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DbViewer: added ground angle and cluster size parameters for grid projection map

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This commit is contained in:
matlabbe
2015-10-14 17:11:30 -04:00
parent b8382fe5bd
commit 78164c9770
2 changed files with 81 additions and 22 deletions
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18
guilib/src/DatabaseViewer.cpp
View File

@@ -236,6 +236,8 @@ DatabaseViewer::DatabaseViewer(QWidget * parent) :
connect(ui_->doubleSpinBox_gridCellSize, SIGNAL(editingFinished()), this, SLOT(updateGrid())); connect(ui_->doubleSpinBox_gridCellSize, SIGNAL(editingFinished()), this, SLOT(updateGrid()));
connect(ui_->spinBox_projDecimation, 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_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_flowIterations, SIGNAL(valueChanged(int)), this, SLOT(updateStereo()));
connect(ui_->spinBox_stereo_flowMaxLevel, 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_->doubleSpinBox_gridCellSize, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
connect(ui_->spinBox_projDecimation, SIGNAL(valueChanged(int)), 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_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_->groupBox_posefiltering, SIGNAL(clicked(bool)), this, SLOT(configModified()));
connect(ui_->doubleSpinBox_posefilteringRadius, SIGNAL(valueChanged(double)), this, SLOT(configModified())); connect(ui_->doubleSpinBox_posefilteringRadius, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
connect(ui_->doubleSpinBox_posefilteringAngle, 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_->doubleSpinBox_gridCellSize->setValue(settings.value("gridCellSize", ui_->doubleSpinBox_gridCellSize->value()).toDouble());
ui_->spinBox_projDecimation->setValue(settings.value("projDecimation", ui_->spinBox_projDecimation->value()).toInt()); 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_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_->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_posefilteringRadius->setValue(settings.value("poseFilteringRadius", ui_->doubleSpinBox_posefilteringRadius->value()).toDouble());
ui_->doubleSpinBox_posefilteringAngle->setValue(settings.value("poseFilteringAngle", ui_->doubleSpinBox_posefilteringAngle->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("gridCellSize", ui_->doubleSpinBox_gridCellSize->value());
settings.setValue("projDecimation", ui_->spinBox_projDecimation->value()); settings.setValue("projDecimation", ui_->spinBox_projDecimation->value());
settings.setValue("projMaxDepth", ui_->doubleSpinBox_projMaxDepth->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("poseFiltering", ui_->groupBox_posefiltering->isChecked());
settings.setValue("poseFilteringRadius", ui_->doubleSpinBox_posefilteringRadius->value()); settings.setValue("poseFilteringRadius", ui_->doubleSpinBox_posefilteringRadius->value());
settings.setValue("poseFilteringAngle", ui_->doubleSpinBox_posefilteringAngle->value()); settings.setValue("poseFilteringAngle", ui_->doubleSpinBox_posefilteringAngle->value());
@@ -2712,8 +2720,8 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
{ {
UTimer timer; UTimer timer;
float cellSize = ui_->doubleSpinBox_gridCellSize->value(); float cellSize = ui_->doubleSpinBox_gridCellSize->value();
float groundNormalMaxAngle = M_PI_4; float groundNormalMaxAngle = ui_->doubleSpinBox_projMaxAngle->value();
int minClusterSize = 20; int minClusterSize = ui_->spinBox_projClusterSize->value();
cv::Mat ground, obstacles; cv::Mat ground, obstacles;
util3d::occupancy2DFromCloud3D<pcl::PointXYZ>( util3d::occupancy2DFromCloud3D<pcl::PointXYZ>(
@@ -3016,9 +3024,11 @@ void DatabaseViewer::updateGraphView()
void DatabaseViewer::updateGrid() 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_->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(); localMaps_.clear();
updateGraphView(); updateGraphView();

85
guilib/src/ui/DatabaseViewer.ui
View File

@@ -50,8 +50,8 @@
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>154</width> <width>166</width>
<height>184</height> <height>173</height>
</rect> </rect>
</property> </property>
<layout class="QGridLayout" name="gridLayout" columnstretch="0,1"> <layout class="QGridLayout" name="gridLayout" columnstretch="0,1">
@@ -236,8 +236,8 @@
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>154</width> <width>165</width>
<height>184</height> <height>173</height>
</rect> </rect>
</property> </property>
<layout class="QGridLayout" name="gridLayout_2" columnstretch="0,1"> <layout class="QGridLayout" name="gridLayout_2" columnstretch="0,1">
@@ -418,7 +418,7 @@
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>1285</width> <width>1285</width>
<height>22</height> <height>25</height>
</rect> </rect>
</property> </property>
<widget class="QMenu" name="menuFile"> <widget class="QMenu" name="menuFile">
@@ -829,15 +829,15 @@
<item> <item>
<widget class="QToolBox" name="toolBox"> <widget class="QToolBox" name="toolBox">
<property name="currentIndex"> <property name="currentIndex">
<number>1</number> <number>3</number>
</property> </property>
<widget class="QWidget" name="page"> <widget class="QWidget" name="page">
<property name="geometry"> <property name="geometry">
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>312</width> <width>338</width>
<height>314</height> <height>303</height>
</rect> </rect>
</property> </property>
<attribute name="label"> <attribute name="label">
@@ -1056,8 +1056,8 @@
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>366</width> <width>351</width>
<height>391</height> <height>380</height>
</rect> </rect>
</property> </property>
<attribute name="label"> <attribute name="label">
@@ -1376,7 +1376,7 @@
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>338</width> <width>338</width>
<height>330</height> <height>333</height>
</rect> </rect>
</property> </property>
<attribute name="label"> <attribute name="label">
@@ -1613,9 +1613,9 @@
<property name="geometry"> <property name="geometry">
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>-100</y>
<width>248</width> <width>338</width>
<height>343</height> <height>377</height>
</rect> </rect>
</property> </property>
<attribute name="label"> <attribute name="label">
@@ -1741,6 +1741,55 @@
</property> </property>
</widget> </widget>
</item> </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> </layout>
</widget> </widget>
</item> </item>
@@ -1822,8 +1871,8 @@
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>201</width> <width>351</width>
<height>126</height> <height>176</height>
</rect> </rect>
</property> </property>
<attribute name="label"> <attribute name="label">
@@ -1922,8 +1971,8 @@
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>283</width> <width>338</width>
<height>322</height> <height>309</height>
</rect> </rect>
</property> </property>
<attribute name="label"> <attribute name="label">