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https://github.com/introlab/rtabmap.git
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Coloring scan (camera projection on point cloud) (#693)
* 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
@@ -23,9 +23,9 @@
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>0</y>
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<y>-584</y>
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<width>780</width>
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<height>4975</height>
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<height>5347</height>
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@@ -76,13 +76,6 @@
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<item row="13" column="0">
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<widget class="QCheckBox" name="checkBox_gainCompensation">
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<property name="text">
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<string/>
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</property>
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</widget>
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</item>
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<item row="8" column="1">
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<widget class="QLabel" name="label_voxel">
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<property name="text">
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@@ -103,16 +96,6 @@
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</property>
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</widget>
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</item>
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<item row="13" column="1">
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<widget class="QLabel" name="label_gainCompensation">
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<property name="text">
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<string>Gain compensation. Normalize brightness of images.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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@@ -133,16 +116,6 @@
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</property>
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</widget>
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</item>
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<item row="14" column="1">
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<widget class="QLabel" name="label_binaryFile_12">
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<property name="text">
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<string>Meshing.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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@@ -160,13 +133,6 @@
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</property>
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</widget>
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</item>
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<item row="14" column="0">
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<widget class="QCheckBox" name="checkBox_meshing">
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<property name="text">
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<string/>
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</property>
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</widget>
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</item>
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<item row="3" column="1">
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<widget class="QLabel" name="label_binaryFile">
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<property name="text">
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@@ -323,6 +289,57 @@
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</item>
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</widget>
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</item>
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<item row="13" column="1">
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<widget class="QLabel" name="label_gainCompensation">
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<property name="text">
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<string>Gain compensation. Normalize brightness of images.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item row="14" column="1">
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<widget class="QLabel" name="label_cameraProjection">
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<property name="text">
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<string>Camera projection. This can be used to colorize point cloud created from scans and/or export camera IDs for each point of the cloud.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item row="13" column="0">
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<widget class="QCheckBox" name="checkBox_gainCompensation">
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<property name="text">
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<string/>
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</property>
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</widget>
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</item>
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<item row="14" column="0">
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<widget class="QCheckBox" name="checkBox_cameraProjection">
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<property name="text">
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<string/>
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</property>
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</widget>
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</item>
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<item row="15" column="1">
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<widget class="QLabel" name="label_binaryFile_12">
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<property name="text">
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<string>Meshing.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item row="15" column="0">
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<widget class="QCheckBox" name="checkBox_meshing">
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<property name="text">
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<string/>
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</property>
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</widget>
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</item>
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</layout>
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</item>
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<item>
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@@ -642,8 +659,11 @@
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<property name="decimals">
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<number>2</number>
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</property>
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<property name="minimum">
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<double>-1000.000000000000000</double>
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</property>
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<property name="maximum">
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<double>100.000000000000000</double>
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<double>1000.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.100000000000000</double>
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@@ -661,8 +681,11 @@
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<property name="decimals">
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<number>2</number>
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</property>
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<property name="minimum">
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<double>-1000.000000000000000</double>
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</property>
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<property name="maximum">
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<double>100.000000000000000</double>
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<double>1000.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.100000000000000</double>
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@@ -1475,6 +1498,185 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
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</layout>
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</widget>
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</item>
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<item>
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<widget class="QGroupBox" name="groupBox_cameraProjection">
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<property name="title">
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<string>Camera Projection</string>
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</property>
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<property name="checkable">
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<bool>false</bool>
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</property>
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<layout class="QGridLayout" name="gridLayout_20" columnstretch="0,0,0,1">
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<item row="3" column="1">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_camProjMaxAngle">
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<property name="suffix">
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<string> deg</string>
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</property>
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<property name="decimals">
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<number>0</number>
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</property>
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<property name="minimum">
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<double>0.000000000000000</double>
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<property name="maximum">
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<double>180.000000000000000</double>
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<property name="singleStep">
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<double>1.000000000000000</double>
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</property>
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<property name="value">
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<double>0.000000000000000</double>
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</property>
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</widget>
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</item>
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<item row="5" column="2" colspan="2">
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<widget class="QLabel" name="label_meshingTextureSize_15">
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<property name="text">
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<string>Keep points not seen by the cameras. These points will be set with a pure red color (255,0,0) if the cloud was created from laser scans.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item row="4" column="1">
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<widget class="QCheckBox" name="checkBox_camProjDistanceToCamPolicy">
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<property name="text">
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<string/>
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</property>
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</widget>
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</item>
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<item row="4" column="2" colspan="2">
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<widget class="QLabel" name="label_meshingTextureSize_14">
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<property name="text">
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<string>Distance to camera policy. The closest camera from a point is used to colorize the point. If disabled, the camera for which the point projection is the closest of the image center is used to colorize the point.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item row="2" column="2" colspan="2">
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<widget class="QLabel" name="label_meshingTextureSize_13">
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<property name="text">
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<string>Maximum distance from the camera for points to be colorized by this camera (0 means infinite).</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item row="3" column="2" colspan="2">
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<widget class="QLabel" name="label_meshingTextureSize_12">
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<property name="text">
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<string>Maximum angle between camera and point's normal to apply color (0 means disabled).</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item row="2" column="1">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_camProjMaxDistance">
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<property name="suffix">
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<string> m</string>
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</property>
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<property name="decimals">
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<number>1</number>
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</property>
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<property name="minimum">
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<double>0.000000000000000</double>
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</property>
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<property name="maximum">
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<double>99.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>1.000000000000000</double>
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</property>
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<property name="value">
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<double>0.000000000000000</double>
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</property>
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</widget>
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</item>
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<item row="5" column="1">
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<widget class="QCheckBox" name="checkBox_camProjKeepPointsNotSeenByCameras">
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<property name="text">
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<string/>
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</property>
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</widget>
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</item>
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<item row="7" column="2" colspan="2">
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<widget class="QLabel" name="label_camProjExportCamera">
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<property name="text">
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<string>ID format of the camera selected for each point.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item row="7" column="1">
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<widget class="QComboBox" name="comboBox_camProjExportCamera">
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<property name="toolTip">
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<string>By Node ID: cameras of same node have same ID
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By Camera Index: of a multi-cameras setup
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By Node ID and Camera Index: NodeID*10+CameraIndex</string>
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</property>
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<item>
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<property name="text">
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<string>Disabled</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>By Node ID</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>By Camera Index</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>By Node ID and Camera Index</string>
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</property>
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</item>
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</widget>
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</item>
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<item row="1" column="1">
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<widget class="QLineEdit" name="lineEdit_camProjRoiRatios"/>
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</item>
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<item row="1" column="2" colspan="2">
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<widget class="QLabel" name="label_meshingTextureSize_17">
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<property name="text">
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<string>ROI ratios [left right top bottom] between 0 and 1. This can be used to ignore black borders of RGB images caused by calibration. </string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item row="6" column="2">
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<widget class="QLabel" name="label_meshingTextureSize_18">
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<property name="text">
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<string>Recolor points from camera projection. This would be used to color laser scans with the cameras.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item row="6" column="1">
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<widget class="QCheckBox" name="checkBox_camProjRecolorPoints">
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<property name="text">
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<string/>
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</property>
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</widget>
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</item>
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</layout>
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</widget>
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</item>
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<item>
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<widget class="QGroupBox" name="groupBox_meshing">
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<property name="title">
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