OpenNI2: depth shift can be negative. MainWindow: postProcessing() refactoring (split with and without dialog).

corelib/src/camera/CameraOpenNI2.cpp

@@ -178,8 +178,6 @@ void CameraOpenNI2::setOpenNI2StampsAndIDsUsed(bool used)
 void CameraOpenNI2::setIRDepthShift(int horizontal, int vertical)
 {
 #ifdef RTABMAP_OPENNI2
-	UASSERT(horizontal >= 0);
-	UASSERT(vertical >= 0);
 	_depthHShift = horizontal;
 	_depthVShift = vertical;
 #endif
@@ -538,10 +536,19 @@ SensorData CameraOpenNI2::captureImage(CameraInfo * info)
 
 				if(_type==kTypeColorDepth)
 				{
-					if (_depthHShift > 0 || _depthVShift > 0)
+					if (_depthHShift != 0 || _depthVShift != 0)
 					{
 						cv::Mat out = cv::Mat::zeros(depth.size(), depth.type());
-						depth(cv::Rect(_depthHShift, _depthVShift, depth.cols - _depthHShift, depth.rows - _depthVShift)).copyTo(out(cv::Rect(0, 0, depth.cols - _depthHShift, depth.rows - _depthVShift)));
+						depth(cv::Rect(
+								_depthHShift>0?_depthHShift:0,
+								_depthVShift>0?_depthVShift:0,
+								depth.cols - abs(_depthHShift),
+								depth.rows - abs(_depthVShift))).copyTo(
+							   out(cv::Rect(
+								_depthHShift<0?-_depthHShift:0,
+								_depthVShift<0?-_depthVShift:0,
+								depth.cols - abs(_depthHShift),
+								depth.rows - abs(_depthVShift))));
 						depth = out;
 					}
 

guilib/include/rtabmap/gui/MainWindow.h

@@ -37,6 +37,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/core/SensorData.h"
 #include "rtabmap/core/OdometryEvent.h"
 #include "rtabmap/core/CameraInfo.h"
+#include "rtabmap/core/Optimizer.h"
 #include "rtabmap/gui/PreferencesDialog.h"
 
 #include <pcl/point_cloud.h>
@@ -161,7 +162,7 @@ protected Q_SLOTS:
 	void exportPosesG2O();
 	void exportImages();
 	void exportOctomap();
-	void postProcessing();
+	void showPostProcessingDialog();
 	void depthCalibration();
 	void openWorkingDirectory();
 	void updateEditMenu();
@@ -312,6 +313,24 @@ protected:
 			double & odomSensorTimeOffset,
 			float & odomSensorScaleFactor);
 
+	void postProcessing(
+			bool refineNeighborLinks,
+			bool refineLoopClosureLinks,
+			// Detect more loop closures params:
+			bool detectMoreLoopClosures,
+			double clusterRadius,
+			double clusterAngle,
+			int iterations,
+			bool interSession,
+			bool intraSession,
+			// SBA params:
+			bool sba,
+			int sbaIterations,
+			double sbaVariance,
+			Optimizer::Type sbaType,
+			double sbaRematchFeatures,
+			bool abortIfDataMissing = true);
+
 private:
 	Ui_mainWindow * _ui;
 

guilib/src/MainWindow.cpp

@@ -102,7 +102,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/core/util3d_mapping.h"
 #include "rtabmap/core/util3d_surface.h"
 #include "rtabmap/core/util3d_registration.h"
-#include "rtabmap/core/Optimizer.h"
 #include "rtabmap/core/optimizer/OptimizerCVSBA.h"
 #include "rtabmap/core/Graph.h"
 #include "rtabmap/core/RegistrationIcp.h"
@@ -394,7 +393,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent, bool sh
 	connect(_ui->actionReset_Odometry, SIGNAL(triggered()), this, SLOT(resetOdometry()));
 	connect(_ui->actionTrigger_a_new_map, SIGNAL(triggered()), this, SLOT(triggerNewMap()));
 	connect(_ui->actionData_recorder, SIGNAL(triggered()), this, SLOT(dataRecorder()));
-	connect(_ui->actionPost_processing, SIGNAL(triggered()), this, SLOT(postProcessing()));
+	connect(_ui->actionPost_processing, SIGNAL(triggered()), this, SLOT(showPostProcessingDialog()));
 	connect(_ui->actionDepth_Calibration, SIGNAL(triggered()), this, SLOT(depthCalibration()));
 
 	_ui->actionPause->setShortcut(Qt::Key_Space);
@@ -6043,7 +6042,44 @@ void MainWindow::exportPoses(int format)
 	}
 }
 
-void MainWindow::postProcessing()
+void MainWindow::showPostProcessingDialog()
+{
+	if(_postProcessingDialog->exec() != QDialog::Accepted)
+	{
+		return;
+	}
+
+	postProcessing(
+			_postProcessingDialog->isRefineNeighborLinks(),
+			_postProcessingDialog->isRefineLoopClosureLinks(),
+			_postProcessingDialog->isDetectMoreLoopClosures(),
+			_postProcessingDialog->clusterRadius(),
+			_postProcessingDialog->clusterAngle(),
+			_postProcessingDialog->iterations(),
+			_postProcessingDialog->interSession(),
+			_postProcessingDialog->intraSession(),
+			_postProcessingDialog->isSBA(),
+			_postProcessingDialog->sbaIterations(),
+			_postProcessingDialog->sbaVariance(),
+			_postProcessingDialog->sbaType(),
+			_postProcessingDialog->sbaRematchFeatures());
+}
+
+void MainWindow::postProcessing(
+		bool refineNeighborLinks,
+		bool refineLoopClosureLinks,
+		bool detectMoreLoopClosures,
+		double clusterRadius,
+		double clusterAngle,
+		int iterations,
+		bool interSession,
+		bool intraSession,
+		bool sba,
+		int sbaIterations,
+		double sbaVariance,
+		Optimizer::Type sbaType,
+		double sbaRematchFeatures,
+		bool abortIfDataMissing)
 {
 	if(_cachedSignatures.size() == 0)
 	{
@@ -6054,22 +6090,6 @@ void MainWindow::postProcessing()
 				   "refresh the cache."));
 		return;
 	}
-	if(_postProcessingDialog->exec() != QDialog::Accepted)
-	{
-		return;
-	}
-
-	bool detectMoreLoopClosures = _postProcessingDialog->isDetectMoreLoopClosures();
-	bool refineNeighborLinks = _postProcessingDialog->isRefineNeighborLinks();
-	bool refineLoopClosureLinks = _postProcessingDialog->isRefineLoopClosureLinks();
-	double clusterRadius = _postProcessingDialog->clusterRadius();
-	double clusterAngle = _postProcessingDialog->clusterAngle();
-	int detectLoopClosureIterations = _postProcessingDialog->iterations();
-	bool sba = _postProcessingDialog->isSBA();
-	int sbaIterations = _postProcessingDialog->sbaIterations();
-	double sbaVariance = _postProcessingDialog->sbaVariance();
-	Optimizer::Type sbaType = _postProcessingDialog->sbaType();
-	double sbaRematchFeatures = _postProcessingDialog->sbaRematchFeatures();
 
 	if(!detectMoreLoopClosures && !refineNeighborLinks && !refineLoopClosureLinks && !sba)
 	{
@@ -6104,11 +6124,15 @@ void MainWindow::postProcessing()
 
 	if(!allDataAvailable)
 	{
-		QMessageBox::warning(this, tr("Not all data available in the GUI..."),
+		QString msg = tr("Some data missing in the cache to respect the constraints chosen. "
-				tr("Some data missing in the cache to respect the constraints chosen. "
+				   "Try \"Edit->Download all clouds\" to update the cache and try again.");
-				   "Try \"Edit->Download all clouds\" to update the cache and try again."));
+		UWARN(msg.toStdString().c_str());
+		if(abortIfDataMissing)
+		{
+			QMessageBox::warning(this, tr("Not all data available in the GUI..."), msg);
 			return;
 		}
+	}
 
 	_progressDialog->resetProgress();
 	_progressDialog->clear();
@@ -6159,13 +6183,11 @@ void MainWindow::postProcessing()
 			odomMaxInf = graph::getMaxOdomInf(_currentLinksMap);
 		}
 
-		UASSERT(detectLoopClosureIterations>0);
+		UASSERT(iterations>0);
-		bool interSession = _postProcessingDialog->interSession();
+		for(int n=0; n<iterations && !_progressCanceled; ++n)
-		bool intraSession = _postProcessingDialog->intraSession();
-		for(int n=0; n<detectLoopClosureIterations && !_progressCanceled; ++n)
 		{
 			_progressDialog->appendText(tr("Looking for more loop closures, clustering poses... (iteration=%1/%2, radius=%3 m angle=%4 degrees)")
-					.arg(n+1).arg(detectLoopClosureIterations).arg(clusterRadius).arg(clusterAngle));
+					.arg(n+1).arg(iterations).arg(clusterRadius).arg(clusterAngle));
 
 			std::multimap<int, int> clusters = graph::radiusPosesClustering(
 					std::map<int, Transform>(_currentPosesMap.upper_bound(0), _currentPosesMap.end()),
@@ -6411,13 +6433,13 @@ void MainWindow::postProcessing()
 				QApplication::processEvents();
 				_progressDialog->incrementStep();
 			}
-			_progressDialog->appendText(tr("Iteration %1/%2: Detected %3 loop closures!").arg(n+1).arg(detectLoopClosureIterations).arg(addedLinks.size()/2));
+			_progressDialog->appendText(tr("Iteration %1/%2: Detected %3 loop closures!").arg(n+1).arg(iterations).arg(addedLinks.size()/2));
 			if(addedLinks.size() == 0)
 			{
 				break;
 			}
 
-			if(n+1 < detectLoopClosureIterations)
+			if(n+1 < iterations)
 			{
 				_progressDialog->appendText(tr("Optimizing graph with new links (%1 nodes, %2 constraints)...")
 						.arg(_currentPosesMap.size()).arg(_currentLinksMap.size()));

guilib/src/ui/preferencesDialog.ui

@@ -63,7 +63,7 @@
           <property name="geometry">
            <rect>
             <x>0</x>
-            <y>0</y>
+            <y>-595</y>
             <width>686</width>
             <height>3905</height>
            </rect>
@@ -95,7 +95,7 @@
                 <enum>QFrame::Raised</enum>
                </property>
                <property name="currentIndex">
-                <number>15</number>
+                <number>5</number>
                </property>
                <widget class="QWidget" name="page_22">
                 <layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -3413,7 +3413,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                                   <item row="8" column="1">
                                    <widget class="QLabel" name="label_436">
                                     <property name="text">
-                                     <string>IR-Depth vertical shift.</string>
+                                     <string>IR-Depth vertical shift. Positive toward up, negative toward down.</string>
                                     </property>
                                     <property name="wordWrap">
                                      <bool>true</bool>
@@ -3445,8 +3445,11 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                                     <property name="suffix">
                                      <string> pix</string>
                                     </property>
+                                    <property name="minimum">
+                                     <number>-9999</number>
+                                    </property>
                                     <property name="maximum">
-                                     <number>65535</number>
+                                     <number>9999</number>
                                     </property>
                                    </widget>
                                   </item>
@@ -3510,7 +3513,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                                   <item row="7" column="1">
                                    <widget class="QLabel" name="label_435">
                                     <property name="text">
-                                     <string>IR-Depth horizontal shift.</string>
+                                     <string>IR-Depth horizontal shift. Positive toward left, negative toward right.</string>
                                     </property>
                                     <property name="wordWrap">
                                      <bool>true</bool>
@@ -3535,8 +3538,11 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                                     <property name="suffix">
                                      <string> pix</string>
                                     </property>
+                                    <property name="minimum">
+                                     <number>-9999</number>
+                                    </property>
                                     <property name="maximum">
-                                     <number>65535</number>
+                                     <number>9999</number>
                                     </property>
                                    </widget>
                                   </item>