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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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83
guilib/src/ui/preferencesDialog.ui
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@@ -65,7 +65,7 @@
<x>0</x>
<y>0</y>
<width>744</width>
<height>1074</height>
<height>1056</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
@@ -421,6 +421,23 @@ Show a yellow background when the number of odometry inliers goes under this thr
</item>
<item>
<layout class="QGridLayout" name="gridLayout_20" columnstretch="0,1">
<item row="0" column="0">
<widget class="QCheckBox" name="checkBox_map_shown">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_map_shown">
<property name="text">
<string>Show in 3D map view.</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_map_resolution">
<property name="suffix">
@@ -444,23 +461,6 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_164">
<property name="text">
<string>Fill empty space.</string>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QCheckBox" name="checkBox_map_fillEmptySpace">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_170">
<property name="text">
@@ -468,24 +468,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QCheckBox" name="checkBox_map_shown">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_map_shown">
<property name="text">
<string>Show in 3D map view.</string>
</property>
</widget>
</item>
<item row="4" column="0">
<item row="3" column="0">
<widget class="QCheckBox" name="checkBox_map_occupancyFrom3DCloud">
<property name="text">
<string/>
@@ -511,7 +494,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="4" column="1">
<item row="3" column="1">
<widget class="QLabel" name="label_210">
<property name="text">
<string>Occupancy from 3D cloud projection on the ground. Laser scans are ignored when activated.</string>
@@ -521,32 +504,6 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_211">
<property name="text">
<string>Fill empty radius. Used when occupancy from 3D projection is activated.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QSpinBox" name="spinbox_map_fillEmptyRadius">
<property name="suffix">
<string> cells</string>
</property>
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>10</number>
</property>
<property name="value">
<number>1</number>
</property>
</widget>
</item>
</layout>
</item>
</layout>