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Improved occupancy grid map construction performance

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This commit is contained in:
Mathieu Labbe
2015-02-11 17:03:46 -05:00
parent 530fd5d2c1
commit 7c65dbf6bb
11 changed files with 324 additions and 205 deletions
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16
guilib/src/PreferencesDialog.cpp
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@@ -224,9 +224,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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()));
connect(_ui->spinbox_map_fillEmptyRadius, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->checkBox_map_occupancyFrom3DCloud, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
//Logging panel
@@ -854,9 +852,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->checkBox_map_shown->setChecked(false);
_ui->doubleSpinBox_map_resolution->setValue(0.05);
_ui->checkBox_map_fillEmptySpace->setChecked(true);
_ui->checkBox_map_occupancyFrom3DCloud->setChecked(false);
_ui->spinbox_map_fillEmptyRadius->setValue(1);
_ui->doubleSpinBox_map_opacity->setValue(0.75);
}
else if(groupBox->objectName() == _ui->groupBox_logging1->objectName())
@@ -1094,9 +1090,7 @@ void PreferencesDialog::readGuiSettings(const QString & filePath)
_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->checkBox_map_occupancyFrom3DCloud->setChecked(settings.value("gridMapOccupancyFrom3DCloud", _ui->checkBox_map_occupancyFrom3DCloud->isChecked()).toBool());
_ui->spinbox_map_fillEmptyRadius->setValue(settings.value("gridMapFillEmptyRadius", _ui->spinbox_map_fillEmptyRadius->value()).toInt());
_ui->doubleSpinBox_map_opacity->setValue(settings.value("gridMapOpacity", _ui->doubleSpinBox_map_opacity->value()).toDouble());
settings.endGroup(); // General
@@ -1343,9 +1337,7 @@ void PreferencesDialog::writeGuiSettings(const QString & filePath)
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("gridMapOccupancyFrom3DCloud", _ui->checkBox_map_occupancyFrom3DCloud->isChecked());
settings.setValue("gridMapFillEmptyRadius", _ui->spinbox_map_fillEmptyRadius->value());
settings.setValue("gridMapOpacity", _ui->doubleSpinBox_map_opacity->value());
settings.endGroup(); // General
@@ -3000,18 +2992,10 @@ double PreferencesDialog::getGridMapResolution() const
{
return _ui->doubleSpinBox_map_resolution->value();
}
bool PreferencesDialog::getGridMapFillEmptySpace() const
{
return _ui->checkBox_map_fillEmptySpace->isChecked();
}
bool PreferencesDialog::isGridMapFrom3DCloud() const
{
return _ui->checkBox_map_occupancyFrom3DCloud->isChecked();
}
int PreferencesDialog::getGridMapFillEmptyRadius() const
{
return _ui->spinbox_map_fillEmptyRadius->value();
}
double PreferencesDialog::getGridMapOpacity() const
{
return _ui->doubleSpinBox_map_opacity->value();