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0.11.4: API change: added minDepth parameter to cloudFromXXXXX() methods and removed voxel parameter

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This commit is contained in:
matlabbe
2016-04-12 15:14:04 -04:00
parent f185a4d739
commit 684e9fb8b9
19 changed files with 310 additions and 183 deletions
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CMakeLists.txt
+1 -1
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@@ -20,7 +20,7 @@ SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
#######################
SET(RTABMAP_MAJOR_VERSION 0)
SET(RTABMAP_MINOR_VERSION 11)
SET(RTABMAP_PATCH_VERSION 3)
SET(RTABMAP_PATCH_VERSION 4)
SET(RTABMAP_VERSION
${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION})
app/android/jni/RTABMapApp.cpp
+1 -1
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@@ -416,7 +416,7 @@ int RTABMapApp::Render()
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
pcl::IndicesPtr indices(new std::vector<int>);
LOGI("Creating node cloud %d (image size=%dx%d)", id, data.imageRaw().cols, data.imageRaw().rows);
cloud = rtabmap::util3d::cloudRGBFromSensorData(data, data.imageRaw().rows/data.depthRaw().rows, maxCloudDepth_, 0, 0, indices.get());
cloud = rtabmap::util3d::cloudRGBFromSensorData(data, data.imageRaw().rows/data.depthRaw().rows, maxCloudDepth_, 0, indices.get());
if(cloud->size() && indices->size())
{
corelib/include/rtabmap/core/CameraThread.h
+1
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@@ -91,6 +91,7 @@ private:
bool _scanFromDepth;
int _scanDecimation;
float _scanMaxDepth;
float _scanMinDepth;
float _scanVoxelSize;
int _scanNormalsK;
StereoDense * _stereoDense;
corelib/include/rtabmap/core/util3d.h
+11 -10
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@@ -79,6 +79,7 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP cloudFromDepth(
float fx, float fy,
int decimation = 1,
float maxDepth = 0.0f,
float minDepth = 0.0f,
std::vector<int> * validIndices = 0);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudFromDepthRGB(
@@ -88,6 +89,7 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudFromDepthRGB(
float fx, float fy,
int decimation = 1,
float maxDepth = 0.0f,
float minDepth = 0.0f,
std::vector<int> * validIndices = 0);
pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP cloudFromDisparity(
@@ -95,6 +97,7 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP cloudFromDisparity(
const StereoCameraModel & model,
int decimation = 1,
float maxDepth = 0.0f,
float minDepth = 0.0f,
std::vector<int> * validIndices = 0);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudFromDisparityRGB(
@@ -103,6 +106,7 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudFromDisparityRGB(
const StereoCameraModel & model,
int decimation = 1,
float maxDepth = 0.0f,
float minDepth = 0.0f,
std::vector<int> * validIndices = 0);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudFromStereoImages(
@@ -111,29 +115,26 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudFromStereoImages(
const StereoCameraModel & model,
int decimation = 1,
float maxDepth = 0.0f,
float minDepth = 0.0f,
std::vector<int> * validIndices = 0);
pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP cloudFromSensorData(
const SensorData & sensorData,
int decimation = 1,
float maxDepth = 0.0f,
float voxelSize = 0.0f,
int samples = 0,
float minDepth = 0.0f,
std::vector<int> * validIndices = 0);
/**
* Create an RGB cloud from the images contained in SensorData. If "voxelSize" and
* "samples" are not set (0), the returned cloud is organized. Otherwise, all NaN
* Create an RGB cloud from the images contained in SensorData. If there is only one camera,
* the returned cloud is organized. Otherwise, all NaN
* points are removed and the cloud will be dense.
*
* Note that multiple RGB-D camera images will result in a dense cloud.
*
* @param sensorData, the sensor data.
* @param decimation, images are decimated by this factor before projecting points to 3D. The factor
* should be a factor of the image width and height.
* @param maxDepth, maximum depth of the projected points (farther points are set to null in case of an organized cloud).
* @param voxelSize, use a voxel grid filter with this size of voxel.
* @param samples, random sampling filtering target cloud size.
* @param minDepth, minimum depth of the projected points (closer points are set to null in case of an organized cloud).
* @param validIndices, the indices of valid points in the cloud
* @return a RGB cloud.
*/
@@ -141,8 +142,7 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudRGBFromSensorData(
const SensorData & sensorData,
int decimation = 1,
float maxDepth = 0.0f,
float voxelSize = 0.0f,
int samples = 0,
float minDepth = 0.0f,
std::vector<int> * validIndices = 0);
pcl::PointCloud<pcl::PointXYZ> RTABMAP_EXP laserScanFromDepthImage(
@@ -152,6 +152,7 @@ pcl::PointCloud<pcl::PointXYZ> RTABMAP_EXP laserScanFromDepthImage(
float cx,
float cy,
float maxDepth = 0,
float minDepth = 0,
const Transform & localTransform = Transform::getIdentity());
// return CV_32FC3
corelib/src/CameraThread.cpp
+2 -1
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@@ -53,6 +53,7 @@ CameraThread::CameraThread(Camera * camera, const ParametersMap & parameters) :
_scanFromDepth(false),
_scanDecimation(4),
_scanMaxDepth(4.0f),
_scanMinDepth(0.0f),
_scanVoxelSize(0.0f),
_scanNormalsK(0),
_stereoDense(new StereoBM(parameters))
@@ -174,7 +175,7 @@ void CameraThread::mainLoop()
UASSERT(_scanDecimation >= 1);
UTimer timer;
pcl::IndicesPtr validIndices(new std::vector<int>);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud = util3d::cloudFromSensorData(data, _scanDecimation, _scanMaxDepth, 0.0f, 0, validIndices.get());
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud = util3d::cloudFromSensorData(data, _scanDecimation, _scanMaxDepth, _scanMinDepth, validIndices.get());
float maxPoints = (data.depthRaw().rows/_scanDecimation)*(data.depthRaw().cols/_scanDecimation);
if(_scanVoxelSize>0.0f)
{
corelib/src/Graph.cpp
+5 -1
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@@ -616,7 +616,7 @@ std::map<int, Transform> radiusPosesFiltering(
float angle,
bool keepLatest)
{
if(poses.size() > 1 && radius > 0.0f)
if(poses.size() > 2 && radius > 0.0f)
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
cloud->resize(poses.size());
@@ -710,6 +710,10 @@ std::map<int, Transform> radiusPosesFiltering(
keptPoses.insert(std::make_pair(names.at(*iter), transforms.at(*iter)));
}
// make sure the first and last poses are still here
keptPoses.insert(*poses.begin());
keptPoses.insert(*poses.rbegin());
return keptPoses;
}
else
corelib/src/Rtabmap.cpp
+1 -3
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@@ -1928,10 +1928,8 @@ bool Rtabmap::process(
{
// path filtering
std::map<int, Transform> filteredPath = graph::radiusPosesFiltering(path, _proximityFilteringRadius, 0, true);
// make sure the nearest and farthest poses are still here
// make sure the current pose is still here
filteredPath.insert(*path.find(nearestId));
filteredPath.insert(*path.begin());
filteredPath.insert(*path.rbegin());
path = filteredPath;
}
}
corelib/src/util3d.cpp
+24 -79
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@@ -245,6 +245,7 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr cloudFromDepth(
float fx, float fy,
int decimation,
float maxDepth,
float minDepth,
std::vector<int> * validIndices)
{
UASSERT(!imageDepth.empty() && (imageDepth.type() == CV_16UC1 || imageDepth.type() == CV_32FC1));
@@ -275,7 +276,7 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr cloudFromDepth(
pcl::PointXYZ & pt = cloud->at((h/decimation)*cloud->width + (w/decimation));
pcl::PointXYZ ptXYZ = projectDepthTo3D(imageDepth, w, h, cx, cy, fx, fy, false);
if(maxDepth<=0.0f || ptXYZ.z <= maxDepth)
if(pcl::isFinite(ptXYZ) && ptXYZ.z>=minDepth && (maxDepth<=0.0f || ptXYZ.z <= maxDepth))
{
pt.x = ptXYZ.x;
pt.y = ptXYZ.y;
@@ -307,6 +308,7 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudFromDepthRGB(
float fx, float fy,
int decimation,
float maxDepth,
float minDepth,
std::vector<int> * validIndices)
{
UDEBUG("");
@@ -381,7 +383,7 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudFromDepthRGB(
}
pcl::PointXYZ ptXYZ = projectDepthTo3D(imageDepth, w*rgbToDepthFactorX, h*rgbToDepthFactorY, depthCx, depthCy, depthFx, depthFy, false);
if(pcl::isFinite(ptXYZ) && (maxDepth<=0.0f || ptXYZ.z <= maxDepth))
if(pcl::isFinite(ptXYZ) && ptXYZ.z>=minDepth && (maxDepth<=0.0f || ptXYZ.z <= maxDepth))
{
pt.x = ptXYZ.x;
pt.y = ptXYZ.y;
@@ -415,6 +417,7 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr cloudFromDisparity(
const StereoCameraModel & model,
int decimation,
float maxDepth,
float minDepth,
std::vector<int> * validIndices)
{
UASSERT(imageDisparity.type() == CV_32FC1 || imageDisparity.type()==CV_16SC1);
@@ -443,7 +446,7 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr cloudFromDisparity(
{
float disp = float(imageDisparity.at<short>(h,w))/16.0f;
cv::Point3f pt = projectDisparityTo3D(cv::Point2f(w, h), disp, model);
if(maxDepth <= 0.0f || pt.z <= maxDepth)
if(pt.z >= minDepth && (maxDepth <= 0.0f || pt.z <= maxDepth))
{
cloud->at((h/decimation)*cloud->width + (w/decimation)) = pcl::PointXYZ(pt.x, pt.y, pt.z);
if(validIndices)
@@ -469,7 +472,7 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr cloudFromDisparity(
{
float disp = imageDisparity.at<float>(h,w);
cv::Point3f pt = projectDisparityTo3D(cv::Point2f(w, h), disp, model);
if(maxDepth <= 0.0f || pt.z <= maxDepth)
if(pt.z > minDepth && (maxDepth <= 0.0f || pt.z <= maxDepth))
{
cloud->at((h/decimation)*cloud->width + (w/decimation)) = pcl::PointXYZ(pt.x, pt.y, pt.z);
if(validIndices)
@@ -500,6 +503,7 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudFromDisparityRGB(
const StereoCameraModel & model,
int decimation,
float maxDepth,
float minDepth,
std::vector<int> * validIndices)
{
UASSERT(!imageRgb.empty() && !imageDisparity.empty());
@@ -554,7 +558,7 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudFromDisparityRGB(
float disp = imageDisparity.type()==CV_16SC1?float(imageDisparity.at<short>(h,w))/16.0f:imageDisparity.at<float>(h,w);
cv::Point3f ptXYZ = projectDisparityTo3D(cv::Point2f(w, h), disp, model);
if(util3d::isFinite(ptXYZ) && (maxDepth<=0.0f || ptXYZ.z <= maxDepth))
if(util3d::isFinite(ptXYZ) && ptXYZ.z >= minDepth && (maxDepth<=0.0f || ptXYZ.z <= maxDepth))
{
pt.x = ptXYZ.x;
pt.y = ptXYZ.y;
@@ -583,6 +587,7 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudFromStereoImages(
const StereoCameraModel & model,
int decimation,
float maxDepth,
float minDepth,
std::vector<int> * validIndices)
{
UASSERT(!imageLeft.empty() && !imageRight.empty());
@@ -622,6 +627,7 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudFromStereoImages(
modelDecimation,
decimation,
maxDepth,
minDepth,
validIndices);
}
@@ -629,8 +635,7 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP cloudFromSensorData(
const SensorData & sensorData,
int decimation,
float maxDepth,
float voxelSize,
int samples,
float minDepth,
std::vector<int> * validIndices)
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
@@ -652,36 +657,16 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP cloudFromSensorData(
sensorData.cameraModels()[i].fy(),
decimation,
maxDepth,
minDepth,
sensorData.cameraModels().size()==1?validIndices:0);
if(tmp->size())
{
bool filtered = false;
if(tmp->size() && voxelSize)
{
tmp = util3d::voxelize(tmp, voxelSize);
filtered = true;
}
if(tmp->size() && samples)
{
tmp = util3d::randomSampling(tmp, samples);
filtered = true;
}
if(tmp->size() && !filtered && sensorData.cameraModels().size() > 1)
{
tmp = util3d::removeNaNFromPointCloud(tmp);
}
if(tmp->size())
{
tmp = util3d::transformPointCloud(tmp, sensorData.cameraModels()[i].localTransform());
}
tmp = util3d::transformPointCloud(tmp, sensorData.cameraModels()[i].localTransform());
if(sensorData.cameraModels().size() > 1)
{
tmp = util3d::removeNaNFromPointCloud(tmp);
*cloud += *tmp;
}
else
@@ -695,11 +680,6 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP cloudFromSensorData(
UERROR("Camera model %d is invalid", i);
}
}
if(cloud->size() && voxelSize && sensorData.cameraModels().size() > 1)
{
cloud = util3d::voxelize(cloud, voxelSize);
}
}
else if(!sensorData.imageRaw().empty() && !sensorData.rightRaw().empty() && sensorData.stereoCameraModel().isValidForProjection())
{
@@ -720,15 +700,11 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP cloudFromSensorData(
sensorData.stereoCameraModel(),
decimation,
maxDepth,
minDepth,
validIndices);
if(cloud->size())
{
if(cloud->size() && voxelSize)
{
cloud = util3d::voxelize(cloud, voxelSize);
}
if(cloud->size())
{
cloud = util3d::transformPointCloud(cloud, sensorData.stereoCameraModel().left().localTransform());
@@ -742,8 +718,7 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudRGBFromSensorData(
const SensorData & sensorData,
int decimation,
float maxDepth,
float voxelSize,
int samples,
float minDepth,
std::vector<int> * validIndices)
{
UASSERT(!sensorData.imageRaw().empty());
@@ -785,35 +760,16 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudRGBFromSensorData(
sensorData.cameraModels()[i].fy(),
decimation,
maxDepth,
minDepth,
sensorData.cameraModels().size() == 1?validIndices:0);
if(tmp->size())
{
bool filtered = false;
if(tmp->size() && voxelSize)
{
tmp = util3d::voxelize(tmp, voxelSize);
filtered = true;
}
if(tmp->size() && samples)
{
tmp = util3d::randomSampling(tmp, samples);
filtered = true;
}
if(tmp->size() && !filtered && sensorData.cameraModels().size() > 1)
{
tmp = util3d::removeNaNFromPointCloud(tmp);
}
if(tmp->size())
{
tmp = util3d::transformPointCloud(tmp, sensorData.cameraModels()[i].localTransform());
}
tmp = util3d::transformPointCloud(tmp, sensorData.cameraModels()[i].localTransform());
if(sensorData.cameraModels().size() > 1)
{
tmp = util3d::removeNaNFromPointCloud(tmp);
*cloud += *tmp;
}
else
@@ -828,11 +784,6 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudRGBFromSensorData(
}
}
if(cloud->size() && voxelSize && sensorData.cameraModels().size() > 1)
{
cloud = util3d::voxelize(cloud, voxelSize);
}
if(cloud->is_dense && validIndices)
{
//generate indices for all points (they are all valid)
@@ -852,19 +803,12 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudRGBFromSensorData(
sensorData.stereoCameraModel(),
decimation,
maxDepth,
minDepth,
validIndices);
if(cloud->size())
{
if(cloud->size() && voxelSize)
{
cloud = util3d::voxelize(cloud, voxelSize);
}
if(cloud->size())
{
cloud = util3d::transformPointCloud(cloud, sensorData.stereoCameraModel().left().localTransform());
}
cloud = util3d::transformPointCloud(cloud, sensorData.stereoCameraModel().left().localTransform());
}
}
return cloud;
@@ -877,6 +821,7 @@ pcl::PointCloud<pcl::PointXYZ> laserScanFromDepthImage(
float cx,
float cy,
float maxDepth,
float minDepth,
const Transform & localTransform)
{
UASSERT(depthImage.type() == CV_16UC1 || depthImage.type() == CV_32FC1);
@@ -891,7 +836,7 @@ pcl::PointCloud<pcl::PointXYZ> laserScanFromDepthImage(
for(int i=0; i<depthImage.cols; ++i)
{
pcl::PointXYZ pt = util3d::projectDepthTo3D(depthImage, i, middle, cx, cy, fx, fy, false);
if(pcl::isFinite(pt) && (maxDepth == 0 || pt.z < maxDepth))
if(pcl::isFinite(pt) && pt.z >= minDepth && (maxDepth == 0 || pt.z < maxDepth))
{
if(!localTransform.isIdentity())
{
guilib/include/rtabmap/gui/LoopClosureViewer.h
+2 -2
View File
@@ -56,7 +56,7 @@ public:
public slots:
void setDecimation(int decimation) {decimation_ = decimation;}
void setMaxDepth(int maxDepth) {maxDepth_ = maxDepth;}
void setSamples(int samples) {samples_ = samples;}
void setMinDepth(int minDepth) {minDepth_ = minDepth;}
void updateView(const Transform & AtoB = Transform());
protected:
@@ -71,7 +71,7 @@ private:
int decimation_;
float maxDepth_;
int samples_;
float minDepth_;
};
} /* namespace rtabmap */
guilib/include/rtabmap/gui/PreferencesDialog.h
+2
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@@ -148,6 +148,7 @@ public:
bool isCloudsShown(int index) const; // 0=map, 1=odom
int getCloudDecimation(int index) const; // 0=map, 1=odom
double getCloudMaxDepth(int index) const; // 0=map, 1=odom
double getCloudMinDepth(int index) const; // 0=map, 1=odom
double getCloudOpacity(int index) const; // 0=map, 1=odom
int getCloudPointSize(int index) const; // 0=map, 1=odom
@@ -340,6 +341,7 @@ private:
QVector<QCheckBox*> _3dRenderingShowClouds;
QVector<QSpinBox*> _3dRenderingDecimation;
QVector<QDoubleSpinBox*> _3dRenderingMaxDepth;
QVector<QDoubleSpinBox*> _3dRenderingMinDepth;
QVector<QDoubleSpinBox*> _3dRenderingOpacity;
QVector<QSpinBox*> _3dRenderingPtSize;
QVector<QCheckBox*> _3dRenderingShowScans;
guilib/src/DatabaseViewer.cpp
+34 -12
View File
@@ -239,6 +239,7 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
connect(ui_->doubleSpinBox_gridCellSize, SIGNAL(editingFinished()), this, SLOT(updateGrid()));
connect(ui_->spinBox_projDecimation, SIGNAL(editingFinished()), this, SLOT(updateGrid()));
connect(ui_->doubleSpinBox_projMaxDepth, SIGNAL(editingFinished()), this, SLOT(updateGrid()));
connect(ui_->doubleSpinBox_projMinDepth, SIGNAL(editingFinished()), this, SLOT(updateGrid()));
connect(ui_->doubleSpinBox_projMaxAngle, SIGNAL(editingFinished()), this, SLOT(updateGrid()));
connect(ui_->spinBox_projClusterSize, SIGNAL(editingFinished()), this, SLOT(updateGrid()));
@@ -268,6 +269,7 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
connect(ui_->doubleSpinBox_gridCellSize, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
connect(ui_->spinBox_projDecimation, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
connect(ui_->doubleSpinBox_projMaxDepth, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
connect(ui_->doubleSpinBox_projMinDepth, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
connect(ui_->doubleSpinBox_projMaxAngle, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
connect(ui_->spinBox_projClusterSize, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
connect(ui_->groupBox_posefiltering, SIGNAL(clicked(bool)), this, SLOT(configModified()));
@@ -276,6 +278,7 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
connect(ui_->spinBox_icp_decimation, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
connect(ui_->doubleSpinBox_icp_maxDepth, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
connect(ui_->doubleSpinBox_icp_minDepth, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
connect(ui_->checkBox_icp_laserScan, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->doubleSpinBox_detectMore_radius, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
@@ -388,6 +391,7 @@ void DatabaseViewer::readSettings()
ui_->doubleSpinBox_gridCellSize->setValue(settings.value("gridCellSize", ui_->doubleSpinBox_gridCellSize->value()).toDouble());
ui_->spinBox_projDecimation->setValue(settings.value("projDecimation", ui_->spinBox_projDecimation->value()).toInt());
ui_->doubleSpinBox_projMaxDepth->setValue(settings.value("projMaxDepth", ui_->doubleSpinBox_projMaxDepth->value()).toDouble());
ui_->doubleSpinBox_projMinDepth->setValue(settings.value("projMinDepth", ui_->doubleSpinBox_projMinDepth->value()).toDouble());
ui_->doubleSpinBox_projMaxAngle->setValue(settings.value("projMaxAngle", ui_->doubleSpinBox_projMaxAngle->value()).toDouble());
ui_->spinBox_projClusterSize->setValue(settings.value("projClusterSize", ui_->spinBox_projClusterSize->value()).toInt());
ui_->groupBox_posefiltering->setChecked(settings.value("poseFiltering", ui_->groupBox_posefiltering->isChecked()).toBool());
@@ -411,6 +415,7 @@ void DatabaseViewer::readSettings()
settings.beginGroup("icp");
ui_->spinBox_icp_decimation->setValue(settings.value("decimation", ui_->spinBox_icp_decimation->value()).toInt());
ui_->doubleSpinBox_icp_maxDepth->setValue(settings.value("maxDepth", ui_->doubleSpinBox_icp_maxDepth->value()).toDouble());
ui_->doubleSpinBox_icp_minDepth->setValue(settings.value("minDepth", ui_->doubleSpinBox_icp_minDepth->value()).toDouble());
ui_->checkBox_icp_laserScan->setChecked(settings.value("icpLaserScan", ui_->checkBox_icp_laserScan->isChecked()).toBool());
settings.endGroup();
// Visual parameters
@@ -474,6 +479,7 @@ void DatabaseViewer::writeSettings()
settings.setValue("gridCellSize", ui_->doubleSpinBox_gridCellSize->value());
settings.setValue("projDecimation", ui_->spinBox_projDecimation->value());
settings.setValue("projMaxDepth", ui_->doubleSpinBox_projMaxDepth->value());
settings.setValue("projMinDepth", ui_->doubleSpinBox_projMinDepth->value());
settings.setValue("projMaxAngle", ui_->doubleSpinBox_projMaxAngle->value());
settings.setValue("projClusterSize", ui_->spinBox_projClusterSize->value());
settings.setValue("poseFiltering", ui_->groupBox_posefiltering->isChecked());
@@ -497,6 +503,7 @@ void DatabaseViewer::writeSettings()
settings.beginGroup("icp");
settings.setValue("decimation", ui_->spinBox_icp_decimation->value());
settings.setValue("maxDepth", ui_->doubleSpinBox_icp_maxDepth->value());
settings.setValue("minDepth", ui_->doubleSpinBox_icp_minDepth->value());
settings.setValue("icpLaserScan", ui_->checkBox_icp_laserScan->isChecked());
settings.endGroup();
@@ -1710,20 +1717,26 @@ void DatabaseViewer::generate3DMap()
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
UASSERT(data.imageRaw().empty() || data.imageRaw().type()==CV_8UC3 || data.imageRaw().type() == CV_8UC1);
UASSERT(data.depthOrRightRaw().empty() || data.depthOrRightRaw().type()==CV_8UC1 || data.depthOrRightRaw().type() == CV_16UC1 || data.depthOrRightRaw().type() == CV_32FC1);
cloud = util3d::cloudRGBFromSensorData(data, decimation, maxDepth, assemble?0.01:0);
pcl::IndicesPtr validIndices(new std::vector<int>);
cloud = util3d::cloudRGBFromSensorData(data, decimation, maxDepth, 0, validIndices.get());
if(assemble)
{
if(cloud->size())
{
cloud = rtabmap::util3d::transformPointCloud(cloud, pose);
if(assembledCloud->size() == 0)
cloud = util3d::voxelize(cloud, validIndices, 0.01);
if(cloud->size())
{
*assembledCloud = *cloud;
}
else
{
*assembledCloud += *cloud;
cloud = rtabmap::util3d::transformPointCloud(cloud, pose);
if(assembledCloud->size() == 0)
{
*assembledCloud = *cloud;
}
else
{
*assembledCloud += *cloud;
}
}
}
UINFO("Created cloud %d (%d points)", iter->first, (int)cloud->size());
@@ -3282,10 +3295,16 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
if(!data.depthOrRightRaw().empty())
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud;
pcl::IndicesPtr validIndices(new std::vector<int>);
cloud = util3d::cloudFromSensorData(data,
ui_->spinBox_projDecimation->value(),
ui_->doubleSpinBox_projMaxDepth->value(),
ui_->doubleSpinBox_gridCellSize->value());
ui_->doubleSpinBox_projMinDepth->value(),
validIndices.get());
if(ui_->doubleSpinBox_gridCellSize->value())
{
cloud = util3d::voxelize(cloud, validIndices, ui_->doubleSpinBox_gridCellSize->value());
}
if(cloud->size())
{
@@ -3607,9 +3626,10 @@ void DatabaseViewer::updateGraphView()
void DatabaseViewer::updateGrid()
{
if((sender() != ui_->spinBox_projDecimation && sender() != ui_->doubleSpinBox_projMaxDepth && sender()!=ui_->doubleSpinBox_projMaxAngle && sender()!=ui_->spinBox_projClusterSize) ||
if((sender() != ui_->spinBox_projDecimation && sender() != ui_->doubleSpinBox_projMaxDepth && sender() != ui_->doubleSpinBox_projMinDepth && sender()!=ui_->doubleSpinBox_projMaxAngle && sender()!=ui_->spinBox_projClusterSize) ||
(sender() == ui_->spinBox_projDecimation && ui_->groupBox_gridFromProjection->isChecked()) ||
(sender() == ui_->doubleSpinBox_projMaxDepth && ui_->groupBox_gridFromProjection->isChecked()) ||
(sender() == ui_->doubleSpinBox_projMinDepth && ui_->groupBox_gridFromProjection->isChecked()) ||
(sender() == ui_->doubleSpinBox_projMaxAngle && ui_->groupBox_gridFromProjection->isChecked()) ||
(sender() == ui_->spinBox_projClusterSize && ui_->groupBox_gridFromProjection->isChecked()))
{
@@ -3723,11 +3743,13 @@ void DatabaseViewer::refineConstraint(int from, int to, bool silent, bool update
pcl::PointCloud<pcl::PointXYZ>::Ptr cloudFrom = util3d::cloudFromSensorData(
dataFrom,
ui_->spinBox_icp_decimation->value(),
ui_->doubleSpinBox_icp_maxDepth->value());
ui_->doubleSpinBox_icp_maxDepth->value(),
ui_->doubleSpinBox_icp_minDepth->value());
pcl::PointCloud<pcl::PointXYZ>::Ptr cloudTo = util3d::cloudFromSensorData(
dataTo,
ui_->spinBox_icp_decimation->value(),
ui_->doubleSpinBox_icp_maxDepth->value());
ui_->doubleSpinBox_icp_maxDepth->value(),
ui_->doubleSpinBox_icp_minDepth->value());
int maxLaserScans = cloudFrom->size();
dataFrom.setLaserScanRaw(util3d::laserScanFromPointCloud(*util3d::removeNaNFromPointCloud(cloudFrom), Transform()), maxLaserScans, 0);
dataTo.setLaserScanRaw(util3d::laserScanFromPointCloud(*util3d::removeNaNFromPointCloud(cloudTo), Transform()), maxLaserScans, 0);
guilib/src/ExportCloudsDialog.cpp
+15 -3
View File
@@ -75,6 +75,7 @@ ExportCloudsDialog::ExportCloudsDialog(QWidget *parent) :
connect(_ui->groupBox_regenerate, SIGNAL(clicked(bool)), this, SIGNAL(configChanged()));
connect(_ui->spinBox_decimation, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_maxDepth, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_minDepth, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->groupBox_filtering, SIGNAL(clicked(bool)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_filteringRadius, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
@@ -143,6 +144,7 @@ void ExportCloudsDialog::saveSettings(QSettings & settings, const QString & grou
settings.setValue("regenerate", _ui->groupBox_regenerate->isChecked());
settings.setValue("regenerate_decimation", _ui->spinBox_decimation->value());
settings.setValue("regenerate_max_depth", _ui->doubleSpinBox_maxDepth->value());
settings.setValue("regenerate_min_depth", _ui->doubleSpinBox_minDepth->value());
settings.setValue("filtering", _ui->groupBox_filtering->isChecked());
@@ -197,6 +199,7 @@ void ExportCloudsDialog::loadSettings(QSettings & settings, const QString & grou
_ui->groupBox_regenerate->setChecked(settings.value("regenerate", _ui->groupBox_regenerate->isChecked()).toBool());
_ui->spinBox_decimation->setValue(settings.value("regenerate_decimation", _ui->spinBox_decimation->value()).toInt());
_ui->doubleSpinBox_maxDepth->setValue(settings.value("regenerate_max_depth", _ui->doubleSpinBox_maxDepth->value()).toDouble());
_ui->doubleSpinBox_minDepth->setValue(settings.value("regenerate_min_depth", _ui->doubleSpinBox_minDepth->value()).toDouble());
_ui->groupBox_filtering->setChecked(settings.value("filtering", _ui->groupBox_filtering->isChecked()).toBool());
_ui->doubleSpinBox_filteringRadius->setValue(settings.value("filtering_radius", _ui->doubleSpinBox_filteringRadius->value()).toDouble());
@@ -245,6 +248,7 @@ void ExportCloudsDialog::restoreDefaults()
_ui->groupBox_regenerate->setChecked(false);
_ui->spinBox_decimation->setValue(1);
_ui->doubleSpinBox_maxDepth->setValue(4);
_ui->doubleSpinBox_minDepth->setValue(0);
_ui->groupBox_filtering->setChecked(false);
_ui->doubleSpinBox_filteringRadius->setValue(0.02);
@@ -1015,11 +1019,19 @@ std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::Indic
d,
_ui->spinBox_decimation->value(),
_ui->doubleSpinBox_maxDepth->value(),
// Don't voxelize if we create organized mesh
_ui->comboBox_pipeline->currentIndex()==0 && _ui->groupBox_meshing->isChecked()?0:_ui->doubleSpinBox_voxelSize_assembled->value(),
0,
_ui->doubleSpinBox_minDepth->value(),
indices.get());
// Don't voxelize if we create organized mesh
if(!(_ui->comboBox_pipeline->currentIndex()==0 && _ui->groupBox_meshing->isChecked()))
{
cloudWithoutNormals = util3d::voxelize(cloudWithoutNormals, indices, _ui->doubleSpinBox_voxelSize_assembled->value());
indices->resize(cloudWithoutNormals->size());
for(unsigned int i=0; i<indices->size(); ++i)
{
indices->at(i) = i;
}
}
cloud = util3d::computeNormals(
cloudWithoutNormals,
guilib/src/LoopClosureViewer.cpp
+6 -6
View File
@@ -44,7 +44,7 @@ LoopClosureViewer::LoopClosureViewer(QWidget * parent) :
QWidget(parent),
decimation_(1),
maxDepth_(0),
samples_(0)
minDepth_(0)
{
ui_ = new Ui_loopClosureViewer();
ui_->setupUi(this);
@@ -73,17 +73,17 @@ void LoopClosureViewer::updateView(const Transform & transform)
{
int decimation = 1;
float maxDepth = 0;
int samples = 0;
float minDepth = 0;
if(!ui_->checkBox_rawCloud->isChecked())
{ decimation = decimation_;
maxDepth = maxDepth_;
samples = samples_;
minDepth = minDepth_;
}
UDEBUG("decimation = %d", decimation);
UDEBUG("maxDepth = %f", maxDepth);
UDEBUG("samples = %d", samples);
UDEBUG("minDepth = %d", minDepth);
Transform t;
if(!transform.isNull())
@@ -106,8 +106,8 @@ void LoopClosureViewer::updateView(const Transform & transform)
{
//cloud 3d
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudA, cloudB;
cloudA = util3d::cloudRGBFromSensorData(sA_.sensorData(), decimation, maxDepth, 0.0f, samples);
cloudB = util3d::cloudRGBFromSensorData(sB_.sensorData(), decimation, maxDepth, 0.0f, samples);
cloudA = util3d::cloudRGBFromSensorData(sA_.sensorData(), decimation, maxDepth, minDepth);
cloudB = util3d::cloudRGBFromSensorData(sB_.sensorData(), decimation, maxDepth, minDepth);
//cloud 2d
pcl::PointCloud<pcl::PointXYZ>::Ptr scanA, scanB;
guilib/src/MainWindow.cpp
+2 -6
View File
@@ -861,8 +861,7 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom)
cloud = util3d::cloudRGBFromSensorData(odom.data(),
_preferencesDialog->getCloudDecimation(1),
_preferencesDialog->getCloudMaxDepth(1),
0,
0,
_preferencesDialog->getCloudMinDepth(1),
indices.get());
if(indices->size())
{
@@ -1726,8 +1725,6 @@ void MainWindow::updateMapCloud(
float radius = _preferencesDialog->getCloudFilteringRadius();
float angle = _preferencesDialog->getCloudFilteringAngle()*CV_PI/180.0; // convert to rad
poses = rtabmap::graph::radiusPosesFiltering(posesIn, radius, angle);
// make sure the last is here
poses.insert(*posesIn.rbegin());
for(std::map<int, Transform>::iterator iter= poses.begin(); iter!=poses.end(); ++iter)
{
std::map<int, int>::const_iterator jter = mapIdsIn.find(iter->first);
@@ -2167,8 +2164,7 @@ void MainWindow::createAndAddCloudToMap(int nodeId, const Transform & pose, int
cloudWithoutNormals = util3d::cloudRGBFromSensorData(data,
_preferencesDialog->getCloudDecimation(0),
_preferencesDialog->getCloudMaxDepth(0),
0,
0,
_preferencesDialog->getCloudMinDepth(0),
indices.get());
//compute normals
guilib/src/OdometryViewer.cpp
+10 -3
View File
@@ -234,12 +234,19 @@ void OdometryViewer::processData(const rtabmap::OdometryEvent & odom)
// visualization: buffering the clouds
// Create the new cloud
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
pcl::IndicesPtr validIndices(new std::vector<int>);
cloud = util3d::cloudRGBFromSensorData(
odom.data(),
validDecimationValue_,
0.0f,
voxelSpin_->value());
0,
0,
validIndices.get());
if(voxelSpin_->value())
{
cloud = util3d::voxelize(cloud, validIndices, voxelSpin_->value());
}
if(cloud->size())
{
guilib/src/PreferencesDialog.cpp
+13
View File
@@ -281,6 +281,10 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_3dRenderingMaxDepth[0] = _ui->doubleSpinBox_maxDepth;
_3dRenderingMaxDepth[1] = _ui->doubleSpinBox_maxDepth_odom;
_3dRenderingMinDepth.resize(2);
_3dRenderingMinDepth[0] = _ui->doubleSpinBox_minDepth;
_3dRenderingMinDepth[1] = _ui->doubleSpinBox_minDepth_odom;
_3dRenderingOpacity.resize(2);
_3dRenderingOpacity[0] = _ui->doubleSpinBox_opacity;
_3dRenderingOpacity[1] = _ui->doubleSpinBox_opacity_odom;
@@ -322,6 +326,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_3dRenderingShowClouds[i], SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_3dRenderingDecimation[i], SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_3dRenderingMaxDepth[i], SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_3dRenderingMinDepth[i], SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_3dRenderingShowScans[i], SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_3dRenderingShowFeatures[i], SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
@@ -1138,6 +1143,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_3dRenderingShowClouds[i]->setChecked(true);
_3dRenderingDecimation[i]->setValue(8);
_3dRenderingMaxDepth[i]->setValue(0.0);
_3dRenderingMinDepth[i]->setValue(0.0);
_3dRenderingShowScans[i]->setChecked(true);
_3dRenderingShowFeatures[i]->setChecked(i==0?false:true);
@@ -1477,6 +1483,7 @@ void PreferencesDialog::readGuiSettings(const QString & filePath)
_3dRenderingShowClouds[i]->setChecked(settings.value(QString("showClouds%1").arg(i), _3dRenderingShowClouds[i]->isChecked()).toBool());
_3dRenderingDecimation[i]->setValue(settings.value(QString("decimation%1").arg(i), _3dRenderingDecimation[i]->value()).toInt());
_3dRenderingMaxDepth[i]->setValue(settings.value(QString("maxDepth%1").arg(i), _3dRenderingMaxDepth[i]->value()).toDouble());
_3dRenderingMinDepth[i]->setValue(settings.value(QString("minDepth%1").arg(i), _3dRenderingMinDepth[i]->value()).toDouble());
_3dRenderingShowScans[i]->setChecked(settings.value(QString("showScans%1").arg(i), _3dRenderingShowScans[i]->isChecked()).toBool());
_3dRenderingShowFeatures[i]->setChecked(settings.value(QString("showFeatures%1").arg(i), _3dRenderingShowFeatures[i]->isChecked()).toBool());
@@ -1859,6 +1866,7 @@ void PreferencesDialog::writeGuiSettings(const QString & filePath) const
settings.setValue(QString("showClouds%1").arg(i), _3dRenderingShowClouds[i]->isChecked());
settings.setValue(QString("decimation%1").arg(i), _3dRenderingDecimation[i]->value());
settings.setValue(QString("maxDepth%1").arg(i), _3dRenderingMaxDepth[i]->value());
settings.setValue(QString("minDepth%1").arg(i), _3dRenderingMinDepth[i]->value());
settings.setValue(QString("showScans%1").arg(i), _3dRenderingShowScans[i]->isChecked());
settings.setValue(QString("showFeatures%1").arg(i), _3dRenderingShowFeatures[i]->isChecked());
@@ -3550,6 +3558,11 @@ double PreferencesDialog::getCloudMaxDepth(int index) const
UASSERT(index >= 0 && index <= 1);
return _3dRenderingMaxDepth[index]->value();
}
double PreferencesDialog::getCloudMinDepth(int index) const
{
UASSERT(index >= 0 && index <= 1);
return _3dRenderingMinDepth[index]->value();
}
double PreferencesDialog::getCloudOpacity(int index) const
{
UASSERT(index >= 0 && index <= 1);
guilib/src/ui/DatabaseViewer.ui
+53 -11
View File
@@ -976,7 +976,7 @@
<item>
<widget class="QToolBox" name="toolBox">
<property name="currentIndex">
<number>1</number>
<number>3</number>
</property>
<widget class="QWidget" name="page_3">
<property name="geometry">
@@ -1118,9 +1118,9 @@
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<y>-51</y>
<width>278</width>
<height>578</height>
<height>611</height>
</rect>
</property>
<attribute name="label">
@@ -1229,7 +1229,7 @@
<double>0.400000000000000</double>
</property>
<property name="maximum">
<double>15.000000000000000</double>
<double>999.000000000000000</double>
</property>
<property name="singleStep">
<double>1.000000000000000</double>
@@ -1246,21 +1246,21 @@
</property>
</widget>
</item>
<item row="2" column="1">
<item row="3" column="1">
<widget class="QLabel" name="label_66">
<property name="text">
<string>Cluster size</string>
</property>
</widget>
</item>
<item row="3" column="1">
<item row="4" column="1">
<widget class="QLabel" name="label_67">
<property name="text">
<string>Max ground angle</string>
</property>
</widget>
</item>
<item row="3" column="0">
<item row="4" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_projMaxAngle">
<property name="suffix">
<string> rad</string>
@@ -1282,7 +1282,7 @@
</property>
</widget>
</item>
<item row="2" column="0">
<item row="3" column="0">
<widget class="QSpinBox" name="spinBox_projClusterSize">
<property name="minimum">
<number>1</number>
@@ -1295,6 +1295,35 @@
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_40">
<property name="text">
<string>Cloud min depth</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_projMinDepth">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>1</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>999.000000000000000</double>
</property>
<property name="singleStep">
<double>1.000000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
</layout>
</widget>
</item>
@@ -1501,8 +1530,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>289</width>
<height>182</height>
<width>201</width>
<height>117</height>
</rect>
</property>
<attribute name="label">
@@ -1656,7 +1685,7 @@
</property>
</widget>
</item>
<item row="3" column="0">
<item row="4" column="0">
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
@@ -1669,6 +1698,19 @@
</property>
</spacer>
</item>
<item row="3" column="2">
<widget class="QLabel" name="label_19">
<property name="text">
<string>Min depth</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_icp_minDepth"/>
</item>
</layout>
</widget>
</widget>
guilib/src/ui/exportCloudsDialog.ui
+31 -2
View File
@@ -24,8 +24,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>773</width>
<height>1394</height>
<width>778</width>
<height>1318</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_13">
@@ -203,6 +203,35 @@
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_133">
<property name="text">
<string>3D cloud minimum depth.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_minDepth">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>1</number>
</property>
<property name="maximum">
<double>100.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
</layout>
</item>
<item>
guilib/src/ui/preferencesDialog.ui
+96 -42
View File
@@ -63,7 +63,7 @@
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<y>-466</y>
<width>686</width>
<height>2023</height>
</rect>
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>14</number>
<number>1</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -773,7 +773,17 @@ Show a yellow background when the number of odometry inliers goes under this thr
<enum>QFrame::Raised</enum>
</property>
<layout class="QGridLayout" name="gridLayout_2" columnstretch="0,0,1">
<item row="11" column="0">
<item row="9" column="0">
<widget class="QCheckBox" name="checkBox_showScans">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="12" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_scan">
<property name="suffix">
<string/>
@@ -792,7 +802,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="8" column="2">
<item row="9" column="2">
<widget class="QLabel" name="label_110">
<property name="text">
<string>Show scans.</string>
@@ -818,7 +828,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="13" column="1">
<item row="14" column="1">
<widget class="QCheckBox" name="checkBox_showOdomFeatures">
<property name="text">
<string/>
@@ -828,7 +838,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="13" column="0">
<item row="14" column="0">
<widget class="QCheckBox" name="checkBox_showFeatures">
<property name="text">
<string/>
@@ -902,7 +912,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="6" column="0">
<item row="7" column="0">
<widget class="QSpinBox" name="spinBox_ptsize">
<property name="minimum">
<number>1</number>
@@ -915,7 +925,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="11" column="1">
<item row="12" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_odom_scan">
<property name="suffix">
<string/>
@@ -934,16 +944,6 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QCheckBox" name="checkBox_showScans">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QLabel" name="label_108">
<property name="text">
@@ -970,7 +970,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="5" column="2">
<item row="6" column="2">
<widget class="QLabel" name="label_155">
<property name="text">
<string>3D cloud opacity.</string>
@@ -983,7 +983,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="6" column="1">
<item row="7" column="1">
<widget class="QSpinBox" name="spinBox_ptsize_odom">
<property name="minimum">
<number>1</number>
@@ -996,7 +996,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="12" column="1">
<item row="13" column="1">
<widget class="QSpinBox" name="spinBox_ptsize_odom_scan">
<property name="minimum">
<number>1</number>
@@ -1006,7 +1006,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="12" column="2">
<item row="13" column="2">
<widget class="QLabel" name="label_158">
<property name="text">
<string>Scan point size (1..64).</string>
@@ -1019,7 +1019,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="10" column="0">
<item row="11" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_voxelSizeScan">
<property name="suffix">
<string> m</string>
@@ -1038,7 +1038,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="10" column="2">
<item row="11" column="2">
<widget class="QLabel" name="label_271">
<property name="text">
<string>Scan voxel size.</string>
@@ -1051,7 +1051,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="9" column="1">
<item row="10" column="1">
<widget class="QSpinBox" name="spinBox_downsamplingScan_odom">
<property name="minimum">
<number>1</number>
@@ -1061,7 +1061,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="11" column="2">
<item row="12" column="2">
<widget class="QLabel" name="label_156">
<property name="text">
<string>Scan opacity.</string>
@@ -1097,7 +1097,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="5" column="0">
<item row="6" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity">
<property name="suffix">
<string/>
@@ -1116,7 +1116,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="8" column="1">
<item row="9" column="1">
<widget class="QCheckBox" name="checkBox_showOdomScans">
<property name="text">
<string/>
@@ -1126,7 +1126,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="15" column="2">
<item row="16" column="2">
<widget class="QLabel" name="label_213">
<property name="text">
<string>Show graphs.</string>
@@ -1139,7 +1139,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="15" column="0">
<item row="16" column="0">
<widget class="QCheckBox" name="checkBox_showGraphs">
<property name="text">
<string/>
@@ -1149,7 +1149,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="5" column="1">
<item row="6" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_odom">
<property name="suffix">
<string/>
@@ -1168,7 +1168,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="12" column="0">
<item row="13" column="0">
<widget class="QSpinBox" name="spinBox_ptsize_scan">
<property name="minimum">
<number>1</number>
@@ -1188,7 +1188,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="16" column="2">
<item row="17" column="2">
<widget class="QLabel" name="label_243">
<property name="text">
<string>Show labels.</string>
@@ -1201,7 +1201,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="16" column="0">
<item row="17" column="0">
<widget class="QCheckBox" name="checkBox_showLabels">
<property name="text">
<string/>
@@ -1211,7 +1211,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="10" column="1">
<item row="11" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_voxelSizeScan_odom">
<property name="suffix">
<string> m</string>
@@ -1230,7 +1230,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="9" column="2">
<item row="10" column="2">
<widget class="QLabel" name="label_273">
<property name="text">
<string>Scan downsampling step size.</string>
@@ -1243,7 +1243,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="9" column="0">
<item row="10" column="0">
<widget class="QSpinBox" name="spinBox_downsamplingScan">
<property name="minimum">
<number>1</number>
@@ -1253,7 +1253,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="6" column="2">
<item row="7" column="2">
<widget class="QLabel" name="label_157">
<property name="text">
<string>3D cloud point size (1..64).</string>
@@ -1279,7 +1279,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="13" column="2">
<item row="14" column="2">
<widget class="QLabel" name="label_123">
<property name="text">
<string>Show 3D features.</string>
@@ -1292,7 +1292,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="14" column="2">
<item row="15" column="2">
<widget class="QLabel" name="label_166">
<property name="text">
<string>Feature point size.</string>
@@ -1305,7 +1305,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="14" column="1">
<item row="15" column="1">
<widget class="QSpinBox" name="spinBox_ptsize_odom_features">
<property name="minimum">
<number>1</number>
@@ -1315,7 +1315,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="14" column="0">
<item row="15" column="0">
<widget class="QSpinBox" name="spinBox_ptsize_features">
<property name="minimum">
<number>1</number>
@@ -1325,6 +1325,60 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="5" column="2">
<widget class="QLabel" name="label_150">
<property name="text">
<string>3D cloud minimum depth.</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="QDoubleSpinBox" name="doubleSpinBox_minDepth">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>1</number>
</property>
<property name="maximum">
<double>100.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_minDepth_odom">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>1</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>100.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
</layout>
</widget>
</item>