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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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4
corelib/src/OctoMap.cpp
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@@ -439,7 +439,7 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr OctoMap::createCloud(
int gi=0; int gi=0;
for (octomap::ColorOcTree::iterator it = octree_->begin(treeDepth); it != octree_->end(); ++it) for (octomap::ColorOcTree::iterator it = octree_->begin(treeDepth); it != octree_->end(); ++it)
{ {
if(octree_->isNodeOccupied(*it)) if(octree_->isNodeOccupied(*it) && (obstacleIndices || emptyIndices == 0))
{ {
octomap::point3d pt = octree_->keyToCoord(it.getKey()); octomap::point3d pt = octree_->keyToCoord(it.getKey());
if(octree_->getTreeDepth() == it.getDepth() && hasColor_) if(octree_->getTreeDepth() == it.getDepth() && hasColor_)
@@ -465,7 +465,7 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr OctoMap::createCloud(
} }
++oi; ++oi;
} }
else else if(emptyIndices || obstacleIndices == 0)
{ {
octomap::point3d pt = octree_->keyToCoord(it.getKey()); octomap::point3d pt = octree_->keyToCoord(it.getKey());
(*cloud)[oi] = pcl::PointXYZRGB(it->getColor().r, it->getColor().g, it->getColor().b); (*cloud)[oi] = pcl::PointXYZRGB(it->getColor().r, it->getColor().g, it->getColor().b);

1
guilib/include/rtabmap/gui/PreferencesDialog.h
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@@ -157,6 +157,7 @@ public:
bool isCloudsShown(int index) const; // 0=map, 1=odom bool isCloudsShown(int index) const; // 0=map, 1=odom
bool isOctomapUpdated() const; bool isOctomapUpdated() const;
bool isOctomapShown() const; bool isOctomapShown() const;
bool isOctomapCubeRendering() const;
bool isOctomap2dGrid() const; bool isOctomap2dGrid() const;
int getOctomapTreeDepth() const; int getOctomapTreeDepth() const;
bool isOctomapGroundAnObstacle() const; bool isOctomapGroundAnObstacle() const;

15
guilib/src/MainWindow.cpp
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@@ -2387,6 +2387,7 @@ void MainWindow::updateMapCloud(
#ifdef RTABMAP_OCTOMAP #ifdef RTABMAP_OCTOMAP
_cloudViewer->removeOctomap(); _cloudViewer->removeOctomap();
_cloudViewer->removeCloud("octomap_cloud");
if(_preferencesDialog->isOctomapUpdated()) if(_preferencesDialog->isOctomapUpdated())
{ {
UDEBUG(""); UDEBUG("");
@@ -2398,7 +2399,19 @@ void MainWindow::updateMapCloud(
{ {
UDEBUG(""); UDEBUG("");
UTimer time; 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()); UINFO("Octomap show 3d map time = %fs", time.ticks());
} }
#endif #endif

8
guilib/src/PreferencesDialog.cpp
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@@ -382,6 +382,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->spinBox_octomap_treeDepth, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel())); 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_2dgrid, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->checkBox_octomap_show3dMap, 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->groupBox_organized, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->doubleSpinBox_mesh_angleTolerance, SIGNAL(valueChanged(double)), 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->spinBox_octomap_treeDepth->setValue(16);
_ui->checkBox_octomap_2dgrid->setChecked(true); _ui->checkBox_octomap_2dgrid->setChecked(true);
_ui->checkBox_octomap_show3dMap->setChecked(true); _ui->checkBox_octomap_show3dMap->setChecked(true);
_ui->checkBox_octomap_cubeRendering->setChecked(true);
_ui->doubleSpinBox_octomap_occupancyThr->setValue(0.5); _ui->doubleSpinBox_octomap_occupancyThr->setValue(0.5);
} }
else if(groupBox->objectName() == _ui->groupBox_logging1->objectName()) 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->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_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_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->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->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_depth", _ui->spinBox_octomap_treeDepth->value());
settings.setValue("octomap_2dgrid", _ui->checkBox_octomap_2dgrid->isChecked()); settings.setValue("octomap_2dgrid", _ui->checkBox_octomap_2dgrid->isChecked());
settings.setValue("octomap_3dmap", _ui->checkBox_octomap_show3dMap->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()); settings.setValue("octomap_occupancy_thr", _ui->doubleSpinBox_octomap_occupancyThr->value());
@@ -3812,6 +3816,10 @@ bool PreferencesDialog::isOctomapShown() const
#endif #endif
return false; return false;
} }
bool PreferencesDialog::isOctomapCubeRendering() const
{
return _ui->checkBox_octomap_cubeRendering->isChecked();
}
bool PreferencesDialog::isOctomap2dGrid() const bool PreferencesDialog::isOctomap2dGrid() const
{ {
#ifdef RTABMAP_OCTOMAP #ifdef RTABMAP_OCTOMAP

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

@@ -63,9 +63,9 @@
<property name="geometry"> <property name="geometry">
<rect> <rect>
<x>0</x> <x>0</x>
<y>-450</y> <y>0</y>
<width>673</width> <width>678</width>
<height>2496</height> <height>2417</height>
</rect> </rect>
</property> </property>
<layout class="QVBoxLayout" name="verticalLayout_16"> <layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum> <enum>QFrame::Raised</enum>
</property> </property>
<property name="currentIndex"> <property name="currentIndex">
<number>5</number> <number>3</number>
</property> </property>
<widget class="QWidget" name="page_22"> <widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1"> <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> <bool>true</bool>
</property> </property>
<layout class="QGridLayout" name="gridLayout_72" columnstretch="0,1"> <layout class="QGridLayout" name="gridLayout_72" columnstretch="0,1">
<item row="1" column="0"> <item row="2" column="1">
<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">
<widget class="QLabel" name="label_octomap_treeDepth"> <widget class="QLabel" name="label_octomap_treeDepth">
<property name="text"> <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> <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> </widget>
</item> </item>
<item row="2" column="0"> <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"> <widget class="QCheckBox" name="checkBox_octomap_2dgrid">
<property name="text"> <property name="text">
<string/> <string/>
@@ -1783,7 +1783,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property> </property>
</widget> </widget>
</item> </item>
<item row="2" column="1"> <item row="3" column="1">
<widget class="QLabel" name="label_octomap_treeDepth_2"> <widget class="QLabel" name="label_octomap_treeDepth_2">
<property name="text"> <property name="text">
<string>Show 2D occupancy grid map from OctoMap projection.</string> <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> </property>
</widget> </widget>
</item> </item>
<item row="3" column="1"> <item row="4" column="1">
<widget class="QLabel" name="label_octomap_treeDepth_4"> <widget class="QLabel" name="label_octomap_treeDepth_4">
<property name="text"> <property name="text">
<string>Occupancy threshold.</string> <string>Occupancy threshold.</string>
@@ -1832,7 +1832,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property> </property>
</widget> </widget>
</item> </item>
<item row="3" column="0"> <item row="4" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_octomap_occupancyThr"> <widget class="QDoubleSpinBox" name="doubleSpinBox_octomap_occupancyThr">
<property name="maximum"> <property name="maximum">
<double>1.000000000000000</double> <double>1.000000000000000</double>
@@ -1842,6 +1842,29 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property> </property>
</widget> </widget>
</item> </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> </layout>
</widget> </widget>
</item> </item>