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Source depth from scan: filling holes is now optional (though still true by default)

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matlabbe
2016-03-10 12:31:22 -05:00
parent cee9c65b06
commit 5f7dfb943c
5 changed files with 52 additions and 45 deletions
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corelib/include/rtabmap/core/CameraRGB.h
+3 -3
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@@ -99,10 +99,10 @@ public:
} }
} }
void setDepthFromScan(bool enabled, bool fillHolesVertical = true, bool fillHolesFromBorder = false) void setDepthFromScan(bool enabled, int fillHoles = 1, bool fillHolesFromBorder = false)
{ {
_depthFromScan = enabled; _depthFromScan = enabled;
_depthFromScanFillHolesVertical = fillHolesVertical; _depthFromScanFillHoles = fillHoles;
_depthFromScanFillHolesFromBorder = fillHolesFromBorder; _depthFromScanFillHolesFromBorder = fillHolesFromBorder;
} }
@@ -146,7 +146,7 @@ private:
int _scanNormalsK; int _scanNormalsK;
bool _depthFromScan; bool _depthFromScan;
bool _depthFromScanFillHolesVertical; int _depthFromScanFillHoles; // <0:horizontal 0:disabled >0:vertical
bool _depthFromScanFillHolesFromBorder; bool _depthFromScanFillHolesFromBorder;
bool _filenamesAreTimestamps; bool _filenamesAreTimestamps;
corelib/include/rtabmap/core/Parameters.h
+2 -2
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@@ -192,7 +192,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Mem, RehearsalSimilarity, float, 0.6, "Rehearsal similarity."); RTABMAP_PARAM(Mem, RehearsalSimilarity, float, 0.6, "Rehearsal similarity.");
RTABMAP_PARAM(Mem, ImageKept, bool, false, "Keep raw images in RAM."); RTABMAP_PARAM(Mem, ImageKept, bool, false, "Keep raw images in RAM.");
RTABMAP_PARAM(Mem, BinDataKept, bool, true, "Keep binary data in db."); RTABMAP_PARAM(Mem, BinDataKept, bool, true, "Keep binary data in db.");
RTABMAP_PARAM(Mem, RawDescriptorsKept, bool, false, "Raw descriptors kept in memory."); RTABMAP_PARAM(Mem, RawDescriptorsKept, bool, true, "Raw descriptors kept in memory.");
RTABMAP_PARAM(Mem, MapLabelsAdded, bool, true, "Create map labels. The first node of a map will be labelled as \"map#\" where # is the map ID."); RTABMAP_PARAM(Mem, MapLabelsAdded, bool, true, "Create map labels. The first node of a map will be labelled as \"map#\" where # is the map ID.");
RTABMAP_PARAM(Mem, SaveDepth16Format, bool, true, "Save depth image into 16 bits format to reduce memory used. Warning: values over ~65 meters are ignored (maximum 65535 millimeters)."); RTABMAP_PARAM(Mem, SaveDepth16Format, bool, true, "Save depth image into 16 bits format to reduce memory used. Warning: values over ~65 meters are ignored (maximum 65535 millimeters).");
RTABMAP_PARAM(Mem, NotLinkedNodesKept, bool, true, "Keep not linked nodes in db (rehearsed nodes and deleted nodes)."); RTABMAP_PARAM(Mem, NotLinkedNodesKept, bool, true, "Keep not linked nodes in db (rehearsed nodes and deleted nodes).");
@@ -317,7 +317,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(RGBD, LocalImmunizationRatio, float, 0.25, "Ratio of working memory for which local nodes are immunized from transfer."); RTABMAP_PARAM(RGBD, LocalImmunizationRatio, float, 0.25, "Ratio of working memory for which local nodes are immunized from transfer.");
RTABMAP_PARAM(RGBD, ScanMatchingIdsSavedInLinks, bool, true, "Save scan matching IDs in link's user data."); RTABMAP_PARAM(RGBD, ScanMatchingIdsSavedInLinks, bool, true, "Save scan matching IDs in link's user data.");
RTABMAP_PARAM(RGBD, NeighborLinkRefining, bool, false, "When a new node is added to the graph, the transformation of its neighbor link to the previous node is refined using ICP (laser scans required!)."); RTABMAP_PARAM(RGBD, NeighborLinkRefining, bool, false, "When a new node is added to the graph, the transformation of its neighbor link to the previous node is refined using ICP (laser scans required!).");
RTABMAP_PARAM(RGBD, LoopClosureReextractFeatures, bool, true, "Extract features even if there are some already in the nodes."); RTABMAP_PARAM(RGBD, LoopClosureReextractFeatures, bool, false, "Extract features even if there are some already in the nodes.");
// Local/Proximity loop closure detection // Local/Proximity loop closure detection
RTABMAP_PARAM(RGBD, ProximityByTime, bool, false, "Detection over all locations in STM."); RTABMAP_PARAM(RGBD, ProximityByTime, bool, false, "Detection over all locations in STM.");
corelib/src/CameraRGB.cpp
+6 -3
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@@ -68,7 +68,7 @@ CameraImages::CameraImages() :
_scanVoxelSize(0.0f), _scanVoxelSize(0.0f),
_scanNormalsK(0), _scanNormalsK(0),
_depthFromScan(false), _depthFromScan(false),
_depthFromScanFillHolesVertical(true), _depthFromScanFillHoles(1),
_depthFromScanFillHolesFromBorder(false), _depthFromScanFillHolesFromBorder(false),
_filenamesAreTimestamps(false), _filenamesAreTimestamps(false),
syncImageRateWithStamps_(true), syncImageRateWithStamps_(true),
@@ -95,7 +95,7 @@ CameraImages::CameraImages(const std::string & path,
_scanVoxelSize(0.0f), _scanVoxelSize(0.0f),
_scanNormalsK(0), _scanNormalsK(0),
_depthFromScan(false), _depthFromScan(false),
_depthFromScanFillHolesVertical(true), _depthFromScanFillHoles(1),
_depthFromScanFillHolesFromBorder(false), _depthFromScanFillHolesFromBorder(false),
_filenamesAreTimestamps(false), _filenamesAreTimestamps(false),
syncImageRateWithStamps_(true), syncImageRateWithStamps_(true),
@@ -640,7 +640,10 @@ SensorData CameraImages::captureImage()
else else
{ {
depthFromScan = util3d::projectCloudToCamera(img.size(), _model.K(), cloud, _model.localTransform()); depthFromScan = util3d::projectCloudToCamera(img.size(), _model.K(), cloud, _model.localTransform());
util3d::fillProjectedCloudHoles(depthFromScan, _depthFromScanFillHolesVertical, _depthFromScanFillHolesFromBorder); if(_depthFromScanFillHoles!=0)
{
util3d::fillProjectedCloudHoles(depthFromScan, _depthFromScanFillHoles>0, _depthFromScanFillHolesFromBorder);
}
} }
} }
// filter the scan after registration // filter the scan after registration
guilib/src/PreferencesDialog.cpp
+13 -5
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@@ -440,7 +440,9 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->lineEdit_cameraImages_gt, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->lineEdit_cameraImages_gt, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->comboBox_cameraImages_gtFormat, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->comboBox_cameraImages_gtFormat, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->groupBox_depthFromScan, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->groupBox_depthFromScan, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkBox_depthFromScan_vertical, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->groupBox_depthFromScan_fillHoles, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->radioButton_depthFromScan_vertical, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->radioButton_depthFromScan_horizontal, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkBox_depthFromScan_fillBorders, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->checkBox_depthFromScan_fillBorders, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->toolButton_cameraStereoImages_path_left, SIGNAL(clicked()), this, SLOT(selectSourceStereoImagesPathLeft())); connect(_ui->toolButton_cameraStereoImages_path_left, SIGNAL(clicked()), this, SLOT(selectSourceStereoImagesPathLeft()));
@@ -1278,7 +1280,9 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->spinBox_cameraImages_scanNormalsK->setValue(0); _ui->spinBox_cameraImages_scanNormalsK->setValue(0);
_ui->groupBox_depthFromScan->setChecked(false); _ui->groupBox_depthFromScan->setChecked(false);
_ui->checkBox_depthFromScan_vertical->setChecked(true); _ui->groupBox_depthFromScan_fillHoles->setChecked(true);
_ui->radioButton_depthFromScan_vertical->setChecked(true);
_ui->radioButton_depthFromScan_horizontal->setChecked(false);
_ui->checkBox_depthFromScan_fillBorders->setChecked(false); _ui->checkBox_depthFromScan_fillBorders->setChecked(false);
} }
else if(groupBox->objectName() == _ui->groupBox_rtabmap_basic0->objectName()) else if(groupBox->objectName() == _ui->groupBox_rtabmap_basic0->objectName())
@@ -1614,7 +1618,9 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
settings.beginGroup("DepthFromScan"); settings.beginGroup("DepthFromScan");
_ui->groupBox_depthFromScan->setChecked(settings.value("depthFromScan", _ui->groupBox_depthFromScan->isChecked()).toBool()); _ui->groupBox_depthFromScan->setChecked(settings.value("depthFromScan", _ui->groupBox_depthFromScan->isChecked()).toBool());
_ui->checkBox_depthFromScan_vertical->setChecked(settings.value("depthFromScanVertical", _ui->checkBox_depthFromScan_vertical->isChecked()).toBool()); _ui->groupBox_depthFromScan_fillHoles->setChecked(settings.value("depthFromScanFillHoles", _ui->groupBox_depthFromScan_fillHoles->isChecked()).toBool());
_ui->radioButton_depthFromScan_vertical->setChecked(settings.value("depthFromScanVertical", _ui->radioButton_depthFromScan_vertical->isChecked()).toBool());
_ui->radioButton_depthFromScan_horizontal->setChecked(settings.value("depthFromScanHorizontal", _ui->radioButton_depthFromScan_horizontal->isChecked()).toBool());
_ui->checkBox_depthFromScan_fillBorders->setChecked(settings.value("depthFromScanFillBorders", _ui->checkBox_depthFromScan_fillBorders->isChecked()).toBool()); _ui->checkBox_depthFromScan_fillBorders->setChecked(settings.value("depthFromScanFillBorders", _ui->checkBox_depthFromScan_fillBorders->isChecked()).toBool());
settings.endGroup(); settings.endGroup();
@@ -1994,7 +2000,9 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.beginGroup("DepthFromScan"); settings.beginGroup("DepthFromScan");
settings.setValue("depthFromScan", _ui->groupBox_depthFromScan->isChecked()); settings.setValue("depthFromScan", _ui->groupBox_depthFromScan->isChecked());
settings.setValue("depthFromScanVertical", _ui->checkBox_depthFromScan_vertical->isChecked()); settings.setValue("depthFromScanFillHoles", _ui->groupBox_depthFromScan_fillHoles->isChecked());
settings.setValue("depthFromScanVertical", _ui->radioButton_depthFromScan_vertical->isChecked());
settings.setValue("depthFromScanHorizontal", _ui->radioButton_depthFromScan_horizontal->isChecked());
settings.setValue("depthFromScanFillBorders", _ui->checkBox_depthFromScan_fillBorders->isChecked()); settings.setValue("depthFromScanFillBorders", _ui->checkBox_depthFromScan_fillBorders->isChecked());
settings.endGroup(); settings.endGroup();
@@ -3980,7 +3988,7 @@ Camera * PreferencesDialog::createCamera(bool useRawImages)
this->getLaserLocalTransform()); this->getLaserLocalTransform());
((CameraImages*)camera)->setDepthFromScan( ((CameraImages*)camera)->setDepthFromScan(
_ui->groupBox_depthFromScan->isChecked(), _ui->groupBox_depthFromScan->isChecked(),
_ui->checkBox_depthFromScan_vertical->isChecked(), !_ui->groupBox_depthFromScan_fillHoles->isChecked()?0:_ui->radioButton_depthFromScan_vertical->isChecked()?1:-1,
_ui->checkBox_depthFromScan_fillBorders->isChecked()); _ui->checkBox_depthFromScan_fillBorders->isChecked());
((CameraImages*)camera)->setTimestamps( ((CameraImages*)camera)->setTimestamps(
_ui->checkBox_cameraImages_timestamps->isChecked(), _ui->checkBox_cameraImages_timestamps->isChecked(),
guilib/src/ui/preferencesDialog.ui
+28 -32
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@@ -63,7 +63,7 @@
<property name="geometry"> <property name="geometry">
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>-1161</y>
<width>681</width> <width>681</width>
<height>2010</height> <height>2010</height>
</rect> </rect>
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum> <enum>QFrame::Raised</enum>
</property> </property>
<property name="currentIndex"> <property name="currentIndex">
<number>7</number> <number>3</number>
</property> </property>
<widget class="QWidget" name="page_22"> <widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1"> <layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -3666,45 +3666,41 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<property name="checked"> <property name="checked">
<bool>false</bool> <bool>false</bool>
</property> </property>
<layout class="QGridLayout" name="gridLayout_67" columnstretch="0,1"> <layout class="QVBoxLayout" name="verticalLayout_100">
<item row="0" column="0"> <item>
<widget class="QCheckBox" name="checkBox_depthFromScan_vertical"> <widget class="QGroupBox" name="groupBox_depthFromScan_fillHoles">
<property name="text"> <property name="title">
<string/> <string>Interpolate depth values to fill holes</string>
</property> </property>
</widget> <property name="checkable">
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_305">
<property name="text">
<string>Fill holes vertically, otherwise fill horizontally.</string>
</property>
<property name="wordWrap">
<bool>true</bool> <bool>true</bool>
</property> </property>
<property name="textInteractionFlags"> <layout class="QVBoxLayout" name="verticalLayout_99">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set> <item>
</property> <widget class="QRadioButton" name="radioButton_depthFromScan_vertical">
<property name="text">
<string>Vertically</string>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QRadioButton" name="radioButton_depthFromScan_horizontal">
<property name="text">
<string>Horizontally</string>
</property>
</widget>
</item>
</layout>
</widget> </widget>
</item> </item>
<item row="1" column="0"> <item>
<widget class="QCheckBox" name="checkBox_depthFromScan_fillBorders"> <widget class="QCheckBox" name="checkBox_depthFromScan_fillBorders">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_306">
<property name="text"> <property name="text">
<string>Fill holes from the image border.</string> <string>Fill holes from the image border.</string>
</property> </property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget> </widget>
</item> </item>
</layout> </layout>