mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-03 01:50:24 +08:00
3D Rendering: Added floor/ceiling filtering and normal estimation for scans
This commit is contained in:
matlabbe
@@ -63,9 +63,9 @@
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>-373</y>
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<width>673</width>
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<height>2718</height>
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<y>0</y>
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<width>678</width>
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<height>2701</height>
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</rect>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_16">
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@@ -86,7 +86,7 @@
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<enum>QFrame::Raised</enum>
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</property>
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<property name="currentIndex">
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<number>5</number>
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<number>1</number>
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</property>
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<widget class="QWidget" name="page_22">
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<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
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@@ -1084,8 +1084,18 @@ Show a yellow background when the number of odometry inliers goes under this thr
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<property name="title">
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<string>Laser Scan</string>
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</property>
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<layout class="QGridLayout" name="gridLayout_79">
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<item row="5" column="2">
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<layout class="QGridLayout" name="gridLayout_79" columnstretch="0,0,1">
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<item row="8" column="1">
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<widget class="QSpinBox" name="spinBox_ptsize_odom_scan">
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<property name="minimum">
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<number>1</number>
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</property>
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<property name="maximum">
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<number>64</number>
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</property>
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</widget>
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</item>
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<item row="8" column="2">
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<widget class="QLabel" name="label_158">
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<property name="text">
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<string>Scan point size (1..64).</string>
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@@ -1127,17 +1137,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
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</property>
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</widget>
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</item>
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<item row="5" column="1">
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<widget class="QSpinBox" name="spinBox_ptsize_odom_scan">
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<property name="minimum">
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<number>1</number>
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</property>
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<property name="maximum">
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<number>64</number>
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</property>
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</widget>
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</item>
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<item row="4" column="2">
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<item row="7" column="2">
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<widget class="QLabel" name="label_156">
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<property name="text">
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<string>Scan opacity.</string>
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@@ -1163,7 +1163,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
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</property>
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</widget>
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</item>
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<item row="5" column="0">
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<item row="8" column="0">
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<widget class="QSpinBox" name="spinBox_ptsize_scan">
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<property name="minimum">
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<number>1</number>
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@@ -1173,6 +1173,16 @@ Show a yellow background when the number of odometry inliers goes under this thr
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</property>
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</widget>
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</item>
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<item row="2" column="1">
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<widget class="QSpinBox" name="spinBox_downsamplingScan_odom">
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<property name="minimum">
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<number>1</number>
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</property>
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<property name="maximum">
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<number>9999</number>
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</property>
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</widget>
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</item>
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<item row="1" column="1">
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<widget class="QCheckBox" name="checkBox_showOdomScans">
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<property name="text">
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@@ -1193,17 +1203,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
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</property>
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</widget>
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</item>
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<item row="2" column="1">
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<widget class="QSpinBox" name="spinBox_downsamplingScan_odom">
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<property name="minimum">
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<number>1</number>
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</property>
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<property name="maximum">
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<number>9999</number>
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</property>
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</widget>
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</item>
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<item row="4" column="0">
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<item row="7" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_scan">
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<property name="suffix">
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<string/>
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@@ -1235,7 +1235,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
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</property>
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</widget>
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</item>
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<item row="4" column="1">
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<item row="7" column="1">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_odom_scan">
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<property name="suffix">
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<string/>
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@@ -1312,6 +1312,102 @@ Show a yellow background when the number of odometry inliers goes under this thr
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</property>
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</widget>
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</item>
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<item row="4" column="2">
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<widget class="QLabel" name="label_367">
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<property name="text">
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<string>Ceiling filtering height (0=Disabled). This is done in /map frame.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="5" column="2">
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<widget class="QLabel" name="label_368">
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<property name="text">
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<string>Floor filtering height (0=Disabled). This is done in /map frame.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="4" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_ceilingFilterHeight_scan">
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<property name="suffix">
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<string> m</string>
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</property>
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<property name="decimals">
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<number>3</number>
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</property>
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<property name="minimum">
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<double>-10.000000000000000</double>
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</property>
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<property name="maximum">
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<double>10.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.100000000000000</double>
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</property>
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<property name="value">
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<double>0.000000000000000</double>
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</property>
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</widget>
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</item>
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<item row="5" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_floorFilterHeight_scan">
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<property name="suffix">
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<string> m</string>
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</property>
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<property name="decimals">
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<number>3</number>
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</property>
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<property name="minimum">
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<double>-10.000000000000000</double>
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</property>
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<property name="maximum">
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<double>10.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.100000000000000</double>
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</property>
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<property name="value">
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<double>0.000000000000000</double>
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</property>
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</widget>
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</item>
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<item row="6" column="2">
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<widget class="QLabel" name="label_241">
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<property name="text">
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<string>Normal K search. If not 0, normals will be computed and added to created cloud for visualization (keys 7, 8 and 9).</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="6" column="0">
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<widget class="QSpinBox" name="spinBox_normalKSearch_scan">
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<property name="minimum">
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<number>0</number>
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</property>
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<property name="maximum">
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<number>1000</number>
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</property>
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<property name="value">
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<number>10</number>
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</property>
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</widget>
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</item>
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</layout>
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</widget>
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</item>
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