fixed bug where calibration wasn't saving point to class member,

Author: seanngpack

.gitattributes

@@ -1 +1,2 @@
 *.pcd filter=lfs diff=lfs merge=lfs -text
+*.png filter=lfs diff=lfs merge=lfs -text

doc/img/GUI.png

@@ -59,7 +59,6 @@ std::shared_ptr<controller::IControllerGUI> controller::ControllerManager::get_g
     if (name == "scan") {
         return cache->get_scan_controller_gui();
     } else if (name == "calibrate") {
-        std::cout << "calling cache to retrieve controller" << std::endl;
         return cache->get_calibration_controller_gui();
     } else if (name == "move") {
         return cache->get_move_controller_gui();

doc/img/sponge.png

@@ -44,7 +44,8 @@ pcl::PointXYZ model::CalibrationModel::calculate_center_point() {
     // solve!!
     Eigen::MatrixXd sol_mat = A.bdcSvd(Eigen::ComputeThinU | Eigen::ComputeThinV).solve(b);
     std::vector<double> sol_vec(sol_mat.data(), sol_mat.data() + sol_mat.rows() * sol_mat.cols());
-    return pcl::PointXYZ(sol_vec[0], sol_vec[1], sol_vec[2]);
+    center_point = pcl::PointXYZ(sol_vec[0], sol_vec[1], sol_vec[2]);
+    return center_point;
 }
 
 pcl::PointXYZ model::CalibrationModel::calculate_center_point(const equations::Normal &axis_dir,

doc/img/swaggg.png

@@ -22,6 +22,10 @@ SwagGUI::SwagGUI(QWidget *parent, controller::ControllerManager *manager) :
     ui->cloud_viewer->SetRenderWindow(viewer->getRenderWindow());
     viewer->setupInteractor(ui->cloud_viewer->GetInteractor(), ui->cloud_viewer->GetRenderWindow());
     ui->cloud_viewer->update();
+
+    // set up basic calibration info
+    cal_angle = ui->calDropdownBasic->get_angle_slider_value() * 3;
+    cal_rotations = ui->calDropdownBasic->get_rotation_slider_value();
 }
 
 SwagGUI::~SwagGUI() {
@@ -47,6 +51,9 @@ void SwagGUI::on_calDropdownBasic_rotationSliderValueChanged(int value) {
 void SwagGUI::on_runCalButton_clicked() {
     controller::IControllerGUI *c = manager->get_gui_controller("calibrate").get();
     FormsPayload vars(cal_name, cal_angle, cal_rotations);
+    std::cout << vars.name << std::endl;
+    std::cout << vars.angle << std::endl;
+    std::cout << vars.rotations << std::endl;
     c->update(vars);
     c->setAutoDelete(false);
     // dont need this for now as the GUI may not have its own console

src/controller/manager/ControllerManager.cpp

@@ -70,6 +70,7 @@ TEST_F(CompareDepthFilteringFixture, CompareCalFixture) {
 
 /**
  * This test compares realsense spatial filtering to pcl bilateral filtering
+ * Results so far: Seems like realsense filtering vastly outperforms pcl bilateral filtering.
  * fixture_raw is raw cloud
  *
  * Doesn't seem like bilateral filtering does a very good job,
@@ -90,10 +91,14 @@ TEST_F(CompareDepthFilteringFixture, CompareRealsensePCL) {
     pcl::io::loadPCDFile<pcl::PointXYZ>(fs::current_path().string() + "/research/depthFiltering/data/fixture_1.pcd",
                                         *fixture_1);
 
+    std::cout << fixture_1->size() << std::endl;
+
+
     *fixture_2 = *fixture_raw;
     mod->crop_cloud(fixture_2, cal_min_x, cal_max_x, cal_min_y, cal_max_y, cal_min_z, cal_max_z);
-    mod->voxel_grid_filter(fixture_2, .001);
+    mod->voxel_grid_filter(fixture_2, .0005);
     mod->bilateral_filter(fixture_2, 50, .05);
+    std::cout << fixture_2->size() << std::endl;
     *fixture_3 = *fixture_raw;
     mod->bilateral_filter(fixture_3, 1, .01);
     mod->crop_cloud(fixture_3, cal_min_x, cal_max_x, cal_min_y, cal_max_y, cal_min_z, cal_max_z);

src/model/calibration/CalibrationModel.cpp

@@ -0,0 +1,9 @@
+# Results from CompareDepthFiltering.cpp
+
+In this experiment, I aimed to compare realsense's ```spatial edge-preserving filter``` against
+PCL's ```FastBilateralFilter```. Tuning different parameters and treating the clouds
+through decimation filters, realsense's implementation clearly shows better results than PCL's implementation.
+
+oh wait, nvm, let's just get new calibration scans lol
+
+![section opening and closing](example.gif)