mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-12 06:20:19 +08:00
Export: supporting texturing with multi-camera
This commit is contained in:
matlabbe
+124
-41
@@ -144,18 +144,15 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
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// Create cloud viewers
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constraintsViewer_ = new CloudViewer(ui_->dockWidgetContents);
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cloudViewerA_ = new CloudViewer(ui_->dockWidgetContents_3dviews);
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cloudViewerB_ = new CloudViewer(ui_->dockWidgetContents_3dviews);
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cloudViewer_ = new CloudViewer(ui_->dockWidgetContents_3dviews);
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stereoViewer_ = new CloudViewer(ui_->dockWidgetContents_stereo);
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occupancyGridViewer_ = new CloudViewer(ui_->dockWidgetContents_occupancyGrid);
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constraintsViewer_->setObjectName("constraintsViewer");
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cloudViewerA_->setObjectName("cloudViewerA");
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cloudViewerB_->setObjectName("cloudViewerB");
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cloudViewer_->setObjectName("cloudViewerA");
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stereoViewer_->setObjectName("stereoViewer");
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occupancyGridViewer_->setObjectName("occupancyGridView");
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ui_->layout_constraintsViewer->addWidget(constraintsViewer_);
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ui_->horizontalLayout_3dviews->addWidget(cloudViewerA_, 1);
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ui_->horizontalLayout_3dviews->addWidget(cloudViewerB_, 1);
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ui_->horizontalLayout_3dviews->addWidget(cloudViewer_, 1);
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ui_->horizontalLayout_stereo->addWidget(stereoViewer_, 1);
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ui_->layout_occupancyGridView->addWidget(occupancyGridViewer_, 1);
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@@ -268,6 +265,7 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
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connect(ui_->spinBox_mesh_depthError, SIGNAL(valueChanged(int)), this, SLOT(update3dView()));
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connect(ui_->checkBox_mesh_quad, SIGNAL(toggled(bool)), this, SLOT(update3dView()));
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connect(ui_->spinBox_mesh_triangleSize, SIGNAL(valueChanged(int)), this, SLOT(update3dView()));
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connect(ui_->checkBox_showWords, SIGNAL(toggled(bool)), this, SLOT(update3dView()));
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connect(ui_->checkBox_showCloud, SIGNAL(toggled(bool)), this, SLOT(update3dView()));
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connect(ui_->checkBox_showMesh, SIGNAL(toggled(bool)), this, SLOT(update3dView()));
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connect(ui_->checkBox_showScan, SIGNAL(toggled(bool)), this, SLOT(update3dView()));
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@@ -311,6 +309,8 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
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connect(ui_->spinBox_grid_depth, SIGNAL(valueChanged(int)), this, SLOT(updateOctomapView()));
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connect(ui_->checkBox_grid_empty, SIGNAL(stateChanged(int)), this, SLOT(updateOctomapView()));
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connect(ui_->doubleSpinBox_gainCompensationRadius, SIGNAL(valueChanged(double)), this, SLOT(updateConstraintView()));
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connect(ui_->doubleSpinBox_voxelSize, SIGNAL(valueChanged(double)), this, SLOT(updateConstraintView()));
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connect(ui_->doubleSpinBox_voxelSize, SIGNAL(valueChanged(double)), this, SLOT(update3dView()));
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connect(ui_->groupBox_posefiltering, SIGNAL(clicked(bool)), this, SLOT(updateGraphView()));
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connect(ui_->doubleSpinBox_posefilteringRadius, SIGNAL(editingFinished()), this, SLOT(updateGraphView()));
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connect(ui_->doubleSpinBox_posefilteringAngle, SIGNAL(editingFinished()), this, SLOT(updateGraphView()));
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@@ -342,6 +342,7 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
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connect(ui_->checkBox_gridErode, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
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connect(ui_->checkBox_octomap, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
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connect(ui_->doubleSpinBox_gainCompensationRadius, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
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connect(ui_->doubleSpinBox_voxelSize, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
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connect(ui_->doubleSpinBox_gridCellSize, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
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connect(ui_->groupBox_posefiltering, SIGNAL(clicked(bool)), this, SLOT(configModified()));
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connect(ui_->doubleSpinBox_posefilteringRadius, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
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@@ -396,12 +397,10 @@ void DatabaseViewer::setupMainLayout(bool vertical)
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if(vertical)
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{
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qobject_cast<QHBoxLayout *>(ui_->horizontalLayout_imageViews->layout())->setDirection(QBoxLayout::TopToBottom);
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qobject_cast<QHBoxLayout *>(ui_->horizontalLayout_3dviews->layout())->setDirection(QBoxLayout::TopToBottom);
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}
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else if(!vertical)
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{
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qobject_cast<QHBoxLayout *>(ui_->horizontalLayout_imageViews->layout())->setDirection(QBoxLayout::LeftToRight);
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qobject_cast<QHBoxLayout *>(ui_->horizontalLayout_3dviews->layout())->setDirection(QBoxLayout::LeftToRight);
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}
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if(ids_.size())
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{
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@@ -469,6 +468,8 @@ void DatabaseViewer::readSettings()
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ui_->checkBox_ignoreUserLoop->setChecked(settings.value("ignoreUserLoop", ui_->checkBox_ignoreUserLoop->isChecked()).toBool());
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ui_->spinBox_optimizationDepth->setValue(settings.value("depth", ui_->spinBox_optimizationDepth->value()).toInt());
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ui_->doubleSpinBox_gainCompensationRadius->setValue(settings.value("gainCompensationRadius", ui_->doubleSpinBox_gainCompensationRadius->value()).toDouble());
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ui_->doubleSpinBox_voxelSize->setValue(settings.value("voxelSize", ui_->doubleSpinBox_voxelSize->value()).toDouble());
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settings.endGroup();
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settings.beginGroup("grid");
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@@ -561,6 +562,7 @@ void DatabaseViewer::writeSettings()
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//settings.setValue("slam2d", ui_->checkBox_2dslam->isChecked());
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settings.setValue("depth", ui_->spinBox_optimizationDepth->value());
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settings.setValue("gainCompensationRadius", ui_->doubleSpinBox_gainCompensationRadius->value());
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settings.setValue("voxelSize", ui_->doubleSpinBox_voxelSize->value());
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settings.endGroup();
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// save Grid settings
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@@ -637,6 +639,7 @@ void DatabaseViewer::restoreDefaultSettings()
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ui_->checkBox_ignoreUserLoop->setChecked(false);
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ui_->spinBox_optimizationDepth->setValue(0);
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ui_->doubleSpinBox_gainCompensationRadius->setValue(0.0);
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ui_->doubleSpinBox_voxelSize->setValue(0.0);
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ui_->doubleSpinBox_gridCellSize->setValue(0.05);
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ui_->groupBox_posefiltering->setChecked(false);
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@@ -955,6 +958,15 @@ void DatabaseViewer::resizeEvent(QResizeEvent* anEvent)
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}
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}
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void DatabaseViewer::keyPressEvent(QKeyEvent *event)
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{
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//catch ctrl-s to save settings
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if((event->modifiers() & Qt::ControlModifier) && event->key() == Qt::Key_S)
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{
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this->writeSettings();
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}
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}
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bool DatabaseViewer::eventFilter(QObject *obj, QEvent *event)
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{
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if (event->type() == QEvent::Resize && qobject_cast<QDockWidget*>(obj))
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@@ -2370,7 +2382,6 @@ void DatabaseViewer::sliderAValueChanged(int value)
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ui_->label_labelA,
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ui_->label_stampA,
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ui_->graphicsView_A,
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cloudViewerA_,
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ui_->label_idA,
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ui_->label_mapA,
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ui_->label_poseA,
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@@ -2388,7 +2399,6 @@ void DatabaseViewer::sliderBValueChanged(int value)
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ui_->label_labelB,
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ui_->label_stampB,
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ui_->graphicsView_B,
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cloudViewerB_,
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ui_->label_idB,
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ui_->label_mapB,
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ui_->label_poseB,
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@@ -2404,7 +2414,6 @@ void DatabaseViewer::update(int value,
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QLabel * label,
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QLabel * stamp,
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rtabmap::ImageView * view,
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rtabmap::CloudViewer * view3D,
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QLabel * labelId,
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QLabel * labelMapId,
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QLabel * labelPose,
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@@ -2543,7 +2552,7 @@ void DatabaseViewer::update(int value,
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}
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// 3d view
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if(view3D->isVisible())
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if(cloudViewer_->isVisible())
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{
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Transform pose = Transform::getIdentity();
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if(signatures.size() && ui_->checkBox_odomFrame_3dview->isChecked())
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@@ -2553,14 +2562,15 @@ void DatabaseViewer::update(int value,
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pose = Transform(0,0,z,roll,pitch,0);
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}
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view3D->removeAllFrustums();
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view3D->removeCloud("mesh");
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view3D->removeCloud("cloud");
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view3D->removeCloud("scan");
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view3D->removeCloud("map");
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view3D->removeCloud("ground");
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view3D->removeCloud("obstacles");
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view3D->removeOctomap();
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cloudViewer_->removeAllFrustums();
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cloudViewer_->removeCloud("mesh");
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cloudViewer_->removeCloud("cloud");
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cloudViewer_->removeCloud("scan");
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cloudViewer_->removeCloud("map");
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cloudViewer_->removeCloud("ground");
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cloudViewer_->removeCloud("obstacles");
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cloudViewer_->removeCloud("words");
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cloudViewer_->removeOctomap();
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if(ui_->checkBox_showCloud->isChecked() || ui_->checkBox_showMesh->isChecked())
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{
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if(!data.depthOrRightRaw().empty())
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@@ -2591,6 +2601,11 @@ void DatabaseViewer::update(int value,
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}
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if(cloud->size())
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{
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if(ui_->doubleSpinBox_voxelSize->value() > 0.0)
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{
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cloud = util3d::voxelize(cloud, ui_->doubleSpinBox_voxelSize->value());
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}
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if(ui_->checkBox_showMesh->isChecked() && !cloud->is_dense)
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{
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Eigen::Vector3f viewpoint(0.0f,0.0f,0.0f);
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@@ -2638,14 +2653,13 @@ void DatabaseViewer::update(int value,
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polygons = filteredPolygons;
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}
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view3D->addCloudMesh("mesh", cloud, polygons, pose);
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cloudViewer_->addCloudMesh("mesh", cloud, polygons, pose);
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}
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if(ui_->checkBox_showCloud->isChecked())
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{
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view3D->addCloud("cloud", cloud, pose);
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cloudViewer_->addCloud("cloud", cloud, pose);
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}
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}
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view3D->updateCameraFrustums(pose, data.cameraModels());
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}
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else if(ui_->checkBox_showCloud->isChecked())
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{
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@@ -2653,25 +2667,68 @@ void DatabaseViewer::update(int value,
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cloud = util3d::cloudFromSensorData(data, 1, 0, 0, 0, ui_->parameters_toolbox->getParameters());
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if(cloud->size())
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{
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view3D->addCloud("cloud", cloud, pose);
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view3D->updateCameraFrustum(pose, data.stereoCameraModel());
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if(ui_->doubleSpinBox_voxelSize->value() > 0.0)
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{
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cloud = util3d::voxelize(cloud, ui_->doubleSpinBox_voxelSize->value());
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}
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cloudViewer_->addCloud("cloud", cloud, pose);
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cloudViewer_->updateCameraFrustum(pose, data.stereoCameraModel());
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}
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}
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}
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}
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//frustums
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if(cloudViewer_->isFrustumShown())
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{
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cloudViewer_->updateCameraFrustums(pose, data.cameraModels());
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}
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//words
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if(ui_->checkBox_showWords->isChecked() && signatures.size())
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{
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pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
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cloud->resize((*signatures.begin())->getWords3().size());
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int i=0;
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for(std::multimap<int, cv::Point3f>::const_iterator iter=(*signatures.begin())->getWords3().begin();
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iter!=(*signatures.begin())->getWords3().end();
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++iter)
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{
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cloud->at(i++) = pcl::PointXYZ(iter->second.x, iter->second.y, iter->second.z);
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}
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if(cloud->size())
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{
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cloud = rtabmap::util3d::removeNaNFromPointCloud(cloud);
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}
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if(cloud->size())
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{
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cloudViewer_->addCloud("words", cloud, pose, Qt::red);
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}
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}
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//add scan
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if(ui_->checkBox_showScan->isChecked() && data.laserScanRaw().cols)
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{
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if(data.laserScanRaw().channels() == 6)
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{
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pcl::PointCloud<pcl::PointNormal>::Ptr scan = util3d::laserScanToPointCloudNormal(data.laserScanRaw(), data.laserScanInfo().localTransform());
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view3D->addCloud("scan", scan, pose, Qt::yellow);
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if(ui_->doubleSpinBox_voxelSize->value() > 0.0)
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{
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scan = util3d::voxelize(scan, ui_->doubleSpinBox_voxelSize->value());
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}
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cloudViewer_->addCloud("scan", scan, pose, Qt::yellow);
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}
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else
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{
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pcl::PointCloud<pcl::PointXYZ>::Ptr scan = util3d::laserScanToPointCloud(data.laserScanRaw(), data.laserScanInfo().localTransform());
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view3D->addCloud("scan", scan, pose, Qt::yellow);
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if(ui_->doubleSpinBox_voxelSize->value() > 0.0)
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{
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scan = util3d::voxelize(scan, ui_->doubleSpinBox_voxelSize->value());
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}
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cloudViewer_->addCloud("scan", scan, pose, Qt::yellow);
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}
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}
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@@ -2735,7 +2792,7 @@ void DatabaseViewer::update(int value,
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if(!map8S.empty())
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{
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//convert to gray scaled map
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view3D->addOccupancyGridMap(util3d::convertMap2Image8U(map8S), gridCellSize, xMin, yMin, 1);
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cloudViewer_->addOccupancyGridMap(util3d::convertMap2Image8U(map8S), gridCellSize, xMin, yMin, 1);
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}
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}
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@@ -2751,36 +2808,36 @@ void DatabaseViewer::update(int value,
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pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = octomap->createCloud(0, obstacles.get(), empty.get());
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pcl::PointCloud<pcl::PointXYZRGB>::Ptr obstaclesCloud(new pcl::PointCloud<pcl::PointXYZRGB>);
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pcl::copyPointCloud(*cloud, *obstacles, *obstaclesCloud);
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view3D->addCloud("obstacles", obstaclesCloud);
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view3D->setCloudPointSize("obstacles", 5);
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cloudViewer_->addCloud("obstacles", obstaclesCloud);
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cloudViewer_->setCloudPointSize("obstacles", 5);
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if(ui_->checkBox_grid_empty->isChecked())
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{
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pcl::PointCloud<pcl::PointXYZ>::Ptr emptyCloud(new pcl::PointCloud<pcl::PointXYZ>);
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pcl::copyPointCloud(*cloud, *empty, *emptyCloud);
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view3D->addCloud("ground", emptyCloud, Transform::getIdentity(), Qt::white);
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view3D->setCloudOpacity("ground", 0.5);
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view3D->setCloudPointSize("ground", 5);
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cloudViewer_->addCloud("ground", emptyCloud, Transform::getIdentity(), Qt::white);
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cloudViewer_->setCloudOpacity("ground", 0.5);
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cloudViewer_->setCloudPointSize("ground", 5);
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}
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}
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else
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{
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view3D->addOctomap(octomap);
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cloudViewer_->addOctomap(octomap);
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}
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}
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else
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#endif
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{
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// occupancy cloud
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view3D->addCloud("ground",
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cloudViewer_->addCloud("ground",
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util3d::laserScanToPointCloud(localMaps.begin()->second.first),
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Transform::getIdentity(),
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Qt::green);
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view3D->addCloud("obstacles",
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cloudViewer_->addCloud("obstacles",
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util3d::laserScanToPointCloud(localMaps.begin()->second.second),
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Transform::getIdentity(),
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Qt::red);
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view3D->setCloudPointSize("ground", 5);
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view3D->setCloudPointSize("obstacles", 5);
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cloudViewer_->setCloudPointSize("ground", 5);
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cloudViewer_->setCloudPointSize("obstacles", 5);
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}
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}
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#ifdef RTABMAP_OCTOMAP
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@@ -2791,7 +2848,7 @@ void DatabaseViewer::update(int value,
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#endif
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}
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}
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view3D->update();
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cloudViewer_->update();
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}
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if(signatures.size())
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@@ -3381,7 +3438,6 @@ void DatabaseViewer::updateConstraintView(
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ui_->label_labelA,
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ui_->label_stampA,
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ui_->graphicsView_A,
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cloudViewerA_,
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ui_->label_idA,
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ui_->label_mapA,
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ui_->label_poseA,
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@@ -3395,7 +3451,6 @@ void DatabaseViewer::updateConstraintView(
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ui_->label_labelB,
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ui_->label_stampB,
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ui_->graphicsView_B,
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cloudViewerB_,
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ui_->label_idB,
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ui_->label_mapB,
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ui_->label_poseB,
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@@ -3472,10 +3527,18 @@ void DatabaseViewer::updateConstraintView(
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if(cloudFrom.get() && cloudFrom->size())
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{
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if(ui_->doubleSpinBox_voxelSize->value() > 0.0)
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{
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cloudFrom = util3d::voxelize(cloudFrom, ui_->doubleSpinBox_voxelSize->value());
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}
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constraintsViewer_->addCloud("cloud0", cloudFrom, pose, Qt::red);
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}
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if(cloudTo.get() && cloudTo->size())
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{
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if(ui_->doubleSpinBox_voxelSize->value() > 0.0)
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{
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cloudTo = util3d::voxelize(cloudTo, ui_->doubleSpinBox_voxelSize->value());
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}
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constraintsViewer_->addCloud("cloud1", cloudTo, pose, Qt::cyan);
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}
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}
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@@ -3699,6 +3762,10 @@ void DatabaseViewer::updateConstraintView(
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if(assembledScans->size())
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{
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if(ui_->doubleSpinBox_voxelSize->value() > 0.0)
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{
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assembledScans = util3d::voxelize(assembledScans, ui_->doubleSpinBox_voxelSize->value());
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}
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constraintsViewer_->addCloud("scan2", assembledScans, pose, Qt::cyan);
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}
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if(graph->size())
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@@ -3716,24 +3783,40 @@ void DatabaseViewer::updateConstraintView(
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{
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pcl::PointCloud<pcl::PointNormal>::Ptr scan;
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scan = rtabmap::util3d::laserScanToPointCloudNormal(dataFrom.laserScanRaw(), dataFrom.laserScanInfo().localTransform());
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if(ui_->doubleSpinBox_voxelSize->value() > 0.0)
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{
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scan = util3d::voxelize(scan, ui_->doubleSpinBox_voxelSize->value());
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}
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constraintsViewer_->addCloud("scan0", scan, pose, Qt::yellow);
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}
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else
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{
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pcl::PointCloud<pcl::PointXYZ>::Ptr scan;
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scan = rtabmap::util3d::laserScanToPointCloud(dataFrom.laserScanRaw(), dataFrom.laserScanInfo().localTransform());
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if(ui_->doubleSpinBox_voxelSize->value() > 0.0)
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{
|
||||
scan = util3d::voxelize(scan, ui_->doubleSpinBox_voxelSize->value());
|
||||
}
|
||||
constraintsViewer_->addCloud("scan0", scan, pose, Qt::yellow);
|
||||
}
|
||||
if(dataTo.laserScanRaw().channels() == 6)
|
||||
{
|
||||
pcl::PointCloud<pcl::PointNormal>::Ptr scan;
|
||||
scan = rtabmap::util3d::laserScanToPointCloudNormal(dataTo.laserScanRaw(), t*dataTo.laserScanInfo().localTransform());
|
||||
if(ui_->doubleSpinBox_voxelSize->value() > 0.0)
|
||||
{
|
||||
scan = util3d::voxelize(scan, ui_->doubleSpinBox_voxelSize->value());
|
||||
}
|
||||
constraintsViewer_->addCloud("scan1", scan, pose, Qt::magenta);
|
||||
}
|
||||
else
|
||||
{
|
||||
pcl::PointCloud<pcl::PointXYZ>::Ptr scan;
|
||||
scan = rtabmap::util3d::laserScanToPointCloud(dataTo.laserScanRaw(), t*dataTo.laserScanInfo().localTransform());
|
||||
if(ui_->doubleSpinBox_voxelSize->value() > 0.0)
|
||||
{
|
||||
scan = util3d::voxelize(scan, ui_->doubleSpinBox_voxelSize->value());
|
||||
}
|
||||
constraintsViewer_->addCloud("scan1", scan, pose, Qt::magenta);
|
||||
}
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user