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DbViewer: added color selectors for obstacle, ground and empty cells.

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This commit is contained in:
matlabbe
2018-02-12 11:32:17 -05:00
parent 1595405871
commit 09cae9cbd3
3 changed files with 186 additions and 54 deletions
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77
guilib/src/DatabaseViewer.cpp
View File

@@ -32,6 +32,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <QFileDialog>
#include <QInputDialog>
#include <QDesktopWidget>
#include <QColorDialog>
#include <QGraphicsLineItem>
#include <QtGui/QCloseEvent>
#include <QGraphicsOpacityEffect>
@@ -368,6 +369,16 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
connect(ui_->doubleSpinBox_detectMore_angle, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
connect(ui_->spinBox_detectMore_iterations, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
connect(ui_->lineEdit_obstacleColor, SIGNAL(textChanged(const QString &)), this, SLOT(configModified()));
connect(ui_->lineEdit_groundColor, SIGNAL(textChanged(const QString &)), this, SLOT(configModified()));
connect(ui_->lineEdit_emptyColor, SIGNAL(textChanged(const QString &)), this, SLOT(configModified()));
connect(ui_->lineEdit_obstacleColor, SIGNAL(textChanged(const QString &)), this, SLOT(updateGrid()));
connect(ui_->lineEdit_groundColor, SIGNAL(textChanged(const QString &)), this, SLOT(updateGrid()));
connect(ui_->lineEdit_emptyColor, SIGNAL(textChanged(const QString &)), this, SLOT(updateGrid()));
connect(ui_->toolButton_obstacleColor, SIGNAL(clicked(bool)), this, SLOT(selectObstacleColor()));
connect(ui_->toolButton_groundColor, SIGNAL(clicked(bool)), this, SLOT(selectGroundColor()));
connect(ui_->toolButton_emptyColor, SIGNAL(clicked(bool)), this, SLOT(selectEmptyColor()));
connect(exportDialog_, SIGNAL(configChanged()), this, SLOT(configModified()));
// dockwidget
@@ -482,6 +493,9 @@ void DatabaseViewer::readSettings()
ui_->groupBox_posefiltering->setChecked(settings.value("poseFiltering", ui_->groupBox_posefiltering->isChecked()).toBool());
ui_->doubleSpinBox_posefilteringRadius->setValue(settings.value("poseFilteringRadius", ui_->doubleSpinBox_posefilteringRadius->value()).toDouble());
ui_->doubleSpinBox_posefilteringAngle->setValue(settings.value("poseFilteringAngle", ui_->doubleSpinBox_posefilteringAngle->value()).toDouble());
ui_->lineEdit_obstacleColor->setText(settings.value("colorObstacle", ui_->lineEdit_obstacleColor->text()).toString());
ui_->lineEdit_groundColor->setText(settings.value("colorGround", ui_->lineEdit_groundColor->text()).toString());
ui_->lineEdit_emptyColor->setText(settings.value("colorEmpty", ui_->lineEdit_emptyColor->text()).toString());
settings.endGroup();
settings.beginGroup("mesh");
@@ -561,6 +575,9 @@ void DatabaseViewer::writeSettings()
settings.setValue("poseFiltering", ui_->groupBox_posefiltering->isChecked());
settings.setValue("poseFilteringRadius", ui_->doubleSpinBox_posefilteringRadius->value());
settings.setValue("poseFilteringAngle", ui_->doubleSpinBox_posefilteringAngle->value());
settings.setValue("colorObstacle", ui_->lineEdit_obstacleColor->text());
settings.setValue("colorGround", ui_->lineEdit_groundColor->text());
settings.setValue("colorEmpty", ui_->lineEdit_emptyColor->text());
settings.endGroup();
settings.beginGroup("mesh");
@@ -635,7 +652,11 @@ void DatabaseViewer::restoreDefaultSettings()
ui_->groupBox_posefiltering->setChecked(false);
ui_->doubleSpinBox_posefilteringRadius->setValue(0.1);
ui_->doubleSpinBox_posefilteringAngle->setValue(30);
ui_->checkBox_grid_empty->setChecked(true);
ui_->checkBox_octomap->setChecked(false);
ui_->lineEdit_obstacleColor->setText(QColor(Qt::red).name());
ui_->lineEdit_groundColor->setText(QColor(Qt::green).name());
ui_->lineEdit_emptyColor->setText(QColor(Qt::yellow).name());
ui_->checkBox_mesh_quad->setChecked(true);
ui_->spinBox_mesh_angleTolerance->setValue(15);
@@ -1806,6 +1827,30 @@ void DatabaseViewer::updateStatistics()
UDEBUG("");
}
void DatabaseViewer::selectObstacleColor()
{
QColor c = QColorDialog::getColor(ui_->lineEdit_obstacleColor->text(), this);
if(c.isValid())
{
ui_->lineEdit_obstacleColor->setText(c.name());
}
}
void DatabaseViewer::selectGroundColor()
{
QColor c = QColorDialog::getColor(ui_->lineEdit_groundColor->text(), this);
if(c.isValid())
{
ui_->lineEdit_groundColor->setText(c.name());
}
}
void DatabaseViewer::selectEmptyColor()
{
QColor c = QColorDialog::getColor(ui_->lineEdit_emptyColor->text(), this);
if(c.isValid())
{
ui_->lineEdit_emptyColor->setText(c.name());
}
}
void DatabaseViewer::editDepthImage()
{
if(dbDriver_ && ids_.size())
@@ -3265,21 +3310,21 @@ void DatabaseViewer::update(int value,
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = octomap->createCloud(ui_->spinBox_grid_depth->value(), obstacles.get(), empty.get(), ground.get());
pcl::PointCloud<pcl::PointXYZRGB>::Ptr obstaclesCloud(new pcl::PointCloud<pcl::PointXYZRGB>);
pcl::copyPointCloud(*cloud, *obstacles, *obstaclesCloud);
cloudViewer_->addCloud("obstacles", obstaclesCloud);
cloudViewer_->addCloud("obstacles", obstaclesCloud, Transform::getIdentity(), QColor(ui_->lineEdit_obstacleColor->text()));
cloudViewer_->setCloudPointSize("obstacles", 5);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr groundCloud(new pcl::PointCloud<pcl::PointXYZRGB>);
pcl::copyPointCloud(*cloud, *ground, *groundCloud);
cloudViewer_->addCloud("ground", groundCloud);
cloudViewer_->addCloud("ground", groundCloud, Transform::getIdentity(), QColor(ui_->lineEdit_groundColor->text()));
cloudViewer_->setCloudPointSize("ground", 5);
if(ui_->checkBox_grid_empty->isChecked())
{
pcl::PointCloud<pcl::PointXYZ>::Ptr emptyCloud(new pcl::PointCloud<pcl::PointXYZ>);
pcl::copyPointCloud(*cloud, *empty, *emptyCloud);
cloudViewer_->addCloud("empty_cells", emptyCloud, Transform::getIdentity(), Qt::white);
cloudViewer_->addCloud("empty_cells", emptyCloud, Transform::getIdentity(), QColor(ui_->lineEdit_emptyColor->text()));
cloudViewer_->setCloudOpacity("empty_cells", 0.5);
cloudViewer_->setCloudPointSize("empty_cells", 1);
cloudViewer_->setCloudPointSize("empty_cells", 5);
}
}
else
@@ -3294,11 +3339,11 @@ void DatabaseViewer::update(int value,
cloudViewer_->addCloud("ground",
util3d::laserScanToPointCloud(localMaps.begin()->second.first.first),
pose,
Qt::green);
QColor(ui_->lineEdit_groundColor->text()));
cloudViewer_->addCloud("obstacles",
util3d::laserScanToPointCloud(localMaps.begin()->second.first.second),
pose,
Qt::red);
QColor(ui_->lineEdit_obstacleColor->text()));
cloudViewer_->setCloudPointSize("ground", 5);
cloudViewer_->setCloudPointSize("obstacles", 5);
@@ -3307,8 +3352,8 @@ void DatabaseViewer::update(int value,
cloudViewer_->addCloud("empty_cells",
util3d::laserScanToPointCloud(localMaps.begin()->second.second),
pose,
Qt::white);
cloudViewer_->setCloudPointSize("empty_cells", 1);
QColor(ui_->lineEdit_emptyColor->text()));
cloudViewer_->setCloudPointSize("empty_cells", 5);
cloudViewer_->setCloudOpacity("empty_cells", 0.5);
}
}
@@ -4668,7 +4713,7 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
occupancyGridViewer_->addCloud("groundRGB",
groundRGB,
Transform::getIdentity(),
Qt::green);
QColor(ui_->lineEdit_groundColor->text()));
occupancyGridViewer_->setCloudPointSize("groundRGB", 5);
}
if(groundXYZ->size())
@@ -4677,7 +4722,7 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
occupancyGridViewer_->addCloud("groundXYZ",
groundXYZ,
Transform::getIdentity(),
Qt::green);
QColor(ui_->lineEdit_groundColor->text()));
occupancyGridViewer_->setCloudPointSize("groundXYZ", 5);
}
if(obstaclesRGB->size())
@@ -4686,7 +4731,7 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
occupancyGridViewer_->addCloud("obstaclesRGB",
obstaclesRGB,
Transform::getIdentity(),
Qt::red);
QColor(ui_->lineEdit_obstacleColor->text()));
occupancyGridViewer_->setCloudPointSize("obstaclesRGB", 5);
}
if(obstaclesXYZ->size())
@@ -4695,7 +4740,7 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
occupancyGridViewer_->addCloud("obstaclesXYZ",
obstaclesXYZ,
Transform::getIdentity(),
Qt::red);
QColor(ui_->lineEdit_obstacleColor->text()));
occupancyGridViewer_->setCloudPointSize("obstaclesXYZ", 5);
}
if(emptyCellsRGB->size())
@@ -4704,8 +4749,8 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
occupancyGridViewer_->addCloud("emptyCellsRGB",
emptyCellsRGB,
Transform::getIdentity(),
Qt::white);
occupancyGridViewer_->setCloudPointSize("emptyCellsRGB", 1);
QColor(ui_->lineEdit_emptyColor->text()));
occupancyGridViewer_->setCloudPointSize("emptyCellsRGB", 5);
occupancyGridViewer_->setCloudOpacity("emptyCellsRGB", 0.5);
}
if(emptyCellsXYZ->size())
@@ -4714,8 +4759,8 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
occupancyGridViewer_->addCloud("emptyCellsXYZ",
emptyCellsXYZ,
Transform::getIdentity(),
Qt::white);
occupancyGridViewer_->setCloudPointSize("emptyCellsXYZ", 1);
QColor(ui_->lineEdit_emptyColor->text()));
occupancyGridViewer_->setCloudPointSize("emptyCellsXYZ", 5);
occupancyGridViewer_->setCloudOpacity("emptyCellsXYZ", 0.5);
}
occupancyGridViewer_->update();

160
guilib/src/ui/DatabaseViewer.ui
View File

@@ -61,7 +61,7 @@
<rect>
<x>0</x>
<y>0</y>
<width>326</width>
<width>290</width>
<height>242</height>
</rect>
</property>
@@ -253,7 +253,7 @@
<rect>
<x>0</x>
<y>0</y>
<width>325</width>
<width>290</width>
<height>242</height>
</rect>
</property>
@@ -1332,8 +1332,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>451</width>
<height>668</height>
<width>522</width>
<height>773</height>
</rect>
</property>
<attribute name="label">
@@ -1342,7 +1342,7 @@
<layout class="QVBoxLayout" name="verticalLayout_16">
<item>
<layout class="QGridLayout" name="gridLayout_9" columnstretch="0,0">
<item row="7" column="1">
<item row="10" column="1">
<widget class="QLabel" name="label_51">
<property name="text">
<string>Gain compensation radius (Constraints view)</string>
@@ -1352,7 +1352,7 @@
</property>
</widget>
</item>
<item row="7" column="0">
<item row="10" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_gainCompensationRadius">
<property name="suffix">
<string> m</string>
@@ -1374,14 +1374,14 @@
</property>
</widget>
</item>
<item row="1" column="1">
<item row="4" column="1">
<widget class="QLabel" name="label_53">
<property name="text">
<string>OctoMap</string>
</property>
</widget>
</item>
<item row="8" column="1">
<item row="11" column="1">
<widget class="QLabel" name="label_54">
<property name="text">
<string>Voxel size (for clouds and scans)</string>
@@ -1391,14 +1391,24 @@
</property>
</widget>
</item>
<item row="1" column="0">
<item row="4" column="0">
<widget class="QCheckBox" name="checkBox_octomap">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="8" column="0">
<item row="9" column="0">
<widget class="QCheckBox" name="checkBox_grid_regenerateFromSavedGrid">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="11" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_voxelSize">
<property name="suffix">
<string> m</string>
@@ -1420,7 +1430,7 @@
</property>
</widget>
</item>
<item row="5" column="0">
<item row="8" column="0">
<widget class="QSpinBox" name="spinBox_grid_depth">
<property name="prefix">
<string/>
@@ -1436,17 +1446,17 @@
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QCheckBox" name="checkBox_grid_regenerateFromSavedGrid">
<item row="0" column="0">
<widget class="QCheckBox" name="checkBox_grid_empty">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="1">
<item row="7" column="1">
<widget class="QLabel" name="label_octomap_cubes">
<property name="text">
<string>OctoMap: Rendering type</string>
@@ -1456,7 +1466,7 @@
</property>
</widget>
</item>
<item row="5" column="1">
<item row="8" column="1">
<widget class="QLabel" name="label_octomap_depth">
<property name="text">
<string>OctoMap: Tree depth</string>
@@ -1466,17 +1476,7 @@
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QCheckBox" name="checkBox_grid_empty">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="6" column="1">
<item row="9" column="1">
<widget class="QLabel" name="label_55">
<property name="text">
<string>Local grid: regenerate from saved grid instead of sensors</string>
@@ -1486,17 +1486,7 @@
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_octomap_empty">
<property name="text">
<string>Global grid/OctoMap: show empty space</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="0">
<item row="7" column="0">
<widget class="QComboBox" name="comboBox_octomap_rendering_type">
<item>
<property name="text">
@@ -1515,6 +1505,100 @@
</item>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_octomap_empty">
<property name="text">
<string>Show empty space</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_octomap_empty_3">
<property name="text">
<string>Ground cell color</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_octomap_empty_2">
<property name="text">
<string>Obstacle cell color</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_octomap_empty_4">
<property name="text">
<string>Empty cell color</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_9">
<item>
<widget class="QToolButton" name="toolButton_groundColor">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
<item>
<widget class="QLineEdit" name="lineEdit_groundColor">
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
<item row="1" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_11">
<item>
<widget class="QToolButton" name="toolButton_obstacleColor">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
<item>
<widget class="QLineEdit" name="lineEdit_obstacleColor">
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
<item row="3" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_12">
<item>
<widget class="QToolButton" name="toolButton_emptyColor">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
<item>
<widget class="QLineEdit" name="lineEdit_emptyColor">
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</item>
<item>