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DBViewer: we can now add new links between disconnected maps using only lidar. Export: convert intensity to grayscale when exporting colored mesh.

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This commit is contained in:
matlabbe
2019-11-23 17:58:40 -05:00
parent 85e7c9cf04
commit edee5acdbf
2 changed files with 85 additions and 16 deletions
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64
guilib/src/DatabaseViewer.cpp
View File

@@ -4609,9 +4609,14 @@ void DatabaseViewer::update(int value,
constraintsViewer_->removeAllClouds();
// make a fake link using globally optimized poses
if(graphes_.size())
Link link = this->findActiveLink(from, to);
if(link.isValid())
{
this->updateConstraintView(link, false);
}
else if(graphes_.size())
{
// make a fake link using globally optimized poses
std::map<int, Transform> optimizedPoses = uValueAt(graphes_, ui_->horizontalSlider_iterations->value());
if(optimizedPoses.size() > 0)
{
@@ -4625,7 +4630,6 @@ void DatabaseViewer::update(int value,
}
}
}
constraintsViewer_->update();
}
@@ -5058,7 +5062,8 @@ void DatabaseViewer::updateConstraintView(
link.type()==Link::kLocalTimeClosure?"Time proximity link":
link.type()==Link::kUserClosure?"User link":
link.type()==Link::kLandmark?"Landmark link":
link.type()==Link::kVirtualClosure?"Virtual link":"Undefined"));
link.type()==Link::kVirtualClosure?"Virtual link":
link.type()==Link::kGravity?"Gravity link":"Undefined"));
ui_->label_variance->setText(QString("%1, %2")
.arg(sqrt(link.transVariance()))
.arg(sqrt(link.rotVariance())));
@@ -5570,7 +5575,7 @@ void DatabaseViewer::updateConstraintButtons()
{
ui_->pushButton_reset->setEnabled(false);
}
ui_->pushButton_refine->setEnabled(true);
ui_->pushButton_refine->setEnabled(currentLink.from()!=currentLink.to());
ui_->toolButton_constraint->setEnabled(true);
}
}
@@ -6913,16 +6918,45 @@ bool DatabaseViewer::addConstraint(int from, int to, bool silent)
{
if(!silent)
{
QMessageBox::information(this,
tr("Add constraint"),
if(QMessageBox::question(this,
tr("Add constraint from optimized graph"),
tr("Registration is done without vision (see %1 parameter), "
"a guess is taken from the optimized graph.")
.arg(Parameters::kRegStrategy().c_str()));
"do you want to use a guess from the optimized graph?"
""
"\n\nOtherwise, if "
"the database has images, it is recommended to use %2=2 instead so that "
"the guess can be found visually.")
.arg(Parameters::kRegStrategy().c_str()).arg(Parameters::kRegStrategy().c_str()),
QMessageBox::StandardButton::Yes | QMessageBox::StandardButton::No,
QMessageBox::StandardButton::Yes) == QMessageBox::StandardButton::Yes)
{
guess = fromIter->second.inverse() * toIter->second;
}
}
else
{
guess = fromIter->second.inverse() * toIter->second;
}
guess = fromIter->second.inverse() * toIter->second;
}
}
}
if(guess.isNull() && !silent)
{
if(QMessageBox::question(this,
tr("Add constraint without guess"),
tr("Registration is done without vision (see %1 parameter) and we cannot (or we don't want to) find relative "
"transformation between the nodes with the current graph. Do you want to use an identity "
"transform for ICP guess? "
""
"\n\nOtherwise, if the database has images, it is recommended to use %2=2 "
"instead so that the guess can be found visually.")
.arg(Parameters::kRegStrategy().c_str()).arg(Parameters::kRegStrategy().c_str()),
QMessageBox::StandardButton::Yes | QMessageBox::StandardButton::Abort,
QMessageBox::StandardButton::Abort) == QMessageBox::StandardButton::Yes)
{
guess.setIdentity();
}
}
}
t = reg->computeTransformationMod(*fromS, *toS, guess, &info);
@@ -7211,7 +7245,7 @@ void DatabaseViewer::rejectConstraint()
std::multimap<int, rtabmap::Link> DatabaseViewer::updateLinksWithModifications(
const std::multimap<int, rtabmap::Link> & edgeConstraints)
{
UINFO("linksAdded_=%d linksRefined_=%d linksRemoved_=%d", (int)linksAdded_.size(), (int)linksRefined_.size(), (int)linksRemoved_.size());
UDEBUG("linksAdded_=%d linksRefined_=%d linksRemoved_=%d", (int)linksAdded_.size(), (int)linksRefined_.size(), (int)linksRemoved_.size());
std::multimap<int, rtabmap::Link> links;
for(std::multimap<int, rtabmap::Link>::const_iterator iter=edgeConstraints.begin();
@@ -7223,7 +7257,7 @@ std::multimap<int, rtabmap::Link> DatabaseViewer::updateLinksWithModifications(
findIter = rtabmap::graph::findLink(linksRemoved_, iter->second.from(), iter->second.to());
if(findIter != linksRemoved_.end())
{
UINFO("Removed link (%d->%d, %d)", iter->second.from(), iter->second.to(), iter->second.type());
UDEBUG("Removed link (%d->%d, %d)", iter->second.from(), iter->second.to(), iter->second.type());
continue; // don't add this link
}
@@ -7231,7 +7265,7 @@ std::multimap<int, rtabmap::Link> DatabaseViewer::updateLinksWithModifications(
if(findIter!=linksRefined_.end())
{
links.insert(*findIter); // add the refined link
UINFO("Updated link (%d->%d, %d)", iter->second.from(), iter->second.to(), iter->second.type());
UDEBUG("Updated link (%d->%d, %d)", iter->second.from(), iter->second.to(), iter->second.type());
continue;
}
@@ -7247,11 +7281,11 @@ std::multimap<int, rtabmap::Link> DatabaseViewer::updateLinksWithModifications(
if(findIter!=linksRefined_.end())
{
links.insert(*findIter); // add the refined link
UINFO("Added refined link (%d->%d, %d)", findIter->second.from(), findIter->second.to(), findIter->second.type());
UDEBUG("Added refined link (%d->%d, %d)", findIter->second.from(), findIter->second.to(), findIter->second.type());
continue;
}
UINFO("Added link (%d->%d, %d)", iter->second.from(), iter->second.to(), iter->second.type());
UDEBUG("Added link (%d->%d, %d)", iter->second.from(), iter->second.to(), iter->second.type());
links.insert(*iter);
}

37
guilib/src/ExportCloudsDialog.cpp
View File

@@ -1179,6 +1179,7 @@ void ExportCloudsDialog::viewClouds(
else if(meshes.size())
{
viewer->setPolygonPicking(true);
viewer->setLighting(_ui->doubleSpinBox_transferColorRadius->value() < 0.0);
for(std::map<int, pcl::PolygonMesh::Ptr>::iterator iter = meshes.begin(); iter!=meshes.end(); ++iter)
{
_progressDialog->appendText(tr("Viewing the mesh %1 (%2 polygons)...").arg(iter->first).arg(iter->second->polygons.size()));
@@ -1272,7 +1273,7 @@ void ExportCloudsDialog::viewClouds(
viewer->addCloud(uFormat("cloud%d",iter->first), iter->second, iter->first>0?poses.at(iter->first):Transform::getIdentity());
}
viewer->setCloudPointSize(uFormat("cloud%d",iter->first), 2);
viewer->setCloudPointSize(uFormat("cloud%d",iter->first), 1);
_progressDialog->appendText(tr("Viewing the cloud %1 (%2 points)... done.").arg(iter->first).arg(iter->second->size()));
}
}
@@ -2358,6 +2359,40 @@ bool ExportCloudsDialog::getExportedClouds(
if(mesh->polygons.size()>0)
{
TexturingState texturingState(_progressDialog, false);
if(!_ui->checkBox_fromDepth->isChecked())
{
// When laser scans are exported, convert Intensity to GrayScale
int maxIntensity = 1;
// first: get max intensity
for(size_t i=0; i<iter->second->size(); ++i)
{
int intensity =
int(iter->second->points[i].r) |
int(iter->second->points[i].g) << 8 |
int(iter->second->points[i].b) << 16 |
int(iter->second->points[i].a) << 24;
if(intensity > maxIntensity)
{
maxIntensity = intensity;
}
}
// second: convert to grayscale
for(size_t i=0; i<iter->second->size(); ++i)
{
int intensity =
int(iter->second->points[i].r) |
int(iter->second->points[i].g) << 8 |
int(iter->second->points[i].b) << 16 |
int(iter->second->points[i].a) << 24;
intensity = intensity*255/maxIntensity;
iter->second->points[i].r = (unsigned char)intensity;
iter->second->points[i].g = (unsigned char)intensity;
iter->second->points[i].b = (unsigned char)intensity;
iter->second->points[i].a = (unsigned char)255;
}
}
util3d::denseMeshPostProcessing<pcl::PointXYZRGBNormal>(
mesh,
_ui->doubleSpinBox_meshDecimationFactor->isEnabled()?(float)_ui->doubleSpinBox_meshDecimationFactor->value():0.0f,