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Save/view high-res point clouds depending on the visible clouds in Map view (only those checked in MapVisibility view)

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1437 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-06-23 20:43:08 +00:00
parent e9ae29f909
commit 7b0a34b150
13 changed files with 310 additions and 215 deletions
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corelib/include/rtabmap/core/Parameters.h
+1 -1
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@@ -166,7 +166,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM_STR(Kp, DictionaryPath, "", "Path of the pre-computed dictionary"); RTABMAP_PARAM_STR(Kp, DictionaryPath, "", "Path of the pre-computed dictionary");
//Database //Database
RTABMAP_PARAM(DbSqlite3, InMemory, bool, true, "Using database in the memory instead of a file on the hard disk."); RTABMAP_PARAM(DbSqlite3, InMemory, bool, false, "Using database in the memory instead of a file on the hard disk.");
RTABMAP_PARAM(DbSqlite3, CacheSize, unsigned int, 10000, "Sqlite cache size (default is 2000)."); RTABMAP_PARAM(DbSqlite3, CacheSize, unsigned int, 10000, "Sqlite cache size (default is 2000).");
RTABMAP_PARAM(DbSqlite3, JournalMode, int, 3, "0=DELETE, 1=TRUNCATE, 2=PERSIST, 3=MEMORY, 4=OFF (see sqlite3 doc : \"PRAGMA journal_mode\")"); RTABMAP_PARAM(DbSqlite3, JournalMode, int, 3, "0=DELETE, 1=TRUNCATE, 2=PERSIST, 3=MEMORY, 4=OFF (see sqlite3 doc : \"PRAGMA journal_mode\")");
RTABMAP_PARAM(DbSqlite3, Synchronous, int, 0, "0=OFF, 1=NORMAL, 2=FULL (see sqlite3 doc : \"PRAGMA synchronous\")"); RTABMAP_PARAM(DbSqlite3, Synchronous, int, 0, "0=OFF, 1=NORMAL, 2=FULL (see sqlite3 doc : \"PRAGMA synchronous\")");
guilib/include/rtabmap/gui/CloudViewer.h
+4 -2
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@@ -106,8 +106,10 @@ public:
const QMap<std::string, Transform> & getAddedClouds() {return _addedClouds;} //including meshes const QMap<std::string, Transform> & getAddedClouds() {return _addedClouds;} //including meshes
void setCameraTargetLocked(); void setCameraTargetLocked(bool enabled = true);
void setCameraTargetFollow(); void setCameraTargetFollow(bool enabled = true);
void setCameraFree();
void setCameraLockZ(bool enabled = true);
public slots: public slots:
void render(); void render();
guilib/include/rtabmap/gui/DatabaseViewer.h
+1 -1
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@@ -92,7 +92,7 @@ private:
std::list<std::map<int, rtabmap::Transform> > graphes_; std::list<std::map<int, rtabmap::Transform> > graphes_;
std::map<int, rtabmap::Transform> poses_; std::map<int, rtabmap::Transform> poses_;
std::multimap<int, rtabmap::Link> links_; std::multimap<int, rtabmap::Link> links_;
std::map<int, std::vector<unsigned char> > scans_; QMap<int, std::vector<unsigned char> > scans_;
}; };
#endif /* DATABASEVIEWER_H_ */ #endif /* DATABASEVIEWER_H_ */
guilib/include/rtabmap/gui/MainWindow.h
+7 -5
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@@ -176,6 +176,8 @@ signals:
private: private:
void update3DMapVisibility(bool cloudsShown, bool scansShown); void update3DMapVisibility(bool cloudsShown, bool scansShown);
void updateMapCloud(const std::map<int, Transform> & poses, const Transform & pose); void updateMapCloud(const std::map<int, Transform> & poses, const Transform & pose);
void createAndAddCloudToMap(int nodeId, const Transform & pose);
void createAndAddScanToMap(int nodeId, const Transform & pose);
std::map<int, Transform> radiusPosesFiltering(const std::map<int, Transform> & poses) const; std::map<int, Transform> radiusPosesFiltering(const std::map<int, Transform> & poses) const;
void drawKeypoints(const std::multimap<int, cv::KeyPoint> & refWords, const std::multimap<int, cv::KeyPoint> & loopWords); void drawKeypoints(const std::multimap<int, cv::KeyPoint> & refWords, const std::multimap<int, cv::KeyPoint> & loopWords);
void setupMainLayout(bool vertical); void setupMainLayout(bool vertical);
@@ -183,7 +185,7 @@ private:
void updateSelectSourceDatabase(bool used); void updateSelectSourceDatabase(bool used);
void updateSelectSourceRGBDMenu(bool used, PreferencesDialog::Src src); void updateSelectSourceRGBDMenu(bool used, PreferencesDialog::Src src);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr createAssembledCloud(); pcl::PointCloud<pcl::PointXYZRGB>::Ptr createAssembledCloud(const std::map<int, Transform> & poses) const;
pcl::PointCloud<pcl::PointXYZRGB>::Ptr createCloud( pcl::PointCloud<pcl::PointXYZRGB>::Ptr createCloud(
int id, int id,
const cv::Mat & rgb, const cv::Mat & rgb,
@@ -193,9 +195,9 @@ private:
const Transform & pose, const Transform & pose,
float voxelSize, float voxelSize,
int decimation, int decimation,
float maxDepth); float maxDepth) const;
std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > createPointClouds(); std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > createPointClouds(const std::map<int, Transform> & poses) const;
std::map<int, pcl::PolygonMesh::Ptr> createMeshes(); std::map<int, pcl::PolygonMesh::Ptr> createMeshes(const std::map<int, Transform> & poses) const;
void savePointClouds(const std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr> & clouds); void savePointClouds(const std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr> & clouds);
void saveMeshes(const std::map<int, pcl::PolygonMesh::Ptr> & meshes); void saveMeshes(const std::map<int, pcl::PolygonMesh::Ptr> & meshes);
@@ -222,7 +224,7 @@ private:
QMap<int, std::vector<unsigned char> > _imagesMap; QMap<int, std::vector<unsigned char> > _imagesMap;
QMap<int, std::vector<unsigned char> > _depthsMap; QMap<int, std::vector<unsigned char> > _depthsMap;
std::map<int, std::vector<unsigned char> > _depths2DMap; QMap<int, std::vector<unsigned char> > _depths2DMap;
QMap<int, float> _depthConstantsMap; QMap<int, float> _depthConstantsMap;
QMap<int, Transform> _localTransformsMap; QMap<int, Transform> _localTransformsMap;
std::map<int, Transform> _currentPosesMap; std::map<int, Transform> _currentPosesMap;
guilib/src/CloudViewer.cpp
+15 -4
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@@ -536,14 +536,25 @@ void CloudViewer::setCloudPointSize(const std::string & id, int size)
} }
} }
void CloudViewer::setCameraTargetLocked() void CloudViewer::setCameraTargetLocked(bool enabled)
{ {
_aLockCamera->setChecked(true); _aLockCamera->setChecked(enabled);
} }
void CloudViewer::setCameraTargetFollow() void CloudViewer::setCameraTargetFollow(bool enabled)
{ {
_aFollowCamera->setChecked(true); _aFollowCamera->setChecked(enabled);
}
void CloudViewer::setCameraFree()
{
_aLockCamera->setChecked(false);
_aFollowCamera->setChecked(false);
}
void CloudViewer::setCameraLockZ(bool enabled)
{
_aLockViewZ->setChecked(enabled);
} }
Eigen::Vector3f rotatePointAroundAxe( Eigen::Vector3f rotatePointAroundAxe(
guilib/src/DatabaseViewer.cpp
+1 -1
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@@ -904,7 +904,7 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
memory_->getImageDepth(ids_.at(i), imageBytesA, depthBytesA, depth2dBytesA, depthConstantA, localTransformA); memory_->getImageDepth(ids_.at(i), imageBytesA, depthBytesA, depth2dBytesA, depthConstantA, localTransformA);
if(depth2dBytesA.size()) if(depth2dBytesA.size())
{ {
scans_.insert(std::make_pair(ids_.at(i), depth2dBytesA)); scans_.insert(ids_.at(i), depth2dBytesA);
} }
} }
UINFO("Update scans list... done"); UINFO("Update scans list... done");
guilib/src/GraphViewer.cpp
+14 -13
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@@ -132,7 +132,7 @@ GraphViewer::GraphViewer(QWidget * parent) :
_neighborColor(Qt::blue), _neighborColor(Qt::blue),
_loopClosureColor(Qt::red), _loopClosureColor(Qt::red),
_root(0), _root(0),
_nodeRadius(0.1), _nodeRadius(0.01),
_linkWidth(0), _linkWidth(0),
_gridMap(0), _gridMap(0),
_gridCellSize(0.05f) _gridCellSize(0.05f)
@@ -167,7 +167,7 @@ GraphViewer::~GraphViewer()
void GraphViewer::updateGraph(const std::map<int, Transform> & poses, void GraphViewer::updateGraph(const std::map<int, Transform> & poses,
const std::multimap<int, Link> & constraints, const std::multimap<int, Link> & constraints,
const std::map<int, std::vector<unsigned char> > & scans) const QMap<int, std::vector<unsigned char> > & scans)
{ {
//Hide nodes and links //Hide nodes and links
for(QMap<int, NodeItem*>::iterator iter = _nodeItems.begin(); iter!=_nodeItems.end(); ++iter) for(QMap<int, NodeItem*>::iterator iter = _nodeItems.begin(); iter!=_nodeItems.end(); ++iter)
@@ -191,9 +191,9 @@ void GraphViewer::updateGraph(const std::map<int, Transform> & poses,
if(itemIter != _nodeItems.end()) if(itemIter != _nodeItems.end())
{ {
itemIter.value()->setPose(iter->second); itemIter.value()->setPose(iter->second);
if(itemIter.value()->getScan().empty() && uContains(scans, iter->first)) if(itemIter.value()->getScan().empty() && scans.contains(iter->first))
{ {
cv::Mat depth2d = util3d::uncompressData(scans.at(iter->first)); cv::Mat depth2d = util3d::uncompressData(scans.value(iter->first));
itemIter.value()->setScan(depth2d); itemIter.value()->setScan(depth2d);
} }
if(!itemIter.value()->getScan().empty() && _gridMap->isVisible()) if(!itemIter.value()->getScan().empty() && _gridMap->isVisible())
@@ -205,11 +205,11 @@ void GraphViewer::updateGraph(const std::map<int, Transform> & poses,
else else
{ {
// create node item // create node item
std::map<int, std::vector<unsigned char> >::const_iterator jter = scans.find(iter->first); QMap<int, std::vector<unsigned char> >::const_iterator jter = scans.find(iter->first);
cv::Mat depth2d; cv::Mat depth2d;
if(jter != scans.end()) if(jter != scans.end())
{ {
depth2d = util3d::uncompressData(jter->second); depth2d = util3d::uncompressData(jter.value());
if(_gridMap->isVisible()) if(_gridMap->isVisible())
{ {
scanClouds.insert(std::make_pair(iter->first, util3d::depth2DToPointCloud(depth2d))); scanClouds.insert(std::make_pair(iter->first, util3d::depth2DToPointCloud(depth2d)));
@@ -319,19 +319,20 @@ void GraphViewer::updateGraph(const std::map<int, Transform> & poses,
{ {
for (int j = 0; j < map8S.cols; ++j) for (int j = 0; j < map8S.cols; ++j)
{ {
unsigned char gray = map8S.at<unsigned char>(i, j); char v = map8S.at<char>(i, j);
if(gray == -1) unsigned char gray;
{ if(v == 0)
gray = 89;
}
else if(gray == 0)
{ {
gray = 178; gray = 178;
} }
else if(gray == 100) else if(v == 100)
{ {
gray = 0; gray = 0;
} }
else // -1
{
gray = 89;
}
map8U.at<unsigned char>(i, j) = gray; map8U.at<unsigned char>(i, j) = gray;
} }
} }
guilib/src/GraphViewer.h
+1 -1
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@@ -28,7 +28,7 @@ public:
void updateGraph(const std::map<int, Transform> & poses, void updateGraph(const std::map<int, Transform> & poses,
const std::multimap<int, Link> & constraints, const std::multimap<int, Link> & constraints,
const std::map<int, std::vector<unsigned char> > & scans); const QMap<int, std::vector<unsigned char> > & scans);
void clearGraph(); void clearGraph();
void setWorkingDirectory(const QString & path) {_workingDirectory = path;} void setWorkingDirectory(const QString & path) {_workingDirectory = path;}
guilib/src/MainWindow.cpp
+153 -101
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@@ -704,7 +704,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
{ {
if(!iter->second.empty()) if(!iter->second.empty())
{ {
_depths2DMap.insert(std::make_pair(iter->first, iter->second)); _depths2DMap.insert(iter->first, iter->second);
} }
} }
} }
@@ -941,7 +941,6 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
updateMapCloud(stat.poses(), _odometryReceived?Transform():stat.currentPose()); updateMapCloud(stat.poses(), _odometryReceived?Transform():stat.currentPose());
// update some widgets // update some widgets
_ui->widget_mapVisibility->setMap(stat.poses());
if(_ui->graphicsView_graphView->isVisible()) if(_ui->graphicsView_graphView->isVisible())
{ {
_ui->graphicsView_graphView->updateGraph(stat.poses(), stat.constraints(), _depths2DMap); _ui->graphicsView_graphView->updateGraph(stat.poses(), stat.constraints(), _depths2DMap);
@@ -974,7 +973,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
std::multimap<int, cv::KeyPoint>(), std::multimap<int, cv::KeyPoint>(),
std::multimap<int, pcl::PointXYZ>(), std::multimap<int, pcl::PointXYZ>(),
Transform(), Transform(),
uValue(_depths2DMap, loopOldId, std::vector<unsigned char>()), _depths2DMap.value(loopOldId, std::vector<unsigned char>()),
_imagesMap.value(loopOldId, std::vector<unsigned char>()), _imagesMap.value(loopOldId, std::vector<unsigned char>()),
_depthsMap.value(loopOldId, std::vector<unsigned char>()), _depthsMap.value(loopOldId, std::vector<unsigned char>()),
_depthConstantsMap.value(loopOldId, 0.0f), _depthConstantsMap.value(loopOldId, 0.0f),
@@ -986,7 +985,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
std::multimap<int, cv::KeyPoint>(), std::multimap<int, cv::KeyPoint>(),
std::multimap<int, pcl::PointXYZ>(), std::multimap<int, pcl::PointXYZ>(),
loopClosureTransform, loopClosureTransform,
uValue(_depths2DMap, loopNewId, std::vector<unsigned char>()), _depths2DMap.value(loopNewId, std::vector<unsigned char>()),
_imagesMap.value(loopNewId, std::vector<unsigned char>()), _imagesMap.value(loopNewId, std::vector<unsigned char>()),
_depthsMap.value(loopNewId, std::vector<unsigned char>()), _depthsMap.value(loopNewId, std::vector<unsigned char>()),
_depthConstantsMap.value(loopNewId, 0.0f), _depthConstantsMap.value(loopNewId, 0.0f),
@@ -1046,6 +1045,12 @@ void MainWindow::updateMapCloud(const std::map<int, Transform> & posesIn, const
{ {
poses = posesIn; poses = posesIn;
} }
std::map<int, bool> posesMask;
for(std::map<int, Transform>::const_iterator iter = posesIn.begin(); iter!=posesIn.end(); ++iter)
{
posesMask.insert(posesMask.end(), std::make_pair(iter->first, poses.find(iter->first) != poses.end()));
}
_ui->widget_mapVisibility->setMap(posesIn, posesMask);
// Map updated! regenerate the assembled cloud, last pose is the new one // Map updated! regenerate the assembled cloud, last pose is the new one
UDEBUG("Update map with %d locations (currentPose=%s)", poses.size(), currentPose.prettyPrint().c_str()); UDEBUG("Update map with %d locations (currentPose=%s)", poses.size(), currentPose.prettyPrint().c_str());
@@ -1077,62 +1082,7 @@ void MainWindow::updateMapCloud(const std::map<int, Transform> & posesIn, const
} }
else if(_imagesMap.contains(iter->first) && _depthsMap.contains(iter->first)) else if(_imagesMap.contains(iter->first) && _depthsMap.contains(iter->first))
{ {
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud; this->createAndAddCloudToMap(iter->first, iter->second);
cloud = createCloud(iter->first,
util3d::uncompressImage(_imagesMap.value(iter->first)),
util3d::uncompressImage(_depthsMap.value(iter->first)),
_depthConstantsMap.value(iter->first),
_localTransformsMap.value(iter->first),
Transform::getIdentity(),
_preferencesDialog->getCloudVoxelSize(0),
_preferencesDialog->getCloudDecimation(0),
_preferencesDialog->getCloudMaxDepth(0));
if(_preferencesDialog->isCloudMeshing(0))
{
pcl::PolygonMesh::Ptr mesh(new pcl::PolygonMesh);
if(cloud->size())
{
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloudWithNormals;
if(_preferencesDialog->getMeshSmoothing(0))
{
cloudWithNormals = util3d::computeNormalsSmoothed(cloud, (float)_preferencesDialog->getMeshSmoothingRadius(0));
}
else
{
cloudWithNormals = util3d::computeNormals(cloud, _preferencesDialog->getMeshNormalKSearch(0));
}
mesh = util3d::createMesh(cloudWithNormals, _preferencesDialog->getMeshGP3Radius(0));
}
if(mesh->polygons.size())
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr tmp(new pcl::PointCloud<pcl::PointXYZRGB>);
pcl::fromPCLPointCloud2(mesh->cloud, *tmp);
if(!_ui->widget_cloudViewer->addCloudMesh(cloudName, tmp, mesh->polygons, iter->second))
{
UERROR("Adding mesh cloud %d to viewer failed!", iter->first);
}
}
}
else
{
if(_preferencesDialog->getMeshSmoothing(0))
{
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloudWithNormals;
cloudWithNormals = util3d::computeNormalsSmoothed(cloud, (float)_preferencesDialog->getMeshSmoothingRadius(0));
cloud->clear();
pcl::copyPointCloud(*cloudWithNormals, *cloud);
}
if(!_ui->widget_cloudViewer->addOrUpdateCloud(cloudName, cloud, iter->second))
{
UERROR("Adding cloud %d to viewer failed!", iter->first);
}
}
_ui->widget_cloudViewer->setCloudOpacity(cloudName, _preferencesDialog->getCloudOpacity(0));
_ui->widget_cloudViewer->setCloudPointSize(cloudName, _preferencesDialog->getCloudPointSize(0));
} }
} }
else if(viewerClouds.contains(cloudName)) else if(viewerClouds.contains(cloudName))
@@ -1161,17 +1111,9 @@ void MainWindow::updateMapCloud(const std::map<int, Transform> & posesIn, const
_ui->widget_cloudViewer->setCloudOpacity(scanName, _preferencesDialog->getScanOpacity(0)); _ui->widget_cloudViewer->setCloudOpacity(scanName, _preferencesDialog->getScanOpacity(0));
_ui->widget_cloudViewer->setCloudPointSize(scanName, _preferencesDialog->getScanPointSize(0)); _ui->widget_cloudViewer->setCloudPointSize(scanName, _preferencesDialog->getScanPointSize(0));
} }
else if(uContains(_depths2DMap, iter->first)) else if(_depths2DMap.contains(iter->first))
{ {
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud; this->createAndAddScanToMap(iter->first, iter->second);
cv::Mat depth2d = util3d::uncompressData(_depths2DMap.at(iter->first));
cloud = util3d::depth2DToPointCloud(depth2d);
if(!_ui->widget_cloudViewer->addOrUpdateCloud(scanName, cloud, iter->second))
{
UERROR("Adding cloud %d to viewer failed!", iter->first);
}
_ui->widget_cloudViewer->setCloudOpacity(scanName, _preferencesDialog->getScanOpacity(0));
_ui->widget_cloudViewer->setCloudPointSize(scanName, _preferencesDialog->getScanPointSize(0));
} }
} }
else if(viewerClouds.contains(scanName)) else if(viewerClouds.contains(scanName))
@@ -1238,20 +1180,120 @@ void MainWindow::updateMapCloud(const std::map<int, Transform> & posesIn, const
_ui->widget_cloudViewer->render(); _ui->widget_cloudViewer->render();
} }
void MainWindow::createAndAddCloudToMap(int nodeId, const Transform & pose)
{
std::string cloudName = uFormat("cloud%d", nodeId);
if(_ui->widget_cloudViewer->getAddedClouds().contains(cloudName))
{
UERROR("Cloud %d already added to map.", nodeId);
return;
}
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
cloud = createCloud(nodeId,
util3d::uncompressImage(_imagesMap.value(nodeId)),
util3d::uncompressImage(_depthsMap.value(nodeId)),
_depthConstantsMap.value(nodeId),
_localTransformsMap.value(nodeId),
Transform::getIdentity(),
_preferencesDialog->getCloudVoxelSize(0),
_preferencesDialog->getCloudDecimation(0),
_preferencesDialog->getCloudMaxDepth(0));
if(_preferencesDialog->isCloudMeshing(0))
{
pcl::PolygonMesh::Ptr mesh(new pcl::PolygonMesh);
if(cloud->size())
{
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloudWithNormals;
if(_preferencesDialog->getMeshSmoothing(0))
{
cloudWithNormals = util3d::computeNormalsSmoothed(cloud, (float)_preferencesDialog->getMeshSmoothingRadius(0));
}
else
{
cloudWithNormals = util3d::computeNormals(cloud, _preferencesDialog->getMeshNormalKSearch(0));
}
mesh = util3d::createMesh(cloudWithNormals, _preferencesDialog->getMeshGP3Radius(0));
}
if(mesh->polygons.size())
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr tmp(new pcl::PointCloud<pcl::PointXYZRGB>);
pcl::fromPCLPointCloud2(mesh->cloud, *tmp);
if(!_ui->widget_cloudViewer->addCloudMesh(cloudName, tmp, mesh->polygons, pose))
{
UERROR("Adding mesh cloud %d to viewer failed!", nodeId);
}
}
}
else
{
if(_preferencesDialog->getMeshSmoothing(0))
{
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloudWithNormals;
cloudWithNormals = util3d::computeNormalsSmoothed(cloud, (float)_preferencesDialog->getMeshSmoothingRadius(0));
cloud->clear();
pcl::copyPointCloud(*cloudWithNormals, *cloud);
}
if(!_ui->widget_cloudViewer->addOrUpdateCloud(cloudName, cloud, pose))
{
UERROR("Adding cloud %d to viewer failed!", nodeId);
}
}
_ui->widget_cloudViewer->setCloudOpacity(cloudName, _preferencesDialog->getCloudOpacity(0));
_ui->widget_cloudViewer->setCloudPointSize(cloudName, _preferencesDialog->getCloudPointSize(0));
}
void MainWindow::createAndAddScanToMap(int nodeId, const Transform & pose)
{
std::string scanName = uFormat("scan%d", nodeId);
if(_ui->widget_cloudViewer->getAddedClouds().contains(scanName))
{
UERROR("Scan %d already added to map.", nodeId);
return;
}
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud;
cv::Mat depth2d = util3d::uncompressData(_depths2DMap.value(nodeId));
cloud = util3d::depth2DToPointCloud(depth2d);
if(!_ui->widget_cloudViewer->addOrUpdateCloud(scanName, cloud, pose))
{
UERROR("Adding cloud %d to viewer failed!", nodeId);
}
_ui->widget_cloudViewer->setCloudOpacity(scanName, _preferencesDialog->getScanOpacity(0));
_ui->widget_cloudViewer->setCloudPointSize(scanName, _preferencesDialog->getScanPointSize(0));
}
void MainWindow::updateNodeVisibility(int nodeId, bool visible) void MainWindow::updateNodeVisibility(int nodeId, bool visible)
{ {
if(_currentPosesMap.find(nodeId) != _currentPosesMap.end()) if(_currentPosesMap.find(nodeId) != _currentPosesMap.end())
{ {
if(_preferencesDialog->isCloudsShown(0)) QMap<std::string, Transform> viewerClouds = _ui->widget_cloudViewer->getAddedClouds();
if(_preferencesDialog->isCloudsShown(0) && _depthsMap.contains(nodeId))
{ {
std::string cloudName = uFormat("cloud%d", nodeId); std::string cloudName = uFormat("cloud%d", nodeId);
_ui->widget_cloudViewer->setCloudVisibility(cloudName, visible); if(visible && !viewerClouds.contains(cloudName))
{
createAndAddCloudToMap(nodeId, _currentPosesMap.find(nodeId)->second);
}
else if(viewerClouds.contains(cloudName))
{
_ui->widget_cloudViewer->setCloudVisibility(cloudName, visible);
}
} }
if(_preferencesDialog->isScansShown(0)) if(_preferencesDialog->isScansShown(0) && _depths2DMap.contains(nodeId))
{ {
std::string scanName = uFormat("scan%d", nodeId); std::string scanName = uFormat("scan%d", nodeId);
_ui->widget_cloudViewer->setCloudVisibility(scanName, visible); if(visible && !viewerClouds.contains(scanName))
{
createAndAddScanToMap(nodeId, _currentPosesMap.find(nodeId)->second);
}
else if(viewerClouds.contains(scanName))
{
_ui->widget_cloudViewer->setCloudVisibility(scanName, visible);
}
} }
} }
_ui->widget_cloudViewer->render(); _ui->widget_cloudViewer->render();
@@ -1425,7 +1467,7 @@ void MainWindow::processRtabmapEvent3DMap(const rtabmap::RtabmapEvent3DMap & eve
iter!=event.getDepths2d().end(); iter!=event.getDepths2d().end();
++iter) ++iter)
{ {
_depths2DMap.insert(std::make_pair(iter->first, iter->second)); _depths2DMap.insert(iter->first, iter->second);
} }
_initProgressDialog->appendText(tr("Inserted %1 laser scans.").arg(_depths2DMap.size())); _initProgressDialog->appendText(tr("Inserted %1 laser scans.").arg(_depths2DMap.size()));
_initProgressDialog->incrementStep(); _initProgressDialog->incrementStep();
@@ -1458,7 +1500,7 @@ void MainWindow::processRtabmapEvent3DMap(const rtabmap::RtabmapEvent3DMap & eve
_ui->graphicsView_graphView->updateGraph( _ui->graphicsView_graphView->updateGraph(
event.getPoses(), event.getPoses(),
event.getConstraints(), event.getConstraints(),
event.getDepths2d().size()?event.getDepths2d():_depths2DMap); _depths2DMap);
_initProgressDialog->appendText("Updating the graph view... done."); _initProgressDialog->appendText("Updating the graph view... done.");
} }
} }
@@ -2825,15 +2867,17 @@ void MainWindow::savePointClouds()
if(button == QMessageBox::Yes || button == QMessageBox::No) if(button == QMessageBox::Yes || button == QMessageBox::No)
{ {
std::map<int, Transform> poses = _ui->widget_mapVisibility->getVisiblePoses();
_initProgressDialog->setAutoClose(true, 1); _initProgressDialog->setAutoClose(true, 1);
_initProgressDialog->resetProgress(); _initProgressDialog->resetProgress();
_initProgressDialog->show(); _initProgressDialog->show();
_initProgressDialog->setMaximumSteps(int(_currentPosesMap.size())*2+1); _initProgressDialog->setMaximumSteps(int(poses.size())*2+1);
std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr> clouds; std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr> clouds;
if(button == QMessageBox::Yes) if(button == QMessageBox::Yes)
{ {
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = this->createAssembledCloud(); pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = this->createAssembledCloud(poses);
if(_preferencesDialog->getMeshSmoothing(1)) if(_preferencesDialog->getMeshSmoothing(1))
{ {
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloudWithNormals; pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloudWithNormals;
@@ -2849,7 +2893,7 @@ void MainWindow::savePointClouds()
} }
else else
{ {
clouds = this->createPointClouds(); clouds = this->createPointClouds(poses);
} }
savePointClouds(clouds); savePointClouds(clouds);
_initProgressDialog->setValue(_initProgressDialog->maximumSteps()); _initProgressDialog->setValue(_initProgressDialog->maximumSteps());
@@ -2867,15 +2911,17 @@ void MainWindow::saveMeshes()
if(button == QMessageBox::Yes || button == QMessageBox::No) if(button == QMessageBox::Yes || button == QMessageBox::No)
{ {
std::map<int, Transform> poses = _ui->widget_mapVisibility->getVisiblePoses();
_initProgressDialog->setAutoClose(true, 1); _initProgressDialog->setAutoClose(true, 1);
_initProgressDialog->resetProgress(); _initProgressDialog->resetProgress();
_initProgressDialog->show(); _initProgressDialog->show();
_initProgressDialog->setMaximumSteps(int(_currentPosesMap.size())*2+1); _initProgressDialog->setMaximumSteps(int(poses.size())*2+1);
std::map<int, pcl::PolygonMesh::Ptr> meshes; std::map<int, pcl::PolygonMesh::Ptr> meshes;
if(button == QMessageBox::Yes) if(button == QMessageBox::Yes)
{ {
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = this->createAssembledCloud(); pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = this->createAssembledCloud(poses);
_initProgressDialog->appendText(tr("Meshing the assembled cloud (%1 points)...").arg(cloud->size())); _initProgressDialog->appendText(tr("Meshing the assembled cloud (%1 points)...").arg(cloud->size()));
_initProgressDialog->incrementStep(); _initProgressDialog->incrementStep();
QApplication::processEvents(); QApplication::processEvents();
@@ -2907,7 +2953,7 @@ void MainWindow::saveMeshes()
} }
else else
{ {
meshes = this->createMeshes(); meshes = this->createMeshes(poses);
} }
saveMeshes(meshes); saveMeshes(meshes);
_initProgressDialog->setValue(_initProgressDialog->maximumSteps()); _initProgressDialog->setValue(_initProgressDialog->maximumSteps());
@@ -2925,15 +2971,17 @@ void MainWindow::viewPointClouds()
if(button == QMessageBox::Yes || button == QMessageBox::No) if(button == QMessageBox::Yes || button == QMessageBox::No)
{ {
std::map<int, Transform> poses = _ui->widget_mapVisibility->getVisiblePoses();
_initProgressDialog->setAutoClose(true, 1); _initProgressDialog->setAutoClose(true, 1);
_initProgressDialog->resetProgress(); _initProgressDialog->resetProgress();
_initProgressDialog->show(); _initProgressDialog->show();
_initProgressDialog->setMaximumSteps(int(_currentPosesMap.size())+1); _initProgressDialog->setMaximumSteps(int(poses.size())+1);
std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr> clouds; std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr> clouds;
if(button == QMessageBox::Yes) if(button == QMessageBox::Yes)
{ {
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = this->createAssembledCloud(); pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = this->createAssembledCloud(poses);
if(_preferencesDialog->getMeshSmoothing(1)) if(_preferencesDialog->getMeshSmoothing(1))
{ {
@@ -2951,7 +2999,7 @@ void MainWindow::viewPointClouds()
} }
else else
{ {
clouds = this->createPointClouds(); clouds = this->createPointClouds(poses);
} }
if(clouds.size()) if(clouds.size())
@@ -2964,6 +3012,7 @@ void MainWindow::viewPointClouds()
window->setMinimumHeight(600); window->setMinimumHeight(600);
CloudViewer * viewer = new CloudViewer(window); CloudViewer * viewer = new CloudViewer(window);
viewer->setCameraLockZ(false);
QVBoxLayout *layout = new QVBoxLayout(); QVBoxLayout *layout = new QVBoxLayout();
layout->addWidget(viewer); layout->addWidget(viewer);
@@ -3001,15 +3050,17 @@ void MainWindow::viewMeshes()
if(button == QMessageBox::Yes || button == QMessageBox::No) if(button == QMessageBox::Yes || button == QMessageBox::No)
{ {
std::map<int, Transform> poses = _ui->widget_mapVisibility->getVisiblePoses();
_initProgressDialog->setAutoClose(true, 1); _initProgressDialog->setAutoClose(true, 1);
_initProgressDialog->resetProgress(); _initProgressDialog->resetProgress();
_initProgressDialog->show(); _initProgressDialog->show();
_initProgressDialog->setMaximumSteps(int(_currentPosesMap.size())+1); _initProgressDialog->setMaximumSteps(int(poses.size())+1);
std::map<int, pcl::PolygonMesh::Ptr> meshes; std::map<int, pcl::PolygonMesh::Ptr> meshes;
if(button == QMessageBox::Yes) if(button == QMessageBox::Yes)
{ {
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = this->createAssembledCloud(); pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = this->createAssembledCloud(poses);
_initProgressDialog->appendText(tr("Meshing the assembled cloud (%1 points)...").arg(cloud->size())); _initProgressDialog->appendText(tr("Meshing the assembled cloud (%1 points)...").arg(cloud->size()));
_initProgressDialog->incrementStep(); _initProgressDialog->incrementStep();
QApplication::processEvents(); QApplication::processEvents();
@@ -3041,7 +3092,7 @@ void MainWindow::viewMeshes()
} }
else else
{ {
meshes = this->createMeshes(); meshes = this->createMeshes(poses);
} }
if(meshes.size()) if(meshes.size())
@@ -3053,6 +3104,7 @@ void MainWindow::viewMeshes()
window->setMinimumHeight(600); window->setMinimumHeight(600);
CloudViewer * viewer = new CloudViewer(window); CloudViewer * viewer = new CloudViewer(window);
viewer->setCameraLockZ(false);
QVBoxLayout *layout = new QVBoxLayout(); QVBoxLayout *layout = new QVBoxLayout();
layout->addWidget(viewer); layout->addWidget(viewer);
@@ -3375,7 +3427,7 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr MainWindow::createCloud(
const Transform & pose, const Transform & pose,
float voxelSize, float voxelSize,
int decimation, int decimation,
float maxDepth) float maxDepth) const
{ {
UTimer timer; UTimer timer;
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = util3d::cloudFromDepthRGB( pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = util3d::cloudFromDepthRGB(
@@ -3416,12 +3468,12 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr MainWindow::createCloud(
return cloud; return cloud;
} }
pcl::PointCloud<pcl::PointXYZRGB>::Ptr MainWindow::createAssembledCloud() pcl::PointCloud<pcl::PointXYZRGB>::Ptr MainWindow::createAssembledCloud(const std::map<int, Transform> & poses) const
{ {
pcl::PointCloud<pcl::PointXYZRGB>::Ptr assembledCloud(new pcl::PointCloud<pcl::PointXYZRGB>); pcl::PointCloud<pcl::PointXYZRGB>::Ptr assembledCloud(new pcl::PointCloud<pcl::PointXYZRGB>);
int i=0; int i=0;
int count = 0; int count = 0;
for(std::map<int, Transform>::const_iterator iter = _currentPosesMap.begin(); iter!=_currentPosesMap.end(); ++iter) for(std::map<int, Transform>::const_iterator iter = poses.begin(); iter!=poses.end(); ++iter)
{ {
bool inserted = false; bool inserted = false;
if(!iter->second.isNull()) if(!iter->second.isNull())
@@ -3465,7 +3517,7 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr MainWindow::createAssembledCloud()
if(inserted) if(inserted)
{ {
_initProgressDialog->appendText(tr("Generated cloud %1 (%2/%3).").arg(iter->first).arg(++i).arg(_currentPosesMap.size())); _initProgressDialog->appendText(tr("Generated cloud %1 (%2/%3).").arg(iter->first).arg(++i).arg(poses.size()));
if(count % 100 == 0) if(count % 100 == 0)
{ {
@@ -3477,7 +3529,7 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr MainWindow::createAssembledCloud()
} }
else else
{ {
_initProgressDialog->appendText(tr("Ignored cloud %1 (%2/%3).").arg(iter->first).arg(++i).arg(_currentPosesMap.size())); _initProgressDialog->appendText(tr("Ignored cloud %1 (%2/%3).").arg(iter->first).arg(++i).arg(poses.size()));
} }
_initProgressDialog->incrementStep(); _initProgressDialog->incrementStep();
QApplication::processEvents(); QApplication::processEvents();
@@ -3491,11 +3543,11 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr MainWindow::createAssembledCloud()
return assembledCloud; return assembledCloud;
} }
std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > MainWindow::createPointClouds() std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > MainWindow::createPointClouds(const std::map<int, Transform> & poses) const
{ {
std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr> clouds; std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr> clouds;
int i=0; int i=0;
for(std::map<int, Transform>::const_iterator iter = _currentPosesMap.begin(); iter!=_currentPosesMap.end(); ++iter) for(std::map<int, Transform>::const_iterator iter = poses.begin(); iter!=poses.end(); ++iter)
{ {
bool inserted = false; bool inserted = false;
if(!iter->second.isNull()) if(!iter->second.isNull())
@@ -3545,11 +3597,11 @@ std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > MainWindow::createPointCl
if(inserted) if(inserted)
{ {
_initProgressDialog->appendText(tr("Generated cloud %1 (%2/%3).").arg(iter->first).arg(++i).arg(_currentPosesMap.size())); _initProgressDialog->appendText(tr("Generated cloud %1 (%2/%3).").arg(iter->first).arg(++i).arg(poses.size()));
} }
else else
{ {
_initProgressDialog->appendText(tr("Ignored cloud %1 (%2/%3).").arg(iter->first).arg(++i).arg(_currentPosesMap.size())); _initProgressDialog->appendText(tr("Ignored cloud %1 (%2/%3).").arg(iter->first).arg(++i).arg(poses.size()));
} }
_initProgressDialog->incrementStep(); _initProgressDialog->incrementStep();
QApplication::processEvents(); QApplication::processEvents();
@@ -3558,11 +3610,11 @@ std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > MainWindow::createPointCl
return clouds; return clouds;
} }
std::map<int, pcl::PolygonMesh::Ptr> MainWindow::createMeshes() std::map<int, pcl::PolygonMesh::Ptr> MainWindow::createMeshes(const std::map<int, Transform> & poses) const
{ {
std::map<int, pcl::PolygonMesh::Ptr> meshes; std::map<int, pcl::PolygonMesh::Ptr> meshes;
int i=0; int i=0;
for(std::map<int, Transform>::const_iterator iter = _currentPosesMap.begin(); iter!=_currentPosesMap.end(); ++iter) for(std::map<int, Transform>::const_iterator iter = poses.begin(); iter!=poses.end(); ++iter)
{ {
bool inserted = false; bool inserted = false;
if(!iter->second.isNull()) if(!iter->second.isNull())
@@ -3619,11 +3671,11 @@ std::map<int, pcl::PolygonMesh::Ptr> MainWindow::createMeshes()
if(inserted) if(inserted)
{ {
_initProgressDialog->appendText(tr("Generated mesh %1 (%2/%3).").arg(iter->first).arg(++i).arg(_currentPosesMap.size())); _initProgressDialog->appendText(tr("Generated mesh %1 (%2/%3).").arg(iter->first).arg(++i).arg(poses.size()));
} }
else else
{ {
_initProgressDialog->appendText(tr("Ignored mesh %1 (%2/%3).").arg(iter->first).arg(++i).arg(_currentPosesMap.size())); _initProgressDialog->appendText(tr("Ignored mesh %1 (%2/%3).").arg(iter->first).arg(++i).arg(poses.size()));
} }
_initProgressDialog->incrementStep(); _initProgressDialog->incrementStep();
QApplication::processEvents(); QApplication::processEvents();
guilib/src/MapVisibilityWidget.cpp
+18 -2
View File
@@ -57,7 +57,7 @@ void MapVisibilityWidget::updateCheckBoxes()
added = true; added = true;
} }
checkboxes[i]->setText(QString("%1 (%2)").arg(iter->first).arg(iter->second.prettyPrint().c_str())); checkboxes[i]->setText(QString("%1 (%2)").arg(iter->first).arg(iter->second.prettyPrint().c_str()));
checkboxes[i]->setChecked(true); checkboxes[i]->setChecked(_mask.at(iter->first));
if(added) if(added)
{ {
connect(checkboxes[i], SIGNAL(stateChanged(int)), this, SLOT(signalVisibility())); connect(checkboxes[i], SIGNAL(stateChanged(int)), this, SLOT(signalVisibility()));
@@ -68,18 +68,34 @@ void MapVisibilityWidget::updateCheckBoxes()
} }
} }
void MapVisibilityWidget::setMap(const std::map<int, Transform> & poses) void MapVisibilityWidget::setMap(const std::map<int, Transform> & poses, const std::map<int, bool> & mask)
{ {
UASSERT(poses.size() == mask.size());
_poses = poses; _poses = poses;
_mask = mask;
if(this->isVisible()) if(this->isVisible())
{ {
updateCheckBoxes(); updateCheckBoxes();
} }
} }
std::map<int, Transform> MapVisibilityWidget::getVisiblePoses() const
{
std::map<int, Transform> poses;
for(std::map<int, Transform>::const_iterator iter=_poses.begin(); iter!=_poses.end(); ++iter)
{
if(_mask.at(iter->first))
{
poses.insert(*iter);
}
}
return poses;
}
void MapVisibilityWidget::signalVisibility() void MapVisibilityWidget::signalVisibility()
{ {
QCheckBox * check = qobject_cast<QCheckBox*>(sender()); QCheckBox * check = qobject_cast<QCheckBox*>(sender());
_mask.at(check->text().split('(').first().toInt()) = check->isChecked();
emit visibilityChanged(check->text().split('(').first().toInt(), check->isChecked()); emit visibilityChanged(check->text().split('(').first().toInt(), check->isChecked());
} }
guilib/src/MapVisibilityWidget.h
+3 -1
View File
@@ -20,7 +20,8 @@ public:
MapVisibilityWidget(QWidget * parent = 0); MapVisibilityWidget(QWidget * parent = 0);
virtual ~MapVisibilityWidget(); virtual ~MapVisibilityWidget();
void setMap(const std::map<int, Transform> & poses); void setMap(const std::map<int, Transform> & poses, const std::map<int, bool> & mask);
std::map<int, Transform> getVisiblePoses() const;
protected: protected:
virtual void showEvent(QShowEvent * event); virtual void showEvent(QShowEvent * event);
@@ -36,6 +37,7 @@ signals:
private: private:
std::map<int, Transform> _poses; std::map<int, Transform> _poses;
std::map<int, bool> _mask;
}; };
} /* namespace rtabmap */ } /* namespace rtabmap */
guilib/src/PreferencesDialog.cpp
+15 -6
View File
@@ -2324,12 +2324,21 @@ void PreferencesDialog::updateKpROI()
void PreferencesDialog::changeDatabasePath() void PreferencesDialog::changeDatabasePath()
{ {
QString path = QFileDialog::getSaveFileName( QFileDialog fileDialog;
this, fileDialog.setFileMode(QFileDialog::AnyFile);
tr("Select database file..."), fileDialog.setNameFilter(tr("RTAB-Map database files (*.db)"));
_ui->lineEdit_databasePath->text(), fileDialog.setDefaultSuffix("db");
tr("RTAB-Map database files (*.db)"), fileDialog.setDirectory(QFileInfo(_ui->lineEdit_databasePath->text()).dir());
0); fileDialog.selectFile (_ui->lineEdit_databasePath->text());
QStringList fileNames;
QString path;
if(fileDialog.exec())
{
if(!fileDialog.selectedFiles().empty())
{
path = fileDialog.selectedFiles().first();
}
}
if(!path.isEmpty()) if(!path.isEmpty())
{ {
guilib/src/ui/preferencesDialog.ui
+77 -77
View File
@@ -6,8 +6,8 @@
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>1007</width> <width>876</width>
<height>494</height> <height>526</height>
</rect> </rect>
</property> </property>
<property name="sizePolicy"> <property name="sizePolicy">
@@ -64,8 +64,8 @@
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>709</width> <width>577</width>
<height>752</height> <height>632</height>
</rect> </rect>
</property> </property>
<layout class="QVBoxLayout" name="verticalLayout_16"> <layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum> <enum>QFrame::Raised</enum>
</property> </property>
<property name="currentIndex"> <property name="currentIndex">
<number>9</number> <number>0</number>
</property> </property>
<widget class="QWidget" name="page_22"> <widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29"> <layout class="QVBoxLayout" name="verticalLayout_29">
@@ -338,6 +338,78 @@ Show a yellow background when the number of odometry inliers goes under this thr
<string>3D Rendering</string> <string>3D Rendering</string>
</property> </property>
<layout class="QVBoxLayout" name="verticalLayout_31"> <layout class="QVBoxLayout" name="verticalLayout_31">
<item>
<widget class="QGroupBox" name="groupBox_poseFiltering">
<property name="title">
<string>Cloud filtering</string>
</property>
<property name="checkable">
<bool>true</bool>
</property>
<property name="checked">
<bool>false</bool>
</property>
<layout class="QVBoxLayout" name="verticalLayout_37">
<item>
<widget class="QLabel" name="label_33">
<property name="text">
<string>For visualization, superposed clouds are not shown. By comparing poses in the same area, only one cloud in a fixed radius and angle is kept.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<layout class="QFormLayout" name="formLayout_22">
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_cloudFilterRadius">
<property name="suffix">
<string> m</string>
</property>
<property name="minimum">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.500000000000000</double>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_37">
<property name="text">
<string>Radius</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_48">
<property name="text">
<string>Angle</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_cloudFilterAngle">
<property name="suffix">
<string> degrees</string>
</property>
<property name="decimals">
<number>0</number>
</property>
<property name="maximum">
<double>180.000000000000000</double>
</property>
<property name="value">
<double>30.000000000000000</double>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</item>
<item> <item>
<widget class="QFrame" name="frame"> <widget class="QFrame" name="frame">
<property name="frameShape"> <property name="frameShape">
@@ -979,78 +1051,6 @@ High-res view</string>
</layout> </layout>
</widget> </widget>
</item> </item>
<item>
<widget class="QGroupBox" name="groupBox_poseFiltering">
<property name="title">
<string>Cloud filtering</string>
</property>
<property name="checkable">
<bool>true</bool>
</property>
<property name="checked">
<bool>false</bool>
</property>
<layout class="QVBoxLayout" name="verticalLayout_37">
<item>
<widget class="QLabel" name="label_33">
<property name="text">
<string>For visualization, superposed clouds are not shown. By comparing poses in the same area, only one cloud in a fixed radius and angle is kept.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<layout class="QFormLayout" name="formLayout_22">
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_cloudFilterRadius">
<property name="suffix">
<string> m</string>
</property>
<property name="minimum">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.500000000000000</double>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_37">
<property name="text">
<string>Radius</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_48">
<property name="text">
<string>Angle</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_cloudFilterAngle">
<property name="suffix">
<string> degrees</string>
</property>
<property name="decimals">
<number>0</number>
</property>
<property name="maximum">
<double>180.000000000000000</double>
</property>
<property name="value">
<double>30.000000000000000</double>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</item>
</layout> </layout>
</widget> </widget>
</item> </item>