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Increased version to 0.20.7. OdometryF2M: added support for intensity field, removed ignored key frames when there is low scan complexity. RegistrationIcp: added Icp/PMMatcherIntensity, Icp/PointToPlaneGroundNormalsUp and Icp/PointToPlaneLowComplexityStrategy parameters. Rtabmap: when graph optimized from end, increased optimization error before warning that resulting map correction is not identity (this could happen with GTSAM as the root is not perfectly fixed). CloudViewer: added coordinate frame scaling option, added rainbow colormap option for scan intensity. DBViewer: fixed local proximity merged scans not shown modified after refining those links, show intensity, fixed constraints view not updated after rejecting a link. MainWindow: added intesity support with odometry scans.

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This commit is contained in:
matlabbe
2020-11-28 17:28:34 -05:00
parent 7859313beb
commit d733029565
24 changed files with 1032 additions and 237 deletions
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19
guilib/src/PreferencesDialog.cpp
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@@ -794,7 +794,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->doubleSpinBox_source_scanVoxelSize, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->spinBox_source_scanNormalsK, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->doubleSpinBox_source_scanNormalsRadius, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkBox_source_scanForceGroundNormalsUp, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->doubleSpinBox_source_scanNormalsForceGroundUp, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
//Rtabmap basic
@@ -1130,7 +1130,9 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->loopClosure_icpPointToPlane->setObjectName(Parameters::kIcpPointToPlane().c_str());
_ui->loopClosure_icpPointToPlaneNormals->setObjectName(Parameters::kIcpPointToPlaneK().c_str());
_ui->loopClosure_icpPointToPlaneNormalsRadius->setObjectName(Parameters::kIcpPointToPlaneRadius().c_str());
_ui->loopClosure_icpPointToPlaneGroundNormalsUp->setObjectName(Parameters::kIcpPointToPlaneGroundNormalsUp().c_str());
_ui->loopClosure_icpPointToPlaneNormalsMinComplexity->setObjectName(Parameters::kIcpPointToPlaneMinComplexity().c_str());
_ui->loopClosure_icpPointToPlaneLowComplexityStrategy->setObjectName(Parameters::kIcpPointToPlaneLowComplexityStrategy().c_str());
_ui->groupBox_libpointmatcher->setObjectName(Parameters::kIcpPM().c_str());
_ui->lineEdit_IcpPMConfigPath->setObjectName(Parameters::kIcpPMConfig().c_str());
@@ -1138,6 +1140,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->doubleSpinBox_icpPMOutlierRatio->setObjectName(Parameters::kIcpPMOutlierRatio().c_str());
_ui->spinBox_icpPMMatcherKnn->setObjectName(Parameters::kIcpPMMatcherKnn().c_str());
_ui->doubleSpinBox_icpPMMatcherEpsilon->setObjectName(Parameters::kIcpPMMatcherEpsilon().c_str());
_ui->loopClosure_icpPMMatcherIntensity->setObjectName(Parameters::kIcpPMMatcherIntensity().c_str());
// Occupancy grid
_ui->groupBox_grid_3d->setObjectName(Parameters::kGrid3D().c_str());
@@ -1983,7 +1986,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->doubleSpinBox_source_scanVoxelSize->setValue(0.0f);
_ui->spinBox_source_scanNormalsK->setValue(0);
_ui->doubleSpinBox_source_scanNormalsRadius->setValue(0.0);
_ui->checkBox_source_scanForceGroundNormalsUp->setChecked(false);
_ui->doubleSpinBox_source_scanNormalsForceGroundUp->setValue(0);
_ui->groupBox_depthFromScan->setChecked(false);
_ui->groupBox_depthFromScan_fillHoles->setChecked(true);
@@ -2464,7 +2467,7 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
_ui->doubleSpinBox_source_scanVoxelSize->setValue(settings.value("voxelSize", _ui->doubleSpinBox_source_scanVoxelSize->value()).toDouble());
_ui->spinBox_source_scanNormalsK->setValue(settings.value("normalsK", _ui->spinBox_source_scanNormalsK->value()).toInt());
_ui->doubleSpinBox_source_scanNormalsRadius->setValue(settings.value("normalsRadius", _ui->doubleSpinBox_source_scanNormalsRadius->value()).toDouble());
_ui->checkBox_source_scanForceGroundNormalsUp->setChecked(settings.value("normalsUp", _ui->checkBox_source_scanForceGroundNormalsUp->isChecked()).toBool());
_ui->doubleSpinBox_source_scanNormalsForceGroundUp->setValue(settings.value("normalsUpF", _ui->doubleSpinBox_source_scanNormalsForceGroundUp->value()).toDouble());
settings.endGroup();//Scan
settings.beginGroup("DepthFromScan");
@@ -2945,7 +2948,7 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.setValue("voxelSize", _ui->doubleSpinBox_source_scanVoxelSize->value());
settings.setValue("normalsK", _ui->spinBox_source_scanNormalsK->value());
settings.setValue("normalsRadius", _ui->doubleSpinBox_source_scanNormalsRadius->value());
settings.setValue("normalsUp", _ui->checkBox_source_scanForceGroundNormalsUp->isChecked());
settings.setValue("normalsUpF", _ui->doubleSpinBox_source_scanNormalsForceGroundUp->value());
settings.endGroup();
settings.beginGroup("DepthFromScan");
@@ -5579,9 +5582,9 @@ double PreferencesDialog::getSourceScanNormalsRadius() const
{
return _ui->doubleSpinBox_source_scanNormalsRadius->value();
}
bool PreferencesDialog::isSourceScanForceGroundNormalsUp() const
double PreferencesDialog::getSourceScanForceGroundNormalsUp() const
{
return _ui->checkBox_source_scanForceGroundNormalsUp->isChecked();
return _ui->doubleSpinBox_source_scanNormalsForceGroundUp->value();
}
Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
@@ -6263,7 +6266,7 @@ void PreferencesDialog::testOdometry()
_ui->doubleSpinBox_source_scanVoxelSize->value(),
_ui->spinBox_source_scanNormalsK->value(),
_ui->doubleSpinBox_source_scanNormalsRadius->value(),
_ui->checkBox_source_scanForceGroundNormalsUp->isChecked());
(float)_ui->doubleSpinBox_source_scanNormalsForceGroundUp->value());
if(_ui->comboBox_imuFilter_strategy->currentIndex()>0 && dynamic_cast<DBReader*>(camera) == 0)
{
cameraThread.enableIMUFiltering(_ui->comboBox_imuFilter_strategy->currentIndex()-1, this->getAllParameters());
@@ -6334,7 +6337,7 @@ void PreferencesDialog::testCamera()
_ui->doubleSpinBox_source_scanVoxelSize->value(),
_ui->spinBox_source_scanNormalsK->value(),
_ui->doubleSpinBox_source_scanNormalsRadius->value(),
_ui->checkBox_source_scanForceGroundNormalsUp->isChecked());
(float)_ui->doubleSpinBox_source_scanNormalsForceGroundUp->value());
if(_ui->comboBox_imuFilter_strategy->currentIndex()>0 && dynamic_cast<DBReader*>(camera) == 0)
{
cameraThread.enableIMUFiltering(_ui->comboBox_imuFilter_strategy->currentIndex()-1, this->getAllParameters());