From 78164c97704adbe004938974854617b9f86f85d1 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Wed, 14 Oct 2015 17:11:30 -0400
Subject: [PATCH] DbViewer: added ground angle and cluster size parameters for
 grid projection map

---
 guilib/src/DatabaseViewer.cpp   | 18 +++++--
 guilib/src/ui/DatabaseViewer.ui | 85 ++++++++++++++++++++++++++-------
 2 files changed, 81 insertions(+), 22 deletions(-)

diff --git a/guilib/src/DatabaseViewer.cpp b/guilib/src/DatabaseViewer.cpp
index 90c175f9..572ea28b 100644
--- a/guilib/src/DatabaseViewer.cpp
+++ b/guilib/src/DatabaseViewer.cpp
@@ -236,6 +236,8 @@ DatabaseViewer::DatabaseViewer(QWidget * parent) :
 	connect(ui_->doubleSpinBox_gridCellSize, SIGNAL(editingFinished()), this, SLOT(updateGrid()));
 	connect(ui_->spinBox_projDecimation, SIGNAL(editingFinished()), this, SLOT(updateGrid()));
 	connect(ui_->doubleSpinBox_projMaxDepth, SIGNAL(editingFinished()), this, SLOT(updateGrid()));
+	connect(ui_->doubleSpinBox_projMaxAngle, SIGNAL(editingFinished()), this, SLOT(updateGrid()));
+	connect(ui_->spinBox_projClusterSize, SIGNAL(editingFinished()), this, SLOT(updateGrid()));
 
 	connect(ui_->spinBox_stereo_flowIterations, SIGNAL(valueChanged(int)), this, SLOT(updateStereo()));
 	connect(ui_->spinBox_stereo_flowMaxLevel, SIGNAL(valueChanged(int)), this, SLOT(updateStereo()));
@@ -275,6 +277,8 @@ DatabaseViewer::DatabaseViewer(QWidget * parent) :
 	connect(ui_->doubleSpinBox_gridCellSize, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
 	connect(ui_->spinBox_projDecimation, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
 	connect(ui_->doubleSpinBox_projMaxDepth, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
+	connect(ui_->doubleSpinBox_projMaxAngle, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
+	connect(ui_->spinBox_projClusterSize, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
 	connect(ui_->groupBox_posefiltering, SIGNAL(clicked(bool)), this, SLOT(configModified()));
 	connect(ui_->doubleSpinBox_posefilteringRadius, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
 	connect(ui_->doubleSpinBox_posefilteringAngle, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
@@ -399,6 +403,8 @@ void DatabaseViewer::readSettings()
 	ui_->doubleSpinBox_gridCellSize->setValue(settings.value("gridCellSize", ui_->doubleSpinBox_gridCellSize->value()).toDouble());
 	ui_->spinBox_projDecimation->setValue(settings.value("projDecimation", ui_->spinBox_projDecimation->value()).toInt());
 	ui_->doubleSpinBox_projMaxDepth->setValue(settings.value("projMaxDepth", ui_->doubleSpinBox_projMaxDepth->value()).toDouble());
+	ui_->doubleSpinBox_projMaxAngle->setValue(settings.value("projMaxAngle", ui_->doubleSpinBox_projMaxAngle->value()).toDouble());
+	ui_->spinBox_projClusterSize->setValue(settings.value("projClusterSize", ui_->spinBox_projClusterSize->value()).toInt());
 	ui_->groupBox_posefiltering->setChecked(settings.value("poseFiltering", ui_->groupBox_posefiltering->isChecked()).toBool());
 	ui_->doubleSpinBox_posefilteringRadius->setValue(settings.value("poseFilteringRadius", ui_->doubleSpinBox_posefilteringRadius->value()).toDouble());
 	ui_->doubleSpinBox_posefilteringAngle->setValue(settings.value("poseFilteringAngle", ui_->doubleSpinBox_posefilteringAngle->value()).toDouble());
@@ -497,6 +503,8 @@ void DatabaseViewer::writeSettings()
 	settings.setValue("gridCellSize", ui_->doubleSpinBox_gridCellSize->value());
 	settings.setValue("projDecimation", ui_->spinBox_projDecimation->value());
 	settings.setValue("projMaxDepth", ui_->doubleSpinBox_projMaxDepth->value());
+	settings.setValue("projMaxAngle", ui_->doubleSpinBox_projMaxAngle->value());
+	settings.setValue("projClusterSize", ui_->spinBox_projClusterSize->value());
 	settings.setValue("poseFiltering", ui_->groupBox_posefiltering->isChecked());
 	settings.setValue("poseFilteringRadius", ui_->doubleSpinBox_posefilteringRadius->value());
 	settings.setValue("poseFilteringAngle", ui_->doubleSpinBox_posefilteringAngle->value());
@@ -2712,8 +2720,8 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
 							{
 								UTimer timer;
 								float cellSize = ui_->doubleSpinBox_gridCellSize->value();
-								float groundNormalMaxAngle = M_PI_4;
-								int minClusterSize = 20;
+								float groundNormalMaxAngle = ui_->doubleSpinBox_projMaxAngle->value();
+								int minClusterSize = ui_->spinBox_projClusterSize->value();
 								cv::Mat ground, obstacles;
 
 								util3d::occupancy2DFromCloud3D<pcl::PointXYZ>(
@@ -3016,9 +3024,11 @@ void DatabaseViewer::updateGraphView()
 
 void DatabaseViewer::updateGrid()
 {
-	if((sender() != ui_->spinBox_projDecimation && sender() != ui_->doubleSpinBox_projMaxDepth) ||
+	if((sender() != ui_->spinBox_projDecimation && sender() != ui_->doubleSpinBox_projMaxDepth && sender()!=ui_->doubleSpinBox_projMaxAngle && sender()!=ui_->spinBox_projClusterSize) ||
 	   (sender() == ui_->spinBox_projDecimation && ui_->groupBox_gridFromProjection->isChecked()) ||
-	   (sender() == ui_->doubleSpinBox_projMaxDepth && ui_->groupBox_gridFromProjection->isChecked()))
+	   (sender() == ui_->doubleSpinBox_projMaxDepth && ui_->groupBox_gridFromProjection->isChecked()) ||
+	   (sender() == ui_->doubleSpinBox_projMaxAngle && ui_->groupBox_gridFromProjection->isChecked()) ||
+	   (sender() == ui_->spinBox_projClusterSize && ui_->groupBox_gridFromProjection->isChecked()))
 	{
 		localMaps_.clear();
 		updateGraphView();
diff --git a/guilib/src/ui/DatabaseViewer.ui b/guilib/src/ui/DatabaseViewer.ui
index 0cb1029a..6525930d 100644
--- a/guilib/src/ui/DatabaseViewer.ui
+++ b/guilib/src/ui/DatabaseViewer.ui
@@ -50,8 +50,8 @@
             <rect>
              <x>0</x>
              <y>0</y>
-             <width>154</width>
-             <height>184</height>
+             <width>166</width>
+             <height>173</height>
             </rect>
            </property>
            <layout class="QGridLayout" name="gridLayout" columnstretch="0,1">
@@ -236,8 +236,8 @@
             <rect>
              <x>0</x>
              <y>0</y>
-             <width>154</width>
-             <height>184</height>
+             <width>165</width>
+             <height>173</height>
             </rect>
            </property>
            <layout class="QGridLayout" name="gridLayout_2" columnstretch="0,1">
@@ -418,7 +418,7 @@
      <x>0</x>
      <y>0</y>
      <width>1285</width>
-     <height>22</height>
+     <height>25</height>
     </rect>
    </property>
    <widget class="QMenu" name="menuFile">
@@ -829,15 +829,15 @@
      <item>
       <widget class="QToolBox" name="toolBox">
        <property name="currentIndex">
-        <number>1</number>
+        <number>3</number>
        </property>
        <widget class="QWidget" name="page">
         <property name="geometry">
          <rect>
           <x>0</x>
           <y>0</y>
-          <width>312</width>
-          <height>314</height>
+          <width>338</width>
+          <height>303</height>
          </rect>
         </property>
         <attribute name="label">
@@ -1056,8 +1056,8 @@
          <rect>
           <x>0</x>
           <y>0</y>
-          <width>366</width>
-          <height>391</height>
+          <width>351</width>
+          <height>380</height>
          </rect>
         </property>
         <attribute name="label">
@@ -1376,7 +1376,7 @@
           <x>0</x>
           <y>0</y>
           <width>338</width>
-          <height>330</height>
+          <height>333</height>
          </rect>
         </property>
         <attribute name="label">
@@ -1613,9 +1613,9 @@
         <property name="geometry">
          <rect>
           <x>0</x>
-          <y>0</y>
-          <width>248</width>
-          <height>343</height>
+          <y>-100</y>
+          <width>338</width>
+          <height>377</height>
          </rect>
         </property>
         <attribute name="label">
@@ -1741,6 +1741,55 @@
               </property>
              </widget>
             </item>
+            <item row="2" column="1">
+             <widget class="QLabel" name="label_66">
+              <property name="text">
+               <string>Cluster size</string>
+              </property>
+             </widget>
+            </item>
+            <item row="3" column="1">
+             <widget class="QLabel" name="label_67">
+              <property name="text">
+               <string>Max ground angle</string>
+              </property>
+             </widget>
+            </item>
+            <item row="3" column="0">
+             <widget class="QDoubleSpinBox" name="doubleSpinBox_projMaxAngle">
+              <property name="suffix">
+               <string> rad</string>
+              </property>
+              <property name="decimals">
+               <number>2</number>
+              </property>
+              <property name="minimum">
+               <double>0.000000000000000</double>
+              </property>
+              <property name="maximum">
+               <double>3.140000000000000</double>
+              </property>
+              <property name="singleStep">
+               <double>0.100000000000000</double>
+              </property>
+              <property name="value">
+               <double>0.790000000000000</double>
+              </property>
+             </widget>
+            </item>
+            <item row="2" column="0">
+             <widget class="QSpinBox" name="spinBox_projClusterSize">
+              <property name="minimum">
+               <number>1</number>
+              </property>
+              <property name="maximum">
+               <number>10000</number>
+              </property>
+              <property name="value">
+               <number>20</number>
+              </property>
+             </widget>
+            </item>
            </layout>
           </widget>
          </item>
@@ -1822,8 +1871,8 @@
          <rect>
           <x>0</x>
           <y>0</y>
-          <width>201</width>
-          <height>126</height>
+          <width>351</width>
+          <height>176</height>
          </rect>
         </property>
         <attribute name="label">
@@ -1922,8 +1971,8 @@
          <rect>
           <x>0</x>
           <y>0</y>
-          <width>283</width>
-          <height>322</height>
+          <width>338</width>
+          <height>309</height>
          </rect>
         </property>
         <attribute name="label">