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

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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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65
guilib/src/ui/preferencesDialog.ui
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@@ -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>