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Added Octomap visualization and export options

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This commit is contained in:
matlabbe
2016-07-15 17:46:13 -04:00
parent c24079884d
commit b4b7b6f455
13 changed files with 737 additions and 397 deletions
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guilib/include/rtabmap/gui/CloudViewer.h
+7
View File
@@ -58,9 +58,12 @@ namespace pcl {
}
class QMenu;
class vtkProp;
namespace rtabmap {
class OctoMap;
class RTABMAPGUI_EXP CloudViewer : public QVTKWidget
{
Q_OBJECT
@@ -136,6 +139,9 @@ public:
const pcl::TextureMesh::Ptr & textureMesh,
const Transform & pose = Transform::getIdentity());
bool addOctomap(const OctoMap * octomap, unsigned int treeDepth = 0, bool showEdges = true, bool lightingOn = false);
void removeOctomap();
bool addOccupancyGridMap(
const cv::Mat & map8U,
float resolution, // cell size
@@ -326,6 +332,7 @@ private:
bool _backfaceCulling;
bool _frontfaceCulling;
double _renderingRate;
vtkProp * _octomapActor;
};
} /* namespace rtabmap */
guilib/include/rtabmap/gui/MainWindow.h
+6 -1
View File
@@ -69,6 +69,7 @@ class ExportCloudsDialog;
class ExportScansDialog;
class PostProcessingDialog;
class DataRecorder;
class OctoMap;
class RTABMAPGUI_EXP MainWindow : public QMainWindow, public UEventsHandler
{
@@ -137,6 +138,7 @@ private slots:
void exportPosesTORO();
void exportPosesG2O();
void exportImages();
void exportOctomap();
void postProcessing();
void deleteMemory();
void openWorkingDirectory();
@@ -239,7 +241,8 @@ private:
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
const pcl::IndicesPtr & indices,
int nodeId,
const Transform & pose);
const Transform & pose,
bool updateOctomap = false);
void createAndAddScanToMap(int nodeId, const Transform & pose, int mapId);
void createAndAddFeaturesToMap(int nodeId, const Transform & pose, int mapId);
Transform alignPosesToGroundTruth(std::map<int, Transform> & poses, const std::map<int, Transform> & groundTruth);
@@ -297,6 +300,8 @@ private:
std::map<int, std::pair<cv::Mat, cv::Mat> > _projectionLocalMaps; // <ground, obstacles>
std::map<int, std::pair<cv::Mat, cv::Mat> > _gridLocalMaps; // <ground, obstacles>
rtabmap::OctoMap * _octomap;
std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr> _createdFeatures;
Transform _odometryCorrection;
guilib/include/rtabmap/gui/PreferencesDialog.h
+2
View File
@@ -152,6 +152,8 @@ public:
double getMapNoiseRadius() const;
int getMapNoiseMinNeighbors() const;
bool isCloudsShown(int index) const; // 0=map, 1=odom
bool isOctomapShown() const;
int getOctomapTreeDepth() const;
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
guilib/src/AboutDialog.cpp
+6
View File
@@ -54,11 +54,17 @@ AboutDialog::AboutDialog(QWidget * parent) :
_ui->label_version->setText(version);
_ui->label_opencv_version->setText(cv_version);
_ui->label_pcl_version->setText(PCL_VERSION_PRETTY);
#ifdef RTABMAP_OCTOMAP
_ui->label_octomap->setText("Yes");
#else
_ui->label_octomap->setText("No");
#endif
_ui->label_freenect->setText(CameraFreenect::available()?"Yes":"No");
_ui->label_openni2->setText(CameraOpenNI2::available()?"Yes":"No");
_ui->label_freenect2->setText(CameraFreenect2::available()?"Yes":"No");
_ui->label_dc1394->setText(CameraStereoDC1394::available()?"Yes":"No");
_ui->label_flycapture2->setText(CameraStereoFlyCapture2::available()?"Yes":"No");
_ui->label_zed->setText(CameraStereoZed::available()?"Yes":"No");
_ui->label_g2o->setText(Optimizer::isAvailable(Optimizer::kTypeG2O)?"Yes":"No");
_ui->label_gtsam->setText(Optimizer::isAvailable(Optimizer::kTypeGTSAM)?"Yes":"No");
guilib/src/CMakeLists.txt
+11
View File
@@ -116,6 +116,17 @@ SET(LIBRARIES
${PCL_LIBRARIES}
)
IF(OCTOMAP_FOUND)
SET(INCLUDE_DIRS
${INCLUDE_DIRS}
${OCTOMAP_INCLUDE_DIRS}
)
SET(LIBRARIES
${LIBRARIES}
${OCTOMAP_LIBRARIES}
)
ENDIF(OCTOMAP_FOUND)
IF(VTK_USE_QVTK)
SET(INCLUDE_DIRS ${INCLUDE_DIRS} ${QVTK_INCLUDE_DIR})
SET(LIBRARIES ${LIBRARIES} ${QVTK_LIBRARY})
guilib/src/CloudViewer.cpp
+119 -1
View File
@@ -27,6 +27,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/gui/CloudViewer.h"
#include <rtabmap/core/Version.h>
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UTimer.h>
#include <rtabmap/utilite/UMath.h>
@@ -47,6 +48,14 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <vtkCamera.h>
#include <vtkRenderWindow.h>
#include <vtkCubeSource.h>
#include <vtkGlyph3D.h>
#include <vtkGlyph3DMapper.h>
#include <vtkLookupTable.h>
#ifdef RTABMAP_OCTOMAP
#include <rtabmap/core/OctoMap.h>
#endif
namespace rtabmap {
@@ -123,7 +132,8 @@ CloudViewer::CloudViewer(QWidget *parent) :
_currentBgColor(Qt::black),
_backfaceCulling(false),
_frontfaceCulling(false),
_renderingRate(5.0)
_renderingRate(5.0),
_octomapActor(0)
{
UDEBUG("");
this->setMinimumSize(200, 200);
@@ -166,6 +176,7 @@ CloudViewer::~CloudViewer()
UDEBUG("");
this->clear();
delete _visualizer;
UDEBUG("");
}
void CloudViewer::clear()
@@ -177,6 +188,8 @@ void CloudViewer::clear()
this->removeAllFrustums();
this->removeAllTexts();
this->clearTrajectory();
this->removeOccupancyGridMap();
this->removeOctomap();
this->addOrUpdateCoordinate("reference", Transform::getIdentity(), 0.2);
}
@@ -639,6 +652,111 @@ bool CloudViewer::addCloudTextureMesh(
return false;
}
bool CloudViewer::addOctomap(const OctoMap * octomap, unsigned int treeDepth, bool showEdges, bool lightingOn)
{
UDEBUG("");
#ifdef RTABMAP_OCTOMAP
UASSERT(octomap!=0);
pcl::IndicesPtr obstacles(new std::vector<int>);
if(treeDepth > octomap->octree()->getTreeDepth())
{
UWARN("Tree depth requested (%d) is deeper than the "
"actual maximum tree depth of %d. Using maximum depth.",
(int)treeDepth, (int)octomap->octree()->getTreeDepth());
}
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = octomap->createCloud(treeDepth, obstacles.get());
if(obstacles->size())
{
//get the renderer of the visualizer object
vtkRenderer *renderer = _visualizer->getRenderWindow()->GetRenderers()->GetFirstRenderer();
if(_octomapActor)
{
renderer->RemoveActor(_octomapActor);
_octomapActor = 0;
}
//vtkSmartPointer<vtkUnsignedCharArray> colors = vtkSmartPointer<vtkUnsignedCharArray>::New();
//colors->SetName("colors");
//colors->SetNumberOfComponents(3);
vtkSmartPointer<vtkFloatArray> colors = vtkSmartPointer<vtkFloatArray>::New();
colors->SetName("colors");
colors->SetNumberOfValues(obstacles->size());
vtkSmartPointer<vtkLookupTable> lut = vtkSmartPointer<vtkLookupTable>::New();
lut->SetNumberOfTableValues(obstacles->size());
lut->Build();
// Create points
vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New();
double s = octomap->octree()->getNodeSize(treeDepth) / 2.0;
for (unsigned int i = 0; i < obstacles->size(); i++)
{
points->InsertNextPoint(
cloud->at(obstacles->at(i)).x,
cloud->at(obstacles->at(i)).y,
cloud->at(obstacles->at(i)).z);
colors->InsertValue(i,i);
lut->SetTableValue(i,
double(cloud->at(obstacles->at(i)).r) / 255.0,
double(cloud->at(obstacles->at(i)).g) / 255.0,
double(cloud->at(obstacles->at(i)).b) / 255.0);
}
// Combine into a polydata
vtkSmartPointer<vtkPolyData> polydata = vtkSmartPointer<vtkPolyData>::New();
polydata->SetPoints(points);
polydata->GetPointData()->SetScalars(colors);
// Create anything you want here, we will use a cube for the demo.
vtkSmartPointer<vtkCubeSource> cubeSource = vtkSmartPointer<vtkCubeSource>::New();
cubeSource->SetBounds(-s, s, -s, s, -s, s);
vtkSmartPointer<vtkGlyph3DMapper> mapper = vtkSmartPointer<vtkGlyph3DMapper>::New();
mapper->SetSourceConnection(cubeSource->GetOutputPort());
#if VTK_MAJOR_VERSION <= 5
mapper->SetInputConnection(polydata->GetProducerPort());
#else
mapper->SetInputData(polydata);
#endif
mapper->SetScalarRange(0, obstacles->size() - 1);
mapper->SetLookupTable(lut);
mapper->ScalingOff();
mapper->Update();
vtkSmartPointer<vtkActor> octomapActor = vtkSmartPointer<vtkActor>::New();
octomapActor->SetMapper(mapper);
octomapActor->GetProperty()->SetRepresentationToSurface();
octomapActor->GetProperty()->SetEdgeVisibility(showEdges);
octomapActor->GetProperty()->SetLighting(lightingOn);
renderer->AddActor(octomapActor);
_octomapActor = octomapActor.GetPointer();
return true;
#endif
}
return false;
}
void CloudViewer::removeOctomap()
{
UDEBUG("");
#ifdef RTABMAP_OCTOMAP
if(_octomapActor)
{
vtkRenderer *renderer = _visualizer->getRenderWindow()->GetRenderers()->GetFirstRenderer();
renderer->RemoveActor(_octomapActor);
_octomapActor = 0;
}
#endif
}
bool CloudViewer::addOccupancyGridMap(
const cv::Mat & map8U,
float resolution, // cell size
guilib/src/MainWindow.cpp
+316 -168
View File
@@ -109,6 +109,10 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <pcl/filters/filter.h>
#include <pcl/search/kdtree.h>
#ifdef RTABMAP_OCTOMAP
#include <rtabmap/core/OctoMap.h>
#endif
#define LOG_FILE_NAME "LogRtabmap.txt"
#define SHARE_SHOW_LOG_FILE "share/rtabmap/showlogs.m"
#define SHARE_GET_PRECISION_RECALL_FILE "share/rtabmap/getPrecisionRecall.m"
@@ -146,6 +150,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_waypointsIndex(0),
_cachedMemoryUsage(0),
_createdCloudsMemoryUsage(0),
_octomap(0),
_odometryCorrection(Transform::getIdentity()),
_processingOdometry(false),
_oneSecondTimer(0),
@@ -358,6 +363,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
connect(_ui->actionExport_images_RGB_jpg_Depth_png, SIGNAL(triggered()), this , SLOT(exportImages()));
connect(_ui->actionExport_cameras_in_Bundle_format_out, SIGNAL(triggered()), SLOT(exportBundlerFormat()));
connect(_ui->actionView_scans, SIGNAL(triggered()), this, SLOT(viewScans()));
connect(_ui->actionExport_octomap, SIGNAL(triggered()), this, SLOT(exportOctomap()));
connect(_ui->actionView_high_res_point_cloud, SIGNAL(triggered()), this, SLOT(viewClouds()));
connect(_ui->actionReset_Odometry, SIGNAL(triggered()), this, SLOT(resetOdometry()));
connect(_ui->actionTrigger_a_new_map, SIGNAL(triggered()), this, SLOT(triggerNewMap()));
@@ -1919,7 +1925,14 @@ void MainWindow::updateMapCloud(
_ui->graphicsView_graphView->isGridMapVisible() &&
_preferencesDialog->isGridMapFrom3DCloud() &&
_projectionLocalMaps.find(iter->first) == _projectionLocalMaps.end();
if(update3dCloud || updateProjMap)
bool updateOctomap = false;
#ifdef RTABMAP_OCTOMAP
updateOctomap =
_cloudViewer->isVisible() &&
_preferencesDialog->isOctomapShown() &&
_octomap->addedNodes().find(iter->first) == _octomap->addedNodes().end();
#endif
if(update3dCloud || updateProjMap || updateOctomap)
{
// update cloud
std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> createdCloud;
@@ -1942,23 +1955,23 @@ void MainWindow::updateMapCloud(
else if(_cachedClouds.find(iter->first) == _cachedClouds.end() && _cachedSignatures.contains(iter->first))
{
createdCloud = this->createAndAddCloudToMap(iter->first, iter->second, uValue(mapIds, iter->first, -1));
if(viewerClouds.contains(cloudName))
if(_cloudViewer->getAddedClouds().contains(cloudName))
{
_cloudViewer->setCloudVisibility(cloudName.c_str(), _cloudViewer->isVisible() && _preferencesDialog->isCloudsShown(0));
}
}
//Update projection map
if(updateProjMap)
if(updateProjMap || updateOctomap)
{
std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> >::iterator cloudIter = _cachedClouds.find(iter->first);
if(cloudIter != _cachedClouds.end())
{
createAndAddProjectionMap(cloudIter->second.first, cloudIter->second.second, iter->first, iter->second);
createAndAddProjectionMap(cloudIter->second.first, cloudIter->second.second, iter->first, iter->second, updateOctomap);
}
else if(createdCloud.first->size() && createdCloud.second->size())
else if(createdCloud.first.get() && createdCloud.first->size() && createdCloud.second->size())
{
createAndAddProjectionMap(createdCloud.first, createdCloud.second, iter->first, iter->second);
createAndAddProjectionMap(createdCloud.first, createdCloud.second, iter->first, iter->second, updateOctomap);
}
}
}
@@ -2057,6 +2070,11 @@ void MainWindow::updateMapCloud(
_ui->actionExport_2D_scans_ply_pcd->setEnabled(!_createdScans.empty());
_ui->actionExport_2D_Grid_map_bmp_png->setEnabled(!_gridLocalMaps.empty() || !_projectionLocalMaps.empty());
_ui->actionView_scans->setEnabled(!_createdScans.empty());
#ifdef RTABMAP_OCTOMAP
_ui->actionExport_octomap->setEnabled(_octomap && _octomap->octree()->size());
#else
_ui->actionExport_octomap->setEnabled(false);
#endif
}
//remove not used clouds
@@ -2200,6 +2218,18 @@ void MainWindow::updateMapCloud(
_cloudViewer->removeOccupancyGridMap();
}
#ifdef RTABMAP_OCTOMAP
_cloudViewer->removeOctomap();
if(_preferencesDialog->isOctomapShown() && _octomap)
{
UDEBUG("");
UTimer time;
_octomap->update(poses);
_cloudViewer->addOctomap(_octomap, _preferencesDialog->getOctomapTreeDepth());
UINFO("Octomap update time = %fs", time.ticks());
}
#endif
if(viewerClouds.contains("cloudOdom"))
{
if(!_preferencesDialog->isCloudsShown(1))
@@ -2356,191 +2386,190 @@ std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> MainWindow::c
}
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloudWithNormals(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
if(_cloudViewer->isVisible() && _preferencesDialog->isCloudsShown(0))
if(_preferencesDialog->isSubtractFiltering() &&
_preferencesDialog->getSubtractFilteringRadius() > 0.0)
{
if(_preferencesDialog->isSubtractFiltering() &&
_preferencesDialog->getSubtractFilteringRadius() > 0.0)
pcl::IndicesPtr beforeFiltering = indices;
if( cloud->size() &&
_previousCloud.first>0 &&
_previousCloud.second.first.first.get() != 0 &&
_previousCloud.second.second.get() != 0 &&
_previousCloud.second.second->size() &&
_currentPosesMap.find(_previousCloud.first) != _currentPosesMap.end())
{
pcl::IndicesPtr beforeFiltering = indices;
if( cloud->size() &&
_previousCloud.first>0 &&
_previousCloud.second.first.first.get() != 0 &&
_previousCloud.second.second.get() != 0 &&
_previousCloud.second.second->size() &&
_currentPosesMap.find(_previousCloud.first) != _currentPosesMap.end())
UTimer time;
rtabmap::Transform t = pose.inverse() * _currentPosesMap.at(_previousCloud.first);
//UWARN("saved new.pcd and old.pcd");
//pcl::io::savePCDFile("new.pcd", *cloud, *indices);
//pcl::io::savePCDFile("old.pcd", *previousCloud, *_previousCloud.second.second);
if(_preferencesDialog->getSubtractFilteringAngle() > 0.0f)
{
UTimer time;
rtabmap::Transform t = pose.inverse() * _currentPosesMap.at(_previousCloud.first);
//UWARN("saved new.pcd and old.pcd");
//pcl::io::savePCDFile("new.pcd", *cloud, *indices);
//pcl::io::savePCDFile("old.pcd", *previousCloud, *_previousCloud.second.second);
if(_preferencesDialog->getSubtractFilteringAngle() > 0.0f)
{
//normals required
if(_preferencesDialog->getNormalKSearch() > 0)
{
pcl::PointCloud<pcl::Normal>::Ptr normals = util3d::computeNormals(cloud, indices, _preferencesDialog->getNormalKSearch(), viewPoint);
pcl::concatenateFields(*cloud, *normals, *cloudWithNormals);
}
else
{
UWARN("Cloud subtraction with angle filtering is activated but "
"cloud normal K search is 0. Subtraction is done with angle.");
}
}
if(cloudWithNormals->size() &&
_previousCloud.second.first.second.get() &&
_previousCloud.second.first.second->size())
{
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr previousCloud = rtabmap::util3d::transformPointCloud(_previousCloud.second.first.second, t);
indices = rtabmap::util3d::subtractFiltering(
cloudWithNormals,
indices,
previousCloud,
_previousCloud.second.second,
_preferencesDialog->getSubtractFilteringRadius(),
_preferencesDialog->getSubtractFilteringAngle(),
_preferencesDialog->getSubtractFilteringMinPts());
}
else
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr previousCloud = rtabmap::util3d::transformPointCloud(_previousCloud.second.first.first, t);
indices = rtabmap::util3d::subtractFiltering(
cloud,
indices,
previousCloud,
_previousCloud.second.second,
_preferencesDialog->getSubtractFilteringRadius(),
_preferencesDialog->getSubtractFilteringMinPts());
}
UINFO("Time subtract filtering %d from %d -> %d (%fs)",
(int)_previousCloud.second.second->size(),
(int)beforeFiltering->size(),
(int)indices->size(),
time.ticks());
}
// keep all indices for next subtraction
_previousCloud.first = nodeId;
_previousCloud.second.first.first = cloud;
_previousCloud.second.first.second = cloudWithNormals;
_previousCloud.second.second = beforeFiltering;
}
if(indices->size())
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr output;
bool added = false;
if(_preferencesDialog->isCloudMeshing() && cloud->isOrganized())
{
// Fast organized mesh
// we need to extract indices as pcl::OrganizedFastMesh doesn't take indices
output = util3d::extractIndices(cloud, indices, false, true);
std::vector<pcl::Vertices> polygons = util3d::organizedFastMesh(
output,
_preferencesDialog->getCloudMeshingAngle(),
_preferencesDialog->isCloudMeshingQuad(),
_preferencesDialog->getCloudMeshingTriangleSize(),
viewPoint);
if(polygons.size())
{
// remove unused vertices to save memory
pcl::PointCloud<pcl::PointXYZRGB>::Ptr outputFiltered(new pcl::PointCloud<pcl::PointXYZRGB>);
std::vector<pcl::Vertices> outputPolygons;
util3d::filterNotUsedVerticesFromMesh(*output, polygons, *outputFiltered, outputPolygons);
if(!_cloudViewer->addCloudMesh(cloudName, outputFiltered, outputPolygons, pose))
{
UERROR("Adding mesh cloud %d to viewer failed!", nodeId);
}
else
{
added = true;
}
}
}
else
{
if(_preferencesDialog->isCloudMeshing())
{
UWARN("Online meshing is activated but the generated cloud is "
"dense (voxel filtering is used or multiple cameras are used). Disable "
"online meshing in Preferences->3D Rendering to hide this warning.");
}
if(_preferencesDialog->getNormalKSearch() > 0 && cloudWithNormals->size() == 0)
//normals required
if(_preferencesDialog->getNormalKSearch() > 0)
{
pcl::PointCloud<pcl::Normal>::Ptr normals = util3d::computeNormals(cloud, indices, _preferencesDialog->getNormalKSearch(), viewPoint);
pcl::concatenateFields(*cloud, *normals, *cloudWithNormals);
}
QColor color = Qt::gray;
if(mapId >= 0)
else
{
color = (Qt::GlobalColor)(mapId+3 % 12 + 7 );
UWARN("Cloud subtraction with angle filtering is activated but "
"cloud normal K search is 0. Subtraction is done with angle.");
}
}
output = util3d::extractIndices(cloud, indices, false, true);
if(cloudWithNormals->size() &&
_previousCloud.second.first.second.get() &&
_previousCloud.second.first.second->size())
{
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr previousCloud = rtabmap::util3d::transformPointCloud(_previousCloud.second.first.second, t);
indices = rtabmap::util3d::subtractFiltering(
cloudWithNormals,
indices,
previousCloud,
_previousCloud.second.second,
_preferencesDialog->getSubtractFilteringRadius(),
_preferencesDialog->getSubtractFilteringAngle(),
_preferencesDialog->getSubtractFilteringMinPts());
}
else
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr previousCloud = rtabmap::util3d::transformPointCloud(_previousCloud.second.first.first, t);
indices = rtabmap::util3d::subtractFiltering(
cloud,
indices,
previousCloud,
_previousCloud.second.second,
_preferencesDialog->getSubtractFilteringRadius(),
_preferencesDialog->getSubtractFilteringMinPts());
}
if(cloudWithNormals->size())
UINFO("Time subtract filtering %d from %d -> %d (%fs)",
(int)_previousCloud.second.second->size(),
(int)beforeFiltering->size(),
(int)indices->size(),
time.ticks());
}
// keep all indices for next subtraction
_previousCloud.first = nodeId;
_previousCloud.second.first.first = cloud;
_previousCloud.second.first.second = cloudWithNormals;
_previousCloud.second.second = beforeFiltering;
}
if(indices->size())
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr output;
bool added = false;
if(_preferencesDialog->isCloudMeshing() && cloud->isOrganized())
{
// Fast organized mesh
// we need to extract indices as pcl::OrganizedFastMesh doesn't take indices
output = util3d::extractIndices(cloud, indices, false, true);
std::vector<pcl::Vertices> polygons = util3d::organizedFastMesh(
output,
_preferencesDialog->getCloudMeshingAngle(),
_preferencesDialog->isCloudMeshingQuad(),
_preferencesDialog->getCloudMeshingTriangleSize(),
viewPoint);
if(polygons.size())
{
// remove unused vertices to save memory
pcl::PointCloud<pcl::PointXYZRGB>::Ptr outputFiltered(new pcl::PointCloud<pcl::PointXYZRGB>);
std::vector<pcl::Vertices> outputPolygons;
util3d::filterNotUsedVerticesFromMesh(*output, polygons, *outputFiltered, outputPolygons);
if(!_cloudViewer->addCloudMesh(cloudName, outputFiltered, outputPolygons, pose))
{
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr outputWithNormals;
outputWithNormals = util3d::extractIndices(cloudWithNormals, indices, false, false);
if(!_cloudViewer->addCloud(cloudName, outputWithNormals, pose, color))
{
UERROR("Adding cloud %d to viewer failed!", nodeId);
}
else
{
added = true;
}
UERROR("Adding mesh cloud %d to viewer failed!", nodeId);
}
else
{
if(!_cloudViewer->addCloud(cloudName, output, pose, color))
{
UERROR("Adding cloud %d to viewer failed!", nodeId);
}
else
{
added = true;
}
}
}
if(added)
{
outputPair.first = output;
outputPair.second = indices;
if(_preferencesDialog->isCloudsKept())
{
_cachedClouds.insert(std::make_pair(nodeId, outputPair));
_createdCloudsMemoryUsage += output->size() * sizeof(pcl::PointXYZRGB) + indices->size()*sizeof(int);
added = true;
}
}
}
_cloudViewer->setCloudOpacity(cloudName, _preferencesDialog->getCloudOpacity(0));
_cloudViewer->setCloudPointSize(cloudName, _preferencesDialog->getCloudPointSize(0));
else
{
if(_preferencesDialog->isCloudMeshing())
{
UWARN("Online meshing is activated but the generated cloud is "
"dense (voxel filtering is used or multiple cameras are used). Disable "
"online meshing in Preferences->3D Rendering to hide this warning.");
}
if(_preferencesDialog->getNormalKSearch() > 0 && cloudWithNormals->size() == 0)
{
pcl::PointCloud<pcl::Normal>::Ptr normals = util3d::computeNormals(cloud, indices, _preferencesDialog->getNormalKSearch(), viewPoint);
pcl::concatenateFields(*cloud, *normals, *cloudWithNormals);
}
QColor color = Qt::gray;
if(mapId >= 0)
{
color = (Qt::GlobalColor)(mapId+3 % 12 + 7 );
}
output = util3d::extractIndices(cloud, indices, false, true);
if(cloudWithNormals->size())
{
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr outputWithNormals;
outputWithNormals = util3d::extractIndices(cloudWithNormals, indices, false, false);
if(!_cloudViewer->addCloud(cloudName, outputWithNormals, pose, color))
{
UERROR("Adding cloud %d to viewer failed!", nodeId);
}
else
{
added = true;
}
}
else
{
if(!_cloudViewer->addCloud(cloudName, output, pose, color))
{
UERROR("Adding cloud %d to viewer failed!", nodeId);
}
else
{
added = true;
}
}
}
if(added)
{
outputPair.first = output;
outputPair.second = indices;
if(_preferencesDialog->isCloudsKept())
{
_cachedClouds.insert(std::make_pair(nodeId, outputPair));
_createdCloudsMemoryUsage += output->size() * sizeof(pcl::PointXYZRGB) + indices->size()*sizeof(int);
}
}
}
_cloudViewer->setCloudOpacity(cloudName, _preferencesDialog->getCloudOpacity(0));
_cloudViewer->setCloudPointSize(cloudName, _preferencesDialog->getCloudPointSize(0));
}
return outputPair;
UDEBUG("");
return outputPair;
}
void MainWindow::createAndAddProjectionMap(
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
const pcl::IndicesPtr & indices,
int nodeId,
const Transform & pose)
const Transform & pose,
bool updateOctomap)
{
UDEBUG("");
UASSERT(!pose.isNull());
if(_projectionLocalMaps.find(nodeId) != _projectionLocalMaps.end())
if(_projectionLocalMaps.find(nodeId) != _projectionLocalMaps.end() && !updateOctomap)
{
UERROR("Projection map %d already added.", nodeId);
return;
@@ -2559,9 +2588,9 @@ void MainWindow::createAndAddProjectionMap(
}
// add pose rotation without yaw
float roll, pitch, yaw;
if(_preferencesDialog->projMapFrame())
{
float roll, pitch, yaw;
pose.getEulerAngles(roll, pitch, yaw);
voxelCloud = util3d::transformPointCloud(voxelCloud, Transform(0,0, pose.z(), roll, pitch, 0));
}
@@ -2571,19 +2600,61 @@ void MainWindow::createAndAddProjectionMap(
voxelCloud = util3d::passThrough(voxelCloud, "z", std::numeric_limits<int>::min(), _preferencesDialog->projMaxObstaclesHeight());
}
util3d::occupancy2DFromCloud3D<pcl::PointXYZRGB>(
pcl::IndicesPtr groundIndices, obstaclesIndices;
util3d::segmentObstaclesFromGround<pcl::PointXYZRGB>(
voxelCloud,
ground,
obstacles,
_preferencesDialog->getGridMapResolution(),
groundIndices,
obstaclesIndices,
20,
_preferencesDialog->projMaxGroundAngle(),
_preferencesDialog->getGridMapResolution()*2.0f,
_preferencesDialog->projMinClusterSize(),
_preferencesDialog->projFlatObstaclesDetected(),
_preferencesDialog->projMaxGroundHeight());
pcl::PointCloud<pcl::PointXYZRGB>::Ptr groundCloud(new pcl::PointCloud<pcl::PointXYZRGB>);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr obstaclesCloud(new pcl::PointCloud<pcl::PointXYZRGB>);
if(groundIndices->size())
{
pcl::copyPointCloud(*voxelCloud, *groundIndices, *groundCloud);
}
if(obstaclesIndices->size())
{
pcl::copyPointCloud(*voxelCloud, *obstaclesIndices, *obstaclesCloud);
}
util3d::occupancy2DFromGroundObstacles<pcl::PointXYZRGB>(
groundCloud,
obstaclesCloud,
ground,
obstacles,
_preferencesDialog->getGridMapResolution());
if(updateOctomap)
{
// Update octomap
#ifdef RTABMAP_OCTOMAP
if(_octomap &&
(_octomap->addedNodes().empty() ||
nodeId > _octomap->addedNodes().rbegin()->first))
{
if(_preferencesDialog->projMapFrame())
{
Transform tinv = Transform(0,0,0, roll, pitch, 0).inverse();
groundCloud = util3d::transformPointCloud(groundCloud, tinv);
obstaclesCloud = util3d::transformPointCloud(obstaclesCloud, tinv);
}
_octomap->addToCache(nodeId, groundCloud, obstaclesCloud);
}
#endif
}
_projectionLocalMaps.insert(std::make_pair(nodeId, std::make_pair(ground, obstacles)));
UDEBUG("time gridMapFrom3DCloud = %f s", timer.ticks());
}
UDEBUG("");
}
void MainWindow::createAndAddScanToMap(int nodeId, const Transform & pose, int mapId)
@@ -3965,6 +4036,15 @@ void MainWindow::startDetection()
"progress will not be shown in the GUI."));
}
#ifdef RTABMAP_OCTOMAP
if(_octomap)
{
delete _octomap;
_octomap = 0;
}
_octomap = new OctoMap(_preferencesDialog->getGridMapResolution());
#endif
emit stateChanged(kDetecting);
}
@@ -4948,6 +5028,7 @@ void MainWindow::clearTheCache()
_ui->actionExport_cameras_in_Bundle_format_out->setEnabled(false);
_ui->actionExport_images_RGB_jpg_Depth_png->setEnabled(false);
_ui->actionView_scans->setEnabled(false);
_ui->actionExport_octomap->setEnabled(false);
_ui->actionView_high_res_point_cloud->setEnabled(false);
_likelihoodCurve->clear();
_rawLikelihoodCurve->clear();
@@ -4968,6 +5049,12 @@ void MainWindow::clearTheCache()
_ui->imageView_source->setBackgroundColor(Qt::black);
_ui->imageView_loopClosure->setBackgroundColor(Qt::black);
_ui->imageView_odometry->setBackgroundColor(Qt::black);
#ifdef RTABMAP_OCTOMAP
if(_octomap)
{
_octomap->clear();
}
#endif
}
void MainWindow::updateElapsedTime()
@@ -5350,6 +5437,44 @@ void MainWindow::viewClouds()
}
void MainWindow::exportOctomap()
{
#ifdef RTABMAP_OCTOMAP
if(_octomap && _octomap->octree()->size())
{
QString path = QFileDialog::getSaveFileName(
this,
tr("Save File"),
this->getWorkingDirectory()+"/"+"octomap.bt",
tr("Octomap file (*.bt)"));
if(!path.isEmpty())
{
if(_octomap->writeBinary(path.toStdString()))
{
QMessageBox::information(this,
tr("Export octomap..."),
tr("Octomap successfully saved to \"%1\".")
.arg(path));
}
else
{
QMessageBox::information(this,
tr("Export octomap..."),
tr("Failed to save octomap to \"%1\"!")
.arg(path));
}
}
}
else
{
UERROR("Empty octomap.");
}
#else
UERROR("Cannot export octomap, RTAB-Map is not built with it.");
#endif
}
void MainWindow::exportImages()
{
if(_cachedSignatures.empty())
@@ -5727,7 +5852,7 @@ void MainWindow::changeState(MainWindow::State newState)
}
}
actions = _ui->menuFile->actions();
if(actions.size()==15)
if(actions.size()==16)
{
if(actions.at(2)->isSeparator())
{
@@ -5737,9 +5862,9 @@ void MainWindow::changeState(MainWindow::State newState)
{
UWARN("Menu File separators have not the same order.");
}
if(actions.at(11)->isSeparator())
if(actions.at(12)->isSeparator())
{
actions.at(11)->setVisible(!monitoring);
actions.at(12)->setVisible(!monitoring);
}
else
{
@@ -5796,6 +5921,11 @@ void MainWindow::changeState(MainWindow::State newState)
_ui->actionExport_2D_scans_ply_pcd->setEnabled(!_createdScans.empty());
_ui->actionExport_2D_Grid_map_bmp_png->setEnabled(!_gridLocalMaps.empty() || !_projectionLocalMaps.empty());
_ui->actionView_scans->setEnabled(!_createdScans.empty());
#ifdef RTABMAP_OCTOMAP
_ui->actionExport_octomap->setEnabled(_octomap && _octomap->octree()->size());
#else
_ui->actionExport_octomap->setEnabled(false);
#endif
_ui->actionExport_cameras_in_Bundle_format_out->setEnabled(!_cachedSignatures.empty() && !_currentPosesMap.empty());
_ui->actionDownload_all_clouds->setEnabled(false);
_ui->actionDownload_graph->setEnabled(false);
@@ -5852,6 +5982,11 @@ void MainWindow::changeState(MainWindow::State newState)
_ui->actionExport_2D_scans_ply_pcd->setEnabled(!_createdScans.empty());
_ui->actionExport_2D_Grid_map_bmp_png->setEnabled(!_gridLocalMaps.empty() || !_projectionLocalMaps.empty());
_ui->actionView_scans->setEnabled(!_createdScans.empty());
#ifdef RTABMAP_OCTOMAP
_ui->actionExport_octomap->setEnabled(_octomap && _octomap->octree()->size());
#else
_ui->actionExport_octomap->setEnabled(false);
#endif
_ui->actionExport_cameras_in_Bundle_format_out->setEnabled(!_cachedSignatures.empty() && !_currentPosesMap.empty());
_ui->actionDownload_all_clouds->setEnabled(true);
_ui->actionDownload_graph->setEnabled(true);
@@ -5897,6 +6032,7 @@ void MainWindow::changeState(MainWindow::State newState)
_ui->actionExport_2D_scans_ply_pcd->setEnabled(false);
_ui->actionExport_2D_Grid_map_bmp_png->setEnabled(false);
_ui->actionView_scans->setEnabled(false);
_ui->actionExport_octomap->setEnabled(false);
_ui->actionExport_cameras_in_Bundle_format_out->setEnabled(false);
_ui->actionDownload_all_clouds->setEnabled(false);
_ui->actionDownload_graph->setEnabled(false);
@@ -5939,6 +6075,7 @@ void MainWindow::changeState(MainWindow::State newState)
_ui->actionExport_2D_scans_ply_pcd->setEnabled(false);
_ui->actionExport_2D_Grid_map_bmp_png->setEnabled(false);
_ui->actionView_scans->setEnabled(false);
_ui->actionExport_octomap->setEnabled(false);
_ui->actionExport_cameras_in_Bundle_format_out->setEnabled(false);
_ui->actionDownload_all_clouds->setEnabled(false);
_ui->actionDownload_graph->setEnabled(false);
@@ -5968,6 +6105,11 @@ void MainWindow::changeState(MainWindow::State newState)
_ui->actionExport_2D_scans_ply_pcd->setEnabled(!_createdScans.empty());
_ui->actionExport_2D_Grid_map_bmp_png->setEnabled(!_gridLocalMaps.empty() || !_projectionLocalMaps.empty());
_ui->actionView_scans->setEnabled(!_createdScans.empty());
#ifdef RTABMAP_OCTOMAP
_ui->actionExport_octomap->setEnabled(_octomap && _octomap->octree()->size());
#else
_ui->actionExport_octomap->setEnabled(false);
#endif
_ui->actionExport_cameras_in_Bundle_format_out->setEnabled(!_cachedSignatures.empty() && !_currentPosesMap.empty());
_ui->actionDownload_all_clouds->setEnabled(true);
_ui->actionDownload_graph->setEnabled(true);
@@ -5997,6 +6139,7 @@ void MainWindow::changeState(MainWindow::State newState)
_ui->actionExport_2D_scans_ply_pcd->setEnabled(false);
_ui->actionExport_2D_Grid_map_bmp_png->setEnabled(false);
_ui->actionView_scans->setEnabled(false);
_ui->actionExport_octomap->setEnabled(false);
_ui->actionExport_cameras_in_Bundle_format_out->setEnabled(false);
_ui->actionDelete_memory->setEnabled(true);
_ui->actionDownload_all_clouds->setEnabled(true);
@@ -6027,6 +6170,11 @@ void MainWindow::changeState(MainWindow::State newState)
_ui->actionExport_2D_scans_ply_pcd->setEnabled(!_createdScans.empty());
_ui->actionExport_2D_Grid_map_bmp_png->setEnabled(!_gridLocalMaps.empty() || !_projectionLocalMaps.empty());
_ui->actionView_scans->setEnabled(!_createdScans.empty());
#ifdef RTABMAP_OCTOMAP
_ui->actionExport_octomap->setEnabled(_octomap && _octomap->octree()->size());
#else
_ui->actionExport_octomap->setEnabled(false);
#endif
_ui->actionExport_cameras_in_Bundle_format_out->setEnabled(!_cachedSignatures.empty() && !_currentPosesMap.empty());
_ui->actionDelete_memory->setEnabled(true);
_ui->actionDownload_all_clouds->setEnabled(true);
guilib/src/PreferencesDialog.cpp
+32
View File
@@ -150,6 +150,16 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->checkBox_map_shown->setChecked(false);
_ui->checkBox_map_shown->setEnabled(false);
_ui->label_map_shown->setText(_ui->label_map_shown->text() + " (Disabled, PCL >=1.7.2 required)");
_ui->label_map_shown->setEnabled(false);
#endif
#ifndef RTABMAP_OCTOMAP
_ui->checkBox_octomap->setChecked(false);
_ui->checkBox_octomap->setEnabled(false);
_ui->label_octomap->setEnabled(false);
_ui->spinBox_octomap_treeDepth->setEnabled(false);
_ui->label_octomap_treeDepth->setEnabled(false);
#endif
#ifndef RTABMAP_NONFREE
@@ -378,6 +388,9 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->doubleSpinBox_projMaxObstaclesHeight, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->checkBox_projFlatObstaclesDetected, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->checkBox_octomap, SIGNAL(clicked(bool)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->spinBox_octomap_treeDepth, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->groupBox_organized, SIGNAL(clicked(bool)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->doubleSpinBox_mesh_angleTolerance, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->checkBox_mesh_quad, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
@@ -1213,6 +1226,9 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->doubleSpinBox_projMaxObstaclesHeight->setValue(0);
_ui->checkBox_projFlatObstaclesDetected->setChecked(true);
_ui->checkBox_octomap->setChecked(false);
_ui->spinBox_octomap_treeDepth->setValue(16);
_ui->doubleSpinBox_mesh_angleTolerance->setValue(15.0);
#if PCL_VERSION_COMPARE(>=, 1, 7, 2)
_ui->groupBox_organized->setChecked(false);
@@ -1571,6 +1587,9 @@ void PreferencesDialog::readGuiSettings(const QString & filePath)
_ui->doubleSpinBox_projMaxObstaclesHeight->setValue(settings.value("projMaxObstaclesHeight", _ui->doubleSpinBox_projMaxObstaclesHeight->value()).toDouble());
_ui->checkBox_projFlatObstaclesDetected->setChecked(settings.value("projFlatObstaclesDetected", _ui->checkBox_projFlatObstaclesDetected->isChecked()).toBool());
_ui->checkBox_octomap->setChecked(settings.value("octomap", _ui->checkBox_octomap->isChecked()).toBool());
_ui->spinBox_octomap_treeDepth->setValue(settings.value("octomap_depth", _ui->spinBox_octomap_treeDepth->value()).toInt());
_ui->groupBox_organized->setChecked(settings.value("meshing", _ui->groupBox_organized->isChecked()).toBool());
_ui->doubleSpinBox_mesh_angleTolerance->setValue(settings.value("meshing_angle", _ui->doubleSpinBox_mesh_angleTolerance->value()).toDouble());
_ui->checkBox_mesh_quad->setChecked(settings.value("meshing_quad", _ui->checkBox_mesh_quad->isChecked()).toBool());
@@ -1978,6 +1997,8 @@ void PreferencesDialog::writeGuiSettings(const QString & filePath) const
settings.setValue("projMaxObstaclesHeight", _ui->doubleSpinBox_projMaxObstaclesHeight->value());
settings.setValue("projFlatObstaclesDetected", _ui->checkBox_projFlatObstaclesDetected->isChecked());
settings.setValue("octomap", _ui->checkBox_octomap->isChecked());
settings.setValue("octomap_depth", _ui->spinBox_octomap_treeDepth->value());
settings.setValue("meshing", _ui->groupBox_organized->isChecked());
settings.setValue("meshing_angle", _ui->doubleSpinBox_mesh_angleTolerance->value());
@@ -3631,6 +3652,17 @@ bool PreferencesDialog::isCloudsShown(int index) const
UASSERT(index >= 0 && index <= 1);
return _3dRenderingShowClouds[index]->isChecked();
}
bool PreferencesDialog::isOctomapShown() const
{
#ifdef RTABMAP_OCTOMAP
return _ui->checkBox_octomap->isChecked();
#endif
return false;
}
int PreferencesDialog::getOctomapTreeDepth() const
{
return _ui->spinBox_octomap_treeDepth->value();
}
double PreferencesDialog::getMapVoxel() const
{
guilib/src/ui/aboutDialog.ui
+50 -16
View File
@@ -82,6 +82,16 @@ p, li { white-space: pre-wrap; }
</item>
<item>
<layout class="QGridLayout" name="gridLayout" columnstretch="0,1">
<item row="8" column="1">
<widget class="QLabel" name="label_opencv_version">
<property name="text">
<string/>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="9" column="0">
<widget class="QLabel" name="label_11">
<property name="text">
@@ -202,17 +212,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QLabel" name="label_opencv_version">
<property name="text">
<string/>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="15" column="0">
<item row="16" column="0">
<widget class="QLabel" name="label_14">
<property name="text">
<string>With g2o :</string>
@@ -239,7 +239,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="15" column="1">
<item row="16" column="1">
<widget class="QLabel" name="label_g2o">
<property name="text">
<string/>
@@ -293,14 +293,14 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="17" column="0">
<item row="18" column="0">
<widget class="QLabel" name="label_18">
<property name="text">
<string>With cvsba :</string>
</property>
</widget>
</item>
<item row="17" column="1">
<item row="18" column="1">
<widget class="QLabel" name="label_cvsba">
<property name="text">
<string/>
@@ -310,14 +310,14 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="16" column="0">
<item row="17" column="0">
<widget class="QLabel" name="label_19">
<property name="text">
<string>With GTSAM :</string>
</property>
</widget>
</item>
<item row="16" column="1">
<item row="17" column="1">
<widget class="QLabel" name="label_gtsam">
<property name="text">
<string/>
@@ -327,6 +327,40 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="19" column="0">
<widget class="QLabel" name="label_20">
<property name="text">
<string>With Octomap :</string>
</property>
</widget>
</item>
<item row="19" column="1">
<widget class="QLabel" name="label_octomap">
<property name="text">
<string/>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="15" column="0">
<widget class="QLabel" name="label_21">
<property name="text">
<string>With stereo Zed :</string>
</property>
</widget>
</item>
<item row="15" column="1">
<widget class="QLabel" name="label_zed">
<property name="text">
<string/>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
</widget>
</item>
</layout>
</item>
<item>
guilib/src/ui/mainWindow.ui
+18 -111
View File
@@ -27,7 +27,7 @@
<x>0</x>
<y>0</y>
<width>1012</width>
<height>21</height>
<height>25</height>
</rect>
</property>
<widget class="QMenu" name="menuFile">
@@ -52,6 +52,7 @@
<addaction name="actionSave_point_cloud"/>
<addaction name="actionExport_2D_scans_ply_pcd"/>
<addaction name="actionExport_2D_Grid_map_bmp_png"/>
<addaction name="actionExport_octomap"/>
<addaction name="menuExport_poses"/>
<addaction name="actionExport_images_RGB_jpg_Depth_png"/>
<addaction name="actionExport_cameras_in_Bundle_format_out"/>
@@ -297,16 +298,7 @@
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -344,16 +336,7 @@
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -596,16 +579,7 @@
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -626,16 +600,7 @@
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -656,16 +621,7 @@
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -686,16 +642,7 @@
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
</layout>
@@ -713,16 +660,7 @@
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
</layout>
@@ -743,16 +681,7 @@
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -773,16 +702,7 @@
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -806,16 +726,7 @@
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -885,16 +796,7 @@
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -1419,6 +1321,11 @@
<string>Stereo Usb Camera</string>
</property>
</action>
<action name="actionExport_octomap">
<property name="text">
<string>Export octomap...</string>
</property>
</action>
</widget>
<customwidgets>
<customwidget>
guilib/src/ui/preferencesDialog.ui
+63 -77
View File
@@ -63,25 +63,16 @@
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>685</width>
<height>1826</height>
<y>-464</y>
<width>686</width>
<height>2023</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -95,7 +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">
@@ -794,6 +785,19 @@ Show a yellow background when the number of odometry inliers goes under this thr
</item>
<item>
<layout class="QGridLayout" name="gridLayout_67" columnstretch="0,1">
<item row="5" column="1">
<widget class="QLabel" name="label_309">
<property name="text">
<string>Maximum obstacles height (0=disabled).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QCheckBox" name="checkBox_projMapFrame">
<property name="text">
@@ -937,10 +941,20 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_309">
<item row="6" column="0">
<widget class="QCheckBox" name="checkBox_octomap">
<property name="text">
<string>Maximum obstacles height (0=disabled).</string>
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_octomap">
<property name="text">
<string>Octomap: 3D occupancy grid map.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -950,6 +964,32 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_octomap_treeDepth">
<property name="text">
<string>Octomap maximum tree depth (max 16). The highest depth means the smallest resolution of the map (cell size). At smallest resolution the octomap shows RGB colors. Other resolutions produce z-axis gradient colored octomap.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QSpinBox" name="spinBox_octomap_treeDepth">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>16</number>
</property>
<property name="value">
<number>16</number>
</property>
</widget>
</item>
</layout>
</item>
</layout>
@@ -3986,16 +4026,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<string>Directory of images (optional settings)</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_93">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -9172,16 +9203,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
<widget class="QWidget" name="page_54">
<layout class="QVBoxLayout" name="verticalLayout_85">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -9321,16 +9343,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
</widget>
<widget class="QWidget" name="page_55">
<layout class="QVBoxLayout" name="verticalLayout_86">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -9488,16 +9501,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -9577,16 +9581,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -9698,16 +9693,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>