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Gui 3d rendering: added default color scheme option, added min and max range options for laser scans

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This commit is contained in:
matlabbe
2018-02-17 09:46:08 -05:00
parent 077b3ab59e
commit d181bedbfc
11 changed files with 615 additions and 227 deletions
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37
corelib/include/rtabmap/core/util3d_filtering.h
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@@ -48,8 +48,8 @@ namespace util3d
* operations like computing normals while the scan has already
* normals and voxel filtering is not used.
*/
void RTABMAP_EXP commonFiltering(
LaserScan & scan,
LaserScan RTABMAP_EXP commonFiltering(
const LaserScan & scan,
int downsamplingStep,
float rangeMin = 0.0f,
float rangeMax = 0.0f,
@@ -99,6 +99,10 @@ pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_EXP voxelize(
const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
const pcl::IndicesPtr & indices,
float voxelSize);
pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_EXP voxelize(
const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
const pcl::IndicesPtr & indices,
float voxelSize);
pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP voxelize(
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
float voxelSize);
@@ -114,6 +118,9 @@ pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_EXP voxelize(
pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_EXP voxelize(
const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
float voxelSize);
pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_EXP voxelize(
const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
float voxelSize);
inline pcl::PointCloud<pcl::PointXYZ>::Ptr uniformSampling(
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
@@ -157,6 +164,13 @@ pcl::IndicesPtr RTABMAP_EXP passThrough(
float min,
float max,
bool negative = false);
pcl::IndicesPtr RTABMAP_EXP passThrough(
const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
const pcl::IndicesPtr & indices,
const std::string & axis,
float min,
float max,
bool negative = false);
pcl::IndicesPtr RTABMAP_EXP passThrough(
const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
const pcl::IndicesPtr & indices,
@@ -171,6 +185,13 @@ pcl::IndicesPtr RTABMAP_EXP passThrough(
float min,
float max,
bool negative = false);
pcl::IndicesPtr RTABMAP_EXP passThrough(
const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
const pcl::IndicesPtr & indices,
const std::string & axis,
float min,
float max,
bool negative = false);
pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP passThrough(
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
const std::string & axis,
@@ -183,6 +204,12 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP passThrough(
float min,
float max,
bool negative = false);
pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_EXP passThrough(
const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
const std::string & axis,
float min,
float max,
bool negative = false);
pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_EXP passThrough(
const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
const std::string & axis,
@@ -195,6 +222,12 @@ pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_EXP passThrough(
float min,
float max,
bool negative = false);
pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_EXP passThrough(
const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
const std::string & axis,
float min,
float max,
bool negative = false);
pcl::IndicesPtr RTABMAP_EXP cropBox(
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,

2
corelib/src/CameraRGB.cpp
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@@ -753,7 +753,7 @@ SensorData CameraImages::captureImage(CameraInfo * info)
}
}
// filter the scan after registration
util3d::commonFiltering(scan, _scanDownsampleStep, 0, 0, _scanVoxelSize, _scanNormalsK, _scanNormalsRadius, _scanForceGroundNormalsUp);
scan = util3d::commonFiltering(scan, _scanDownsampleStep, 0, 0, _scanVoxelSize, _scanNormalsK, _scanNormalsRadius, _scanForceGroundNormalsUp);
}
}
else

2
corelib/src/Memory.cpp
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@@ -3851,7 +3851,7 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
LaserScan laserScan = data.laserScanRaw();
if(!isIntermediateNode && laserScan.size())
{
util3d::commonFiltering(laserScan,
laserScan = util3d::commonFiltering(laserScan,
_laserScanDownsampleStepSize,
0,
0,

31
corelib/src/util3d_filtering.cpp
View File

@@ -68,8 +68,8 @@ namespace rtabmap
namespace util3d
{
void commonFiltering(
LaserScan & scan,
LaserScan commonFiltering(
const LaserScan & scanIn,
int downsamplingStep,
float rangeMin,
float rangeMax,
@@ -78,6 +78,7 @@ void commonFiltering(
float normalRadius,
bool forceGroundNormalsUp)
{
LaserScan scan = scanIn;
UDEBUG("scan size=%d format=%d, step=%d, rangeMin=%f, rangeMax=%f, voxel=%f, normalK=%d, normalRadius=%f",
scan.size(), (int)scan.format(), downsamplingStep, rangeMin, rangeMax, voxelSize, normalK, normalRadius);
if(!scan.isEmpty())
@@ -256,6 +257,7 @@ void commonFiltering(
scan = util3d::adjustNormalsToViewPoint(scan, Eigen::Vector3f(0,0,0), forceGroundNormalsUp);
}
}
return scan;
}
LaserScan rangeFiltering(
@@ -415,6 +417,10 @@ pcl::PointCloud<pcl::PointXYZI>::Ptr voxelize(const pcl::PointCloud<pcl::PointXY
{
return voxelizeImpl<pcl::PointXYZI>(cloud, indices, voxelSize);
}
pcl::PointCloud<pcl::PointXYZINormal>::Ptr voxelize(const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud, const pcl::IndicesPtr & indices, float voxelSize)
{
return voxelizeImpl<pcl::PointXYZINormal>(cloud, indices, voxelSize);
}
pcl::PointCloud<pcl::PointXYZ>::Ptr voxelize(const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud, float voxelSize)
{
@@ -441,6 +447,11 @@ pcl::PointCloud<pcl::PointXYZI>::Ptr voxelize(const pcl::PointCloud<pcl::PointXY
pcl::IndicesPtr indices(new std::vector<int>);
return voxelize(cloud, indices, voxelSize);
}
pcl::PointCloud<pcl::PointXYZINormal>::Ptr voxelize(const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud, float voxelSize)
{
pcl::IndicesPtr indices(new std::vector<int>);
return voxelize(cloud, indices, voxelSize);
}
template<typename PointT>
typename pcl::PointCloud<PointT>::Ptr randomSamplingImpl(
@@ -494,6 +505,10 @@ pcl::IndicesPtr passThrough(const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud
{
return passThroughImpl<pcl::PointXYZRGB>(cloud, indices, axis, min, max, negative);
}
pcl::IndicesPtr passThrough(const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud, const pcl::IndicesPtr & indices, const std::string & axis, float min, float max, bool negative)
{
return passThroughImpl<pcl::PointXYZI>(cloud, indices, axis, min, max, negative);
}
pcl::IndicesPtr passThrough(const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud, const pcl::IndicesPtr & indices, const std::string & axis, float min, float max, bool negative)
{
return passThroughImpl<pcl::PointNormal>(cloud, indices, axis, min, max, negative);
@@ -502,6 +517,10 @@ pcl::IndicesPtr passThrough(const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr &
{
return passThroughImpl<pcl::PointXYZRGBNormal>(cloud, indices, axis, min, max, negative);
}
pcl::IndicesPtr passThrough(const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud, const pcl::IndicesPtr & indices, const std::string & axis, float min, float max, bool negative)
{
return passThroughImpl<pcl::PointXYZINormal>(cloud, indices, axis, min, max, negative);
}
template<typename PointT>
typename pcl::PointCloud<PointT>::Ptr passThroughImpl(
@@ -531,6 +550,10 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr passThrough(const pcl::PointCloud<pcl::Po
{
return passThroughImpl<pcl::PointXYZRGB>(cloud, axis, min ,max, negative);
}
pcl::PointCloud<pcl::PointXYZI>::Ptr passThrough(const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud, const std::string & axis, float min, float max, bool negative)
{
return passThroughImpl<pcl::PointXYZI>(cloud, axis, min ,max, negative);
}
pcl::PointCloud<pcl::PointNormal>::Ptr passThrough(const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud, const std::string & axis, float min, float max, bool negative)
{
return passThroughImpl<pcl::PointNormal>(cloud, axis, min ,max, negative);
@@ -539,6 +562,10 @@ pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr passThrough(const pcl::PointCloud<p
{
return passThroughImpl<pcl::PointXYZRGBNormal>(cloud, axis, min ,max, negative);
}
pcl::PointCloud<pcl::PointXYZINormal>::Ptr passThrough(const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud, const std::string & axis, float min, float max, bool negative)
{
return passThroughImpl<pcl::PointXYZINormal>(cloud, axis, min ,max, negative);
}
template<typename PointT>
pcl::IndicesPtr cropBoxImpl(