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Fixed #695 (footprint not cleared correctly when GridGlobal/OccupancyThr>0)

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matlabbe
2021-03-05 18:35:49 -05:00
parent 4f46d8e904
commit ab8f0e2b34
4 changed files with 64 additions and 18 deletions
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14
guilib/src/DatabaseViewer.cpp
View File

@@ -443,6 +443,8 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
connect(ui_->toolButton_groundColor, SIGNAL(clicked(bool)), this, SLOT(selectGroundColor()));
connect(ui_->toolButton_emptyColor, SIGNAL(clicked(bool)), this, SLOT(selectEmptyColor()));
connect(ui_->spinBox_cropRadius, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
connect(ui_->checkBox_grid_showProbMap, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->checkBox_grid_showProbMap, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
connect(exportDialog_, SIGNAL(configChanged()), this, SLOT(configModified()));
@@ -555,6 +557,7 @@ void DatabaseViewer::readSettings()
ui_->lineEdit_groundColor->setText(settings.value("colorGround", ui_->lineEdit_groundColor->text()).toString());
ui_->lineEdit_emptyColor->setText(settings.value("colorEmpty", ui_->lineEdit_emptyColor->text()).toString());
ui_->spinBox_cropRadius->setValue(settings.value("cropRadius", ui_->spinBox_cropRadius->value()).toInt());
ui_->checkBox_grid_showProbMap->setChecked(settings.value("probMap", ui_->checkBox_grid_showProbMap->isChecked()).toBool());
settings.endGroup();
settings.beginGroup("mesh");
@@ -640,6 +643,7 @@ void DatabaseViewer::writeSettings()
settings.setValue("colorGround", ui_->lineEdit_groundColor->text());
settings.setValue("colorEmpty", ui_->lineEdit_emptyColor->text());
settings.setValue("cropRadius", ui_->spinBox_cropRadius->value());
settings.setValue("probMap", ui_->checkBox_grid_showProbMap->isChecked());
settings.endGroup();
settings.beginGroup("mesh");
@@ -726,6 +730,7 @@ void DatabaseViewer::restoreDefaultSettings()
ui_->lineEdit_groundColor->setText(QColor(Qt::green).name());
ui_->lineEdit_emptyColor->setText(QColor(Qt::yellow).name());
ui_->spinBox_cropRadius->setValue(1);
ui_->checkBox_grid_showProbMap->setChecked(false);
ui_->checkBox_mesh_quad->setChecked(true);
ui_->spinBox_mesh_angleTolerance->setValue(15);
@@ -6411,7 +6416,14 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
for(std::map<int, std::pair<std::pair<cv::Mat, cv::Mat>, cv::Mat> >::iterator iter=localMaps.begin(); iter!=localMaps.end(); ++iter)
{
grid.addToCache(iter->first, iter->second.first.first, iter->second.first.second, iter->second.second);
}
}
grid.update(graphFiltered);
if(ui_->checkBox_grid_showProbMap->isChecked())
{
map = grid.getProbMap(xMin, yMin);
}
else
{
map = grid.getMap(xMin, yMin);
}
}

52
guilib/src/ui/DatabaseViewer.ui
View File

@@ -61,7 +61,7 @@
<rect>
<x>0</x>
<y>0</y>
<width>419</width>
<width>311</width>
<height>311</height>
</rect>
</property>
@@ -304,7 +304,7 @@
<rect>
<x>0</x>
<y>0</y>
<width>418</width>
<width>311</width>
<height>311</height>
</rect>
</property>
@@ -1379,7 +1379,7 @@
<item>
<widget class="QToolBox" name="toolBox">
<property name="currentIndex">
<number>0</number>
<number>1</number>
</property>
<widget class="QWidget" name="page_3">
<property name="geometry">
@@ -1541,9 +1541,9 @@
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>280</width>
<height>949</height>
<y>-330</y>
<width>519</width>
<height>871</height>
</rect>
</property>
<attribute name="label">
@@ -1552,6 +1552,16 @@
<layout class="QVBoxLayout" name="verticalLayout_16">
<item>
<layout class="QGridLayout" name="gridLayout_9" columnstretch="0,0">
<item row="7" column="1">
<widget class="QLabel" name="label_octomap_cubes">
<property name="text">
<string>OctoMap: Rendering type</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="10" column="1">
<widget class="QLabel" name="label_51">
<property name="text">
@@ -1666,16 +1676,6 @@
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_octomap_cubes">
<property name="text">
<string>OctoMap: Rendering type</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QComboBox" name="comboBox_octomap_rendering_type">
<item>
@@ -1855,6 +1855,26 @@
</property>
</widget>
</item>
<item row="14" column="1">
<widget class="QLabel" name="label_59">
<property name="text">
<string>Show probabilistic occupancy grid in Graph View.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="14" column="0">
<widget class="QCheckBox" name="checkBox_grid_showProbMap">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
</layout>
</item>
<item>