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UI: Added option to change map resolution on UI side, save/restore thresholds in figures, fixed basic panel's slam/rgbd mode checkboxes not changing the state of corresponding parameters.

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matlabbe
2024-04-12 17:12:23 -07:00
parent fbbab1c077
commit a3267c9da6
8 changed files with 213 additions and 45 deletions
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guilib/src/MainWindow.cpp
+59 -3
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@@ -264,6 +264,11 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent, bool sh
setupMainLayout(_preferencesDialog->isVerticalLayoutUsed());
ParametersMap parameters = _preferencesDialog->getAllParameters();
// Override map resolution for UI
if(_preferencesDialog->getGridUIResolution()>0)
{
uInsert(parameters, ParametersPair(Parameters::kGridCellSize(), uNumber2Str(_preferencesDialog->getGridUIResolution())));
}
_occupancyGrid = new OccupancyGrid(&_cachedLocalMaps, parameters);
#ifdef RTABMAP_OCTOMAP
_octomap = new OctoMap(&_cachedLocalMaps, parameters);
@@ -3002,7 +3007,28 @@ void MainWindow::updateMapCloud(
jter->sensorData().uncompressDataConst(0, 0, 0, 0, &ground, &obstacles, &empty);
_cachedLocalMaps.add(iter->first, ground, obstacles, empty, jter->sensorData().gridCellSize(), jter->sensorData().gridViewPoint());
double resolution = jter->sensorData().gridCellSize();
if(_preferencesDialog->getGridUIResolution() > jter->sensorData().gridCellSize())
{
resolution = _preferencesDialog->getGridUIResolution();
pcl::PointCloud<pcl::PointXYZ>::Ptr groundCloud = util3d::voxelize(util3d::laserScanToPointCloud(LaserScan::backwardCompatibility(ground)), resolution);
pcl::PointCloud<pcl::PointXYZ>::Ptr obstaclesCloud = util3d::voxelize(util3d::laserScanToPointCloud(LaserScan::backwardCompatibility(obstacles)), resolution);
pcl::PointCloud<pcl::PointXYZ>::Ptr emptyCloud = util3d::voxelize(util3d::laserScanToPointCloud(LaserScan::backwardCompatibility(empty)), resolution);
if(ground.channels() == 2)
ground = util3d::laserScan2dFromPointCloud(*groundCloud).data();
else
ground = util3d::laserScanFromPointCloud(*groundCloud).data();
if(obstacles.channels() == 2)
obstacles = util3d::laserScan2dFromPointCloud(*obstaclesCloud).data();
else
obstacles = util3d::laserScanFromPointCloud(*obstaclesCloud).data();
if(empty.channels() == 2)
empty = util3d::laserScan2dFromPointCloud(*emptyCloud).data();
else
empty = util3d::laserScanFromPointCloud(*emptyCloud).data();
}
_cachedLocalMaps.add(iter->first, ground, obstacles, empty, resolution, jter->sensorData().gridViewPoint());
}
}
@@ -5976,6 +6002,12 @@ void MainWindow::startDetection()
"progress will not be shown in the GUI."));
}
// Override map resolution for UI
if(_preferencesDialog->getGridUIResolution()>0)
{
uInsert(parameters, ParametersPair(Parameters::kGridCellSize(), uNumber2Str(_preferencesDialog->getGridUIResolution())));
}
_cachedLocalMaps.clear();
delete _occupancyGrid;
@@ -7513,7 +7545,8 @@ void MainWindow::saveFigures()
{
QList<int> curvesPerFigure;
QStringList curveNames;
_ui->statsToolBox->getFiguresSetup(curvesPerFigure, curveNames);
QStringList curveThresholds;
_ui->statsToolBox->getFiguresSetup(curvesPerFigure, curveNames, curveThresholds);
QStringList curvesPerFigureStr;
for(int i=0; i<curvesPerFigure.size(); ++i)
@@ -7526,17 +7559,24 @@ void MainWindow::saveFigures()
}
_preferencesDialog->saveCustomConfig("Figures", "counts", curvesPerFigureStr.join(" "));
_preferencesDialog->saveCustomConfig("Figures", "curves", curveNames.join(" "));
_preferencesDialog->saveCustomConfig("Figures", "thresholds", curveThresholds.join(" "));
}
void MainWindow::loadFigures()
{
QString curvesPerFigure = _preferencesDialog->loadCustomConfig("Figures", "counts");
QString curveNames = _preferencesDialog->loadCustomConfig("Figures", "curves");
QString curveThresholds = _preferencesDialog->loadCustomConfig("Figures", "thresholds");
if(!curvesPerFigure.isEmpty())
{
QStringList curvesPerFigureList = curvesPerFigure.split(" ");
QStringList curvesNamesList = curveNames.split(" ");
QStringList curveThresholdsList = curveThresholds.split(" ");
if(curveThresholdsList[0].isEmpty()) {
curveThresholdsList.clear();
}
UASSERT(curveThresholdsList.isEmpty() || curveThresholdsList.size() == curvesNamesList.size());
int j=0;
for(int i=0; i<curvesPerFigureList.size(); ++i)
@@ -7553,7 +7593,23 @@ void MainWindow::loadFigures()
_ui->statsToolBox->addCurve(curvesNamesList[j++].replace('_', ' '));
for(int k=1; k<count && j<curveNames.size(); ++k)
{
_ui->statsToolBox->addCurve(curvesNamesList[j++].replace('_', ' '), false);
if(curveThresholdsList.size())
{
bool ok = false;
double thresholdValue = curveThresholdsList[j].toDouble(&ok);
if(ok)
{
_ui->statsToolBox->addThreshold(curvesNamesList[j++].replace('_', ' '), thresholdValue);
}
else
{
_ui->statsToolBox->addCurve(curvesNamesList[j++].replace('_', ' '), false);
}
}
else
{
_ui->statsToolBox->addCurve(curvesNamesList[j++].replace('_', ' '), false);
}
}
}
}