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MainWindow: added timing stats on global map creation. Updated util3d::occupancy2DFromLaserScan() and util3d::create2DMap() interfaces (hit/noHit scans in opencv matrix format). Parameter default: Grid/ProjRayTracing=true, Grid/NormalK=true

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This commit is contained in:
matlabbe
2017-04-06 12:27:12 -04:00
parent e415dd8504
commit 1d8952867d
13 changed files with 386 additions and 117 deletions
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9
guilib/src/PreferencesDialog.cpp
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@@ -412,6 +412,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->checkBox_octomap_2dgrid, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->checkBox_octomap_show3dMap, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->checkBox_octomap_cubeRendering, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->spinBox_octomap_pointSize, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->doubleSpinBox_octomap_occupancyThr, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->groupBox_organized, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->doubleSpinBox_mesh_angleTolerance, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
@@ -1313,6 +1315,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->checkBox_octomap_2dgrid->setChecked(true);
_ui->checkBox_octomap_show3dMap->setChecked(true);
_ui->checkBox_octomap_cubeRendering->setChecked(true);
_ui->spinBox_octomap_pointSize->setValue(5);
_ui->doubleSpinBox_octomap_occupancyThr->setValue(0.5);
}
else if(groupBox->objectName() == _ui->groupBox_logging1->objectName())
@@ -1692,6 +1695,7 @@ void PreferencesDialog::readGuiSettings(const QString & filePath)
_ui->checkBox_octomap_show3dMap->setChecked(settings.value("octomap_3dmap", _ui->checkBox_octomap_show3dMap->isChecked()).toBool());
_ui->checkBox_octomap_cubeRendering->setChecked(settings.value("octomap_cube", _ui->checkBox_octomap_cubeRendering->isChecked()).toBool());
_ui->doubleSpinBox_octomap_occupancyThr->setValue(settings.value("octomap_occupancy_thr", _ui->doubleSpinBox_octomap_occupancyThr->value()).toDouble());
_ui->spinBox_octomap_pointSize->setValue(settings.value("octomap_point_size", _ui->spinBox_octomap_pointSize->value()).toInt());
_ui->groupBox_organized->setChecked(settings.value("meshing", _ui->groupBox_organized->isChecked()).toBool());
_ui->doubleSpinBox_mesh_angleTolerance->setValue(settings.value("meshing_angle", _ui->doubleSpinBox_mesh_angleTolerance->value()).toDouble());
@@ -2077,6 +2081,7 @@ void PreferencesDialog::writeGuiSettings(const QString & filePath) const
settings.setValue("octomap_3dmap", _ui->checkBox_octomap_show3dMap->isChecked());
settings.setValue("octomap_cube", _ui->checkBox_octomap_cubeRendering->isChecked());
settings.setValue("octomap_occupancy_thr", _ui->doubleSpinBox_octomap_occupancyThr->value());
settings.setValue("octomap_point_size", _ui->spinBox_octomap_pointSize->value());
settings.setValue("meshing", _ui->groupBox_organized->isChecked());
@@ -4067,6 +4072,10 @@ double PreferencesDialog::getOctomapOccupancyThr() const
{
return _ui->doubleSpinBox_octomap_occupancyThr->value();
}
int PreferencesDialog::getOctomapPointSize() const
{
return _ui->spinBox_octomap_pointSize->value();
}
double PreferencesDialog::getVoxel() const
{