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API achange (0.11.8): computeNormals returns only pcl::Normal cloud, not pcl::PointNormal or pcl::PointXYZRGBNormal types. MainWindow: Normals are not kept in cache to save RAM. ProgressDialog: check if auto-close is still checked when close() slot is called.

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This commit is contained in:
matlabbe
2016-06-12 13:51:49 -04:00
parent 9f296c67b2
commit cb7c76889d
19 changed files with 342 additions and 287 deletions
Download Patch File Download Diff File Expand all files Collapse all files
CMakeLists.txt
+1 -1
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@@ -20,7 +20,7 @@ SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
#######################
SET(RTABMAP_MAJOR_VERSION 0)
SET(RTABMAP_MINOR_VERSION 11)
SET(RTABMAP_PATCH_VERSION 7)
SET(RTABMAP_PATCH_VERSION 8)
SET(RTABMAP_VERSION
${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION})
corelib/include/rtabmap/core/util3d_surface.h
+8 -7
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@@ -121,28 +121,29 @@ pcl::TextureMesh::Ptr RTABMAP_EXP createTextureMesh(
const std::map<int, Transform> & poses,
const std::map<int, CameraModel> & cameraModels,
const std::map<int, cv::Mat> & images,
const std::string & tmpDirectory = ".");
const std::string & tmpDirectory = ".",
int kNormalSearch = 20); // if mesh doesn't have normals, compute them with k neighbors
pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_EXP computeNormals(
pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_EXP computeNormals(
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
int normalKSearch = 20);
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_EXP computeNormals(
pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_EXP computeNormals(
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
int normalKSearch = 20);
pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_EXP computeNormals(
pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_EXP computeNormals(
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
const pcl::IndicesPtr & indices,
int normalKSearch = 20);
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_EXP computeNormals(
pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_EXP computeNormals(
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
const pcl::IndicesPtr & indices,
int normalKSearch = 20);
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr computeFastOrganizedNormals(
pcl::PointCloud<pcl::Normal>::Ptr computeFastOrganizedNormals(
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
float maxDepthChangeFactor = 0.02f,
float normalSmoothingSize = 10.0f);
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr computeFastOrganizedNormals(
pcl::PointCloud<pcl::Normal>::Ptr computeFastOrganizedNormals(
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
const pcl::IndicesPtr & indices,
float maxDepthChangeFactor = 0.02f,
corelib/src/CameraRGB.cpp
+5 -1
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@@ -42,6 +42,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/core/util3d_filtering.h>
#include <rtabmap/core/util3d_surface.h>
#include <pcl/common/io.h>
#include <iostream>
#include <fstream>
#include <cmath>
@@ -661,7 +663,9 @@ SensorData CameraImages::captureImage()
}
if(_scanNormalsK > 0 && cloud->size())
{
pcl::PointCloud<pcl::PointNormal>::Ptr cloudNormals = util3d::computeNormals(cloud, _scanNormalsK);
pcl::PointCloud<pcl::Normal>::Ptr normals = util3d::computeNormals(cloud, _scanNormalsK);
pcl::PointCloud<pcl::PointNormal>::Ptr cloudNormals(new pcl::PointCloud<pcl::PointNormal>);
pcl::concatenateFields(*cloud, *normals, *cloudNormals);
scan = util3d::laserScanFromPointCloud(*cloudNormals);
}
else
corelib/src/CameraThread.cpp
+4 -1
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@@ -193,7 +193,10 @@ void CameraThread::mainLoop()
cv::Mat scan;
if(_scanNormalsK>0)
{
scan = util3d::laserScanFromPointCloud(*util3d::computeNormals(cloud, _scanNormalsK));
pcl::PointCloud<pcl::Normal>::Ptr normals = util3d::computeNormals(cloud, _scanNormalsK);
pcl::PointCloud<pcl::PointNormal>::Ptr cloudNormals(new pcl::PointCloud<pcl::PointNormal>);
pcl::concatenateFields(*cloud, *normals, *cloudNormals);
scan = util3d::laserScanFromPointCloud(*cloudNormals);
}
else
{
corelib/src/RegistrationIcp.cpp
+9 -2
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@@ -200,8 +200,15 @@ Transform RegistrationIcp::computeTransformationImpl(
pcl::PointCloud<pcl::PointXYZ>::Ptr fromCloudRegistered(new pcl::PointCloud<pcl::PointXYZ>());
if(_pointToPlane) // ICP Point To Plane, only in 3D
{
pcl::PointCloud<pcl::PointNormal>::Ptr fromCloudNormals = util3d::computeNormals(fromCloudFiltered, _pointToPlaneNormalNeighbors);
pcl::PointCloud<pcl::PointNormal>::Ptr toCloudNormals = util3d::computeNormals(toCloudFiltered, _pointToPlaneNormalNeighbors);
pcl::PointCloud<pcl::Normal>::Ptr normals;
normals = util3d::computeNormals(fromCloudFiltered, _pointToPlaneNormalNeighbors);
pcl::PointCloud<pcl::PointNormal>::Ptr fromCloudNormals(new pcl::PointCloud<pcl::PointNormal>);
pcl::concatenateFields(*fromCloudFiltered, *normals, *fromCloudNormals);
normals = util3d::computeNormals(toCloudFiltered, _pointToPlaneNormalNeighbors);
pcl::PointCloud<pcl::PointNormal>::Ptr toCloudNormals(new pcl::PointCloud<pcl::PointNormal>);
pcl::concatenateFields(*toCloudFiltered, *normals, *toCloudNormals);
std::vector<int> indices;
toCloudNormals = util3d::removeNaNNormalsFromPointCloud(toCloudNormals);
corelib/src/util3d.cpp
+3 -1
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@@ -1441,7 +1441,9 @@ cv::Mat loadScan(
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud = loadCloud(path, Transform::getIdentity(), downsampleStep, voxelSize);
if(normalsK > 0 && cloud->size())
{
pcl::PointCloud<pcl::PointNormal>::Ptr cloudNormals = util3d::computeNormals(cloud, normalsK);
pcl::PointCloud<pcl::Normal>::Ptr normals = util3d::computeNormals(cloud, normalsK);
pcl::PointCloud<pcl::PointNormal>::Ptr cloudNormals(new pcl::PointCloud<pcl::PointNormal>);
pcl::concatenateFields(*cloud, *normals, *cloudNormals);
scan = util3d::laserScanFromPointCloud(*cloudNormals, transform);
}
else
corelib/src/util3d_surface.cpp
+30 -40
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@@ -500,7 +500,8 @@ pcl::TextureMesh::Ptr createTextureMesh(
const std::map<int, Transform> & poses,
const std::map<int, CameraModel> & cameraModels,
const std::map<int, cv::Mat> & images,
const std::string & tmpDirectory)
const std::string & tmpDirectory,
int kNormalSearch)
{
pcl::TextureMesh::Ptr textureMesh(new pcl::TextureMesh);
textureMesh->cloud = mesh->cloud;
@@ -583,26 +584,28 @@ pcl::TextureMesh::Ptr createTextureMesh(
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
pcl::fromPCLPointCloud2(textureMesh->cloud, *cloud);
pcl::PointCloud<pcl::PointNormal>::Ptr cloudWithNormals = computeNormals(cloud, 20);
pcl::PointCloud<pcl::Normal>::Ptr normals = computeNormals(cloud, kNormalSearch);
// Concatenate the XYZ and normal fields
pcl::PointCloud<pcl::PointNormal>::Ptr cloudWithNormals;
pcl::concatenateFields (*cloud, *normals, *cloudWithNormals);
pcl::toPCLPointCloud2 (*cloudWithNormals, textureMesh->cloud);
}
return textureMesh;
}
pcl::PointCloud<pcl::PointNormal>::Ptr computeNormals(
pcl::PointCloud<pcl::Normal>::Ptr computeNormals(
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
int normalKSearch)
{
pcl::IndicesPtr indices(new std::vector<int>);
return computeNormals(cloud, indices, normalKSearch);
}
pcl::PointCloud<pcl::PointNormal>::Ptr computeNormals(
pcl::PointCloud<pcl::Normal>::Ptr computeNormals(
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
const pcl::IndicesPtr & indices,
int normalKSearch)
{
pcl::PointCloud<pcl::PointNormal>::Ptr cloud_with_normals(new pcl::PointCloud<pcl::PointNormal>);
pcl::search::KdTree<pcl::PointXYZ>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZ>);
if(indices->size())
{
@@ -617,35 +620,30 @@ pcl::PointCloud<pcl::PointNormal>::Ptr computeNormals(
pcl::NormalEstimationOMP<pcl::PointXYZ, pcl::Normal> n;
pcl::PointCloud<pcl::Normal>::Ptr normals (new pcl::PointCloud<pcl::Normal>);
n.setInputCloud (cloud);
if(indices->size())
{
n.setIndices(indices);
}
// Commented: Keep the output normals size the same as the input cloud
//if(indices->size())
//{
// n.setIndices(indices);
//}
n.setSearchMethod (tree);
n.setKSearch (normalKSearch);
n.compute (*normals);
//* normals should not contain the point normals + surface curvatures
// Concatenate the XYZ and normal fields*
pcl::concatenateFields (*cloud, *normals, *cloud_with_normals);
//* cloud_with_normals = cloud + normals*/
return cloud_with_normals;
return normals;
}
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr computeNormals(
pcl::PointCloud<pcl::Normal>::Ptr computeNormals(
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
int normalKSearch)
{
pcl::IndicesPtr indices(new std::vector<int>);
return computeNormals(cloud, indices, normalKSearch);
}
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr computeNormals(
pcl::PointCloud<pcl::Normal>::Ptr computeNormals(
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
const pcl::IndicesPtr & indices,
int normalKSearch)
{
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloud_with_normals(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
pcl::search::KdTree<pcl::PointXYZRGB>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZRGB>);
if(indices->size())
{
@@ -660,23 +658,19 @@ pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr computeNormals(
pcl::NormalEstimationOMP<pcl::PointXYZRGB, pcl::Normal> n;
pcl::PointCloud<pcl::Normal>::Ptr normals (new pcl::PointCloud<pcl::Normal>);
n.setInputCloud (cloud);
if(indices->size())
{
n.setIndices(indices);
}
// Commented: Keep the output normals size the same as the input cloud
//if(indices->size())
//{
// n.setIndices(indices);
//}
n.setSearchMethod (tree);
n.setKSearch (normalKSearch);
n.compute (*normals);
//* normals should not contain the point normals + surface curvatures
// Concatenate the XYZ and normal fields*
pcl::concatenateFields (*cloud, *normals, *cloud_with_normals);
//* cloud_with_normals = cloud + normals*/
return cloud_with_normals;
return normals;
}
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr computeFastOrganizedNormals(
pcl::PointCloud<pcl::Normal>::Ptr computeFastOrganizedNormals(
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
float maxDepthChangeFactor,
float normalSmoothingSize)
@@ -684,7 +678,7 @@ pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr computeFastOrganizedNormals(
pcl::IndicesPtr indices(new std::vector<int>);
return computeFastOrganizedNormals(cloud, indices, maxDepthChangeFactor, normalSmoothingSize);
}
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr computeFastOrganizedNormals(
pcl::PointCloud<pcl::Normal>::Ptr computeFastOrganizedNormals(
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
const pcl::IndicesPtr & indices,
float maxDepthChangeFactor,
@@ -692,8 +686,6 @@ pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr computeFastOrganizedNormals(
{
UASSERT(cloud->isOrganized());
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloud_with_normals(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
// Normal estimation
pcl::PointCloud<pcl::Normal>::Ptr normals (new pcl::PointCloud<pcl::Normal>);
pcl::IntegralImageNormalEstimation<pcl::PointXYZRGB, pcl::Normal> ne;
@@ -701,16 +693,14 @@ pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr computeFastOrganizedNormals(
ne.setMaxDepthChangeFactor(maxDepthChangeFactor);
ne.setNormalSmoothingSize(normalSmoothingSize);
ne.setInputCloud(cloud);
if(indices->size())
{
ne.setIndices(indices);
}
// Commented: Keep the output normals size the same as the input cloud
//if(indices->size())
//{
// ne.setIndices(indices);
//}
ne.compute(*normals);
// Concatenate the XYZ and normal fields
pcl::concatenateFields (*cloud, *normals, *cloud_with_normals);
return cloud_with_normals;
return normals;
}
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr mls(
guilib/include/rtabmap/gui/MainWindow.h
+2 -2
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@@ -286,8 +286,8 @@ private:
std::multimap<int, Link> _currentLinksMap; // <nodeFromId, link>
std::map<int, int> _currentMapIds; // <nodeId, mapId>
std::map<int, std::string> _currentLabels; // <nodeId, label>
std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > _createdClouds;
std::pair<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > _previousCloud; // used for subtraction
std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> > _createdClouds;
std::pair<int, std::pair<std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr>, pcl::IndicesPtr> > _previousCloud; // used for subtraction
std::map<int, cv::Mat> _createdScans;
std::map<int, std::pair<cv::Mat, cv::Mat> > _projectionLocalMaps; // <ground, obstacles>
guilib/include/rtabmap/gui/PreferencesDialog.h
+1
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@@ -173,6 +173,7 @@ public:
int getSubtractFilteringMinPts() const;
double getSubtractFilteringRadius() const;
double getSubtractFilteringAngle() const;
int getNormalKSearch() const;
bool getGridMapShown() const;
double getGridMapResolution() const;;
guilib/include/rtabmap/gui/ProgressDialog.h
+3
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@@ -63,6 +63,9 @@ public slots:
void clear();
void resetProgress();
private slots:
void closeDialog();
private:
QLabel * _text;
QTextEdit * _detailedText;
guilib/src/DatabaseViewer.cpp
+8 -3
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@@ -1629,7 +1629,9 @@ void DatabaseViewer::view3DLaserScans()
}
int normalK = uStr2Int(ui_->parameters_toolbox->getParameters().at(Parameters::kIcpPointToPlaneNormalNeighbors()));
pcl::PointCloud<pcl::PointNormal>::Ptr cloudNormals = util3d::computeNormals(cloud, normalK);
pcl::PointCloud<pcl::Normal>::Ptr normals = util3d::computeNormals(cloud, normalK);
pcl::PointCloud<pcl::PointNormal>::Ptr cloudNormals(new pcl::PointCloud<pcl::PointNormal>);
pcl::concatenateFields(*cloud, *normals, *cloudNormals);
viewer->addCloud(uFormat("cloud%d", iter->first), cloudNormals, pose, color);
@@ -3457,8 +3459,11 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
iter->second.type() == rtabmap::Link::kNeighborMerged)
{
Eigen::Vector3f vA, vB;
poseA.getTranslation(vA[0], vA[1], vA[2]);
poseB.getTranslation(vB[0], vB[1], vB[2]);
float x,y,z;
poseA.getTranslation(x,y,z);
vA[0] = x; vA[1] = y; vA[2] = z;
poseB.getTranslation(x,y,z);
vB[0] = x; vB[1] = y; vB[2] = z;
length += (vB - vA).norm();
}
}
guilib/src/ExportCloudsDialog.cpp
+79 -69
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@@ -243,7 +243,7 @@ void ExportCloudsDialog::loadSettings(QSettings & settings, const QString & grou
void ExportCloudsDialog::restoreDefaults()
{
_ui->checkBox_binary->setChecked(true);
_ui->spinBox_normalKSearch->setValue(6);
_ui->spinBox_normalKSearch->setValue(10);
_ui->groupBox_regenerate->setChecked(false);
_ui->spinBox_decimation->setValue(1);
@@ -259,7 +259,7 @@ void ExportCloudsDialog::restoreDefaults()
_ui->groupBox_subtraction->setChecked(false);
_ui->doubleSpinBox_subtractPointFilteringRadius->setValue(0.02);
_ui->doubleSpinBox_subtractPointFilteringAngle->setValue(45.0);
_ui->doubleSpinBox_subtractPointFilteringAngle->setValue(0);
_ui->spinBox_subtractFilteringMinPts->setValue(5);
_ui->groupBox_mls->setChecked(false);
@@ -336,7 +336,7 @@ void ExportCloudsDialog::exportClouds(
const std::map<int, Transform> & poses,
const std::map<int, int> & mapIds,
const QMap<int, Signature> & cachedSignatures,
const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > & createdClouds,
const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> > & createdClouds,
const QString & workingDirectory,
const ParametersMap & parameters)
{
@@ -388,7 +388,7 @@ void ExportCloudsDialog::viewClouds(
const std::map<int, Transform> & poses,
const std::map<int, int> & mapIds,
const QMap<int, Signature> & cachedSignatures,
const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > & createdClouds,
const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> > & createdClouds,
const QString & workingDirectory,
const ParametersMap & parameters)
{
@@ -519,7 +519,7 @@ bool ExportCloudsDialog::getExportedClouds(
const std::map<int, Transform> & poses,
const std::map<int, int> & mapIds,
const QMap<int, Signature> & cachedSignatures,
const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > & createdClouds,
const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> > & createdClouds,
const QString & workingDirectory,
const ParametersMap & parameters,
std::map<int, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr> & cloudsWithNormals,
@@ -701,81 +701,87 @@ bool ExportCloudsDialog::getExportedClouds(
iter!= cloudsWithNormals.end();
++iter)
{
UASSERT(iter->second->isOrganized());
if(iter->second->size())
if(iter->second->isOrganized())
{
Eigen::Vector3f viewpoint(0.0f,0.0f,0.0f);
if(cachedSignatures.contains(iter->first))
if(iter->second->size())
{
const SensorData & data = cachedSignatures.find(iter->first)->sensorData();
if(data.cameraModels().size() && !data.cameraModels()[0].localTransform().isNull())
Eigen::Vector3f viewpoint(0.0f,0.0f,0.0f);
if(cachedSignatures.contains(iter->first))
{
viewpoint[0] = data.cameraModels()[0].localTransform().x();
viewpoint[1] = data.cameraModels()[0].localTransform().y();
viewpoint[2] = data.cameraModels()[0].localTransform().z();
const SensorData & data = cachedSignatures.find(iter->first)->sensorData();
if(data.cameraModels().size() && !data.cameraModels()[0].localTransform().isNull())
{
viewpoint[0] = data.cameraModels()[0].localTransform().x();
viewpoint[1] = data.cameraModels()[0].localTransform().y();
viewpoint[2] = data.cameraModels()[0].localTransform().z();
}
else if(!data.stereoCameraModel().localTransform().isNull())
{
viewpoint[0] = data.stereoCameraModel().localTransform().x();
viewpoint[1] = data.stereoCameraModel().localTransform().y();
viewpoint[2] = data.stereoCameraModel().localTransform().z();
}
}
else if(!data.stereoCameraModel().localTransform().isNull())
{
viewpoint[0] = data.stereoCameraModel().localTransform().x();
viewpoint[1] = data.stereoCameraModel().localTransform().y();
viewpoint[2] = data.stereoCameraModel().localTransform().z();
}
}
std::vector<pcl::Vertices> polygons = util3d::organizedFastMesh(
iter->second,
_ui->doubleSpinBox_mesh_angleTolerance->value()*M_PI/180.0,
_ui->checkBox_mesh_quad->isEnabled() && _ui->checkBox_mesh_quad->isChecked(),
_ui->spinBox_mesh_triangleSize->value(),
viewpoint);
_progressDialog->appendText(tr("Mesh %1 created with %2 polygons (%3/%4).").arg(iter->first).arg(polygons.size()).arg(++i).arg(clouds.size()));
std::vector<pcl::Vertices> polygons = util3d::organizedFastMesh(
iter->second,
_ui->doubleSpinBox_mesh_angleTolerance->value()*M_PI/180.0,
_ui->checkBox_mesh_quad->isEnabled() && _ui->checkBox_mesh_quad->isChecked(),
_ui->spinBox_mesh_triangleSize->value(),
viewpoint);
_progressDialog->appendText(tr("Mesh %1 created with %2 polygons (%3/%4).").arg(iter->first).arg(polygons.size()).arg(++i).arg(clouds.size()));
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr denseCloud(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
std::vector<pcl::Vertices> densePolygons;
std::map<int, int> newToOldIndices = util3d::filterNotUsedVerticesFromMesh(*iter->second, polygons, *denseCloud, densePolygons);
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr denseCloud(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
std::vector<pcl::Vertices> densePolygons;
std::map<int, int> newToOldIndices = util3d::filterNotUsedVerticesFromMesh(*iter->second, polygons, *denseCloud, densePolygons);
if(!_ui->checkBox_assemble->isChecked() ||
(_ui->checkBox_textureMapping->isEnabled() &&
_ui->checkBox_textureMapping->isChecked() &&
_ui->doubleSpinBox_voxelSize_assembled->value() == 0.0)) // don't assemble now if we are texturing
{
if(_ui->checkBox_assemble->isChecked())
if(!_ui->checkBox_assemble->isChecked() ||
(_ui->checkBox_textureMapping->isEnabled() &&
_ui->checkBox_textureMapping->isChecked() &&
_ui->doubleSpinBox_voxelSize_assembled->value() == 0.0)) // don't assemble now if we are texturing
{
denseCloud = util3d::transformPointCloud(denseCloud, poses.at(iter->first));
}
if(_ui->checkBox_assemble->isChecked())
{
denseCloud = util3d::transformPointCloud(denseCloud, poses.at(iter->first));
}
pcl::PolygonMesh::Ptr mesh(new pcl::PolygonMesh);
pcl::toPCLPointCloud2(*denseCloud, mesh->cloud);
mesh->polygons = densePolygons;
if(_ui->doubleSpinBox_meshDecimationFactor->isEnabled() &&
_ui->doubleSpinBox_meshDecimationFactor->value() > 0.0)
{
int count = mesh->polygons.size();
mesh = util3d::meshDecimation(mesh, (float)_ui->doubleSpinBox_meshDecimationFactor->value());
_progressDialog->appendText(tr("Mesh decimation (factor=%1) from %2 to %3 polygons").arg(_ui->doubleSpinBox_meshDecimationFactor->value()).arg(count).arg(mesh->polygons.size()));
pcl::PolygonMesh::Ptr mesh(new pcl::PolygonMesh);
pcl::toPCLPointCloud2(*denseCloud, mesh->cloud);
mesh->polygons = densePolygons;
if(_ui->doubleSpinBox_meshDecimationFactor->isEnabled() &&
_ui->doubleSpinBox_meshDecimationFactor->value() > 0.0)
{
int count = mesh->polygons.size();
mesh = util3d::meshDecimation(mesh, (float)_ui->doubleSpinBox_meshDecimationFactor->value());
_progressDialog->appendText(tr("Mesh decimation (factor=%1) from %2 to %3 polygons").arg(_ui->doubleSpinBox_meshDecimationFactor->value()).arg(count).arg(mesh->polygons.size()));
}
else
{
organizedIndices.insert(std::make_pair(iter->first, std::make_pair(newToOldIndices, std::make_pair(iter->second->width, iter->second->height))));
}
meshes.insert(std::make_pair(iter->first, mesh));
}
else
{
organizedIndices.insert(std::make_pair(iter->first, std::make_pair(newToOldIndices, std::make_pair(iter->second->width, iter->second->height))));
denseCloud = util3d::transformPointCloud(denseCloud, poses.at(iter->first));
if(mergedClouds->size() == 0)
{
*mergedClouds = *denseCloud;
mergedPolygons = densePolygons;
}
else
{
util3d::appendMesh(*mergedClouds, mergedPolygons, *denseCloud, densePolygons);
}
}
meshes.insert(std::make_pair(iter->first, mesh));
}
else
{
denseCloud = util3d::transformPointCloud(denseCloud, poses.at(iter->first));
if(mergedClouds->size() == 0)
{
*mergedClouds = *denseCloud;
mergedPolygons = densePolygons;
}
else
{
util3d::appendMesh(*mergedClouds, mergedPolygons, *denseCloud, densePolygons);
}
_progressDialog->appendText(tr("Mesh %1 not created (no valid points) (%2/%3).").arg(iter->first).arg(++i).arg(clouds.size()));
}
}
else
{
_progressDialog->appendText(tr("Mesh %1 not created (no valid points) (%2/%3).").arg(iter->first).arg(++i).arg(clouds.size()));
_progressDialog->appendText(tr("Mesh %1 not created (cloud is not organized). You may want to check cloud regeneration option (%2/%3).").arg(iter->first).arg(++i).arg(clouds.size()));
}
_progressDialog->incrementStep();
@@ -1012,7 +1018,7 @@ bool ExportCloudsDialog::getExportedClouds(
std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > ExportCloudsDialog::getClouds(
const std::map<int, Transform> & poses,
const QMap<int, Signature> & cachedSignatures,
const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > & createdClouds,
const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> > & createdClouds,
const ParametersMap & parameters) const
{
std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > clouds;
@@ -1059,9 +1065,8 @@ std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::Indic
}
}
cloud = util3d::computeNormals(
cloudWithoutNormals,
_ui->spinBox_normalKSearch->value());
pcl::PointCloud<pcl::Normal>::Ptr normals = util3d::computeNormals(cloudWithoutNormals, indices, _ui->spinBox_normalKSearch->value());
pcl::concatenateFields(*cloudWithoutNormals, *normals, *cloud);
if(_ui->groupBox_subtraction->isChecked() &&
_ui->doubleSpinBox_subtractPointFilteringRadius->value() > 0.0)
@@ -1114,24 +1119,29 @@ std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::Indic
}
else if(uContains(createdClouds, iter->first))
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudWithoutNormals;
if(!_ui->groupBox_meshing->isChecked() &&
_ui->doubleSpinBox_voxelSize_assembled->value() > 0.0)
{
cloud = util3d::voxelize(
cloudWithoutNormals = util3d::voxelize(
createdClouds.at(iter->first).first,
createdClouds.at(iter->first).second,
_ui->doubleSpinBox_voxelSize_assembled->value());
//generate indices for all points (they are all valid)
indices->resize(cloud->size());
for(unsigned int i=0; i<cloud->size(); ++i)
indices->resize(cloudWithoutNormals->size());
for(unsigned int i=0; i<cloudWithoutNormals->size(); ++i)
{
indices->at(i) = i;
}
}
else
{
cloud = createdClouds.at(iter->first).first;
cloudWithoutNormals = createdClouds.at(iter->first).first;
indices = createdClouds.at(iter->first).second;
}
pcl::PointCloud<pcl::Normal>::Ptr normals = util3d::computeNormals(cloudWithoutNormals, indices, _ui->spinBox_normalKSearch->value());
pcl::concatenateFields(*cloudWithoutNormals, *normals, *cloud);
}
if(indices->size())
guilib/src/ExportCloudsDialog.h
+4 -4
View File
@@ -63,7 +63,7 @@ public:
const std::map<int, Transform> & poses,
const std::map<int, int> & mapIds,
const QMap<int, Signature> & cachedSignatures,
const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > & createdClouds,
const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> > & createdClouds,
const QString & workingDirectory,
const ParametersMap & parameters);
@@ -71,7 +71,7 @@ public:
const std::map<int, Transform> & poses,
const std::map<int, int> & mapIds,
const QMap<int, Signature> & cachedSignatures,
const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > & createdClouds,
const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> > & createdClouds,
const QString & workingDirectory,
const ParametersMap & parameters);
@@ -89,13 +89,13 @@ private:
std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > getClouds(
const std::map<int, Transform> & poses,
const QMap<int, Signature> & cachedSignatures,
const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > & createdClouds,
const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> > & createdClouds,
const ParametersMap & parameters) const;
bool getExportedClouds(
const std::map<int, Transform> & poses,
const std::map<int, int> & mapIds,
const QMap<int, Signature> & cachedSignatures,
const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > & createdClouds,
const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> > & createdClouds,
const QString & workingDirectory,
const ParametersMap & parameters,
std::map<int, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr> & clouds,
guilib/src/ExportScansDialog.cpp
+5 -6
View File
@@ -336,9 +336,9 @@ bool ExportScansDialog::getExportedScans(
pcl::PointCloud<pcl::PointXYZ>::Ptr cloudXYZ(new pcl::PointCloud<pcl::PointXYZ>);
pcl::copyPointCloud(*assembledCloud, *cloudXYZ);
assembledCloud = util3d::computeNormals(
cloudXYZ,
_ui->spinBox_normalKSearch->value());
pcl::PointCloud<pcl::Normal>::Ptr normals = util3d::computeNormals(cloudXYZ, _ui->spinBox_normalKSearch->value());
pcl::concatenateFields(*cloudXYZ, *normals, *assembledCloud);
_progressDialog->appendText(tr("Update %1 normals with %2 camera views...")
.arg(assembledCloud->size()).arg(poses.size()));
@@ -433,9 +433,8 @@ std::map<int, pcl::PointCloud<pcl::PointNormal>::Ptr> ExportScansDialog::getScan
if(!_ui->checkBox_assemble->isChecked() && _ui->spinBox_normalKSearch->value() > 0)
{
cloud = util3d::computeNormals(
cloudXYZ,
_ui->spinBox_normalKSearch->value());
pcl::PointCloud<pcl::Normal>::Ptr normals = util3d::computeNormals(cloudXYZ, _ui->spinBox_normalKSearch->value());
pcl::concatenateFields(*cloudXYZ, *normals, *cloud);
}
else
{
guilib/src/MainWindow.cpp
+95 -32
View File
@@ -2236,7 +2236,7 @@ void MainWindow::createAndAddCloudToMap(int nodeId, const Transform & pose, int
SensorData data = iter->sensorData();
data.uncompressData(&image, &depth, 0);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudWithoutNormals;
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
pcl::IndicesPtr indices(new std::vector<int>);
UASSERT(nodeId == data.id());
@@ -2252,7 +2252,7 @@ void MainWindow::createAndAddCloudToMap(int nodeId, const Transform & pose, int
}
// Create organized cloud
cloudWithoutNormals = util3d::cloudRGBFromSensorData(data,
cloud = util3d::cloudRGBFromSensorData(data,
_preferencesDialog->getCloudDecimation(0),
_preferencesDialog->getCloudMaxDepth(0),
_preferencesDialog->getCloudMinDepth(0),
@@ -2262,10 +2262,10 @@ void MainWindow::createAndAddCloudToMap(int nodeId, const Transform & pose, int
// filtering pipeline
if(indices->size() && _preferencesDialog->getMapVoxel() > 0.0)
{
cloudWithoutNormals = util3d::voxelize(cloudWithoutNormals, indices, _preferencesDialog->getMapVoxel());
cloud = util3d::voxelize(cloud, indices, _preferencesDialog->getMapVoxel());
//generate indices for all points (they are all valid)
indices->resize(cloudWithoutNormals->size());
for(unsigned int i=0; i<cloudWithoutNormals->size(); ++i)
indices->resize(cloud->size());
for(unsigned int i=0; i<cloud->size(); ++i)
{
indices->at(i) = i;
}
@@ -2277,22 +2277,19 @@ void MainWindow::createAndAddCloudToMap(int nodeId, const Transform & pose, int
_preferencesDialog->getMapNoiseMinNeighbors() > 0)
{
indices = rtabmap::util3d::radiusFiltering(
cloudWithoutNormals,
cloud,
indices,
_preferencesDialog->getMapNoiseRadius(),
_preferencesDialog->getMapNoiseMinNeighbors());
}
//compute normals
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloud = util3d::computeNormals(cloudWithoutNormals, 10);
if(indices->size() &&
_preferencesDialog->isGridMapFrom3DCloud() &&
_projectionLocalMaps.find(nodeId) == _projectionLocalMaps.end())
{
UTimer timer;
cv::Mat ground, obstacles;
pcl::PointCloud<pcl::PointXYZRGB>::Ptr voxelCloud = cloudWithoutNormals;
pcl::PointCloud<pcl::PointXYZRGB>::Ptr voxelCloud = cloud;
// voxelize to grid cell size
if(_preferencesDialog->getMapVoxel() < _preferencesDialog->getGridMapResolution())
@@ -2329,6 +2326,7 @@ void MainWindow::createAndAddCloudToMap(int nodeId, const Transform & pose, int
UDEBUG("time gridMapFrom3DCloud = %f s", timer.ticks());
}
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloudWithNormals(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
if(_cloudViewer->isVisible() && _preferencesDialog->isCloudsShown(0))
{
if(_preferencesDialog->isSubtractFiltering() &&
@@ -2337,7 +2335,7 @@ void MainWindow::createAndAddCloudToMap(int nodeId, const Transform & pose, int
pcl::IndicesPtr beforeFiltering = indices;
if( cloud->size() &&
_previousCloud.first>0 &&
_previousCloud.second.first.get() != 0 &&
_previousCloud.second.first.first.get() != 0 &&
_previousCloud.second.second.get() != 0 &&
_previousCloud.second.second->size() &&
_currentPosesMap.find(_previousCloud.first) != _currentPosesMap.end())
@@ -2345,20 +2343,53 @@ void MainWindow::createAndAddCloudToMap(int nodeId, const Transform & pose, int
UTimer time;
rtabmap::Transform t = pose.inverse() * _currentPosesMap.at(_previousCloud.first);
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr previousCloud = rtabmap::util3d::transformPointCloud(_previousCloud.second.first, t);
//UWARN("saved new.pcd and old.pcd");
//pcl::io::savePCDFile("new.pcd", *cloud, *indices);
//pcl::io::savePCDFile("old.pcd", *previousCloud, *_previousCloud.second.second);
indices = rtabmap::util3d::subtractFiltering(
cloud,
indices,
previousCloud,
_previousCloud.second.second,
_preferencesDialog->getSubtractFilteringRadius(),
_preferencesDialog->getSubtractFilteringAngle(),
_preferencesDialog->getSubtractFilteringMinPts());
if(_preferencesDialog->getSubtractFilteringAngle() > 0.0f)
{
//normals required
if(_preferencesDialog->getNormalKSearch() > 0)
{
pcl::PointCloud<pcl::Normal>::Ptr normals = util3d::computeNormals(cloud, indices, _preferencesDialog->getNormalKSearch());
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());
}
UWARN("Time subtract filtering %d from %d -> %d (%fs)",
(int)_previousCloud.second.second->size(),
(int)beforeFiltering->size(),
@@ -2367,19 +2398,17 @@ void MainWindow::createAndAddCloudToMap(int nodeId, const Transform & pose, int
}
// keep all indices for next subtraction
_previousCloud.first = nodeId;
_previousCloud.second.first = cloud;
_previousCloud.second.first.first = cloud;
_previousCloud.second.first.second = cloudWithNormals;
_previousCloud.second.second = beforeFiltering;
}
// keep substracted clouds
_createdClouds.insert(std::make_pair(nodeId, std::make_pair(cloud, indices)));
if(indices->size())
{
if(_preferencesDialog->isCloudMeshing() && cloud->isOrganized())
{
// Fast organized mesh
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr output;
pcl::PointCloud<pcl::PointXYZRGB>::Ptr output;
// we need to extract indices as pcl::OrganizedFastMesh doesn't take indices
output = util3d::extractIndices(cloud, indices, false, true);
Eigen::Vector3f viewpoint(0.0f,0.0f,0.0f);
@@ -2404,13 +2433,17 @@ void MainWindow::createAndAddCloudToMap(int nodeId, const Transform & pose, int
if(polygons.size())
{
// remove unused vertices to save memory
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr outputFiltered(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
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
{
_createdClouds.insert(std::make_pair(nodeId, std::make_pair(output, indices)));
}
}
}
else
@@ -2421,18 +2454,47 @@ void MainWindow::createAndAddCloudToMap(int nodeId, const Transform & pose, int
"dense (voxel filtering is used or multiple cameras are used). Disable "
"online meshing in Preferences->3D Rendering to hide this warning.");
}
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr output;
// don't keep organized to save memory
output = util3d::extractIndices(cloud, indices, false, false);
if(_preferencesDialog->getNormalKSearch() > 0 && cloudWithNormals->size() == 0)
{
pcl::PointCloud<pcl::Normal>::Ptr normals = util3d::computeNormals(cloud, indices, _preferencesDialog->getNormalKSearch());
pcl::concatenateFields(*cloud, *normals, *cloudWithNormals);
}
QColor color = Qt::gray;
if(mapId >= 0)
{
color = (Qt::GlobalColor)(mapId+3 % 12 + 7 );
}
if(!_cloudViewer->addCloud(cloudName, output, pose, color))
pcl::PointCloud<pcl::PointXYZRGB>::Ptr output;
output = util3d::extractIndices(cloud, indices, false, true);
if(cloudWithNormals->size())
{
UERROR("Adding cloud %d to viewer failed!", nodeId);
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
{
_createdClouds.insert(std::make_pair(nodeId, std::make_pair(output, indices)));
}
}
else
{
if(!_cloudViewer->addCloud(cloudName, output, pose, color))
{
UERROR("Adding cloud %d to viewer failed!", nodeId);
}
else
{
_createdClouds.insert(std::make_pair(nodeId, std::make_pair(output, indices)));
}
}
}
}
@@ -4782,7 +4844,8 @@ void MainWindow::clearTheCache()
_cachedSignatures.clear();
_createdClouds.clear();
_previousCloud.first = 0;
_previousCloud.second.first.reset();
_previousCloud.second.first.first.reset();
_previousCloud.second.first.second.reset();
_previousCloud.second.second.reset();
_createdScans.clear();
_gridLocalMaps.clear();
guilib/src/PreferencesDialog.cpp
+9 -1
View File
@@ -363,6 +363,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->spinBox_subtractFilteringMinPts, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->doubleSpinBox_subtractFilteringRadius, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->doubleSpinBox_subtractFilteringAngle, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->spinBox_normalKSearch, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->checkBox_map_shown, SIGNAL(clicked(bool)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->doubleSpinBox_map_resolution, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
@@ -1190,7 +1191,8 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->doubleSpinBox_cloudFilterAngle->setValue(30);
_ui->spinBox_subtractFilteringMinPts->setValue(5);
_ui->doubleSpinBox_subtractFilteringRadius->setValue(0.02);
_ui->doubleSpinBox_subtractFilteringAngle->setValue(45.0);
_ui->doubleSpinBox_subtractFilteringAngle->setValue(0);
_ui->spinBox_normalKSearch->setValue(10);
_ui->checkBox_map_shown->setChecked(false);
_ui->doubleSpinBox_map_resolution->setValue(0.05);
@@ -1545,6 +1547,7 @@ void PreferencesDialog::readGuiSettings(const QString & filePath)
_ui->spinBox_subtractFilteringMinPts->setValue(settings.value("subtractFilteringMinPts", _ui->spinBox_subtractFilteringMinPts->value()).toInt());
_ui->doubleSpinBox_subtractFilteringRadius->setValue(settings.value("subtractFilteringRadius", _ui->doubleSpinBox_subtractFilteringRadius->value()).toDouble());
_ui->doubleSpinBox_subtractFilteringAngle->setValue(settings.value("subtractFilteringAngle", _ui->doubleSpinBox_subtractFilteringAngle->value()).toDouble());
_ui->spinBox_normalKSearch->setValue(settings.value("normalKSearch", _ui->spinBox_normalKSearch->value()).toInt());
_ui->checkBox_map_shown->setChecked(settings.value("gridMapShown", _ui->checkBox_map_shown->isChecked()).toBool());
_ui->doubleSpinBox_map_resolution->setValue(settings.value("gridMapResolution", _ui->doubleSpinBox_map_resolution->value()).toDouble());
@@ -1947,6 +1950,7 @@ void PreferencesDialog::writeGuiSettings(const QString & filePath) const
settings.setValue("subtractFilteringMinPts", _ui->spinBox_subtractFilteringMinPts->value());
settings.setValue("subtractFilteringRadius", _ui->doubleSpinBox_subtractFilteringRadius->value());
settings.setValue("subtractFilteringAngle", _ui->doubleSpinBox_subtractFilteringAngle->value());
settings.setValue("normalKSearch", _ui->spinBox_normalKSearch->value());
settings.setValue("gridMapShown", _ui->checkBox_map_shown->isChecked());
settings.setValue("gridMapResolution", _ui->doubleSpinBox_map_resolution->value());
@@ -3727,6 +3731,10 @@ double PreferencesDialog::getSubtractFilteringAngle() const
{
return _ui->doubleSpinBox_subtractFilteringAngle->value()*M_PI/180.0;
}
int PreferencesDialog::getNormalKSearch() const
{
return _ui->spinBox_normalKSearch->value();
}
bool PreferencesDialog::getGridMapShown() const
{
return _ui->checkBox_map_shown->isChecked();
guilib/src/ProgressDialog.cpp
+9 -1
View File
@@ -109,7 +109,7 @@ void ProgressDialog::setValue(int value)
}
else if(_closeWhenDoneCheckBox->isChecked())
{
QTimer::singleShot(_delayedClosingTime*1000, this, SLOT(close()));
QTimer::singleShot(_delayedClosingTime*1000, this, SLOT(closeDialog()));
}
}
}
@@ -146,6 +146,14 @@ void ProgressDialog::resetProgress()
_closeButton->setEnabled(false);
}
void ProgressDialog::closeDialog()
{
if(_closeWhenDoneCheckBox->isChecked())
{
close();
}
}
void ProgressDialog::closeEvent(QCloseEvent *event)
{
if(_progressBar->value() == _progressBar->maximum())
guilib/src/ui/DatabaseViewer.ui
+9 -84
View File
@@ -52,7 +52,7 @@
<rect>
<x>0</x>
<y>0</y>
<width>201</width>
<width>198</width>
<height>196</height>
</rect>
</property>
@@ -210,7 +210,7 @@
<rect>
<x>0</x>
<y>0</y>
<width>201</width>
<width>197</width>
<height>196</height>
</rect>
</property>
@@ -1122,9 +1122,9 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-236</y>
<width>297</width>
<height>704</height>
<y>-245</y>
<width>284</width>
<height>611</height>
</rect>
</property>
<attribute name="label">
@@ -1328,81 +1328,6 @@
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QLabel" name="label_69">
<property name="text">
<string>Flat obstacles detected</string>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_projMaxGroundHeight">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>999.000000000000000</double>
</property>
<property name="singleStep">
<double>1.000000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_68">
<property name="text">
<string>Max ground height</string>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_70">
<property name="text">
<string>Max obstacles height</string>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_projMaxObstaclesHeight">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>999.000000000000000</double>
</property>
<property name="singleStep">
<double>1.000000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QCheckBox" name="checkBox_projFlatObstaclesDetected">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>
@@ -1609,8 +1534,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>290</width>
<height>182</height>
<width>201</width>
<height>117</height>
</rect>
</property>
<attribute name="label">
@@ -1709,8 +1634,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>290</width>
<height>182</height>
<width>175</width>
<height>191</height>
</rect>
</property>
<attribute name="label">
guilib/src/ui/preferencesDialog.ui
+58 -32
View File
@@ -63,7 +63,7 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-269</y>
<y>-847</y>
<width>686</width>
<height>2023</height>
</rect>
@@ -935,7 +935,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
<enum>QFrame::Raised</enum>
</property>
<layout class="QGridLayout" name="gridLayout_2" columnstretch="0,0,1">
<item row="12" column="0">
<item row="13" column="0">
<widget class="QCheckBox" name="checkBox_showScans">
<property name="text">
<string/>
@@ -945,7 +945,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="12" column="2">
<item row="13" column="2">
<widget class="QLabel" name="label_110">
<property name="text">
<string>Show scans.</string>
@@ -958,7 +958,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="15" column="0">
<item row="16" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_scan">
<property name="suffix">
<string/>
@@ -990,7 +990,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="17" column="1">
<item row="18" column="1">
<widget class="QCheckBox" name="checkBox_showOdomFeatures">
<property name="text">
<string/>
@@ -1000,7 +1000,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="17" column="0">
<item row="18" column="0">
<widget class="QCheckBox" name="checkBox_showFeatures">
<property name="text">
<string/>
@@ -1074,7 +1074,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="10" column="0">
<item row="11" column="0">
<widget class="QSpinBox" name="spinBox_ptsize">
<property name="minimum">
<number>1</number>
@@ -1087,7 +1087,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="15" column="1">
<item row="16" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_odom_scan">
<property name="suffix">
<string/>
@@ -1132,7 +1132,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="9" column="2">
<item row="10" column="2">
<widget class="QLabel" name="label_155">
<property name="text">
<string>3D cloud opacity.</string>
@@ -1145,7 +1145,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="10" column="1">
<item row="11" column="1">
<widget class="QSpinBox" name="spinBox_ptsize_odom">
<property name="minimum">
<number>1</number>
@@ -1158,7 +1158,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="16" column="1">
<item row="17" column="1">
<widget class="QSpinBox" name="spinBox_ptsize_odom_scan">
<property name="minimum">
<number>1</number>
@@ -1168,7 +1168,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="16" column="2">
<item row="17" column="2">
<widget class="QLabel" name="label_158">
<property name="text">
<string>Scan point size (1..64).</string>
@@ -1181,7 +1181,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="14" column="0">
<item row="15" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_voxelSizeScan">
<property name="suffix">
<string> m</string>
@@ -1200,7 +1200,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="14" column="2">
<item row="15" column="2">
<widget class="QLabel" name="label_271">
<property name="text">
<string>Scan voxel size.</string>
@@ -1213,7 +1213,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="13" column="1">
<item row="14" column="1">
<widget class="QSpinBox" name="spinBox_downsamplingScan_odom">
<property name="minimum">
<number>1</number>
@@ -1223,7 +1223,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="15" column="2">
<item row="16" column="2">
<widget class="QLabel" name="label_156">
<property name="text">
<string>Scan opacity.</string>
@@ -1259,7 +1259,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="9" column="0">
<item row="10" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity">
<property name="suffix">
<string/>
@@ -1278,7 +1278,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="12" column="1">
<item row="13" column="1">
<widget class="QCheckBox" name="checkBox_showOdomScans">
<property name="text">
<string/>
@@ -1288,7 +1288,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="19" column="2">
<item row="20" column="2">
<widget class="QLabel" name="label_213">
<property name="text">
<string>Show graphs.</string>
@@ -1301,7 +1301,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="19" column="0">
<item row="20" column="0">
<widget class="QCheckBox" name="checkBox_showGraphs">
<property name="text">
<string/>
@@ -1311,7 +1311,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="9" column="1">
<item row="10" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_odom">
<property name="suffix">
<string/>
@@ -1330,7 +1330,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="16" column="0">
<item row="17" column="0">
<widget class="QSpinBox" name="spinBox_ptsize_scan">
<property name="minimum">
<number>1</number>
@@ -1350,7 +1350,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="20" column="2">
<item row="21" column="2">
<widget class="QLabel" name="label_243">
<property name="text">
<string>Show labels.</string>
@@ -1363,7 +1363,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="20" column="0">
<item row="21" column="0">
<widget class="QCheckBox" name="checkBox_showLabels">
<property name="text">
<string/>
@@ -1373,7 +1373,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="14" column="1">
<item row="15" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_voxelSizeScan_odom">
<property name="suffix">
<string> m</string>
@@ -1392,7 +1392,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="13" column="2">
<item row="14" column="2">
<widget class="QLabel" name="label_273">
<property name="text">
<string>Scan downsampling step size.</string>
@@ -1405,7 +1405,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="13" column="0">
<item row="14" column="0">
<widget class="QSpinBox" name="spinBox_downsamplingScan">
<property name="minimum">
<number>1</number>
@@ -1415,7 +1415,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="10" column="2">
<item row="11" column="2">
<widget class="QLabel" name="label_157">
<property name="text">
<string>3D cloud point size (1..64).</string>
@@ -1441,7 +1441,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="17" column="2">
<item row="18" column="2">
<widget class="QLabel" name="label_123">
<property name="text">
<string>Show 3D features.</string>
@@ -1454,7 +1454,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="18" column="2">
<item row="19" column="2">
<widget class="QLabel" name="label_166">
<property name="text">
<string>Feature point size.</string>
@@ -1467,7 +1467,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="18" column="1">
<item row="19" column="1">
<widget class="QSpinBox" name="spinBox_ptsize_odom_features">
<property name="minimum">
<number>1</number>
@@ -1477,7 +1477,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="18" column="0">
<item row="19" column="0">
<widget class="QSpinBox" name="spinBox_ptsize_features">
<property name="minimum">
<number>1</number>
@@ -1631,6 +1631,32 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="9" column="2">
<widget class="QLabel" name="label_210">
<property name="text">
<string>3D cloud normal K search. If not 0, normals will be computed and added to created cloud for visualization (keys 7, 8 and 9).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="9" column="0">
<widget class="QSpinBox" name="spinBox_normalKSearch">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>1000</number>
</property>
<property name="value">
<number>10</number>
</property>
</widget>
</item>
</layout>
</widget>
</item>