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Added some parameters for mesh reconstruction

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1315 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-06-03 19:28:59 +00:00
parent b875d8f7be
commit 0fc6228b4f
6 changed files with 395 additions and 81 deletions
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56
guilib/src/PreferencesDialog.cpp
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@@ -146,6 +146,22 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_3dRenderingMeshing.resize(1);
_3dRenderingMeshing[0] = _ui->checkBox_meshing;
_3dRenderingNormalKSearch.resize(2);
_3dRenderingNormalKSearch[0] = _ui->spinBox_normalKSearch;
_3dRenderingNormalKSearch[1] = _ui->spinBox_normalKSearch_save;
_3dRenderingGP3Radius.resize(2);
_3dRenderingGP3Radius[0] = _ui->doubleSpinBox_gp3Radius;
_3dRenderingGP3Radius[1] = _ui->doubleSpinBox_gp3Radius_save;
_3dRenderingSmoothing.resize(2);
_3dRenderingSmoothing[0] = _ui->checkBox_mls;
_3dRenderingSmoothing[1] = _ui->checkBox_mls_save;
_3dRenderingSmoothingRadius.resize(2);
_3dRenderingSmoothingRadius[0] = _ui->doubleSpinBox_mlsRadius;
_3dRenderingSmoothingRadius[1] = _ui->doubleSpinBox_mlsRadius_save;
for(int i=0; i<3; ++i)
{
connect(_3dRenderingShowClouds[i], SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
@@ -160,6 +176,11 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_3dRenderingPtSize[i], SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_3dRenderingOpacityScan[i], SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_3dRenderingPtSizeScan[i], SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_3dRenderingNormalKSearch[i], SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_3dRenderingGP3Radius[i], SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_3dRenderingSmoothing[i], SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_3dRenderingSmoothingRadius[i], SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
}
if(i<1)
@@ -701,6 +722,11 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_3dRenderingPtSize[i]->setValue(i==0?1:2);
_3dRenderingOpacityScan[i]->setValue(1.0);
_3dRenderingPtSizeScan[i]->setValue(1);
_3dRenderingNormalKSearch[i]->setValue(20);
_3dRenderingGP3Radius[i]->setValue(0.04);
_3dRenderingSmoothing[i]->setChecked(true);
_3dRenderingSmoothingRadius[i]->setValue(0.04);
}
if(i<1)
@@ -915,6 +941,11 @@ void PreferencesDialog::readGuiSettings(const QString & filePath)
_3dRenderingPtSize[i]->setValue(settings.value(tr("ptSize%1").arg(i), _3dRenderingPtSize[i]->value()).toInt());
_3dRenderingOpacityScan[i]->setValue(settings.value(tr("opacityScan%1").arg(i), _3dRenderingOpacityScan[i]->value()).toDouble());
_3dRenderingPtSizeScan[i]->setValue(settings.value(tr("ptSizeScan%1").arg(i), _3dRenderingPtSizeScan[i]->value()).toInt());
_3dRenderingNormalKSearch[i]->setValue(settings.value(tr("meshNormalKSearch%1").arg(i), _3dRenderingNormalKSearch[i]->value()).toInt());
_3dRenderingGP3Radius[i]->setValue(settings.value(tr("meshGP3Radius%1").arg(i), _3dRenderingGP3Radius[i]->value()).toDouble());
_3dRenderingSmoothing[i]->setChecked(settings.value(tr("meshSmoothing%1").arg(i), _3dRenderingSmoothing[i]->isChecked()).toBool());
_3dRenderingSmoothingRadius[i]->setValue(settings.value(tr("meshSmoothingRadius%1").arg(i), _3dRenderingSmoothingRadius[i]->value()).toDouble());
}
if(i<1)
@@ -1120,6 +1151,11 @@ void PreferencesDialog::writeGuiSettings(const QString & filePath)
settings.setValue(tr("ptSize%1").arg(i), _3dRenderingPtSize[i]->value());
settings.setValue(tr("opacityScan%1").arg(i), _3dRenderingOpacityScan[i]->value());
settings.setValue(tr("ptSizeScan%1").arg(i), _3dRenderingPtSizeScan[i]->value());
settings.setValue(tr("meshNormalKSearch%1").arg(i), _3dRenderingNormalKSearch[i]->value());
settings.setValue(tr("meshGP3Radius%1").arg(i), _3dRenderingGP3Radius[i]->value());
settings.setValue(tr("meshSmoothing%1").arg(i), _3dRenderingSmoothing[i]->isChecked());
settings.setValue(tr("meshSmoothingRadius%1").arg(i), _3dRenderingSmoothingRadius[i]->value());
}
if(i<1)
@@ -2346,6 +2382,26 @@ int PreferencesDialog::getScanPointSize(int index) const
UASSERT(index >= 0 && index <= 1);
return _3dRenderingPtSizeScan[index]->value();
}
int PreferencesDialog::getMeshNormalKSearch(int index) const
{
UASSERT(index >= 0 && index <= 1);
return _3dRenderingNormalKSearch[index]->value();
}
double PreferencesDialog::getMeshGP3Radius(int index) const
{
UASSERT(index >= 0 && index <= 1);
return _3dRenderingGP3Radius[index]->value();
}
bool PreferencesDialog::getMeshSmoothing(int index) const
{
UASSERT(index >= 0 && index <= 1);
return _3dRenderingSmoothing[index]->isChecked();
}
double PreferencesDialog::getMeshSmoothingRadius(int index) const
{
UASSERT(index >= 0 && index <= 1);
return _3dRenderingSmoothingRadius[index]->value();
}
bool PreferencesDialog::isCloudFiltering() const
{
return _ui->groupBox_poseFiltering->isChecked();