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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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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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93
guilib/src/ui/preferencesDialog.ui
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@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>15</number>
<number>3</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -1958,7 +1958,33 @@ Show a yellow background when the number of odometry inliers goes under this thr
<bool>true</bool>
</property>
<layout class="QGridLayout" name="gridLayout_72" columnstretch="0,1">
<item row="2" column="1">
<item row="5" column="1">
<widget class="QLabel" name="label_octomap_treeDepth_4">
<property name="text">
<string>Occupancy threshold.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_octomap_treeDepth_5">
<property name="text">
<string>Cube rendering. Disable to show as a point cloud (a lot less GPU power required).</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="1">
<widget class="QLabel" name="label_octomap_treeDepth">
<property name="text">
<string>Octomap maximum tree depth (max 16). The highest depth means the smallest resolution of the map (cell size). At smallest resolution the octomap shows RGB colors. Other resolutions produce z-axis gradient colored octomap.</string>
@@ -1971,7 +1997,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="2" column="0">
<item row="3" column="0">
<widget class="QSpinBox" name="spinBox_octomap_treeDepth">
<property name="minimum">
<number>1</number>
@@ -1984,7 +2010,7 @@ 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_octomap_2dgrid">
<property name="text">
<string/>
@@ -1994,7 +2020,7 @@ 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_octomap_treeDepth_2">
<property name="text">
<string>Show 2D occupancy grid map from OctoMap projection.</string>
@@ -2030,42 +2056,19 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_octomap_treeDepth_4">
<property name="text">
<string>Occupancy threshold.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="4" column="0">
<item row="5" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_octomap_occupancyThr">
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.050000000000000</double>
</property>
<property name="value">
<double>0.500000000000000</double>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_octomap_treeDepth_5">
<property name="text">
<string>Cube rendering. Disable to show as a point cloud (a lot less GPU power required).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="checkBox_octomap_cubeRendering">
<property name="text">
@@ -2076,6 +2079,32 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_octomap_treeDepth_6">
<property name="text">
<string>Point size. When cube rendering is disabled.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QSpinBox" name="spinBox_octomap_pointSize">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>99</number>
</property>
<property name="value">
<number>5</number>
</property>
</widget>
</item>
</layout>
</widget>
</item>