i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-03 01:50:24 +08:00
Code Issues Packages Projects Releases Wiki Activity

Added Octomap visualization and export options

Browse Source
This commit is contained in:
matlabbe
2016-07-15 17:46:13 -04:00
parent c24079884d
commit b4b7b6f455
13 changed files with 737 additions and 397 deletions
Download Patch File Download Diff File Expand all files Collapse all files

32
guilib/src/PreferencesDialog.cpp
View File

@@ -150,6 +150,16 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->checkBox_map_shown->setChecked(false);
_ui->checkBox_map_shown->setEnabled(false);
_ui->label_map_shown->setText(_ui->label_map_shown->text() + " (Disabled, PCL >=1.7.2 required)");
_ui->label_map_shown->setEnabled(false);
#endif
#ifndef RTABMAP_OCTOMAP
_ui->checkBox_octomap->setChecked(false);
_ui->checkBox_octomap->setEnabled(false);
_ui->label_octomap->setEnabled(false);
_ui->spinBox_octomap_treeDepth->setEnabled(false);
_ui->label_octomap_treeDepth->setEnabled(false);
#endif
#ifndef RTABMAP_NONFREE
@@ -378,6 +388,9 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->doubleSpinBox_projMaxObstaclesHeight, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->checkBox_projFlatObstaclesDetected, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->checkBox_octomap, SIGNAL(clicked(bool)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->spinBox_octomap_treeDepth, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->groupBox_organized, SIGNAL(clicked(bool)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->doubleSpinBox_mesh_angleTolerance, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->checkBox_mesh_quad, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
@@ -1213,6 +1226,9 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->doubleSpinBox_projMaxObstaclesHeight->setValue(0);
_ui->checkBox_projFlatObstaclesDetected->setChecked(true);
_ui->checkBox_octomap->setChecked(false);
_ui->spinBox_octomap_treeDepth->setValue(16);
_ui->doubleSpinBox_mesh_angleTolerance->setValue(15.0);
#if PCL_VERSION_COMPARE(>=, 1, 7, 2)
_ui->groupBox_organized->setChecked(false);
@@ -1571,6 +1587,9 @@ void PreferencesDialog::readGuiSettings(const QString & filePath)
_ui->doubleSpinBox_projMaxObstaclesHeight->setValue(settings.value("projMaxObstaclesHeight", _ui->doubleSpinBox_projMaxObstaclesHeight->value()).toDouble());
_ui->checkBox_projFlatObstaclesDetected->setChecked(settings.value("projFlatObstaclesDetected", _ui->checkBox_projFlatObstaclesDetected->isChecked()).toBool());
_ui->checkBox_octomap->setChecked(settings.value("octomap", _ui->checkBox_octomap->isChecked()).toBool());
_ui->spinBox_octomap_treeDepth->setValue(settings.value("octomap_depth", _ui->spinBox_octomap_treeDepth->value()).toInt());
_ui->groupBox_organized->setChecked(settings.value("meshing", _ui->groupBox_organized->isChecked()).toBool());
_ui->doubleSpinBox_mesh_angleTolerance->setValue(settings.value("meshing_angle", _ui->doubleSpinBox_mesh_angleTolerance->value()).toDouble());
_ui->checkBox_mesh_quad->setChecked(settings.value("meshing_quad", _ui->checkBox_mesh_quad->isChecked()).toBool());
@@ -1978,6 +1997,8 @@ void PreferencesDialog::writeGuiSettings(const QString & filePath) const
settings.setValue("projMaxObstaclesHeight", _ui->doubleSpinBox_projMaxObstaclesHeight->value());
settings.setValue("projFlatObstaclesDetected", _ui->checkBox_projFlatObstaclesDetected->isChecked());
settings.setValue("octomap", _ui->checkBox_octomap->isChecked());
settings.setValue("octomap_depth", _ui->spinBox_octomap_treeDepth->value());
settings.setValue("meshing", _ui->groupBox_organized->isChecked());
settings.setValue("meshing_angle", _ui->doubleSpinBox_mesh_angleTolerance->value());
@@ -3631,6 +3652,17 @@ bool PreferencesDialog::isCloudsShown(int index) const
UASSERT(index >= 0 && index <= 1);
return _3dRenderingShowClouds[index]->isChecked();
}
bool PreferencesDialog::isOctomapShown() const
{
#ifdef RTABMAP_OCTOMAP
return _ui->checkBox_octomap->isChecked();
#endif
return false;
}
int PreferencesDialog::getOctomapTreeDepth() const
{
return _ui->spinBox_octomap_treeDepth->value();
}
double PreferencesDialog::getMapVoxel() const
{