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improve flood fill and move it to update function (#727)

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* add flood fill filter

* change to use unordoned_multiset

* remove recursivity in flood fill and move the flood fill into the update

* Refactoring of OctoMap constructors (keeping only one). Simplified floodfill parameters to only one and added it to UI.

* Fixed ray tracing not done in local 3D maps (OctoMap)

Co-authored-by: MarcLeclercGit <marcantoine.leclerc96@gmail.com>
Co-authored-by: matlabbe <matlabbe@gmail.com>
This commit is contained in:
chameau5050
2021-05-30 10:12:07 -04:00
committed by GitHub
parent b7c2f6801b
commit f94f9cbb9b
7 changed files with 431 additions and 321 deletions
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4
guilib/src/DatabaseViewer.cpp
View File

@@ -4907,7 +4907,9 @@ void DatabaseViewer::update(int value,
(localMaps.begin()->second.first.second.empty() || localMaps.begin()->second.first.second.channels() > 2) &&
(localMaps.begin()->second.second.empty() || localMaps.begin()->second.second.channels() > 2) &&
localMapsInfo.begin()->second.first > 0.0f)
{
{
//create local octomap
ParametersMap params;
params.insert(ParametersPair(Parameters::kGridCellSize(), uNumber2Str(localMapsInfo.begin()->second.first)));
octomap = new OctoMap(params);
octomap->addToCache(data.id(), localMaps.begin()->second.first.first, localMaps.begin()->second.first.second, localMaps.begin()->second.second, localMapsInfo.begin()->second.second);

1
guilib/src/PreferencesDialog.cpp
View File

@@ -1239,6 +1239,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->doubleSpinBox_grid_clampingMin->setObjectName(Parameters::kGridGlobalProbClampingMin().c_str());
_ui->doubleSpinBox_grid_clampingMax->setObjectName(Parameters::kGridGlobalProbClampingMax().c_str());
_ui->checkBox_grid_erode->setObjectName(Parameters::kGridGlobalEroded().c_str());
_ui->spinBox_grid_floodfilldepth->setObjectName(Parameters::kGridGlobalFloodFillDepth().c_str());
//Odometry
_ui->odom_strategy->setObjectName(Parameters::kOdomStrategy().c_str());

456
guilib/src/ui/preferencesDialog.ui
View File

@@ -95,7 +95,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>5</number>
<number>16</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -12629,98 +12629,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<layout class="QVBoxLayout" name="verticalLayout_115">
<item>
<layout class="QGridLayout" name="gridLayout_88" columnstretch="0,1">
<item row="9" column="1">
<widget class="QLabel" name="label_484">
<property name="text">
<string>Probability clamping threshold minimum.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QCheckBox" name="checkBox_grid_fullUpdate">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_332">
<property name="text">
<string>Full update. When the graph is changed, the whole map will be reconstructed instead of moving individually each cells of the map. Data added to cache won't be released after updating the map. This process is longer but more robust to drift that would erase some parts of the map when it should not.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="11" column="1">
<widget class="QLabel" name="label_224">
<property name="text">
<string>Erode obstacle cells.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_482">
<property name="text">
<string>Probability of a hit.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_319">
<property name="text">
<string>Footprint radius used to clear all obstacles under the graph.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="11" column="0">
<widget class="QCheckBox" name="checkBox_grid_erode">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QSpinBox" name="spinBox_grid_maxNodes">
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_footprintRadius">
<property name="suffix">
@@ -12740,58 +12648,20 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_366">
<item row="11" column="0">
<widget class="QCheckBox" name="checkBox_grid_erode">
<property name="text">
<string>Minimum map size.</string>
<string/>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_minMapSize">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>0</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>9999.000000000000000</double>
</property>
<property name="singleStep">
<double>10.000000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_455">
<item row="8" column="1">
<widget class="QLabel" name="label_483">
<property name="text">
<string>Maximum nodes assembled in the map starting from the last node (0=unlimited).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_454">
<property name="text">
<string>Graph changed detection error. Update map only if poses in new optimized graph have moved more than this value.</string>
<string>Probability of a miss.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -12823,10 +12693,10 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_457">
<item row="2" column="1">
<widget class="QLabel" name="label_366">
<property name="text">
<string>Occupancy threshold.</string>
<string>Minimum map size.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -12836,6 +12706,29 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_616">
<property name="text">
<string>Altitude delta. Assemble only nodes that have the same altitude of +-delta meters of the current pose (0=disabled). This is used to generate 2D occupancy grid based on the current altitude (e.g., multi-floor building).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QCheckBox" name="checkBox_grid_fullUpdate">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_occThr">
<property name="suffix">
@@ -12855,10 +12748,182 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QLabel" name="label_483">
<item row="9" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_clampingMin">
<property name="suffix">
<string/>
</property>
<property name="decimals">
<number>4</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.500000000000000</double>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_332">
<property name="text">
<string>Probability of a miss.</string>
<string>Full update. When the graph is changed, the whole map will be reconstructed instead of moving individually each cells of the map. Data added to cache won't be released after updating the map. This process is longer but more robust to drift that would erase some parts of the map when it should not.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_probMiss">
<property name="suffix">
<string/>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>0.500000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.500000000000000</double>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_454">
<property name="text">
<string>Graph changed detection error. Update map only if poses in new optimized graph have moved more than this value.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_482">
<property name="text">
<string>Probability of a hit.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_455">
<property name="text">
<string>Maximum nodes assembled in the map starting from the last node (0=unlimited).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_457">
<property name="text">
<string>Occupancy threshold.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_minMapSize">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>0</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>9999.000000000000000</double>
</property>
<property name="singleStep">
<double>10.000000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
<item row="10" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_clampingMax">
<property name="suffix">
<string/>
</property>
<property name="decimals">
<number>4</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.500000000000000</double>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_altitudeDelta">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>99.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
<item row="11" column="1">
<widget class="QLabel" name="label_224">
<property name="text">
<string>Erode obstacle cells.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -12887,22 +12952,29 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_probMiss">
<property name="suffix">
<string/>
<item row="9" column="1">
<widget class="QLabel" name="label_484">
<property name="text">
<string>Probability clamping threshold minimum.</string>
</property>
<property name="minimum">
<double>0.000000000000000</double>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="maximum">
<double>0.500000000000000</double>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_319">
<property name="text">
<string>Footprint radius used to clear all obstacles under the graph.</string>
</property>
<property name="value">
<double>0.500000000000000</double>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
@@ -12919,54 +12991,17 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="9" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_clampingMin">
<property name="suffix">
<string/>
</property>
<property name="decimals">
<number>4</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<item row="3" column="0">
<widget class="QSpinBox" name="spinBox_grid_maxNodes">
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.500000000000000</double>
<number>9999</number>
</property>
</widget>
</item>
<item row="10" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_clampingMax">
<property name="suffix">
<string/>
</property>
<property name="decimals">
<number>4</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.500000000000000</double>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_616">
<item row="12" column="1">
<widget class="QLabel" name="label_316">
<property name="text">
<string>Altitude delta. Assemble only nodes that have the same altitude of +-delta meters of the current pose (0=disabled). This is used to generate 2D occupancy grid based on the current altitude (e.g., multi-floor building).</string>
<string>Flood fill filter (0=disabled), used to remove empty cells outside the map. The flood fill is done at the specified depth (between 1 and 16) of the OctoMap.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -12976,25 +13011,10 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_altitudeDelta">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<item row="12" column="0">
<widget class="QSpinBox" name="spinBox_grid_floodfilldepth">
<property name="maximum">
<double>99.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
<number>16</number>
</property>
</widget>
</item>