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ExportCloudsDialog: added option to filter off-axis points
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@matlabbe
matlabbe committed Mar 1, 2024
1 parent 6f7e5cc commit c24f95a
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Showing 2 changed files with 416 additions and 212 deletions.
62 changes: 62 additions & 0 deletions guilib/src/ExportCloudsDialog.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -129,6 +129,14 @@ ExportCloudsDialog::ExportCloudsDialog(QWidget *parent) :
connect(_ui->doubleSpinBox_minDepth, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_ceilingHeight, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_floorHeight, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->groupBox_offAxisFiltering, SIGNAL(toggled(bool)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_offAxisFilteringAngle, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->checkBox_offAxisFilteringPosX, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->checkBox_offAxisFilteringNegX, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->checkBox_offAxisFilteringPosY, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->checkBox_offAxisFilteringNegY, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->checkBox_offAxisFilteringPosZ, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->checkBox_offAxisFilteringNegZ, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_footprintWidth, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_footprintLength, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_footprintHeight, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
Expand Down Expand Up @@ -370,6 +378,14 @@ void ExportCloudsDialog::saveSettings(QSettings & settings, const QString & grou
settings.setValue("regenerate_min_depth", _ui->doubleSpinBox_minDepth->value());
settings.setValue("regenerate_ceiling", _ui->doubleSpinBox_ceilingHeight->value());
settings.setValue("regenerate_floor", _ui->doubleSpinBox_floorHeight->value());
settings.setValue("regenerate_offaxis_filtering", _ui->groupBox_offAxisFiltering->isChecked());
settings.setValue("regenerate_offaxis_filtering_angle", _ui->doubleSpinBox_offAxisFilteringAngle->value());
settings.setValue("regenerate_offaxis_filtering_pos_x", _ui->checkBox_offAxisFilteringPosX->isChecked());
settings.setValue("regenerate_offaxis_filtering_neg_x", _ui->checkBox_offAxisFilteringNegX->isChecked());
settings.setValue("regenerate_offaxis_filtering_pos_y", _ui->checkBox_offAxisFilteringPosY->isChecked());
settings.setValue("regenerate_offaxis_filtering_neg_y", _ui->checkBox_offAxisFilteringNegY->isChecked());
settings.setValue("regenerate_offaxis_filtering_pos_z", _ui->checkBox_offAxisFilteringPosZ->isChecked());
settings.setValue("regenerate_offaxis_filtering_neg_z", _ui->checkBox_offAxisFilteringNegZ->isChecked());
settings.setValue("regenerate_footprint_height", _ui->doubleSpinBox_footprintHeight->value());
settings.setValue("regenerate_footprint_width", _ui->doubleSpinBox_footprintWidth->value());
settings.setValue("regenerate_footprint_length", _ui->doubleSpinBox_footprintLength->value());
Expand Down Expand Up @@ -543,6 +559,14 @@ void ExportCloudsDialog::loadSettings(QSettings & settings, const QString & grou
_ui->doubleSpinBox_minDepth->setValue(settings.value("regenerate_min_depth", _ui->doubleSpinBox_minDepth->value()).toDouble());
_ui->doubleSpinBox_ceilingHeight->setValue(settings.value("regenerate_ceiling", _ui->doubleSpinBox_ceilingHeight->value()).toDouble());
_ui->doubleSpinBox_floorHeight->setValue(settings.value("regenerate_floor", _ui->doubleSpinBox_floorHeight->value()).toDouble());
_ui->groupBox_offAxisFiltering->setChecked(settings.value("regenerate_offaxis_filtering", _ui->groupBox_offAxisFiltering->isChecked()).toBool());
_ui->doubleSpinBox_offAxisFilteringAngle->setValue(settings.value("regenerate_offaxis_filtering_angle", _ui->doubleSpinBox_offAxisFilteringAngle->value()).toDouble());
_ui->checkBox_offAxisFilteringPosX->setChecked(settings.value("regenerate_offaxis_filtering_pos_x", _ui->checkBox_offAxisFilteringPosX->isChecked()).toBool());
_ui->checkBox_offAxisFilteringNegX->setChecked(settings.value("regenerate_offaxis_filtering_neg_x", _ui->checkBox_offAxisFilteringNegX->isChecked()).toBool());
_ui->checkBox_offAxisFilteringPosY->setChecked(settings.value("regenerate_offaxis_filtering_pos_y", _ui->checkBox_offAxisFilteringPosY->isChecked()).toBool());
_ui->checkBox_offAxisFilteringNegY->setChecked(settings.value("regenerate_offaxis_filtering_neg_y", _ui->checkBox_offAxisFilteringNegY->isChecked()).toBool());
_ui->checkBox_offAxisFilteringPosZ->setChecked(settings.value("regenerate_offaxis_filtering_pos_z", _ui->checkBox_offAxisFilteringPosZ->isChecked()).toBool());
_ui->checkBox_offAxisFilteringNegZ->setChecked(settings.value("regenerate_offaxis_filtering_neg_z", _ui->checkBox_offAxisFilteringNegZ->isChecked()).toBool());
_ui->doubleSpinBox_footprintHeight->setValue(settings.value("regenerate_footprint_height", _ui->doubleSpinBox_footprintHeight->value()).toDouble());
_ui->doubleSpinBox_footprintWidth->setValue(settings.value("regenerate_footprint_width", _ui->doubleSpinBox_footprintWidth->value()).toDouble());
_ui->doubleSpinBox_footprintLength->setValue(settings.value("regenerate_footprint_length", _ui->doubleSpinBox_footprintLength->value()).toDouble());
Expand Down Expand Up @@ -719,6 +743,14 @@ void ExportCloudsDialog::restoreDefaults()
_ui->doubleSpinBox_minDepth->setValue(0);
_ui->doubleSpinBox_ceilingHeight->setValue(0);
_ui->doubleSpinBox_floorHeight->setValue(0);
_ui->groupBox_offAxisFiltering->setChecked(false);
_ui->doubleSpinBox_offAxisFilteringAngle->setValue(10);
_ui->checkBox_offAxisFilteringPosX->setChecked(true);
_ui->checkBox_offAxisFilteringNegX->setChecked(true);
_ui->checkBox_offAxisFilteringPosY->setChecked(true);
_ui->checkBox_offAxisFilteringNegY->setChecked(true);
_ui->checkBox_offAxisFilteringPosZ->setChecked(true);
_ui->checkBox_offAxisFilteringNegZ->setChecked(true);
_ui->doubleSpinBox_footprintHeight->setValue(0);
_ui->doubleSpinBox_footprintLength->setValue(0);
_ui->doubleSpinBox_footprintWidth->setValue(0);
Expand Down Expand Up @@ -3915,6 +3947,36 @@ std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::Indic
UWARN("Point cloud %d doesn't have anymore points (had %d points) after radius filtering.", iter->first, (int)cloud->size());
}
}
if( !indices->empty() && _ui->groupBox_offAxisFiltering->isChecked() &&
(_ui->checkBox_offAxisFilteringPosX->isChecked() ||
_ui->checkBox_offAxisFilteringNegX->isChecked() ||
_ui->checkBox_offAxisFilteringPosY->isChecked() ||
_ui->checkBox_offAxisFilteringNegY->isChecked() ||
_ui->checkBox_offAxisFilteringPosZ->isChecked() ||
_ui->checkBox_offAxisFilteringNegZ->isChecked()))
{
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloudInMapFrame = util3d::transformPointCloud(cloud, iter->second);
std::vector<pcl::IndicesPtr> indicesVector;
double maxDeltaAngle = _ui->doubleSpinBox_offAxisFilteringAngle->value()*M_PI/180.0;
Eigen::Vector4f viewpoint(iter->second.x(), iter->second.y(), iter->second.z(), 0);
if(_ui->checkBox_offAxisFilteringPosX->isChecked())
indicesVector.push_back(util3d::normalFiltering(cloudInMapFrame, indices, maxDeltaAngle, Eigen::Vector4f(1,0,0,0), 20, viewpoint));
if(_ui->checkBox_offAxisFilteringPosY->isChecked())
indicesVector.push_back(util3d::normalFiltering(cloudInMapFrame, indices, maxDeltaAngle, Eigen::Vector4f(0,1,0,0), 20, viewpoint));
if(_ui->checkBox_offAxisFilteringPosZ->isChecked())
indicesVector.push_back(util3d::normalFiltering(cloudInMapFrame, indices, maxDeltaAngle, Eigen::Vector4f(0,0,1,0), 20, viewpoint));
if(_ui->checkBox_offAxisFilteringNegX->isChecked())
indicesVector.push_back(util3d::normalFiltering(cloudInMapFrame, indices, maxDeltaAngle, Eigen::Vector4f(-1,0,0,0), 20, viewpoint));
if(_ui->checkBox_offAxisFilteringNegY->isChecked())
indicesVector.push_back(util3d::normalFiltering(cloudInMapFrame, indices, maxDeltaAngle, Eigen::Vector4f(0,-1,0,0), 20, viewpoint));
if(_ui->checkBox_offAxisFilteringNegZ->isChecked())
indicesVector.push_back(util3d::normalFiltering(cloudInMapFrame, indices, maxDeltaAngle, Eigen::Vector4f(0,0,-1,0), 20, viewpoint));
indices = util3d::concatenate(indicesVector);
if(indices->empty())
{
UWARN("Point cloud %d doesn't have anymore points (had %d points) after offaxis filtering.", iter->first, (int)cloud->size());
}
}
}

if(!indices->empty())
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