i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-03 01:50:24 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fixed octomap height when in /map frame. Preferences: added Cloud Filtering and Occupancy Grid Map subpanels to 3D Rendering

Browse Source
This commit is contained in:
matlabbe
2016-07-17 16:47:06 -04:00
parent d4e5cfb548
commit 536136af77
3 changed files with 1409 additions and 1418 deletions
Download Patch File Download Diff File Expand all files Collapse all files

71
guilib/src/PreferencesDialog.cpp
View File

@@ -389,7 +389,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->doubleSpinBox_projMaxObstaclesHeight, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->checkBox_projFlatObstaclesDetected, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->checkBox_octomap, SIGNAL(clicked(bool)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->groupBox_octomap, SIGNAL(clicked(bool)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->spinBox_octomap_treeDepth, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->checkBox_octomap_groundObstacle, SIGNAL(clicked(bool)), this, SLOT(makeObsoleteCloudRenderingPanel()));
@@ -919,11 +919,11 @@ void PreferencesDialog::setupTreeView()
QList<QGroupBox*> boxes = this->getGroupBoxes();
if(_ui->radioButton_basic->isChecked())
{
boxes = boxes.mid(0,5);
boxes = boxes.mid(0,7);
}
else // Advanced
{
boxes.removeAt(4);
boxes.removeAt(6);
}
QStandardItem * parentItem = _indexModel->invisibleRootItem();
@@ -936,36 +936,20 @@ void PreferencesDialog::setupTreeView()
int currentIndex = _ui->stackedWidget->currentIndex();
if(_ui->radioButton_basic->isChecked())
{
if(currentIndex >= 4)
if(currentIndex >= 6)
{
_ui->stackedWidget->setCurrentIndex(4);
currentIndex = 4;
_ui->stackedWidget->setCurrentIndex(6);
currentIndex = 6;
}
}
else // Advanced
{
if(currentIndex == 4)
if(currentIndex == 6)
{
_ui->stackedWidget->setCurrentIndex(5);
_ui->stackedWidget->setCurrentIndex(7);
}
}
_ui->treeView->setModel(_indexModel);
if(currentIndex == 0) // GUI
{
_ui->treeView->setCurrentIndex(_indexModel->index(0, 0));
}
else if(currentIndex == 1) //3d rendering
{
_ui->treeView->setCurrentIndex(_indexModel->index(0, 0).child(0,0));
}
else if(currentIndex == 2) // logging
{
_ui->treeView->setCurrentIndex(_indexModel->index(0, 0).child(1,0));
}
else // source, rtabmap
{
_ui->treeView->setCurrentIndex(_indexModel->index(currentIndex-2, 0));
}
_ui->treeView->expandToDepth(1);
// should be after setModel()
@@ -1088,7 +1072,7 @@ void PreferencesDialog::clicked(const QModelIndex & current, const QModelIndex &
if(item && item->isEnabled())
{
int index = item->data().toInt();
if(_ui->radioButton_advanced->isChecked() && index >= 4)
if(_ui->radioButton_advanced->isChecked() && index >= 6)
{
++index;
}
@@ -1206,6 +1190,20 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->checkBox_showGraphs->setChecked(true);
_ui->checkBox_showLabels->setChecked(false);
_ui->spinBox_normalKSearch->setValue(10);
_ui->doubleSpinBox_mesh_angleTolerance->setValue(15.0);
#if PCL_VERSION_COMPARE(>=, 1, 7, 2)
_ui->groupBox_organized->setChecked(false);
_ui->checkBox_mesh_quad->setChecked(true);
#else
_ui->groupBox_organized->setChecked(false);
_ui->checkBox_mesh_quad->setChecked(false);
#endif
_ui->spinBox_mesh_triangleSize->setValue(2);
}
else if(groupBox->objectName() == _ui->groupBox_filtering2->objectName())
{
_ui->radioButton_noFiltering->setChecked(true);
_ui->radioButton_nodeFiltering->setChecked(false);
_ui->radioButton_subtractFiltering->setChecked(false);
@@ -1214,8 +1212,9 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->spinBox_subtractFilteringMinPts->setValue(5);
_ui->doubleSpinBox_subtractFilteringRadius->setValue(0.02);
_ui->doubleSpinBox_subtractFilteringAngle->setValue(0);
_ui->spinBox_normalKSearch->setValue(10);
}
else if(groupBox->objectName() == _ui->groupBox_gridMap2->objectName())
{
_ui->checkBox_map_shown->setChecked(false);
_ui->doubleSpinBox_map_resolution->setValue(0.05);
_ui->checkBox_map_erode->setChecked(false);
@@ -1228,19 +1227,9 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->doubleSpinBox_projMaxObstaclesHeight->setValue(0);
_ui->checkBox_projFlatObstaclesDetected->setChecked(true);
_ui->checkBox_octomap->setChecked(false);
_ui->groupBox_octomap->setChecked(false);
_ui->spinBox_octomap_treeDepth->setValue(16);
_ui->checkBox_octomap_groundObstacle->setChecked(true);
_ui->doubleSpinBox_mesh_angleTolerance->setValue(15.0);
#if PCL_VERSION_COMPARE(>=, 1, 7, 2)
_ui->groupBox_organized->setChecked(false);
_ui->checkBox_mesh_quad->setChecked(true);
#else
_ui->groupBox_organized->setChecked(false);
_ui->checkBox_mesh_quad->setChecked(false);
#endif
_ui->spinBox_mesh_triangleSize->setValue(2);
}
else if(groupBox->objectName() == _ui->groupBox_logging1->objectName())
{
@@ -1590,7 +1579,7 @@ void PreferencesDialog::readGuiSettings(const QString & filePath)
_ui->doubleSpinBox_projMaxObstaclesHeight->setValue(settings.value("projMaxObstaclesHeight", _ui->doubleSpinBox_projMaxObstaclesHeight->value()).toDouble());
_ui->checkBox_projFlatObstaclesDetected->setChecked(settings.value("projFlatObstaclesDetected", _ui->checkBox_projFlatObstaclesDetected->isChecked()).toBool());
_ui->checkBox_octomap->setChecked(settings.value("octomap", _ui->checkBox_octomap->isChecked()).toBool());
_ui->groupBox_octomap->setChecked(settings.value("octomap", _ui->groupBox_octomap->isChecked()).toBool());
_ui->spinBox_octomap_treeDepth->setValue(settings.value("octomap_depth", _ui->spinBox_octomap_treeDepth->value()).toInt());
_ui->checkBox_octomap_groundObstacle->setChecked(settings.value("octomap_ground_is_obstacle", _ui->checkBox_octomap_groundObstacle->isChecked()).toBool());
@@ -2001,7 +1990,7 @@ void PreferencesDialog::writeGuiSettings(const QString & filePath) const
settings.setValue("projMaxObstaclesHeight", _ui->doubleSpinBox_projMaxObstaclesHeight->value());
settings.setValue("projFlatObstaclesDetected", _ui->checkBox_projFlatObstaclesDetected->isChecked());
settings.setValue("octomap", _ui->checkBox_octomap->isChecked());
settings.setValue("octomap", _ui->groupBox_octomap->isChecked());
settings.setValue("octomap_depth", _ui->spinBox_octomap_treeDepth->value());
settings.setValue("octomap_ground_is_obstacle", _ui->checkBox_octomap_groundObstacle->isChecked());
@@ -3660,7 +3649,7 @@ bool PreferencesDialog::isCloudsShown(int index) const
bool PreferencesDialog::isOctomapShown() const
{
#ifdef RTABMAP_OCTOMAP
return _ui->checkBox_octomap->isChecked();
return _ui->groupBox_octomap->isChecked();
#endif
return false;
}