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updated util3d::create2dMap() with filling unknown space option (default true)

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1453 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-07-03 20:16:39 +00:00
parent 99fbca5ffe
commit 87d1e4b52a
8 changed files with 290 additions and 126 deletions
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36
guilib/src/GraphViewer.cpp
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@@ -135,7 +135,9 @@ GraphViewer::GraphViewer(QWidget * parent) :
_nodeRadius(0.01),
_linkWidth(0),
_gridMap(0),
_gridCellSize(0.05f)
_lastReferential(0),
_gridCellSize(0.05f),
_gridUnknownSpaceFilled(true)
{
Q_ASSERT(_gridCellSize > 0);
@@ -154,6 +156,19 @@ GraphViewer::GraphViewer(QWidget * parent) :
item->setZValue(100);
item->setParentItem(_root);
// current pose
_lastReferential = new QGraphicsItemGroup();
this->scene()->addItem(_lastReferential);
item = this->scene()->addLine(0,0,0,-0.5, QPen(QBrush(Qt::red), _linkWidth));
item->setZValue(100);
item->setParentItem(_root);
_lastReferential->addToGroup(item);
item = this->scene()->addLine(0,0,-0.5,0, QPen(QBrush(Qt::green), _linkWidth));
item->setZValue(100);
item->setParentItem(_root);
_lastReferential->addToGroup(item);
_gridMap = this->scene()->addPixmap(QPixmap());
_gridMap->scale(_gridCellSize, -_gridCellSize);
_gridMap->setRotation(90);
@@ -312,7 +327,7 @@ void GraphViewer::updateGraph(const std::map<int, Transform> & poses,
if(scanClouds.size())
{
float xMin=0.0f, yMin=0.0f;
cv::Mat map8S = util3d::create2DMap(poses, scanClouds, _gridCellSize, xMin, yMin);
cv::Mat map8S = util3d::create2DMap(poses, scanClouds, _gridCellSize, _gridUnknownSpaceFilled, xMin, yMin);
cv::Mat map8U(map8S.rows, map8S.cols, CV_8U);
//convert to gray scaled map
for (int i = 0; i < map8S.rows; ++i)
@@ -346,7 +361,13 @@ void GraphViewer::updateGraph(const std::map<int, Transform> & poses,
if(_nodeItems.size())
{
(--_nodeItems.end()).value()->setColor(Qt::gray);
(--_nodeItems.end()).value()->setColor(Qt::green);
}
if(poses.size())
{
Transform t = poses.rbegin()->second;
QTransform qt(t.r11(), t.r12(), t.r21(), t.r22(), -t.o24(), -t.o14());
_lastReferential->setTransform(qt);
}
this->scene()->setSceneRect(this->scene()->itemsBoundingRect()); // Re-shrink the scene to it's bounding contents
@@ -362,6 +383,7 @@ void GraphViewer::clearGraph()
qDeleteAll(_loopLinkItems);
_loopLinkItems.clear();
_gridMap->setPixmap(QPixmap());
_lastReferential->resetTransform();
this->scene()->setSceneRect(this->scene()->itemsBoundingRect()); // Re-shrink the scene to it's bounding contents
}
@@ -391,6 +413,9 @@ void GraphViewer::contextMenuEvent(QContextMenuEvent * event)
QAction * aSetLinkSize = menu.addAction(tr("Set link width..."));
menu.addSeparator();
QAction * aSetGridCellSize = menu.addAction(tr("Set grid cell size..."));
QAction * aSetGridUnknownSpaceFilled = menu.addAction(tr("Unknown grid space filled"));
aSetGridUnknownSpaceFilled->setCheckable(true);
aSetGridUnknownSpaceFilled->setChecked(_gridUnknownSpaceFilled);
QAction * aShowHideGridMap;
if(_gridMap->isVisible())
{
@@ -557,9 +582,12 @@ void GraphViewer::contextMenuEvent(QContextMenuEvent * event)
if(ok)
{
_gridCellSize = value;
}
}
else if(r == aSetGridUnknownSpaceFilled)
{
_gridUnknownSpaceFilled = aSetGridUnknownSpaceFilled->isChecked();
}
else if(r == aShowHideGridMap)
{
_gridMap->setVisible(!_gridMap->isVisible());