i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 17:40:23 +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

66
guilib/src/ui/aboutDialog.ui
View File

@@ -82,6 +82,16 @@ p, li { white-space: pre-wrap; }
</item>
<item>
<layout class="QGridLayout" name="gridLayout" columnstretch="0,1">
<item row="8" column="1">
<widget class="QLabel" name="label_opencv_version">
<property name="text">
<string/>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="9" column="0">
<widget class="QLabel" name="label_11">
<property name="text">
@@ -202,17 +212,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QLabel" name="label_opencv_version">
<property name="text">
<string/>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="15" column="0">
<item row="16" column="0">
<widget class="QLabel" name="label_14">
<property name="text">
<string>With g2o :</string>
@@ -239,7 +239,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="15" column="1">
<item row="16" column="1">
<widget class="QLabel" name="label_g2o">
<property name="text">
<string/>
@@ -293,14 +293,14 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="17" column="0">
<item row="18" column="0">
<widget class="QLabel" name="label_18">
<property name="text">
<string>With cvsba :</string>
</property>
</widget>
</item>
<item row="17" column="1">
<item row="18" column="1">
<widget class="QLabel" name="label_cvsba">
<property name="text">
<string/>
@@ -310,14 +310,14 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="16" column="0">
<item row="17" column="0">
<widget class="QLabel" name="label_19">
<property name="text">
<string>With GTSAM :</string>
</property>
</widget>
</item>
<item row="16" column="1">
<item row="17" column="1">
<widget class="QLabel" name="label_gtsam">
<property name="text">
<string/>
@@ -327,6 +327,40 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="19" column="0">
<widget class="QLabel" name="label_20">
<property name="text">
<string>With Octomap :</string>
</property>
</widget>
</item>
<item row="19" column="1">
<widget class="QLabel" name="label_octomap">
<property name="text">
<string/>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="15" column="0">
<widget class="QLabel" name="label_21">
<property name="text">
<string>With stereo Zed :</string>
</property>
</widget>
</item>
<item row="15" column="1">
<widget class="QLabel" name="label_zed">
<property name="text">
<string/>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
</widget>
</item>
</layout>
</item>
<item>

129
guilib/src/ui/mainWindow.ui
View File

@@ -27,7 +27,7 @@
<x>0</x>
<y>0</y>
<width>1012</width>
<height>21</height>
<height>25</height>
</rect>
</property>
<widget class="QMenu" name="menuFile">
@@ -52,6 +52,7 @@
<addaction name="actionSave_point_cloud"/>
<addaction name="actionExport_2D_scans_ply_pcd"/>
<addaction name="actionExport_2D_Grid_map_bmp_png"/>
<addaction name="actionExport_octomap"/>
<addaction name="menuExport_poses"/>
<addaction name="actionExport_images_RGB_jpg_Depth_png"/>
<addaction name="actionExport_cameras_in_Bundle_format_out"/>
@@ -297,16 +298,7 @@
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -344,16 +336,7 @@
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -596,16 +579,7 @@
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -626,16 +600,7 @@
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -656,16 +621,7 @@
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -686,16 +642,7 @@
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
</layout>
@@ -713,16 +660,7 @@
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
</layout>
@@ -743,16 +681,7 @@
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -773,16 +702,7 @@
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -806,16 +726,7 @@
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -885,16 +796,7 @@
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -1419,6 +1321,11 @@
<string>Stereo Usb Camera</string>
</property>
</action>
<action name="actionExport_octomap">
<property name="text">
<string>Export octomap...</string>
</property>
</action>
</widget>
<customwidgets>
<customwidget>

140
guilib/src/ui/preferencesDialog.ui
View File

@@ -63,25 +63,16 @@
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>685</width>
<height>1826</height>
<y>-464</y>
<width>686</width>
<height>2023</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -95,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>14</number>
<number>1</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -794,6 +785,19 @@ Show a yellow background when the number of odometry inliers goes under this thr
</item>
<item>
<layout class="QGridLayout" name="gridLayout_67" columnstretch="0,1">
<item row="5" column="1">
<widget class="QLabel" name="label_309">
<property name="text">
<string>Maximum obstacles height (0=disabled).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QCheckBox" name="checkBox_projMapFrame">
<property name="text">
@@ -937,10 +941,20 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_309">
<item row="6" column="0">
<widget class="QCheckBox" name="checkBox_octomap">
<property name="text">
<string>Maximum obstacles height (0=disabled).</string>
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_octomap">
<property name="text">
<string>Octomap: 3D occupancy grid map.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -950,6 +964,32 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_octomap_treeDepth">
<property name="text">
<string>Octomap maximum tree depth (max 16). The highest depth means the smallest resolution of the map (cell size). At smallest resolution the octomap shows RGB colors. Other resolutions produce z-axis gradient colored octomap.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QSpinBox" name="spinBox_octomap_treeDepth">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>16</number>
</property>
<property name="value">
<number>16</number>
</property>
</widget>
</item>
</layout>
</item>
</layout>
@@ -3986,16 +4026,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<string>Directory of images (optional settings)</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_93">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -9172,16 +9203,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
<widget class="QWidget" name="page_54">
<layout class="QVBoxLayout" name="verticalLayout_85">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -9321,16 +9343,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
</widget>
<widget class="QWidget" name="page_55">
<layout class="QVBoxLayout" name="verticalLayout_86">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -9488,16 +9501,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -9577,16 +9581,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -9698,16 +9693,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>