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Coloring scan (camera projection on point cloud) (#693)

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* ExportClouds: Added camera projection options

* ExportClouds: fixed ceiling/floor filtering options not saved in config

* ExportClouds: fixed colorless scan points still exported when option is unchecked.

* Export tool: added --bin, --poses, --images, --las and --cam_projection options; export with intensity with --scan option. PDALWriter: added binary option (only used for PLY an PCD formats). Rtabmap: Do graph optimization if neighbor link refined and Mem/UseOdomGravity is used.
This commit is contained in:
matlabbe
2021-03-01 09:56:37 -05:00
committed by GitHub
parent 967c57d165
commit d119487dd7
9 changed files with 1334 additions and 192 deletions
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corelib/src/Rtabmap.cpp
+4 -2
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@@ -1235,6 +1235,7 @@ bool Rtabmap::process(
bool smallDisplacement = false;
bool tooFastMovement = false;
std::list<int> signaturesRemoved;
bool neighborLinkRefined = false;
if(_rgbdSlamMode)
{
statistics_.addStatistic(Statistics::kMemoryOdometry_variance_lin(), odomCovariance.empty()?1.0f:(float)odomCovariance.at<double>(0,0));
@@ -1363,7 +1364,8 @@ bool Rtabmap::process(
_memory->updateLink(Link(oldId, signature->id(), signature->getLinks().begin()->second.type(), guess, (info.covariance*100.0).inv()));
}
}
statistics_.addStatistic(Statistics::kNeighborLinkRefiningAccepted(), !t.isNull()?1.0f:0);
neighborLinkRefined = !t.isNull();
statistics_.addStatistic(Statistics::kNeighborLinkRefiningAccepted(),neighborLinkRefined?1.0f:0);
statistics_.addStatistic(Statistics::kNeighborLinkRefiningInliers(), info.inliers);
statistics_.addStatistic(Statistics::kNeighborLinkRefiningICP_inliers_ratio(), info.icpInliersRatio);
statistics_.addStatistic(Statistics::kNeighborLinkRefiningICP_rotation(), info.icpRotation);
@@ -2686,7 +2688,7 @@ bool Rtabmap::process(
lastProximitySpaceClosureId>0 || // can be different map of the current one
statistics_.reducedIds().size() ||
(signature->hasLink(signature->id(), Link::kPosePrior) && !_graphOptimizer->priorsIgnored()) || // prior edge
(signature->hasLink(signature->id(), Link::kGravity) && _graphOptimizer->gravitySigma()>0.0f && !_memory->isOdomGravityUsed()) || // gravity edge
(signature->hasLink(signature->id(), Link::kGravity) && _graphOptimizer->gravitySigma()>0.0f && (!_memory->isOdomGravityUsed() || neighborLinkRefined)) || // gravity edge
proximityDetectionsInTimeFound>0 ||
landmarkDetected!=0 ||
signaturesRetrieved.size()) // can be different map of the current one