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Grid map: added "erode" option

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This commit is contained in:
Mathieu Labbe
2015-03-20 14:03:09 -04:00
parent 722268a95c
commit ad6ee69ac6
8 changed files with 153 additions and 30 deletions
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15
guilib/src/DatabaseViewer.cpp
View File

@@ -195,7 +195,10 @@ DatabaseViewer::DatabaseViewer(QWidget * parent) :
connect(ui_->comboBox_graphOptimizer, SIGNAL(currentIndexChanged(int)), this, SLOT(updateGraphView()));
connect(ui_->checkBox_2dslam, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
connect(ui_->spinBox_optimizationDepth, SIGNAL(editingFinished()), this, SLOT(updateGraphView()));
connect(ui_->checkBox_gridErode, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
connect(ui_->groupBox_posefiltering, SIGNAL(clicked(bool)), this, SLOT(updateGraphView()));
connect(ui_->doubleSpinBox_posefilteringRadius, SIGNAL(editingFinished()), this, SLOT(updateGraphView()));
connect(ui_->doubleSpinBox_posefilteringAngle, SIGNAL(editingFinished()), this, SLOT(updateGraphView()));
connect(ui_->groupBox_gridFromProjection, SIGNAL(clicked(bool)), this, SLOT(updateGrid()));
connect(ui_->doubleSpinBox_gridCellSize, SIGNAL(editingFinished()), this, SLOT(updateGrid()));
@@ -213,6 +216,7 @@ DatabaseViewer::DatabaseViewer(QWidget * parent) :
connect(ui_->comboBox_graphOptimizer, SIGNAL(currentIndexChanged(int)), this, SLOT(configModified()));
connect(ui_->checkBox_2dslam, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->spinBox_optimizationDepth, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
connect(ui_->checkBox_gridErode, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->groupBox_gridFromProjection, SIGNAL(clicked(bool)), this, SLOT(configModified()));
connect(ui_->doubleSpinBox_gridCellSize, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
connect(ui_->spinBox_projDecimation, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
@@ -313,6 +317,7 @@ void DatabaseViewer::readSettings()
ui_->comboBox_graphOptimizer->setCurrentIndex(settings.value("strategy", ui_->comboBox_graphOptimizer->currentIndex()).toInt());
ui_->checkBox_2dslam->setChecked(settings.value("slam2d", ui_->checkBox_2dslam->isChecked()).toBool());
ui_->spinBox_optimizationDepth->setValue(settings.value("depth", ui_->spinBox_optimizationDepth->value()).toInt());
ui_->checkBox_gridErode->setChecked(settings.value("erode", ui_->checkBox_gridErode->isChecked()).toBool());
settings.endGroup();
settings.beginGroup("grid");
@@ -385,6 +390,7 @@ void DatabaseViewer::writeSettings()
settings.setValue("strategy", ui_->comboBox_graphOptimizer->currentIndex());
settings.setValue("slam2d", ui_->checkBox_2dslam->isChecked());
settings.setValue("depth", ui_->spinBox_optimizationDepth->value());
settings.setValue("erode", ui_->checkBox_gridErode->isChecked());
settings.endGroup();
// save Grid settings
@@ -2242,21 +2248,24 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
float xMin, yMin;
float cell = ui_->doubleSpinBox_gridCellSize->value();
cv::Mat map;
QTime time;
time.start();
if(ui_->groupBox_posefiltering->isChecked())
{
std::map<int, rtabmap::Transform> graphFiltered = graph::radiusPosesFiltering(graph,
ui_->doubleSpinBox_posefilteringRadius->value(),
ui_->doubleSpinBox_posefilteringAngle->value()*CV_PI/180.0);
map = rtabmap::util3d::create2DMapFromOccupancyLocalMaps(graphFiltered, localMaps_, cell, xMin, yMin);
map = rtabmap::util3d::create2DMapFromOccupancyLocalMaps(graphFiltered, localMaps_, cell, xMin, yMin, 0, ui_->checkBox_gridErode->isChecked());
}
else
{
map = rtabmap::util3d::create2DMapFromOccupancyLocalMaps(graph, localMaps_, cell, xMin, yMin);
map = rtabmap::util3d::create2DMapFromOccupancyLocalMaps(graph, localMaps_, cell, xMin, yMin, 0, ui_->checkBox_gridErode->isChecked());
}
if(!map.empty())
{
ui_->graphViewer->updateMap(rtabmap::util3d::convertMap2Image8U(map), cell, xMin, yMin);
}
ui_->label_timeGrid->setNum(double(time.elapsed())/1000.0);
}
ui_->graphViewer->update();
ui_->label_iterations->setNum(value);

16
guilib/src/MainWindow.cpp
View File

@@ -1438,7 +1438,9 @@ void MainWindow::updateMapCloud(
poses,
_projectionLocalMaps,
resolution,
xMin, yMin);
xMin, yMin,
0,
_preferencesDialog->isGridMapEroded());
}
else if(_gridLocalMaps.size())
{
@@ -1446,7 +1448,9 @@ void MainWindow::updateMapCloud(
poses,
_gridLocalMaps,
resolution,
xMin, yMin);
xMin, yMin,
0,
_preferencesDialog->isGridMapEroded());
}
if(!map8S.empty())
{
@@ -3948,7 +3952,9 @@ void MainWindow::exportGridMap()
poses,
_projectionLocalMaps,
gridCellSize,
xMin, yMin);
xMin, yMin,
0,
_preferencesDialog->isGridMapEroded());
}
else
{
@@ -3956,7 +3962,9 @@ void MainWindow::exportGridMap()
poses,
_gridLocalMaps,
gridCellSize,
xMin, yMin);
xMin, yMin,
0,
_preferencesDialog->isGridMapEroded());
}
if(!pixels.empty())

8
guilib/src/PreferencesDialog.cpp
View File

@@ -237,6 +237,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->doubleSpinBox_map_resolution, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->doubleSpinBox_map_opacity, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->checkBox_map_occupancyFrom3DCloud, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->checkBox_map_erode, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
//Logging panel
connect(_ui->comboBox_loggerLevel, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteLoggingPanel()));
@@ -886,6 +887,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->checkBox_map_shown->setChecked(false);
_ui->doubleSpinBox_map_resolution->setValue(0.05);
_ui->checkBox_map_occupancyFrom3DCloud->setChecked(false);
_ui->checkBox_map_erode->setChecked(false);
_ui->doubleSpinBox_map_opacity->setValue(0.75);
}
else if(groupBox->objectName() == _ui->groupBox_logging1->objectName())
@@ -1136,6 +1138,7 @@ 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_occupancyFrom3DCloud->setChecked(settings.value("gridMapOccupancyFrom3DCloud", _ui->checkBox_map_occupancyFrom3DCloud->isChecked()).toBool());
_ui->checkBox_map_erode->setChecked(settings.value("gridMapEroded", _ui->checkBox_map_erode->isChecked()).toBool());
_ui->doubleSpinBox_map_opacity->setValue(settings.value("gridMapOpacity", _ui->doubleSpinBox_map_opacity->value()).toDouble());
settings.endGroup(); // General
@@ -1387,6 +1390,7 @@ void PreferencesDialog::writeGuiSettings(const QString & filePath) const
settings.setValue("gridMapShown", _ui->checkBox_map_shown->isChecked());
settings.setValue("gridMapResolution", _ui->doubleSpinBox_map_resolution->value());
settings.setValue("gridMapOccupancyFrom3DCloud", _ui->checkBox_map_occupancyFrom3DCloud->isChecked());
settings.setValue("gridMapEroded", _ui->checkBox_map_erode->isChecked());
settings.setValue("gridMapOpacity", _ui->doubleSpinBox_map_opacity->value());
settings.endGroup(); // General
@@ -2929,6 +2933,10 @@ bool PreferencesDialog::isGridMapFrom3DCloud() const
{
return _ui->checkBox_map_occupancyFrom3DCloud->isChecked();
}
bool PreferencesDialog::isGridMapEroded() const
{
return _ui->checkBox_map_erode->isChecked();
}
double PreferencesDialog::getGridMapOpacity() const
{
return _ui->doubleSpinBox_map_opacity->value();

28
guilib/src/ui/DatabaseViewer.ui
View File

@@ -630,6 +630,20 @@
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_45">
<property name="text">
<string>Time grid (s)</string>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="label_timeGrid">
<property name="text">
<string/>
</property>
</widget>
</item>
</layout>
</item>
</layout>
@@ -1305,6 +1319,20 @@
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_44">
<property name="text">
<string>Errode</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="checkBox_gridErode">
<property name="text">
<string/>
</property>
</widget>
</item>
</layout>
</item>
<item>

58
guilib/src/ui/preferencesDialog.ui
View File

@@ -63,9 +63,9 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-171</y>
<y>0</y>
<width>744</width>
<height>1389</height>
<height>1110</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>19</number>
<number>1</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29">
@@ -421,6 +421,22 @@ 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="2" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_map_opacity">
<property name="suffix">
<string/>
</property>
<property name="minimum">
<double>0.750000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="value">
<double>0.750000000000000</double>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QCheckBox" name="checkBox_map_shown">
<property name="text">
@@ -478,22 +494,6 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_map_opacity">
<property name="suffix">
<string/>
</property>
<property name="minimum">
<double>0.750000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="value">
<double>0.750000000000000</double>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_210">
<property name="text">
@@ -504,6 +504,26 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_224">
<property name="text">
<string>Erode.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QCheckBox" name="checkBox_map_erode">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
</layout>
</item>
</layout>