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Added GainCompensator class. GUI/3D Rendering: added texturing option.

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matlabbe
2016-09-07 12:15:44 -04:00
parent 3b25fef852
commit ff4300d525
18 changed files with 1458 additions and 541 deletions
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guilib/src/DatabaseViewer.cpp
+27 -3
View File
@@ -68,6 +68,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/OccupancyGrid.h"
#include "rtabmap/gui/DataRecorder.h"
#include "rtabmap/core/SensorData.h"
#include "rtabmap/core/GainCompensator.h"
#include "ExportDialog.h"
#include "rtabmap/gui/ProgressDialog.h"
#include "ParametersToolBox.h"
@@ -253,6 +254,7 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
connect(ui_->checkBox_ignoreUserLoop, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
connect(ui_->spinBox_optimizationDepth, SIGNAL(editingFinished()), this, SLOT(updateGraphView()));
connect(ui_->checkBox_gridErode, SIGNAL(stateChanged(int)), this, SLOT(updateGrid()));
connect(ui_->doubleSpinBox_gainCompensationRadius, SIGNAL(valueChanged(double)), this, SLOT(updateConstraintView()));
connect(ui_->groupBox_posefiltering, SIGNAL(clicked(bool)), this, SLOT(updateGraphView()));
connect(ui_->doubleSpinBox_posefilteringRadius, SIGNAL(editingFinished()), this, SLOT(updateGraphView()));
connect(ui_->doubleSpinBox_posefilteringAngle, SIGNAL(editingFinished()), this, SLOT(updateGraphView()));
@@ -280,6 +282,7 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
connect(ui_->checkBox_ignoreUserLoop, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->spinBox_optimizationDepth, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
connect(ui_->checkBox_gridErode, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->doubleSpinBox_gainCompensationRadius, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
connect(ui_->doubleSpinBox_gridCellSize, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
connect(ui_->groupBox_posefiltering, SIGNAL(clicked(bool)), this, SLOT(configModified()));
connect(ui_->doubleSpinBox_posefilteringRadius, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
@@ -392,6 +395,7 @@ void DatabaseViewer::readSettings()
ui_->checkBox_ignoreUserLoop->setChecked(settings.value("ignoreUserLoop", ui_->checkBox_ignoreUserLoop->isChecked()).toBool());
ui_->spinBox_optimizationDepth->setValue(settings.value("depth", ui_->spinBox_optimizationDepth->value()).toInt());
ui_->checkBox_gridErode->setChecked(settings.value("erode", ui_->checkBox_gridErode->isChecked()).toBool());
ui_->doubleSpinBox_gainCompensationRadius->setValue(settings.value("gainCompensationRadius", ui_->doubleSpinBox_gainCompensationRadius->value()).toDouble());
settings.endGroup();
settings.beginGroup("grid");
@@ -473,6 +477,7 @@ void DatabaseViewer::writeSettings()
//settings.setValue("slam2d", ui_->checkBox_2dslam->isChecked());
settings.setValue("depth", ui_->spinBox_optimizationDepth->value());
settings.setValue("erode", ui_->checkBox_gridErode->isChecked());
settings.setValue("gainCompensationRadius", ui_->doubleSpinBox_gainCompensationRadius->value());
settings.endGroup();
// save Grid settings
@@ -3285,13 +3290,33 @@ void DatabaseViewer::updateConstraintView(
if(ui_->checkBox_show3Dclouds->isChecked())
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudFrom, cloudTo;
pcl::IndicesPtr indicesFrom(new std::vector<int>);
pcl::IndicesPtr indicesTo(new std::vector<int>);
if(!dataFrom.imageRaw().empty() && !dataFrom.depthOrRightRaw().empty())
{
cloudFrom=util3d::cloudRGBFromSensorData(dataFrom, 1, 0, 0, 0, ui_->parameters_toolbox->getParameters());
cloudFrom=util3d::cloudRGBFromSensorData(dataFrom, 1, 0, 0, indicesFrom.get(), ui_->parameters_toolbox->getParameters());
}
if(!dataTo.imageRaw().empty() && !dataTo.depthOrRightRaw().empty())
{
cloudTo=util3d::cloudRGBFromSensorData(dataTo, 1, 0, 0, 0, ui_->parameters_toolbox->getParameters());
cloudTo=util3d::cloudRGBFromSensorData(dataTo, 1, 0, 0, indicesTo.get(), ui_->parameters_toolbox->getParameters());
}
if(cloudTo.get() && cloudTo->size())
{
cloudTo = rtabmap::util3d::transformPointCloud(cloudTo, t);
}
// Gain compensation
if(ui_->doubleSpinBox_gainCompensationRadius->value()>0.0 &&
cloudFrom.get() && cloudFrom->size() &&
cloudTo.get() && cloudTo->size())
{
UTimer t;
GainCompensator compensator(ui_->doubleSpinBox_gainCompensationRadius->value());
compensator.feed(cloudFrom, indicesFrom, cloudTo, indicesTo, Transform::getIdentity());
compensator.apply(0, cloudFrom, indicesFrom);
compensator.apply(1, cloudTo, indicesTo);
UINFO("Gain compensation time = %fs", t.ticks());
}
if(cloudFrom.get() && cloudFrom->size())
@@ -3300,7 +3325,6 @@ void DatabaseViewer::updateConstraintView(
}
if(cloudTo.get() && cloudTo->size())
{
cloudTo = rtabmap::util3d::transformPointCloud(cloudTo, t);
constraintsViewer_->addCloud("cloud1", cloudTo, Transform::getIdentity(), Qt::cyan);
}
}