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Added occupancy grid footprintRadius parameter to clear obstacles under path

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This commit is contained in:
matlabbe
2016-08-14 14:52:42 -04:00
parent ae7436a41b
commit 18b1931e7c
6 changed files with 142 additions and 57 deletions
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3
guilib/src/MainWindow.cpp
View File

@@ -2207,7 +2207,8 @@ void MainWindow::updateMapCloud(
resolution,
xMin, yMin,
0,
_preferencesDialog->isGridMapEroded());
_preferencesDialog->isGridMapEroded(),
_preferencesDialog->getGridMapFootprintRadius());
if(!map8S.empty())
{
//convert to gray scaled map

8
guilib/src/PreferencesDialog.cpp
View File

@@ -377,6 +377,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->doubleSpinBox_map_resolution, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->doubleSpinBox_map_opacity, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->checkBox_map_erode, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->doubleSpinBox_map_footprintRadius, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->groupBox_map_occupancyFrom3DCloud, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->checkBox_projMapFrame, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->doubleSpinBox_projMaxGroundAngle, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
@@ -1220,6 +1221,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->checkBox_map_shown->setChecked(false);
_ui->doubleSpinBox_map_resolution->setValue(0.05);
_ui->checkBox_map_erode->setChecked(false);
_ui->doubleSpinBox_map_footprintRadius->setValue(0);
_ui->doubleSpinBox_map_opacity->setValue(0.75);
_ui->groupBox_map_occupancyFrom3DCloud->setChecked(false);
_ui->checkBox_projMapFrame->setChecked(true);
@@ -1575,6 +1577,7 @@ void PreferencesDialog::readGuiSettings(const QString & filePath)
_ui->checkBox_map_shown->setChecked(settings.value("gridMapShown", _ui->checkBox_map_shown->isChecked()).toBool());
_ui->doubleSpinBox_map_resolution->setValue(settings.value("gridMapResolution", _ui->doubleSpinBox_map_resolution->value()).toDouble());
_ui->checkBox_map_erode->setChecked(settings.value("gridMapEroded", _ui->checkBox_map_erode->isChecked()).toBool());
_ui->doubleSpinBox_map_footprintRadius->setValue(settings.value("gridMapFootprintRadius", _ui->doubleSpinBox_map_footprintRadius->value()).toDouble());
_ui->doubleSpinBox_map_opacity->setValue(settings.value("gridMapOpacity", _ui->doubleSpinBox_map_opacity->value()).toDouble());
_ui->groupBox_map_occupancyFrom3DCloud->setChecked(settings.value("gridMapOccupancyFrom3DCloud", _ui->groupBox_map_occupancyFrom3DCloud->isChecked()).toBool());
_ui->checkBox_projMapFrame->setChecked(settings.value("projMapFrame", _ui->checkBox_projMapFrame->isChecked()).toBool());
@@ -1991,6 +1994,7 @@ void PreferencesDialog::writeGuiSettings(const QString & filePath) const
settings.setValue("gridMapShown", _ui->checkBox_map_shown->isChecked());
settings.setValue("gridMapResolution", _ui->doubleSpinBox_map_resolution->value());
settings.setValue("gridMapEroded", _ui->checkBox_map_erode->isChecked());
settings.setValue("gridMapFootprintRadius", _ui->doubleSpinBox_map_footprintRadius->value());
settings.setValue("gridMapOpacity", _ui->doubleSpinBox_map_opacity->value());
settings.setValue("gridMapOccupancyFrom3DCloud", _ui->groupBox_map_occupancyFrom3DCloud->isChecked());
@@ -3843,6 +3847,10 @@ bool PreferencesDialog::isGridMapEroded() const
{
return _ui->checkBox_map_erode->isChecked();
}
double PreferencesDialog::getGridMapFootprintRadius() const
{
return _ui->doubleSpinBox_map_footprintRadius->value();
}
bool PreferencesDialog::isGridMapFrom3DCloud() const
{
return _ui->groupBox_map_occupancyFrom3DCloud->isChecked();

40
guilib/src/ui/preferencesDialog.ui
View File

@@ -65,7 +65,7 @@
<x>0</x>
<y>0</y>
<width>686</width>
<height>2023</height>
<height>2053</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>13</number>
<number>3</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -1598,7 +1598,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="3" column="1">
<item row="4" column="1">
<widget class="QLabel" name="label_224">
<property name="text">
<string>Erode.</string>
@@ -1611,7 +1611,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="3" column="0">
<item row="4" column="0">
<widget class="QCheckBox" name="checkBox_map_erode">
<property name="text">
<string/>
@@ -1621,6 +1621,38 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_319">
<property name="text">
<string>Footprint radius.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_map_footprintRadius">
<property name="suffix">
<string> m</string>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>10.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
</layout>
</item>
<item>