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GUI: added option to show octomap as a point cloud (less GPU power required)

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This commit is contained in:
matlabbe
2016-10-18 13:29:40 -04:00
parent 73268c2af2
commit 5a24bcfe51
5 changed files with 69 additions and 24 deletions
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15
guilib/src/MainWindow.cpp
View File

@@ -2387,6 +2387,7 @@ void MainWindow::updateMapCloud(
#ifdef RTABMAP_OCTOMAP
_cloudViewer->removeOctomap();
_cloudViewer->removeCloud("octomap_cloud");
if(_preferencesDialog->isOctomapUpdated())
{
UDEBUG("");
@@ -2398,7 +2399,19 @@ void MainWindow::updateMapCloud(
{
UDEBUG("");
UTimer time;
_cloudViewer->addOctomap(_octomap, _preferencesDialog->getOctomapTreeDepth());
if(_preferencesDialog->isOctomapCubeRendering())
{
_cloudViewer->addOctomap(_octomap, _preferencesDialog->getOctomapTreeDepth());
}
else
{
pcl::IndicesPtr obstacles(new std::vector<int>);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = _octomap->createCloud(_preferencesDialog->getOctomapTreeDepth(), obstacles.get());
if(obstacles->size())
{
_cloudViewer->addCloud("octomap_cloud", cloud);
}
}
UINFO("Octomap show 3d map time = %fs", time.ticks());
}
#endif

8
guilib/src/PreferencesDialog.cpp
View File

@@ -382,6 +382,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->spinBox_octomap_treeDepth, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
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->groupBox_organized, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->doubleSpinBox_mesh_angleTolerance, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
@@ -1260,6 +1261,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->spinBox_octomap_treeDepth->setValue(16);
_ui->checkBox_octomap_2dgrid->setChecked(true);
_ui->checkBox_octomap_show3dMap->setChecked(true);
_ui->checkBox_octomap_cubeRendering->setChecked(true);
_ui->doubleSpinBox_octomap_occupancyThr->setValue(0.5);
}
else if(groupBox->objectName() == _ui->groupBox_logging1->objectName())
@@ -1616,6 +1618,7 @@ 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->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->groupBox_organized->setChecked(settings.value("meshing", _ui->groupBox_organized->isChecked()).toBool());
@@ -2046,6 +2049,7 @@ 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_cube", _ui->checkBox_octomap_cubeRendering->isChecked());
settings.setValue("octomap_occupancy_thr", _ui->doubleSpinBox_octomap_occupancyThr->value());
@@ -3812,6 +3816,10 @@ bool PreferencesDialog::isOctomapShown() const
#endif
return false;
}
bool PreferencesDialog::isOctomapCubeRendering() const
{
return _ui->checkBox_octomap_cubeRendering->isChecked();
}
bool PreferencesDialog::isOctomap2dGrid() const
{
#ifdef RTABMAP_OCTOMAP

65
guilib/src/ui/preferencesDialog.ui
View File

@@ -63,9 +63,9 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-450</y>
<width>673</width>
<height>2496</height>
<y>0</y>
<width>678</width>
<height>2417</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>5</number>
<number>3</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -1747,20 +1747,7 @@ 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="1" column="0">
<widget class="QSpinBox" name="spinBox_octomap_treeDepth">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>16</number>
</property>
<property name="value">
<number>16</number>
</property>
</widget>
</item>
<item row="1" column="1">
<item row="2" 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>
@@ -1774,6 +1761,19 @@ Show a yellow background when the number of odometry inliers goes under this thr
</widget>
</item>
<item row="2" column="0">
<widget class="QSpinBox" name="spinBox_octomap_treeDepth">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>16</number>
</property>
<property name="value">
<number>16</number>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QCheckBox" name="checkBox_octomap_2dgrid">
<property name="text">
<string/>
@@ -1783,7 +1783,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="2" column="1">
<item row="3" column="1">
<widget class="QLabel" name="label_octomap_treeDepth_2">
<property name="text">
<string>Show 2D occupancy grid map from OctoMap projection.</string>
@@ -1819,7 +1819,7 @@ 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_4">
<property name="text">
<string>Occupancy threshold.</string>
@@ -1832,7 +1832,7 @@ 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="QDoubleSpinBox" name="doubleSpinBox_octomap_occupancyThr">
<property name="maximum">
<double>1.000000000000000</double>
@@ -1842,6 +1842,29 @@ Show a yellow background when the number of odometry inliers goes under this thr
</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">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>