoCameraModel(stereoModel);
}

1
corelib/src/OdometryF2M.cpp
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@@ -335,6 +335,7 @@ Transform OdometryF2M::computeTransform(
{
info->wordMatches = regInfo.matchesIDs;
info->wordInliers = regInfo.inliersIDs;
info->localMap = uMultimapToMap(map_->getWords3());
}
}

11
corelib/src/RegistrationVis.cpp
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@@ -793,11 +793,14 @@ Transform RegistrationVis::computeTransformationImpl(
else if(descriptorsFrom.rows)
{
//just create fake words
UASSERT(int(kptsFrom.size()) == descriptorsFrom.rows);
UASSERT(words3From.empty() || kptsFrom.size() == words3From.size());
for(unsigned int i=0; i<kptsFrom.size(); ++i)
UASSERT(kptsFrom.empty() || int(kptsFrom.size()) == descriptorsFrom.rows);
UASSERT(kptsFrom3D.empty() || int(kptsFrom3D.size()) == descriptorsFrom.rows);
for(int i=0; i<descriptorsFrom.rows; ++i)
{
wordsFrom.insert(std::make_pair(i, kptsFrom[i]));
if(kptsFrom.size())
{
wordsFrom.insert(std::make_pair(i, kptsFrom[i]));
}
wordsDescFrom.insert(std::make_pair(i, descriptorsFrom.row(i)));
if(kptsFrom3D.size())
{

4
corelib/src/util3d_registration.cpp
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@@ -112,9 +112,7 @@ Transform transformFromXYZCorrespondences(
if (refineIterations>0)
{
double inlier_distance_threshold_sqr = inlierThreshold * inlierThreshold;
double error_threshold = inlierThreshold;
double sigma_sqr = refineSigma * refineSigma;
int refine_iterations = 0;
bool inlier_changed = false, oscillating = false;
std::vector<int> new_inliers, prev_inliers = inliers;
@@ -143,7 +141,7 @@ Transform transformFromXYZCorrespondences(
// Estimate the variance and the new threshold
double variance = model->computeVariance ();
error_threshold = sqrt (std::min (inlier_distance_threshold_sqr, sigma_sqr * variance));
error_threshold = std::min (inlierThreshold, refineSigma * sqrt(variance));
UDEBUG ("RANSAC refineModel: New estimated error threshold: %f (variance=%f) on iteration %d out of %d.",
error_threshold, variance, refine_iterations, refineIterations);

4
guilib/include/rtabmap/gui/MainWindow.h
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@@ -234,6 +234,7 @@ private:
bool verboseProgress = false);
void createAndAddCloudToMap(int nodeId, const Transform & pose, int mapId);
void createAndAddScanToMap(int nodeId, const Transform & pose, int mapId);
void createAndAddFeaturesToMap(int nodeId, const Transform & pose, int mapId);
Transform alignPosesToGroundTruth(std::map<int, Transform> & poses, const std::map<int, Transform> & groundTruth);
void drawKeypoints(const std::multimap<int, cv::KeyPoint> & refWords, const std::multimap<int, cv::KeyPoint> & loopWords);
void setupMainLayout(bool vertical);
@@ -289,6 +290,9 @@ private:
std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > _createdScans;
std::map<int, std::pair<cv::Mat, cv::Mat> > _projectionLocalMaps; // <ground, obstacles>
std::map<int, std::pair<cv::Mat, cv::Mat> > _gridLocalMaps; // <ground, obstacles>
std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr> _createdFeatures;
Transform _odometryCorrection;
Transform _lastOdomPose;
bool _processingOdometry;

5
guilib/include/rtabmap/gui/PreferencesDialog.h
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@@ -157,6 +157,9 @@ public:
double getScanOpacity(int index) const; // 0=map, 1=odom
int getScanPointSize(int index) const; // 0=map, 1=odom
bool isFeaturesShown(int index) const; // 0=map, 1=odom
int getFeaturesPointSize(int index) const; // 0=map, 1=odom
bool isCloudFiltering() const;
bool isSubtractFiltering() const;
double getCloudFilteringRadius() const;
@@ -344,6 +347,8 @@ private:
QVector<QDoubleSpinBox*> _3dRenderingVoxelSizeScan;
QVector<QDoubleSpinBox*> _3dRenderingOpacityScan;
QVector<QSpinBox*> _3dRenderingPtSizeScan;
QVector<QCheckBox*> _3dRenderingShowFeatures;
QVector<QSpinBox*> _3dRenderingPtSizeFeatures;
};
Q_DECLARE_OPERATORS_FOR_FLAGS(PreferencesDialog::PANEL_FLAGS)

10
guilib/src/CloudViewer.cpp
View File

@@ -1072,10 +1072,12 @@ void CloudViewer::updateCameraTargetPosition(const Transform & pose)
this->addOrUpdateCoordinate("reference", pose, 0.2);
_visualizer->setCameraPosition(
cameras.front().pos[0], cameras.front().pos[1], cameras.front().pos[2],
cameras.front().focal[0], cameras.front().focal[1], cameras.front().focal[2],
cameras.front().view[0], cameras.front().view[1], cameras.front().view[2]);
vtkRenderer* renderer = _visualizer->getRendererCollection()->GetFirstRenderer();
vtkSmartPointer<vtkCamera> cam = renderer->GetActiveCamera ();
cam->SetPosition (cameras.front().pos[0], cameras.front().pos[1], cameras.front().pos[2]);
cam->SetFocalPoint (cameras.front().focal[0], cameras.front().focal[1], cameras.front().focal[2]);
cam->SetViewUp (cameras.front().view[0], cameras.front().view[1], cameras.front().view[2]);
renderer->ResetCameraClippingRange();
}
}

235
guilib/src/MainWindow.cpp
View File

@@ -709,7 +709,7 @@ void MainWindow::handleEvent(UEvent* anEvent)
// we receive too many odometry events! just send without data
SensorData data(cv::Mat(), odomEvent->data().id(), odomEvent->data().stamp());
data.setGroundTruth(odomEvent->data().groundTruth());
OdometryEvent tmp(data, odomEvent->pose(), odomEvent->covariance(), odomEvent->info());
OdometryEvent tmp(data, odomEvent->pose(), odomEvent->covariance(), odomEvent->info().copyWithoutData());
emit odometryReceived(tmp);
}
}
@@ -799,6 +799,7 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom)
{
bool cloudUpdated = false;
bool scanUpdated = false;
bool featuresUpdated = false;
if(!pose.isNull())
{
// 3d cloud
@@ -880,6 +881,35 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom)
scanUpdated = true;
}
// 3d features
if(_preferencesDialog->isFeaturesShown(1))
{
if(!odom.info().localMap.empty())
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
cloud->resize(odom.info().localMap.size());
int i=0;
for(std::map<int, cv::Point3f>::const_iterator iter=odom.info().localMap.begin(); iter!=odom.info().localMap.end(); ++iter)
{
(*cloud)[i].x = iter->second.x;
(*cloud)[i].y = iter->second.y;
(*cloud)[i].z = iter->second.z;
// green = inlier, yellow = outliers
bool inlier = odom.info().words.find(iter->first) != odom.info().words.end();
(*cloud)[i].r = inlier?0:255;
(*cloud)[i].g = 255;
(*cloud)[i++].b = 0;
}
_ui->widget_cloudViewer->addCloud("featuresOdom", cloud, _odometryCorrection);
_ui->widget_cloudViewer->setCloudVisibility("featuresOdom", true);
_ui->widget_cloudViewer->setCloudPointSize("featuresOdom", _preferencesDialog->getFeaturesPointSize(1));
featuresUpdated = true;
}
}
}
if(!cloudUpdated && _ui->widget_cloudViewer->getAddedClouds().contains("cloudOdom"))
{
@@ -889,6 +919,10 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom)
{
_ui->widget_cloudViewer->setCloudVisibility("scanOdom", false);
}
if(!featuresUpdated && _ui->widget_cloudViewer->getAddedClouds().contains("featuresOdom"))
{
_ui->widget_cloudViewer->setCloudVisibility("featuresOdom", false);
}
}
if(!odom.pose().isNull())
@@ -1658,6 +1692,44 @@ void MainWindow::updateMapCloud(
_ui->widget_cloudViewer->setCloudVisibility(scanName.c_str(), false);
}
// 3d features
std::string featuresName = uFormat("features%d", iter->first);
if(_ui->widget_cloudViewer->isVisible() && _preferencesDialog->isFeaturesShown(0))
{
if(viewerClouds.contains(featuresName))
{
// Update only if the pose has changed
Transform tFeatures;
_ui->widget_cloudViewer->getPose(featuresName, tFeatures);
if(tFeatures.isNull() || iter->second != tFeatures)
{
if(!_ui->widget_cloudViewer->updateCloudPose(featuresName, iter->second))
{
UERROR("Updating pose features %d failed!", iter->first);
}
}
_ui->widget_cloudViewer->setCloudVisibility(featuresName, true);
_ui->widget_cloudViewer->setCloudPointSize(featuresName, _preferencesDialog->getFeaturesPointSize(0));
}
else if(_cachedSignatures.contains(iter->first))
{
QMap<int, Signature>::iterator jter = _cachedSignatures.find(iter->first);
if(!jter->getWords3().empty())
{
this->createAndAddFeaturesToMap(iter->first, iter->second, uValue(mapIds, iter->first, -1));
}
}
if(!_preferencesDialog->isFeaturesShown(0))
{
UDEBUG("Hide features %s", featuresName.c_str());
_ui->widget_cloudViewer->setCloudVisibility(featuresName.c_str(), false);
}
}
else if(viewerClouds.contains(featuresName))
{
_ui->widget_cloudViewer->setCloudVisibility(featuresName.c_str(), false);
}
if(verboseProgress)
{
_initProgressDialog->appendText(tr("Updated cloud %1 (%2/%3)").arg(iter->first).arg(i).arg(poses.size()));
@@ -1858,6 +1930,20 @@ void MainWindow::updateMapCloud(
_ui->widget_cloudViewer->setCloudPointSize("scanOdom", _preferencesDialog->getScanPointSize(1));
}
}
if(viewerClouds.contains("featuresOdom"))
{
if(!_preferencesDialog->isFeaturesShown(1))
{
UDEBUG("");
_ui->widget_cloudViewer->setCloudVisibility("featuresOdom", false);
}
else
{
UDEBUG("");
_ui->widget_cloudViewer->updateCloudPose("featuresOdom", _odometryCorrection);
_ui->widget_cloudViewer->setCloudPointSize("featuresOdom", _preferencesDialog->getFeaturesPointSize(1));
}
}
if(!currentPose.isNull())
{
@@ -2023,60 +2109,6 @@ void MainWindow::createAndAddCloudToMap(int nodeId, const Transform & pose, int
}
}
}
else if(iter->getWords3().size())
{
UINFO("Create cloud from 3D words");
QColor color = Qt::gray;
if(mapId >= 0)
{
color = (Qt::GlobalColor)(mapId+3 % 12 + 7 );
}
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
pcl::IndicesPtr indices(new std::vector<int>);
cloud->resize(iter->getWords3().size());
indices->resize(cloud->size());
int oi=0;
UASSERT(iter->getWords().size() == iter->getWords3().size());
std::multimap<int, cv::KeyPoint>::const_iterator kter=iter->getWords().begin();
for(std::multimap<int, cv::Point3f>::const_iterator jter=iter->getWords3().begin();
jter!=iter->getWords3().end(); ++jter, ++kter, ++oi)
{
indices->at(oi) = oi;
(*cloud)[oi].x = jter->second.x;
(*cloud)[oi].y = jter->second.y;
(*cloud)[oi].z = jter->second.z;
int u = kter->second.pt.x+0.5;
int v = kter->second.pt.x+0.5;
if(!iter->sensorData().imageRaw().empty() &&
uIsInBounds(u, 0, iter->sensorData().imageRaw().cols-1) &&
uIsInBounds(v, 0, iter->sensorData().imageRaw().rows-1))
{
if(iter->sensorData().imageRaw().channels() == 1)
{
(*cloud)[oi].r = (*cloud)[oi].g = (*cloud)[oi].b = iter->sensorData().imageRaw().at<unsigned char>(u, v);
}
else
{
cv::Vec3b bgr = iter->sensorData().imageRaw().at<cv::Vec3b>(u, v);
(*cloud)[oi].r = bgr.val[0];
(*cloud)[oi].g = bgr.val[1];
(*cloud)[oi].b = bgr.val[2];
}
}
else
{
(*cloud)[oi].r = (*cloud)[oi].g = (*cloud)[oi].b = 255;
}
}
if(!_ui->widget_cloudViewer->addCloud(cloudName, cloud, pose, color))
{
UERROR("Adding cloud %d to viewer failed!", nodeId);
}
else
{
_createdClouds.insert(std::make_pair(nodeId, std::make_pair(cloud, indices)));
}
}
else
{
return;
@@ -2171,6 +2203,98 @@ void MainWindow::createAndAddScanToMap(int nodeId, const Transform & pose, int m
}
}
void MainWindow::createAndAddFeaturesToMap(int nodeId, const Transform & pose, int mapId)
{
UDEBUG("");
UASSERT(!pose.isNull());
std::string cloudName = uFormat("features%d", nodeId);
if(_ui->widget_cloudViewer->getAddedClouds().contains(cloudName))
{
UERROR("Features cloud %d already added to map.", nodeId);
return;
}
QMap<int, Signature>::iterator iter = _cachedSignatures.find(nodeId);
if(iter == _cachedSignatures.end())
{
UERROR("Node %d is not in the cache.", nodeId);
return;
}
if(_createdFeatures.find(nodeId) != _createdFeatures.end())
{
UDEBUG("Features cloud %d already created.");
return;
}
if(iter->getWords3().size())
{
UINFO("Create cloud from 3D words");
QColor color = Qt::gray;
if(mapId >= 0)
{
color = (Qt::GlobalColor)(mapId+3 % 12 + 7 );
}
cv::Mat rgb;
if(!iter->sensorData().imageCompressed().empty() || !iter->sensorData().imageRaw().empty())
{
SensorData data = iter->sensorData();
data.uncompressData(&rgb, 0, 0);
}
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
cloud->resize(iter->getWords3().size());
int oi=0;
UASSERT(iter->getWords().size() == iter->getWords3().size());
std::multimap<int, cv::KeyPoint>::const_iterator kter=iter->getWords().begin();
for(std::multimap<int, cv::Point3f>::const_iterator jter=iter->getWords3().begin();
jter!=iter->getWords3().end(); ++jter, ++kter, ++oi)
{
(*cloud)[oi].x = jter->second.x;
(*cloud)[oi].y = jter->second.y;
(*cloud)[oi].z = jter->second.z;
int u = kter->second.pt.x+0.5;
int v = kter->second.pt.y+0.5;
if(!rgb.empty() &&
uIsInBounds(u, 0, rgb.cols-1) &&
uIsInBounds(v, 0, rgb.rows-1))
{
if(rgb.channels() == 1)
{
(*cloud)[oi].r = (*cloud)[oi].g = (*cloud)[oi].b = rgb.at<unsigned char>(v, u);
}
else
{
cv::Vec3b bgr = rgb.at<cv::Vec3b>(v, u);
(*cloud)[oi].b = bgr.val[0];
(*cloud)[oi].g = bgr.val[1];
(*cloud)[oi].r = bgr.val[2];
}
}
else
{
(*cloud)[oi].r = (*cloud)[oi].g = (*cloud)[oi].b = 255;
}
}
if(!_ui->widget_cloudViewer->addCloud(cloudName, cloud, pose, color))
{
UERROR("Adding features cloud %d to viewer failed!", nodeId);
}
else
{
_createdFeatures.insert(std::make_pair(nodeId, cloud));
}
}
else
{
return;
}
_ui->widget_cloudViewer->setCloudPointSize(cloudName, _preferencesDialog->getFeaturesPointSize(0));
UDEBUG("");
}
Transform MainWindow::alignPosesToGroundTruth(
std::map<int, Transform> & poses,
const std::map<int, Transform> & groundTruth)
@@ -4301,6 +4425,7 @@ void MainWindow::clearTheCache()
_createdScans.clear();
_gridLocalMaps.clear();
_projectionLocalMaps.clear();
_createdFeatures.clear();
_ui->widget_cloudViewer->clear();
_ui->widget_cloudViewer->setBackgroundColor(_ui->widget_cloudViewer->getDefaultBackgroundColor());
_ui->widget_cloudViewer->clearTrajectory();

30
guilib/src/PreferencesDialog.cpp
View File

@@ -308,12 +308,21 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_3dRenderingPtSizeScan[0] = _ui->spinBox_ptsize_scan;
_3dRenderingPtSizeScan[1] = _ui->spinBox_ptsize_odom_scan;
_3dRenderingShowFeatures.resize(2);
_3dRenderingShowFeatures[0] = _ui->checkBox_showFeatures;
_3dRenderingShowFeatures[1] = _ui->checkBox_showOdomFeatures;
_3dRenderingPtSizeFeatures.resize(2);
_3dRenderingPtSizeFeatures[0] = _ui->spinBox_ptsize_features;
_3dRenderingPtSizeFeatures[1] = _ui->spinBox_ptsize_odom_features;
for(int i=0; i<2; ++i)
{
connect(_3dRenderingShowClouds[i], SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_3dRenderingDecimation[i], SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_3dRenderingMaxDepth[i], SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_3dRenderingShowScans[i], SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_3dRenderingShowFeatures[i], SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_3dRenderingDownsamplingScan[i], SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_3dRenderingVoxelSizeScan[i], SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
@@ -321,6 +330,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_3dRenderingPtSize[i], SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_3dRenderingOpacityScan[i], SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_3dRenderingPtSizeScan[i], SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_3dRenderingPtSizeFeatures[i], SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
}
connect(_ui->checkBox_showGraphs, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
@@ -1119,6 +1129,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_3dRenderingDecimation[i]->setValue(8);
_3dRenderingMaxDepth[i]->setValue(0.0);
_3dRenderingShowScans[i]->setChecked(true);
_3dRenderingShowFeatures[i]->setChecked(false);
_3dRenderingDownsamplingScan[i]->setValue(1);
_3dRenderingVoxelSizeScan[i]->setValue(0.0);
@@ -1126,6 +1137,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_3dRenderingPtSize[i]->setValue(2);
_3dRenderingOpacityScan[i]->setValue(i==0?1.0:0.5);
_3dRenderingPtSizeScan[i]->setValue(2);
_3dRenderingPtSizeFeatures[i]->setValue(3);
}
_ui->checkBox_showGraphs->setChecked(true);
@@ -1454,6 +1466,7 @@ void PreferencesDialog::readGuiSettings(const QString & filePath)
_3dRenderingDecimation[i]->setValue(settings.value(QString("decimation%1").arg(i), _3dRenderingDecimation[i]->value()).toInt());
_3dRenderingMaxDepth[i]->setValue(settings.value(QString("maxDepth%1").arg(i), _3dRenderingMaxDepth[i]->value()).toDouble());
_3dRenderingShowScans[i]->setChecked(settings.value(QString("showScans%1").arg(i), _3dRenderingShowScans[i]->isChecked()).toBool());
_3dRenderingShowFeatures[i]->setChecked(settings.value(QString("showFeatures%1").arg(i), _3dRenderingShowFeatures[i]->isChecked()).toBool());
_3dRenderingDownsamplingScan[i]->setValue(settings.value(QString("downsamplingScan%1").arg(i), _3dRenderingDownsamplingScan[i]->value()).toInt());
_3dRenderingVoxelSizeScan[i]->setValue(settings.value(QString("voxelSizeScan%1").arg(i), _3dRenderingVoxelSizeScan[i]->value()).toDouble());
@@ -1461,6 +1474,7 @@ void PreferencesDialog::readGuiSettings(const QString & filePath)
_3dRenderingPtSize[i]->setValue(settings.value(QString("ptSize%1").arg(i), _3dRenderingPtSize[i]->value()).toInt());
_3dRenderingOpacityScan[i]->setValue(settings.value(QString("opacityScan%1").arg(i), _3dRenderingOpacityScan[i]->value()).toDouble());
_3dRenderingPtSizeScan[i]->setValue(settings.value(QString("ptSizeScan%1").arg(i), _3dRenderingPtSizeScan[i]->value()).toInt());
_3dRenderingPtSizeFeatures[i]->setValue(settings.value(QString("ptSizeFeatures%1").arg(i), _3dRenderingPtSizeFeatures[i]->value()).toInt());
}
_ui->checkBox_showGraphs->setChecked(settings.value("showGraphs", _ui->checkBox_showGraphs->isChecked()).toBool());
_ui->checkBox_showLabels->setChecked(settings.value("showLabels", _ui->checkBox_showLabels->isChecked()).toBool());
@@ -1832,6 +1846,7 @@ void PreferencesDialog::writeGuiSettings(const QString & filePath) const
settings.setValue(QString("decimation%1").arg(i), _3dRenderingDecimation[i]->value());
settings.setValue(QString("maxDepth%1").arg(i), _3dRenderingMaxDepth[i]->value());
settings.setValue(QString("showScans%1").arg(i), _3dRenderingShowScans[i]->isChecked());
settings.setValue(QString("showFeatures%1").arg(i), _3dRenderingShowFeatures[i]->isChecked());
settings.setValue(QString("downsamplingScan%1").arg(i), _3dRenderingDownsamplingScan[i]->value());
settings.setValue(QString("voxelSizeScan%1").arg(i), _3dRenderingVoxelSizeScan[i]->value());
@@ -1839,6 +1854,7 @@ void PreferencesDialog::writeGuiSettings(const QString & filePath) const
settings.setValue(QString("ptSize%1").arg(i), _3dRenderingPtSize[i]->value());
settings.setValue(QString("opacityScan%1").arg(i), _3dRenderingOpacityScan[i]->value());
settings.setValue(QString("ptSizeScan%1").arg(i), _3dRenderingPtSizeScan[i]->value());
settings.setValue(QString("ptSizeFeatures%1").arg(i), _3dRenderingPtSizeFeatures[i]->value());
}
settings.setValue("showGraphs", _ui->checkBox_showGraphs->isChecked());
settings.setValue("showLabels", _ui->checkBox_showLabels->isChecked());
@@ -2137,7 +2153,7 @@ bool PreferencesDialog::validateForm()
}
// verify that Robust and Reject threshold are not set at the same time
if(_ui->graphOptimization_robust->isEnabled() && _ui->graphOptimization_maxError->value()>0.0)
if(_ui->graphOptimization_robust->isChecked() && _ui->graphOptimization_maxError->value()>0.0)
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("Robust graph optimization and maximum optimization error threshold cannot be "
@@ -3544,6 +3560,18 @@ int PreferencesDialog::getScanPointSize(int index) const
UASSERT(index >= 0 && index <= 1);
return _3dRenderingPtSizeScan[index]->value();
}
bool PreferencesDialog::isFeaturesShown(int index) const
{
UASSERT(index >= 0 && index <= 1);
return _3dRenderingShowFeatures[index]->isChecked();
}
int PreferencesDialog::getFeaturesPointSize(int index) const
{
UASSERT(index >= 0 && index <= 1);
return _3dRenderingPtSizeFeatures[index]->value();
}
bool PreferencesDialog::isCloudFiltering() const
{
return _ui->radioButton_nodeFiltering->isChecked();

132
guilib/src/ui/preferencesDialog.ui
View File

@@ -63,7 +63,7 @@
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<y>-629</y>
<width>681</width>
<height>2010</height>
</rect>
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>7</number>
<number>1</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -773,16 +773,22 @@ Show a yellow background when the number of odometry inliers goes under this thr
<enum>QFrame::Raised</enum>
</property>
<layout class="QGridLayout" name="gridLayout_2" columnstretch="0,0,1">
<item row="1" column="2">
<widget class="QLabel" name="label_119">
<property name="text">
<string>Show 3D clouds.</string>
<item row="11" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_scan">
<property name="suffix">
<string/>
</property>
<property name="wordWrap">
<bool>true</bool>
<property name="decimals">
<number>2</number>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>1.000000000000000</double>
</property>
</widget>
</item>
@@ -799,6 +805,39 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QLabel" name="label_119">
<property name="text">
<string>Show 3D clouds.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="13" column="1">
<widget class="QCheckBox" name="checkBox_showOdomFeatures">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="13" column="0">
<widget class="QCheckBox" name="checkBox_showFeatures">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QLabel" name="label_154">
<property name="text">
@@ -876,25 +915,6 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="11" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_scan">
<property name="suffix">
<string/>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>1.000000000000000</double>
</property>
</widget>
</item>
<item row="11" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_odom_scan">
<property name="suffix">
@@ -1106,7 +1126,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="14" column="2">
<item row="15" column="2">
<widget class="QLabel" name="label_213">
<property name="text">
<string>Show graphs.</string>
@@ -1119,7 +1139,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="14" column="0">
<item row="15" column="0">
<widget class="QCheckBox" name="checkBox_showGraphs">
<property name="text">
<string/>
@@ -1168,7 +1188,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="15" column="2">
<item row="16" column="2">
<widget class="QLabel" name="label_243">
<property name="text">
<string>Show labels.</string>
@@ -1181,7 +1201,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="15" column="0">
<item row="16" column="0">
<widget class="QCheckBox" name="checkBox_showLabels">
<property name="text">
<string/>
@@ -1259,6 +1279,52 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="13" column="2">
<widget class="QLabel" name="label_123">
<property name="text">
<string>Show 3D features.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="14" column="2">
<widget class="QLabel" name="label_166">
<property name="text">
<string>Feature point size.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="14" column="1">
<widget class="QSpinBox" name="spinBox_ptsize_odom_features">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>64</number>
</property>
</widget>
</item>
<item row="14" column="0">
<widget class="QSpinBox" name="spinBox_ptsize_features">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>64</number>
</property>
</widget>
</item>
</layout>
</widget>
</item>