i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 01:20:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

Added Icp/PMForce4DoF parameter (works only with libpointmatcher > April 2020). Fixed some deprecated warnings.

Browse Source
This commit is contained in:
matlabbe
2021-02-24 09:43:22 -05:00
parent d61e463595
commit cad184e82b
8 changed files with 47 additions and 31 deletions
Download Patch File Download Diff File Expand all files Collapse all files

20
guilib/src/MainWindow.cpp
View File

@@ -3742,7 +3742,7 @@ void MainWindow::createAndAddScanToMap(int nodeId, const Transform & pose, int m
added = _cloudViewer->addCloud(scanName, cloudRGBWithNormals, pose, color);
if(added && nodeId > 0)
{
scan = LaserScan(util3d::laserScanFromPointCloud(*cloudRGBWithNormals, scan.localTransform().inverse()), scan.maxPoints(), scan.rangeMax(), LaserScan::kXYZRGBNormal, scan.localTransform());
scan = LaserScan(util3d::laserScanFromPointCloud(*cloudRGBWithNormals, scan.localTransform().inverse()), scan.maxPoints(), scan.rangeMax(), scan.localTransform());
}
}
else if(cloudIWithNormals.get())
@@ -3752,11 +3752,11 @@ void MainWindow::createAndAddScanToMap(int nodeId, const Transform & pose, int m
{
if(scan.is2d())
{
scan = LaserScan(util3d::laserScan2dFromPointCloud(*cloudIWithNormals, scan.localTransform().inverse()), scan.maxPoints(), scan.rangeMax(), LaserScan::kXYINormal, scan.localTransform());
scan = LaserScan(util3d::laserScan2dFromPointCloud(*cloudIWithNormals, scan.localTransform().inverse()), scan.maxPoints(), scan.rangeMax(), scan.localTransform());
}
else
{
scan = LaserScan(util3d::laserScanFromPointCloud(*cloudIWithNormals, scan.localTransform().inverse()), scan.maxPoints(), scan.rangeMax(), LaserScan::kXYZINormal, scan.localTransform());
scan = LaserScan(util3d::laserScanFromPointCloud(*cloudIWithNormals, scan.localTransform().inverse()), scan.maxPoints(), scan.rangeMax(), scan.localTransform());
}
}
}
@@ -3767,11 +3767,11 @@ void MainWindow::createAndAddScanToMap(int nodeId, const Transform & pose, int m
{
if(scan.is2d())
{
scan = LaserScan(util3d::laserScan2dFromPointCloud(*cloudWithNormals, scan.localTransform().inverse()), scan.maxPoints(), scan.rangeMax(), LaserScan::kXYNormal, scan.localTransform());
scan = LaserScan(util3d::laserScan2dFromPointCloud(*cloudWithNormals, scan.localTransform().inverse()), scan.maxPoints(), scan.rangeMax(), scan.localTransform());
}
else
{
scan = LaserScan(util3d::laserScanFromPointCloud(*cloudWithNormals, scan.localTransform().inverse()), scan.maxPoints(), scan.rangeMax(), LaserScan::kXYZNormal, scan.localTransform());
scan = LaserScan(util3d::laserScanFromPointCloud(*cloudWithNormals, scan.localTransform().inverse()), scan.maxPoints(), scan.rangeMax(), scan.localTransform());
}
}
}
@@ -3780,7 +3780,7 @@ void MainWindow::createAndAddScanToMap(int nodeId, const Transform & pose, int m
added = _cloudViewer->addCloud(scanName, cloudRGB, pose, color);
if(added && nodeId > 0)
{
scan = LaserScan(util3d::laserScanFromPointCloud(*cloudRGB, scan.localTransform().inverse()), scan.maxPoints(), scan.rangeMax(), LaserScan::kXYZRGB, scan.localTransform());
scan = LaserScan(util3d::laserScanFromPointCloud(*cloudRGB, scan.localTransform().inverse()), scan.maxPoints(), scan.rangeMax(), scan.localTransform());
}
}
else if(cloudI.get())
@@ -3790,11 +3790,11 @@ void MainWindow::createAndAddScanToMap(int nodeId, const Transform & pose, int m
{
if(scan.is2d())
{
scan = LaserScan(util3d::laserScan2dFromPointCloud(*cloudI, scan.localTransform().inverse()), scan.maxPoints(), scan.rangeMax(), LaserScan::kXYI, scan.localTransform());
scan = LaserScan(util3d::laserScan2dFromPointCloud(*cloudI, scan.localTransform().inverse()), scan.maxPoints(), scan.rangeMax(), scan.localTransform());
}
else
{
scan = LaserScan(util3d::laserScanFromPointCloud(*cloudI, scan.localTransform().inverse()), scan.maxPoints(), scan.rangeMax(), LaserScan::kXYZI, scan.localTransform());
scan = LaserScan(util3d::laserScanFromPointCloud(*cloudI, scan.localTransform().inverse()), scan.maxPoints(), scan.rangeMax(), scan.localTransform());
}
}
}
@@ -3806,11 +3806,11 @@ void MainWindow::createAndAddScanToMap(int nodeId, const Transform & pose, int m
{
if(scan.is2d())
{
scan = LaserScan(util3d::laserScan2dFromPointCloud(*cloud, scan.localTransform().inverse()), scan.maxPoints(), scan.rangeMax(), LaserScan::kXY, scan.localTransform());
scan = LaserScan(util3d::laserScan2dFromPointCloud(*cloud, scan.localTransform().inverse()), scan.maxPoints(), scan.rangeMax(), scan.localTransform());
}
else
{
scan = LaserScan(util3d::laserScanFromPointCloud(*cloud, scan.localTransform().inverse()), scan.maxPoints(), scan.rangeMax(), LaserScan::kXYZ, scan.localTransform());
scan = LaserScan(util3d::laserScanFromPointCloud(*cloud, scan.localTransform().inverse()), scan.maxPoints(), scan.rangeMax(), scan.localTransform());
}
}
}

1
guilib/src/PreferencesDialog.cpp
View File

@@ -1153,6 +1153,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->spinBox_icpPMMatcherKnn->setObjectName(Parameters::kIcpPMMatcherKnn().c_str());
_ui->doubleSpinBox_icpPMMatcherEpsilon->setObjectName(Parameters::kIcpPMMatcherEpsilon().c_str());
_ui->loopClosure_icpPMMatcherIntensity->setObjectName(Parameters::kIcpPMMatcherIntensity().c_str());
_ui->loopClosure_icpPMForce4DoF->setObjectName(Parameters::kIcpPMForce4DoF().c_str());
// Occupancy grid
_ui->groupBox_grid_3d->setObjectName(Parameters::kGrid3D().c_str());

24
guilib/src/ui/preferencesDialog.ui
View File

@@ -63,7 +63,7 @@
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<y>-976</y>
<width>686</width>
<height>3357</height>
</rect>
@@ -95,7 +95,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>16</number>
<number>22</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -19504,6 +19504,26 @@ Lower the ratio -&gt; higher the precision.</string>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_617">
<property name="text">
<string>Force 4 DoF: Limit ICP to x, y, z and yaw DoF.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QCheckBox" name="loopClosure_icpPMForce4DoF">
<property name="text">
<string/>
</property>
</widget>
</item>
</layout>
</item>
</layout>