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Tango: Added "Adjust colors" post-processing option. Updated ICP parameters. Added "Mem/LaserScanNormalK" parameter for convenience.

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This commit is contained in:
matlabbe
2016-09-07 17:19:21 -04:00
parent ce1acd9d44
commit 4a072b3dfc
18 changed files with 501 additions and 351 deletions
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app/android/AndroidManifest.xml.in
+1 -1
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@@ -2,7 +2,7 @@
<!-- BEGIN_INCLUDE(manifest) -->
<manifest xmlns:android="http://schemas.android.com/apk/res/android"
package="com.introlab.rtabmap"
android:versionCode="10"
android:versionCode="11"
android:versionName="@RTABMAP_VERSION@">
<uses-permission android:name="android.permission.CAMERA" />
app/android/jni/RTABMapApp.cpp
+62 -14
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@@ -47,6 +47,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/core/Optimizer.h>
#include <rtabmap/core/VWDictionary.h>
#include <rtabmap/core/Memory.h>
#include <rtabmap/core/GainCompensator.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/io/ply_io.h>
#include <pcl/io/obj_io.h>
@@ -90,10 +91,13 @@ rtabmap::ParametersMap RTABMapApp::getRtabmapParameters()
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDNeighborLinkRefining(), uBool2Str(driftCorrection_)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRegStrategy(), std::string(driftCorrection_?"1":"0")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kIcpPointToPlane(), std::string("false")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kIcpPointToPlaneNormalNeighbors(), std::string("6")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kIcpPointToPlane(), std::string("true")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemLaserScanNormalK(), std::string("6")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kIcpIterations(), std::string("10")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kIcpEpsilon(), std::string("0.001")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kIcpMaxRotation(), std::string("0.17"))); // 10 degrees
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kIcpMaxTranslation(), std::string("0.05")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kIcpCorrespondenceRatio(), std::string("0.3")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kIcpMaxCorrespondenceDistance(), std::string("0.05")));
return parameters;
@@ -117,6 +121,7 @@ RTABMapApp::RTABMapApp() :
meshAngleToleranceDeg_(15.0),
clearSceneOnNextRender_(false),
filterPolygonsOnNextRender_(false),
gainCompensationOnNextRender_(false),
totalPoints_(0),
totalPolygons_(0),
lastDrawnCloudsCount_(0),
@@ -171,8 +176,6 @@ void RTABMapApp::onCreate(JNIEnv* env, jobject caller_activity)
{
logHandler_ = new LogHandler();
}
ULogger::setEventLevel(ULogger::kInfo);
ULogger::setPrintThreadId(true);
this->registerToEventsManager();
@@ -300,6 +303,8 @@ private:
// OpenGL thread
int RTABMapApp::Render()
{
boost::mutex::scoped_lock lock(renderingMutex_);
// should be before clearSceneOnNextRender_ in case openDatabase is called
std::list<rtabmap::Statistics> rtabmapEvents;
{
@@ -464,11 +469,11 @@ int RTABMapApp::Render()
main_scene_.addCloud(id, outputCloud, outputPolygons, iter->second, data.imageRaw());
// protect createdMeshes_ used also by exportMesh() method
std::pair<std::map<int, Mesh>::iterator, bool> inserted = createdMeshes_.insert(std::make_pair(id, Mesh()));
UASSERT(inserted.second);
inserted.first->second.cloud = outputCloud;
inserted.first->second.indices = indices;
inserted.first->second.polygons = outputPolygons;
inserted.first->second.pose = iter->second;
inserted.first->second.texture = data.imageCompressed();
@@ -545,8 +550,7 @@ int RTABMapApp::Render()
event.data().imageRaw().cols, event.data().imageRaw().rows,
event.data().depthRaw().cols, event.data().depthRaw().rows,
(int)cloud->width, (int)cloud->height);
std::vector<pcl::Vertices> polygons = rtabmap::util3d::organizedFastMesh(cloud, meshAngleToleranceDeg_*M_PI/180.0, false, meshTrianglePix_);
main_scene_.addCloud(-1, cloud, polygons, opengl_world_T_rtabmap_world*event.pose(), event.data().imageRaw());
main_scene_.addCloud(-1, cloud, std::vector<pcl::Vertices>(), opengl_world_T_rtabmap_world*event.pose());
main_scene_.setCloudVisible(-1, true);
}
else
@@ -562,6 +566,39 @@ int RTABMapApp::Render()
}
}
if(gainCompensationOnNextRender_)
{
gainCompensationOnNextRender_ = false;
rtabmap::GainCompensator compensator;
std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > clouds;
std::map<int, pcl::IndicesPtr> indices;
for(std::map<int, Mesh>::iterator iter = createdMeshes_.begin(); iter!=createdMeshes_.end(); ++iter)
{
clouds.insert(std::make_pair(iter->first, iter->second.cloud));
indices.insert(std::make_pair(iter->first, iter->second.indices));
}
std::map<int, rtabmap::Transform> poses;
std::multimap<int, rtabmap::Link> links;
rtabmap_->getGraph(poses, links, false, true);
compensator.feed(clouds, indices, links);
for(std::map<int, Mesh>::iterator iter = createdMeshes_.begin(); iter!=createdMeshes_.end(); ++iter)
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudCpy(new pcl::PointCloud<pcl::PointXYZRGB>);
*cloudCpy = *iter->second.cloud;
cv::Mat imageCpy = rtabmap::uncompressImage(iter->second.texture);
if(!cloudCpy->empty())
{
compensator.apply(iter->first, cloudCpy, iter->second.indices);
if(!imageCpy.empty())
{
compensator.apply(iter->first, imageCpy);
}
}
main_scene_.updateCloudColors(iter->first, cloudCpy, imageCpy);
}
notifyDataLoaded = true;
}
if(filterPolygonsOnNextRender_)
{
filterPolygonsOnNextRender_ = false;
@@ -1021,7 +1058,7 @@ int RTABMapApp::postProcessing(int approach)
LOGE("g2o not available!");
}
}
else
else if(approach!=4 || approach!=5)
{
// simple graph optmimization
rtabmap_->getGraph(poses, links, true, true);
@@ -1038,16 +1075,27 @@ int RTABMapApp::postProcessing(int approach)
rtabmap_->setOptimizedPoses(poses);
}
else
else if(approach!=4 || approach!=5)
{
returnedValue = -1;
}
}
// filter polygons
if(approach == 4)
{
filterPolygonsOnNextRender_ = true;
if(returnedValue >=0)
{
// filter polygons
if(approach == 4)
{
boost::mutex::scoped_lock lock(renderingMutex_);
filterPolygonsOnNextRender_ = true;
}
// gain compensation
if(approach == -1 || approach == 5)
{
boost::mutex::scoped_lock lock(renderingMutex_);
gainCompensationOnNextRender_ = true;
}
}
}
return returnedValue;
app/android/jni/RTABMapApp.h
+3
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@@ -161,6 +161,7 @@ class RTABMapApp : public UEventsHandler {
bool clearSceneOnNextRender_;
bool filterPolygonsOnNextRender_;
bool gainCompensationOnNextRender_;
int totalPoints_;
int totalPolygons_;
int lastDrawnCloudsCount_;
@@ -178,10 +179,12 @@ class RTABMapApp : public UEventsHandler {
boost::mutex meshesMutex_;
boost::mutex odomMutex_;
boost::mutex poseMutex_;
boost::mutex renderingMutex_;
struct Mesh
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
pcl::IndicesPtr indices;
std::vector<pcl::Vertices> polygons;
rtabmap::Transform pose;
cv::Mat texture;
app/android/jni/point_cloud_drawable.cpp
+70 -44
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@@ -48,8 +48,74 @@ PointCloudDrawable::PointCloudDrawable(
visible_(true),
cloud_shader_program_(cloudShaderProgram),
texture_shader_program_(textureShaderProgram)
{
updateCloud(cloud, image);
updatePolygons(polygons);
}
PointCloudDrawable::~PointCloudDrawable()
{
LOGI("Freeing cloud buffer %d", vertex_buffers_);
if (vertex_buffers_)
{
glDeleteBuffers(1, &vertex_buffers_);
tango_gl::util::CheckGlError("PointCloudDrawable::~PointCloudDrawable()");
vertex_buffers_ = 0;
}
if (textures_)
{
glDeleteTextures(1, &textures_);
tango_gl::util::CheckGlError("PointCloudDrawable::~PointCloudDrawable()");
textures_ = 0;
}
}
void PointCloudDrawable::updatePolygons(const std::vector<pcl::Vertices> & polygons)
{
polygons_.clear();
if(polygons.size())
{
int polygonSize = polygons[0].vertices.size();
UASSERT(polygonSize == 3);
polygons_.resize(polygons.size() * polygonSize);
int oi = 0;
for(unsigned int i=0; i<polygons.size(); ++i)
{
UASSERT((int)polygons[i].vertices.size() == polygonSize);
for(int j=0; j<polygonSize; ++j)
{
polygons_[oi++] = (unsigned short)polygons[i].vertices[j];
}
}
}
}
void PointCloudDrawable::updateCloud(const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud, const cv::Mat & image)
{
UASSERT(!cloud->empty());
if(nPoints_)
{
UASSERT((int)cloud->size() == nPoints_);
}
nPoints_ = 0;
if (vertex_buffers_)
{
glDeleteBuffers(1, &vertex_buffers_);
tango_gl::util::CheckGlError("PointCloudDrawable::~PointCloudDrawable()");
vertex_buffers_ = 0;
}
if(!image.empty())
{
if (textures_)
{
glDeleteTextures(1, &textures_);
tango_gl::util::CheckGlError("PointCloudDrawable::~PointCloudDrawable()");
textures_ = 0;
}
}
glGenBuffers(1, &vertex_buffers_);
if(!vertex_buffers_)
@@ -61,7 +127,7 @@ PointCloudDrawable::PointCloudDrawable(
if(!cloud->is_dense && !image.empty())
{
LOGI("cloud=%dx%d image=%dx%d\n", (int)cloud->width, (int)cloud->height, image.cols, image.rows);
UASSERT(polygons.size() && !cloud->is_dense && !image.empty() && image.type() == CV_8UC3);
UASSERT(!cloud->is_dense && !image.empty() && image.type() == CV_8UC3);
glGenTextures(1, &textures_);
if(!textures_)
{
@@ -114,12 +180,12 @@ PointCloudDrawable::PointCloudDrawable(
return;
}
if(textures_)
if(textures_ && !image.empty())
{
// gen texture from image
glBindTexture(GL_TEXTURE_2D, textures_);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
cv::Mat rgbImage;
cv::cvtColor(image, rgbImage, CV_BGR2RGB);
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, rgbImage.cols, rgbImage.rows, 0, GL_RGB, GL_UNSIGNED_BYTE, rgbImage.data);
@@ -137,46 +203,6 @@ PointCloudDrawable::PointCloudDrawable(
}
nPoints_ = cloud->size();
updatePolygons(polygons);
}
PointCloudDrawable::~PointCloudDrawable()
{
LOGI("Freeing cloud buffer %d", vertex_buffers_);
if (vertex_buffers_)
{
glDeleteBuffers(1, &vertex_buffers_);
tango_gl::util::CheckGlError("PointCloudDrawable::~PointCloudDrawable()");
vertex_buffers_ = 0;
}
if (textures_)
{
glDeleteTextures(1, &textures_);
tango_gl::util::CheckGlError("PointCloudDrawable::~PointCloudDrawable()");
textures_ = 0;
}
}
void PointCloudDrawable::updatePolygons(const std::vector<pcl::Vertices> & polygons)
{
polygons_.clear();
if(polygons.size())
{
int polygonSize = polygons[0].vertices.size();
UASSERT(polygonSize == 3);
polygons_.resize(polygons.size() * polygonSize);
int oi = 0;
for(unsigned int i=0; i<polygons.size(); ++i)
{
UASSERT((int)polygons[i].vertices.size() == polygonSize);
for(int j=0; j<polygonSize; ++j)
{
polygons_[oi++] = (unsigned short)polygons[i].vertices[j];
}
}
}
}
void PointCloudDrawable::setPose(const rtabmap::Transform & pose)
app/android/jni/point_cloud_drawable.h
+1
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@@ -50,6 +50,7 @@ class PointCloudDrawable {
virtual ~PointCloudDrawable();
void updatePolygons(const std::vector<pcl::Vertices> & polygons);
void updateCloud(const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud, const cv::Mat & image = cv::Mat());
void setPose(const rtabmap::Transform & pose);
void setVisible(bool visible) {visible_=visible;}
rtabmap::Transform getPose() const {return glmToTransform(pose_);}
app/android/jni/scene.cpp
+9
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@@ -480,3 +480,12 @@ void Scene::updateCloudPolygons(int id, const std::vector<pcl::Vertices> & polyg
iter->second->updatePolygons(polygons);
}
}
void Scene::updateCloudColors(int id, const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud, const cv::Mat & image)
{
std::map<int, PointCloudDrawable*>::iterator iter=pointClouds_.find(id);
if(iter != pointClouds_.end())
{
iter->second->updateCloud(cloud, image);
}
}
app/android/jni/scene.h
+1
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@@ -109,6 +109,7 @@ class Scene {
bool hasCloud(int id) const;
std::set<int> getAddedClouds() const;
void updateCloudPolygons(int id, const std::vector<pcl::Vertices> & polygons);
void updateCloudColors(int id, const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud, const cv::Mat & image = cv::Mat());
void setMapRendering(bool enabled) {mapRendering_ = enabled;}
void setMeshRendering(bool enabled, bool withTexture) {meshRendering_ = enabled; meshRenderingTexture_ = withTexture;}
app/android/jni/util.h
+3
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@@ -39,6 +39,9 @@ class LogHandler : public UEventsHandler
public:
LogHandler()
{
ULogger::setEventLevel(ULogger::kWarning);
ULogger::setPrintThreadId(true);
registerToEventsManager();
}
protected:
app/android/res/menu/optionmenu.xml
+1
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@@ -14,6 +14,7 @@
<item android:id="@+id/global_graph_optimization" android:title="Global Graph Optimization" />
<item android:id="@+id/detect_more_loop_closures" android:title="Detect More Loop Closures" />
<item android:id="@+id/icp_refining" android:title="ICP Refining" />
<item android:id="@+id/gain_compensation" android:title="Adjust Colors" />
<item android:id="@+id/sba" android:title="Bundle Adjustement" />
<item android:id="@+id/polygons_filtering" android:title="Noise Filtering" />
</menu>
app/android/src/com/introlab/rtabmap/RTABMapActivity.java
+8 -2
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@@ -670,11 +670,10 @@ public class RTABMapActivity extends Activity implements OnClickListener {
final int loopDetected = RTABMapLib.postProcessing(-1);
runOnUiThread(new Runnable() {
public void run() {
mProgressDialog.dismiss();
if(loopDetected >= 0)
{
mTotalLoopClosures+=loopDetected;
mToast.makeText(getActivity(), String.format("Optimization done!"), mToast.LENGTH_SHORT).show();
mToast.makeText(getActivity(), String.format("Optimization done! Adjusting colors..."), mToast.LENGTH_SHORT).show();
}
else if(loopDetected < 0)
{
@@ -772,6 +771,13 @@ public class RTABMapActivity extends Activity implements OnClickListener {
mProgressDialog.show();
RTABMapLib.postProcessing(4);
}
else if (itemId == R.id.gain_compensation)
{
mProgressDialog.setTitle("Post-Processing");
mProgressDialog.setMessage(String.format("Gain compensation..."));
mProgressDialog.show();
RTABMapLib.postProcessing(5);
}
else if (itemId == R.id.sba)
{
mProgressDialog.setTitle("Post-Processing");
corelib/include/rtabmap/core/Memory.h
+1
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@@ -247,6 +247,7 @@ private:
int _imagePreDecimation;
int _imagePostDecimation;
float _laserScanDownsampleStepSize;
int _laserScanNormalK;
bool _reextractLoopClosureFeatures;
float _rehearsalMaxDistance;
float _rehearsalMaxAngle;
corelib/include/rtabmap/core/Parameters.h
+1
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@@ -210,6 +210,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Mem, ImagePreDecimation, int, 1, "Image decimation (>=1) before features extraction.");
RTABMAP_PARAM(Mem, ImagePostDecimation, int, 1, "Image decimation (>=1) of saved data in created signatures (after features extraction). Decimation is done from the original image.");
RTABMAP_PARAM(Mem, LaserScanDownsampleStepSize, int, 1, "If > 1, downsample the laser scans when creating a signature.");
RTABMAP_PARAM(Mem, LaserScanNormalK, int, 0, "If > 0 and laser scans are 3D without normals, normals will be computed with K search neighbors when creating a signature.");
RTABMAP_PARAM(Mem, UseOdomFeatures, bool, false, "Use odometry features.");
// KeypointMemory (Keypoint-based)
corelib/include/rtabmap/core/Statistics.h
+2 -1
View File
@@ -127,7 +127,8 @@ class RTABMAP_EXP Statistics
RTABMAP_STATS(TimingMem, Add_new_words, ms);
RTABMAP_STATS(TimingMem, Compressing_data, ms);
RTABMAP_STATS(TimingMem, Post_decimation, ms);
RTABMAP_STATS(TimingMem, Downsampling_scan, ms);
RTABMAP_STATS(TimingMem, Scan_downsampling, ms);
RTABMAP_STATS(TimingMem, Scan_normals, ms);
RTABMAP_STATS(TimingMem, Occupancy_grid, ms);
RTABMAP_STATS(Keypoint, Dictionary_size, words);
corelib/include/rtabmap/core/util3d.h
+1
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@@ -186,6 +186,7 @@ pcl::PointCloud<pcl::PointXYZ> RTABMAP_EXP laserScanFromDepthImages(
cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const Transform & transform = Transform());
// return CV_32FC6
cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointNormal> & cloud, const Transform & transform = Transform());
cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform = Transform());
// return CV_32FC4
cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGB> & cloud, const Transform & transform = Transform());
// return CV_32FC2
corelib/src/Memory.cpp
+14 -1
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@@ -86,6 +86,7 @@ Memory::Memory(const ParametersMap & parameters) :
_imagePreDecimation(Parameters::defaultMemImagePreDecimation()),
_imagePostDecimation(Parameters::defaultMemImagePostDecimation()),
_laserScanDownsampleStepSize(Parameters::defaultMemLaserScanDownsampleStepSize()),
_laserScanNormalK(Parameters::defaultMemLaserScanNormalK()),
_reextractLoopClosureFeatures(Parameters::defaultRGBDLoopClosureReextractFeatures()),
_rehearsalMaxDistance(Parameters::defaultRGBDLinearUpdate()),
_rehearsalMaxAngle(Parameters::defaultRGBDAngularUpdate()),
@@ -407,6 +408,7 @@ void Memory::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kMemImagePreDecimation(), _imagePreDecimation);
Parameters::parse(parameters, Parameters::kMemImagePostDecimation(), _imagePostDecimation);
Parameters::parse(parameters, Parameters::kMemLaserScanDownsampleStepSize(), _laserScanDownsampleStepSize);
Parameters::parse(parameters, Parameters::kMemLaserScanNormalK(), _laserScanNormalK);
Parameters::parse(parameters, Parameters::kRGBDLoopClosureReextractFeatures(), _reextractLoopClosureFeatures);
Parameters::parse(parameters, Parameters::kRGBDLinearUpdate(), _rehearsalMaxDistance);
Parameters::parse(parameters, Parameters::kRGBDAngularUpdate(), _rehearsalMaxAngle);
@@ -3495,9 +3497,20 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
maxLaserScanMaxPts /= _laserScanDownsampleStepSize;
t = timer.ticks();
if(stats) stats->addStatistic(Statistics::kTimingMemDownsampling_scan(), t*1000.0f);
if(stats) stats->addStatistic(Statistics::kTimingMemScan_downsampling(), t*1000.0f);
UDEBUG("time downsampling scan = %fs", t);
}
if(!laserScan.empty() && _laserScanNormalK > 0 && laserScan.channels() == 3)
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud = util3d::laserScanToPointCloud(laserScan);
float x,y,z;
data.laserScanInfo().localTransform().getTranslation(x,y,z);
pcl::PointCloud<pcl::Normal>::Ptr normals = util3d::computeNormals(cloud, _laserScanNormalK, Eigen::Vector3f(x,y,z));
laserScan = util3d::laserScanFromPointCloud(*cloud, *normals);
t = timer.ticks();
if(stats) stats->addStatistic(Statistics::kTimingMemScan_normals(), t*1000.0f);
UDEBUG("time normals scan = %fs", t);
}
Signature * s;
if(this->isBinDataKept())
corelib/src/util3d.cpp
+96 -94
View File
@@ -1047,18 +1047,19 @@ cv::Mat laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, co
Eigen::Affine3f transform3f = transform.toEigen3f();
for(unsigned int i=0; i<cloud.size(); ++i)
{
float * ptr = laserScan.ptr<float>(0, i);
if(!nullTransform)
{
pcl::PointXYZ pt = pcl::transformPoint(cloud.at(i), transform3f);
laserScan.at<cv::Vec3f>(i)[0] = pt.x;
laserScan.at<cv::Vec3f>(i)[1] = pt.y;
laserScan.at<cv::Vec3f>(i)[2] = pt.z;
ptr[0] = pt.x;
ptr[1] = pt.y;
ptr[2] = pt.z;
}
else
{
laserScan.at<cv::Vec3f>(i)[0] = cloud.at(i).x;
laserScan.at<cv::Vec3f>(i)[1] = cloud.at(i).y;
laserScan.at<cv::Vec3f>(i)[2] = cloud.at(i).z;
ptr[0] = cloud.at(i).x;
ptr[1] = cloud.at(i).y;
ptr[2] = cloud.at(i).z;
}
}
@@ -1071,24 +1072,63 @@ cv::Mat laserScanFromPointCloud(const pcl::PointCloud<pcl::PointNormal> & cloud,
bool nullTransform = transform.isNull() || transform.isIdentity();
for(unsigned int i=0; i<cloud.size(); ++i)
{
float * ptr = laserScan.ptr<float>(0, i);
if(!nullTransform)
{
pcl::PointNormal pt = util3d::transformPoint(cloud.at(i), transform);
laserScan.at<cv::Vec6f>(i)[0] = pt.x;
laserScan.at<cv::Vec6f>(i)[1] = pt.y;
laserScan.at<cv::Vec6f>(i)[2] = pt.z;
laserScan.at<cv::Vec6f>(i)[3] = pt.normal_x;
laserScan.at<cv::Vec6f>(i)[4] = pt.normal_y;
laserScan.at<cv::Vec6f>(i)[5] = pt.normal_z;
ptr[0] = pt.x;
ptr[1] = pt.y;
ptr[2] = pt.z;
ptr[3] = pt.normal_x;
ptr[4] = pt.normal_y;
ptr[5] = pt.normal_z;
}
else
{
laserScan.at<cv::Vec6f>(i)[0] = cloud.at(i).x;
laserScan.at<cv::Vec6f>(i)[1] = cloud.at(i).y;
laserScan.at<cv::Vec6f>(i)[2] = cloud.at(i).z;
laserScan.at<cv::Vec6f>(i)[3] = cloud.at(i).normal_x;
laserScan.at<cv::Vec6f>(i)[4] = cloud.at(i).normal_y;
laserScan.at<cv::Vec6f>(i)[5] = cloud.at(i).normal_z;
ptr[0] = cloud.at(i).x;
ptr[1] = cloud.at(i).y;
ptr[2] = cloud.at(i).z;
ptr[3] = cloud.at(i).normal_x;
ptr[4] = cloud.at(i).normal_y;
ptr[5] = cloud.at(i).normal_z;
}
}
return laserScan;
}
cv::Mat laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform)
{
UASSERT(cloud.size() == normals.size());
cv::Mat laserScan(1, (int)cloud.size(), CV_32FC(6));
bool nullTransform = transform.isNull() || transform.isIdentity();
for(unsigned int i=0; i<cloud.size(); ++i)
{
float * ptr = laserScan.ptr<float>(0, i);
if(!nullTransform)
{
pcl::PointNormal pt;
pt.x = cloud.at(i).x;
pt.y = cloud.at(i).y;
pt.z = cloud.at(i).z;
pt.normal_x = normals.at(i).normal_x;
pt.normal_y = normals.at(i).normal_y;
pt.normal_z = normals.at(i).normal_z;
pt = util3d::transformPoint(pt, transform);
ptr[0] = pt.x;
ptr[1] = pt.y;
ptr[2] = pt.z;
ptr[3] = pt.normal_x;
ptr[4] = pt.normal_y;
ptr[5] = pt.normal_z;
}
else
{
ptr[0] = cloud.at(i).x;
ptr[1] = cloud.at(i).y;
ptr[2] = cloud.at(i).z;
ptr[3] = normals.at(i).normal_x;
ptr[4] = normals.at(i).normal_y;
ptr[5] = normals.at(i).normal_z;
}
}
return laserScan;
@@ -1101,20 +1141,22 @@ cv::Mat laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGB> & cloud,
Eigen::Affine3f transform3f = transform.toEigen3f();
for(unsigned int i=0; i<cloud.size(); ++i)
{
float * ptr = laserScan.ptr<float>(0, i);
if(!nullTransform)
{
pcl::PointXYZRGB pt = pcl::transformPoint(cloud.at(i), transform3f);
laserScan.at<cv::Vec4f>(i)[0] = pt.x;
laserScan.at<cv::Vec4f>(i)[1] = pt.y;
laserScan.at<cv::Vec4f>(i)[2] = pt.z;
ptr[0] = pt.x;
ptr[1] = pt.y;
ptr[2] = pt.z;
}
else
{
laserScan.at<cv::Vec4f>(i)[0] = cloud.at(i).x;
laserScan.at<cv::Vec4f>(i)[1] = cloud.at(i).y;
laserScan.at<cv::Vec4f>(i)[2] = cloud.at(i).z;
ptr[0] = cloud.at(i).x;
ptr[1] = cloud.at(i).y;
ptr[2] = cloud.at(i).z;
}
laserScan.at<cv::Vec4i>(i)[3] = int(cloud.at(i).b) | (int(cloud.at(i).g) << 8) | (int(cloud.at(i).r) << 16);
int * ptrInt = (int*)ptr;
ptrInt[3] = int(cloud.at(i).b) | (int(cloud.at(i).g) << 8) | (int(cloud.at(i).r) << 16);
}
return laserScan;
}
@@ -1126,16 +1168,17 @@ cv::Mat laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud,
Eigen::Affine3f transform3f = transform.toEigen3f();
for(unsigned int i=0; i<cloud.size(); ++i)
{
float * ptr = laserScan.ptr<float>(0, i);
if(!nullTransform)
{
pcl::PointXYZ pt = pcl::transformPoint(cloud.at(i), transform3f);
laserScan.at<cv::Vec2f>(i)[0] = pt.x;
laserScan.at<cv::Vec2f>(i)[1] = pt.y;
ptr[0] = pt.x;
ptr[1] = pt.y;
}
else
{
laserScan.at<cv::Vec2f>(i)[0] = cloud.at(i).x;
laserScan.at<cv::Vec2f>(i)[1] = cloud.at(i).y;
ptr[0] = cloud.at(i).x;
ptr[1] = cloud.at(i).y;
}
}
@@ -1203,28 +1246,12 @@ pcl::PointXYZ laserScanToPoint(const cv::Mat & laserScan, int index)
UASSERT(!laserScan.empty() && index < laserScan.cols);
UASSERT(laserScan.type() == CV_32FC2 || laserScan.type() == CV_32FC3 || laserScan.type() == CV_32FC(4) || laserScan.type() == CV_32FC(6));
pcl::PointXYZ output;
if(laserScan.type() == CV_32FC2)
const float * ptr = laserScan.ptr<float>(0, index);
output.x = ptr[0];
output.y = ptr[1];
if(laserScan.channels() >= 3)
{
output.x = laserScan.at<cv::Vec2f>(index)[0];
output.y = laserScan.at<cv::Vec2f>(index)[1];
}
else if(laserScan.type() == CV_32FC3)
{
output.x = laserScan.at<cv::Vec3f>(index)[0];
output.y = laserScan.at<cv::Vec3f>(index)[1];
output.z = laserScan.at<cv::Vec3f>(index)[2];
}
else if(laserScan.type() == CV_32FC(4))
{
output.x = laserScan.at<cv::Vec4f>(index)[0];
output.y = laserScan.at<cv::Vec4f>(index)[1];
output.z = laserScan.at<cv::Vec4f>(index)[2];
}
else
{
output.x = laserScan.at<cv::Vec6f>(index)[0];
output.y = laserScan.at<cv::Vec6f>(index)[1];
output.z = laserScan.at<cv::Vec6f>(index)[2];
output.z = ptr[2];
}
return output;
}
@@ -1234,31 +1261,18 @@ pcl::PointNormal laserScanToPointNormal(const cv::Mat & laserScan, int index)
UASSERT(!laserScan.empty() && index < laserScan.cols);
UASSERT(laserScan.type() == CV_32FC2 || laserScan.type() == CV_32FC3 || laserScan.type() == CV_32FC(4) || laserScan.type() == CV_32FC(6));
pcl::PointNormal output;
if(laserScan.type() == CV_32FC2)
const float * ptr = laserScan.ptr<float>(0, index);
output.x = ptr[0];
output.y = ptr[1];
if(laserScan.channels() >= 3)
{
output.x = laserScan.at<cv::Vec2f>(index)[0];
output.y = laserScan.at<cv::Vec2f>(index)[1];
output.z = ptr[2];
}
else if(laserScan.type() == CV_32FC3)
if(laserScan.channels() == 6)
{
output.x = laserScan.at<cv::Vec3f>(index)[0];
output.y = laserScan.at<cv::Vec3f>(index)[1];
output.z = laserScan.at<cv::Vec3f>(index)[2];
}
else if(laserScan.type() == CV_32FC(4))
{
output.x = laserScan.at<cv::Vec4f>(index)[0];
output.y = laserScan.at<cv::Vec4f>(index)[1];
output.z = laserScan.at<cv::Vec4f>(index)[2];
}
else
{
output.x = laserScan.at<cv::Vec6f>(index)[0];
output.y = laserScan.at<cv::Vec6f>(index)[1];
output.z = laserScan.at<cv::Vec6f>(index)[2];
output.normal_x = laserScan.at<cv::Vec6f>(index)[3];
output.normal_y = laserScan.at<cv::Vec6f>(index)[4];
output.normal_z = laserScan.at<cv::Vec6f>(index)[5];
output.normal_x = ptr[3];
output.normal_y = ptr[4];
output.normal_z = ptr[5];
}
return output;
}
@@ -1268,31 +1282,19 @@ pcl::PointXYZRGB laserScanToPointRGB(const cv::Mat & laserScan, int index)
UASSERT(!laserScan.empty() && index < laserScan.cols);
UASSERT(laserScan.type() == CV_32FC2 || laserScan.type() == CV_32FC3 || laserScan.type() == CV_32FC(4) || laserScan.type() == CV_32FC(6));
pcl::PointXYZRGB output;
if(laserScan.type() == CV_32FC2)
const float * ptr = laserScan.ptr<float>(0, index);
output.x = ptr[0];
output.y = ptr[1];
if(laserScan.type() >= 3)
{
output.x = laserScan.at<cv::Vec2f>(index)[0];
output.y = laserScan.at<cv::Vec2f>(index)[1];
output.z = ptr[2];
}
else if(laserScan.type() == CV_32FC3)
if(laserScan.channels() == 4)
{
output.x = laserScan.at<cv::Vec3f>(index)[0];
output.y = laserScan.at<cv::Vec3f>(index)[1];
output.z = laserScan.at<cv::Vec3f>(index)[2];
}
else if(laserScan.type() == CV_32FC(4))
{
output.x = laserScan.at<cv::Vec4f>(index)[0];
output.y = laserScan.at<cv::Vec4f>(index)[1];
output.z = laserScan.at<cv::Vec4f>(index)[2];
output.b = (unsigned char)(laserScan.at<cv::Vec4i>(index)[3] & 0xFF);
output.g = (unsigned char)((laserScan.at<cv::Vec4i>(index)[3] >> 8) & 0xFF);
output.r = (unsigned char)((laserScan.at<cv::Vec4i>(index)[3] >> 16) & 0xFF);
}
else
{
output.x = laserScan.at<cv::Vec6f>(index)[0];
output.y = laserScan.at<cv::Vec6f>(index)[1];
output.z = laserScan.at<cv::Vec6f>(index)[2];
int * ptrInt = (int*)ptr;
output.b = (unsigned char)(ptrInt[3] & 0xFF);
output.g = (unsigned char)((ptrInt[3] >> 8) & 0xFF);
output.r = (unsigned char)((ptrInt[3] >> 16) & 0xFF);
}
return output;
}
guilib/src/PreferencesDialog.cpp
+1
View File
@@ -573,6 +573,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->spinBox_imagePreDecimation->setObjectName(Parameters::kMemImagePreDecimation().c_str());
_ui->spinBox_imagePostDecimation->setObjectName(Parameters::kMemImagePostDecimation().c_str());
_ui->general_spinBox_laserScanDownsample->setObjectName(Parameters::kMemLaserScanDownsampleStepSize().c_str());
_ui->general_spinBox_laserScanNormalK->setObjectName(Parameters::kMemLaserScanNormalK().c_str());
_ui->checkBox_useOdomFeatures->setObjectName(Parameters::kMemUseOdomFeatures().c_str());
// Database
guilib/src/ui/preferencesDialog.ui
+226 -194
View File
@@ -63,7 +63,7 @@
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<y>-279</y>
<width>673</width>
<height>2496</height>
</rect>
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>1</number>
<number>8</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -5356,19 +5356,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<layout class="QVBoxLayout" name="verticalLayout_10">
<item>
<layout class="QGridLayout" name="gridLayout_42" columnstretch="0,1">
<item row="4" column="1">
<widget class="QLabel" name="label_retrieved_2">
<property name="text">
<string>True=Generate location Ids, False=use input image ids.</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="QSpinBox" name="general_spinBox_maxStMemSize">
<property name="minimum">
@@ -5382,6 +5369,208 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_retrieved_10">
<property name="text">
<string>Reduce graph. Merge nodes when loop closures are added (ignoring those with user data set).</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="0">
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_recentWmRatio">
<property name="minimumSize">
<size>
<width>50</width>
<height>0</height>
</size>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.200000000000000</double>
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QLabel" name="label_retrieved_4">
<property name="text">
<string>Initialize the Woking Memory with all nodes from Long-Term memory, instead of only nodes of the last session. This may be useful in localization mode, where less processing time is required than in SLAM mode, so more nodes can be kept in Working Memory.</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="QSpinBox" name="general_spinBox_maxRetrieved">
<property name="maximum">
<number>999</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="value">
<number>2</number>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_retrieved_3">
<property name="text">
<string>Bad signatures are ignored.</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="QCheckBox" name="general_checkBox_initWMWithAllNodes">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="9" column="1">
<widget class="QLabel" name="label_retrieved_5">
<property name="text">
<string>Keep raw sensor data. Only useful to save loop closure computation time when features re-extraction is enabled. Disable to save RAM memory.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="9" column="0">
<widget class="QCheckBox" name="general_checkBox_keepRawData">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QCheckBox" name="general_checkBox_reduceGraph">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_retrieved_11">
<property name="text">
<string>Create map labels. The first node of a map will be labelled as &quot;map#&quot; where # is the map ID.</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="0">
<widget class="QCheckBox" name="general_checkBox_createMapLabels">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="14" column="0">
<widget class="QSpinBox" name="general_spinBox_laserScanDownsample">
<property name="minimumSize">
<size>
<width>50</width>
<height>0</height>
</size>
</property>
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
<item row="10" column="1">
<widget class="QLabel" name="label_retrieved_12">
<property name="text">
<string>Raw descriptors kept in memory.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="10" column="0">
<widget class="QCheckBox" name="general_checkBox_keepDescriptors">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="12" column="1">
<widget class="QLabel" name="label_retrieved_13">
<property name="text">
<string>Image pre decimation. This option can be used to reduce image size before features extraction.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_retrieved_2">
<property name="text">
<string>True=Generate location Ids, False=use input image ids.</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="1">
<widget class="QLabel" name="label_retrieved">
<property name="text">
@@ -5438,51 +5627,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_retrieved_10">
<property name="text">
<string>Reduce graph. Merge nodes when loop closures are added (ignoring those with user data set).</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="0">
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_recentWmRatio">
<property name="minimumSize">
<size>
<width>50</width>
<height>0</height>
</size>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.200000000000000</double>
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QLabel" name="label_retrieved_4">
<property name="text">
<string>Initialize the Woking Memory with all nodes from Long-Term memory, instead of only nodes of the last session. This may be useful in localization mode, where less processing time is required than in SLAM mode, so more nodes can be kept in Working Memory.</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="1">
<widget class="QLabel" name="label_29">
<property name="text">
@@ -5509,19 +5653,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QSpinBox" name="general_spinBox_maxRetrieved">
<property name="maximum">
<number>999</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="value">
<number>2</number>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QCheckBox" name="general_checkBox_badSignaturesIgnored">
<property name="text">
@@ -5532,52 +5663,6 @@ 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_retrieved_3">
<property name="text">
<string>Bad signatures are ignored.</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="QCheckBox" name="general_checkBox_initWMWithAllNodes">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="9" column="1">
<widget class="QLabel" name="label_retrieved_5">
<property name="text">
<string>Keep raw sensor data. Only useful to save loop closure computation time when features re-extraction is enabled. Disable to save RAM memory.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="9" column="0">
<widget class="QCheckBox" name="general_checkBox_keepRawData">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="13" column="1">
<widget class="QLabel" name="label_retrieved_6">
<property name="text">
@@ -5617,55 +5702,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QCheckBox" name="general_checkBox_reduceGraph">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_retrieved_11">
<property name="text">
<string>Create map labels. The first node of a map will be labelled as &quot;map#&quot; where # is the map ID.</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="0">
<widget class="QCheckBox" name="general_checkBox_createMapLabels">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="14" column="0">
<widget class="QSpinBox" name="general_spinBox_laserScanDownsample">
<property name="minimumSize">
<size>
<width>50</width>
<height>0</height>
</size>
</property>
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
<item row="11" column="0">
<widget class="QCheckBox" name="general_checkBox_saveDepth16bits">
<property name="text">
@@ -5676,29 +5712,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="10" column="1">
<widget class="QLabel" name="label_retrieved_12">
<property name="text">
<string>Raw descriptors kept in memory.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="10" column="0">
<widget class="QCheckBox" name="general_checkBox_keepDescriptors">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="12" column="0">
<widget class="QSpinBox" name="spinBox_imagePreDecimation">
<property name="minimum">
@@ -5709,10 +5722,10 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="12" column="1">
<widget class="QLabel" name="label_retrieved_13">
<item row="15" column="1">
<widget class="QLabel" name="label_retrieved_14">
<property name="text">
<string>Image pre decimation. This option can be used to reduce image size before features extraction.</string>
<string>If &gt; 0 and laser scans are 3D without normals, normals will be computed with K search neighbors when creating a signature.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -5722,6 +5735,25 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="15" column="0">
<widget class="QSpinBox" name="general_spinBox_laserScanNormalK">
<property name="minimumSize">
<size>
<width>50</width>
<height>0</height>
</size>
</property>
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>99</number>
</property>
<property name="value">
<number>0</number>
</property>
</widget>
</item>
</layout>
</item>
<item>