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-Added the grid map in the 3D map view (pcl::TextureMesh, available only when pcl>=1.7.2). Refactored how 2d maps are created.

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-Fixed export grid map on Mac OS X.


git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1623 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-07-29 21:48:37 +00:00
parent a81f5785a2
commit 69ad085f88
16 changed files with 517 additions and 249 deletions
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42
guilib/src/PreferencesDialog.cpp
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@@ -96,6 +96,12 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->odom_bin_nn->removeItem(4);
}
#if PCL_VERSION_COMPARE(<, 1, 7, 2)
_ui->checkBox_map_shown->setChecked(false);
_ui->checkBox_map_shown->setEnabled(false);
_ui->label_map_shown->setText(_ui->label_map_shown->text() + " (Disabled, PCL >=1.7.2 required)");
#endif
_ui->predictionPlot->showLegend(false);
QButtonGroup * buttonGroup = new QButtonGroup(this);
@@ -180,6 +186,11 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->doubleSpinBox_cloudFilterRadius, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->doubleSpinBox_cloudFilterAngle, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->checkBox_map_shown, SIGNAL(clicked(bool)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->doubleSpinBox_map_resolution, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->checkBox_map_fillEmptySpace, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->doubleSpinBox_map_opacity, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
//Logging panel
connect(_ui->comboBox_loggerLevel, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteLoggingPanel()));
connect(_ui->comboBox_loggerEventLevel, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteLoggingPanel()));
@@ -742,6 +753,11 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->groupBox_poseFiltering->setChecked(false);
_ui->doubleSpinBox_cloudFilterRadius->setValue(0.1);
_ui->doubleSpinBox_cloudFilterAngle->setValue(30);
_ui->checkBox_map_shown->setChecked(false);
_ui->doubleSpinBox_map_resolution->setValue(0.05);
_ui->checkBox_map_fillEmptySpace->setChecked(true);
_ui->doubleSpinBox_map_opacity->setValue(0.75);
}
else if(groupBox->objectName() == _ui->groupBox_logging1->objectName())
{
@@ -972,6 +988,11 @@ void PreferencesDialog::readGuiSettings(const QString & filePath)
_ui->doubleSpinBox_cloudFilterRadius->setValue(settings.value("cloudFilteringRadius", _ui->doubleSpinBox_cloudFilterRadius->value()).toDouble());
_ui->doubleSpinBox_cloudFilterAngle->setValue(settings.value("cloudFilteringAngle", _ui->doubleSpinBox_cloudFilterAngle->value()).toDouble());
_ui->checkBox_map_shown->setChecked(settings.value("gridMapShown", _ui->checkBox_map_shown->isChecked()).toBool());
_ui->doubleSpinBox_map_resolution->setValue(settings.value("gridMapResolution", _ui->doubleSpinBox_map_resolution->value()).toDouble());
_ui->checkBox_map_fillEmptySpace->setChecked(settings.value("gridMapFillEmptySpace", _ui->checkBox_map_fillEmptySpace->isChecked()).toBool());
_ui->doubleSpinBox_map_opacity->setValue(settings.value("gridMapOpacity", _ui->doubleSpinBox_map_opacity->value()).toDouble());
settings.endGroup(); // General
settings.endGroup(); // rtabmap
@@ -1178,6 +1199,10 @@ void PreferencesDialog::writeGuiSettings(const QString & filePath)
settings.setValue("cloudFilteringRadius", _ui->doubleSpinBox_cloudFilterRadius->value());
settings.setValue("cloudFilteringAngle", _ui->doubleSpinBox_cloudFilterAngle->value());
settings.setValue("gridMapShown", _ui->checkBox_map_shown->isChecked());
settings.setValue("gridMapResolution", _ui->doubleSpinBox_map_resolution->value());
settings.setValue("gridMapFillEmptySpace", _ui->checkBox_map_fillEmptySpace->isChecked());
settings.setValue("gridMapOpacity", _ui->doubleSpinBox_map_opacity->value());
settings.endGroup(); // General
settings.endGroup(); // rtabmap
@@ -2467,6 +2492,23 @@ double PreferencesDialog::getCloudFilteringAngle() const
{
return _ui->doubleSpinBox_cloudFilterAngle->value();
}
bool PreferencesDialog::getGridMapShown() const
{
return _ui->checkBox_map_shown->isChecked();
}
double PreferencesDialog::getGridMapResolution() const
{
return _ui->doubleSpinBox_map_resolution->value();
}
bool PreferencesDialog::getGridMapFillEmptySpace() const
{
return _ui->checkBox_map_fillEmptySpace->isChecked();
}
double PreferencesDialog::getGridMapOpacity() const
{
return _ui->doubleSpinBox_map_opacity->value();
}
// Source
double PreferencesDialog::getGeneralInputRate() const