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OctoMap: Added occupancy threshold to constructor

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This commit is contained in:
matlabbe
2016-09-01 20:33:05 -04:00
parent 717e82c09e
commit 4bd9e4f847
7 changed files with 43 additions and 8 deletions
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8
guilib/src/MainWindow.cpp
View File

@@ -239,7 +239,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_occupancyGrid = new OccupancyGrid(_preferencesDialog->getAllParameters());
#ifdef RTABMAP_OCTOMAP
_octomap = new OctoMap(_preferencesDialog->getGridMapResolution());
_octomap = new OctoMap(_preferencesDialog->getGridMapResolution(), _preferencesDialog->getOctomapOccupancyThr());
#endif
// Timer
@@ -4037,7 +4037,9 @@ void MainWindow::startDetection()
#ifdef RTABMAP_OCTOMAP
UASSERT(_octomap != 0);
delete _octomap;
_octomap = new OctoMap(_preferencesDialog->getGridMapResolution());
_octomap = new OctoMap(
_preferencesDialog->getGridMapResolution(),
_preferencesDialog->getOctomapOccupancyThr());
#endif
_occupancyGrid->clear();
@@ -5061,7 +5063,7 @@ void MainWindow::clearTheCache()
// re-create one if the resolution has changed
UASSERT(_octomap != 0);
delete _octomap;
_octomap = new OctoMap(_preferencesDialog->getGridMapResolution());
_octomap = new OctoMap(_preferencesDialog->getGridMapResolution(), _preferencesDialog->getOctomapOccupancyThr());
#endif
_occupancyGrid->clear();
}

8
guilib/src/PreferencesDialog.cpp
View File

@@ -1245,6 +1245,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->spinBox_octomap_treeDepth->setValue(16);
_ui->checkBox_octomap_2dgrid->setChecked(true);
_ui->checkBox_octomap_show3dMap->setChecked(true);
_ui->doubleSpinBox_octomap_occupancyThr->setValue(0.5);
}
else if(groupBox->objectName() == _ui->groupBox_logging1->objectName())
{
@@ -1596,6 +1597,7 @@ void PreferencesDialog::readGuiSettings(const QString & filePath)
_ui->spinBox_octomap_treeDepth->setValue(settings.value("octomap_depth", _ui->spinBox_octomap_treeDepth->value()).toInt());
_ui->checkBox_octomap_2dgrid->setChecked(settings.value("octomap_2dgrid", _ui->checkBox_octomap_2dgrid->isChecked()).toBool());
_ui->checkBox_octomap_show3dMap->setChecked(settings.value("octomap_3dmap", _ui->checkBox_octomap_show3dMap->isChecked()).toBool());
_ui->doubleSpinBox_octomap_occupancyThr->setValue(settings.value("octomap_occupancy_thr", _ui->doubleSpinBox_octomap_occupancyThr->value()).toDouble());
_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());
@@ -2008,6 +2010,8 @@ void PreferencesDialog::writeGuiSettings(const QString & filePath) const
settings.setValue("octomap_depth", _ui->spinBox_octomap_treeDepth->value());
settings.setValue("octomap_2dgrid", _ui->checkBox_octomap_2dgrid->isChecked());
settings.setValue("octomap_3dmap", _ui->checkBox_octomap_show3dMap->isChecked());
settings.setValue("octomap_occupancy_thr", _ui->doubleSpinBox_octomap_occupancyThr->value());
settings.setValue("meshing", _ui->groupBox_organized->isChecked());
settings.setValue("meshing_angle", _ui->doubleSpinBox_mesh_angleTolerance->value());
@@ -3717,6 +3721,10 @@ bool PreferencesDialog::isOctomapGroundAnObstacle() const
{
return _ui->checkBox_grid_groundObstacle->isChecked();
}
double PreferencesDialog::getOctomapOccupancyThr() const
{
return _ui->doubleSpinBox_octomap_occupancyThr->value();
}
double PreferencesDialog::getMapVoxel() const
{

27
guilib/src/ui/preferencesDialog.ui
View File

@@ -63,7 +63,7 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-500</y>
<y>0</y>
<width>678</width>
<height>2417</height>
</rect>
@@ -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">
@@ -1759,6 +1759,29 @@ 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_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="3" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_octomap_occupancyThr">
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="value">
<double>0.500000000000000</double>
</property>
</widget>
</item>
</layout>
</widget>
</item>