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OccupancyGrid: added Grid/Footprint*** parameters, templated segmentCloud() function, added Grid/ClusterRadius parameter. Parameters: fixed getDefaultParameters(group) function to correctly compare groups.

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This commit is contained in:
matlabbe
2016-08-30 18:22:29 -04:00
parent 6fe7d5a856
commit c404234635
10 changed files with 522 additions and 114 deletions
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28
guilib/src/DatabaseViewer.cpp
View File

@@ -2338,8 +2338,6 @@ void DatabaseViewer::update(int value,
if(signatures.size() && signatures.front()!=0 && signatures.front()->getWords().size())
{
view->setFeatures(signatures.front()->getWords(), data.depthOrRightRaw().type() == CV_8UC1?cv::Mat():data.depthOrRightRaw(), Qt::yellow);
delete signatures.front();
signatures.clear();
}
Transform odomPose, g;
@@ -2421,6 +2419,14 @@ void DatabaseViewer::update(int value,
(!data.depthOrRightRaw().empty() ||
!data.laserScanRaw().empty()))
{
Transform pose = Transform::getIdentity();
if(signatures.size())
{
float x, y, z, roll, pitch, yaw;
(*signatures.begin())->getPose().getTranslationAndEulerAngles(x, y, z, roll, pitch, yaw);
pose = Transform(0,0,z,roll,pitch,0);
}
view3D->removeAllFrustums();
view3D->removeCloud("0");
view3D->removeCloud("1");
@@ -2474,14 +2480,14 @@ void DatabaseViewer::update(int value,
ui_->checkBox_mesh_quad->isChecked(),
ui_->spinBox_mesh_triangleSize->value(),
viewpoint);
view3D->addCloudMesh("0", cloud, polygons);
view3D->addCloudMesh("0", cloud, polygons, pose);
}
else
{
view3D->addCloud("0", cloud);
view3D->addCloud("0", cloud, pose);
}
}
view3D->updateCameraFrustums(Transform::getIdentity(), data.cameraModels());
view3D->updateCameraFrustums(pose, data.cameraModels());
}
else
{
@@ -2489,8 +2495,8 @@ void DatabaseViewer::update(int value,
cloud = util3d::cloudFromSensorData(data, 1, 0, 0, 0, ui_->parameters_toolbox->getParameters());
if(cloud->size())
{
view3D->addCloud("0", cloud);
view3D->updateCameraFrustum(Transform::getIdentity(), data.stereoCameraModel());
view3D->addCloud("0", cloud, pose);
view3D->updateCameraFrustum(pose, data.stereoCameraModel());
}
}
}
@@ -2499,7 +2505,7 @@ void DatabaseViewer::update(int value,
pcl::PointCloud<pcl::PointXYZ>::Ptr scan = util3d::laserScanToPointCloud(data.laserScanRaw(), data.laserScanInfo().localTransform());
if(scan->size())
{
view3D->addCloud("1", scan);
view3D->addCloud("1", scan, pose);
}
//add occupancy grid
@@ -2533,6 +2539,12 @@ void DatabaseViewer::update(int value,
view3D->update();
}
if(signatures.size())
{
UASSERT(signatures.front() != 0 && signatures.size() == 1);
delete signatures.front();
signatures.clear();
}
}
if(!img.isNull())

4
guilib/src/PreferencesDialog.cpp
View File

@@ -775,6 +775,9 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->doubleSpinBox_grid_maxDepth->setObjectName(Parameters::kGridDepthMax().c_str());
_ui->doubleSpinBox_grid_minDepth->setObjectName(Parameters::kGridDepthMin().c_str());
_ui->lineEdit_grid_roi->setObjectName(Parameters::kGridDepthRoiRatios().c_str());
_ui->doubleSpinBox_grid_footprintLength->setObjectName(Parameters::kGridFootprintLength().c_str());
_ui->doubleSpinBox_grid_footprintWidth->setObjectName(Parameters::kGridFootprintWidth().c_str());
_ui->doubleSpinBox_grid_footprintHeight->setObjectName(Parameters::kGridFootprintHeight().c_str());
_ui->checkBox_grid_flatObstaclesDetected->setObjectName(Parameters::kGridFlatObstacleDetected().c_str());
_ui->groupBox_grid_fromDepthImage->setObjectName(Parameters::kGridFromDepth().c_str());
_ui->checkBox_grid_projMapFrame->setObjectName(Parameters::kGridMapFrameProjection().c_str());
@@ -782,6 +785,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->spinBox_grid_normalK->setObjectName(Parameters::kGridNormalK().c_str());
_ui->doubleSpinBox_grid_maxGroundHeight->setObjectName(Parameters::kGridMaxGroundHeight().c_str());
_ui->doubleSpinBox_grid_maxObstacleHeight->setObjectName(Parameters::kGridMaxObstacleHeight().c_str());
_ui->doubleSpinBox_grid_clusterRadius->setObjectName(Parameters::kGridClusterRadius().c_str());
_ui->spinBox_grid_minClusterSize->setObjectName(Parameters::kGridMinClusterSize().c_str());
_ui->doubleSpinBox_grid_minGroundHeight->setObjectName(Parameters::kGridMinGroundHeight().c_str());
_ui->spinBox_grid_noiseMinNeighbors->setObjectName(Parameters::kGridNoiseFilteringMinNeighbors().c_str());

155
guilib/src/ui/preferencesDialog.ui
View File

@@ -6,8 +6,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>984</width>
<height>727</height>
<width>976</width>
<height>731</height>
</rect>
</property>
<property name="sizePolicy">
@@ -63,9 +63,9 @@
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>686</width>
<height>2278</height>
<y>-500</y>
<width>678</width>
<height>2417</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>3</number>
<number>15</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -8105,7 +8105,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="7" column="1">
<item row="10" column="1">
<widget class="QLabel" name="label_331">
<property name="text">
<string>Laser scan decimation.</string>
@@ -8118,7 +8118,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="7" column="0">
<item row="10" column="0">
<widget class="QSpinBox" name="spinBox_grid_scanDecimation">
<property name="minimum">
<number>1</number>
@@ -8131,6 +8131,102 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_333">
<property name="text">
<string>Footprint filtering length (0=disabled).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QLabel" name="label_334">
<property name="text">
<string>Footprint filtering width (0=disabled). Footprint length should be set.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_footprintLength">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="maximum">
<double>10.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_footprintWidth">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="maximum">
<double>10.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
<item row="9" column="1">
<widget class="QLabel" name="label_335">
<property name="text">
<string>Footprint filtering height (0=disabled). Footprint length and width should be set.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="9" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_footprintHeight">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="maximum">
<double>10.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
</layout>
</item>
<item>
@@ -8315,7 +8411,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="2" column="0">
<item row="3" column="0">
<widget class="QSpinBox" name="spinBox_grid_minClusterSize">
<property name="minimum">
<number>1</number>
@@ -8341,7 +8437,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="2" column="1">
<item row="3" column="1">
<widget class="QLabel" name="label_308">
<property name="text">
<string>Minimum cluster size to project the points. The distance between clusters is defined by 2*Resolution.</string>
@@ -8354,7 +8450,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="3" column="1">
<item row="4" column="1">
<widget class="QLabel" name="label_272">
<property name="text">
<string>Flat obstacles detected.</string>
@@ -8367,7 +8463,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="3" column="0">
<item row="4" column="0">
<widget class="QCheckBox" name="checkBox_grid_flatObstaclesDetected">
<property name="text">
<string/>
@@ -8403,6 +8499,41 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_336">
<property name="text">
<string>Cluster radius.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_clusterRadius">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>3</number>
</property>
<property name="minimum">
<double>0.001000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.100000000000000</double>
</property>
</widget>
</item>
</layout>
</item>
</layout>