i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-03 10:00:23 +08:00
Code Issues Packages Projects Releases Wiki Activity

3D->3D estimation refining: using 3x sqrt(variance) instead of sqrt(9x variance). GUI: added features cloud rendering option. CloudViewer: fixed slow updateCameraTargetPosition()

Browse Source
This commit is contained in:
matlabbe
2016-03-01 17:33:27 -05:00
parent a89b8cb4fe
commit b6fb947310
12 changed files with 354 additions and 102 deletions
Download Patch File Download Diff File Expand all files Collapse all files

30
guilib/src/PreferencesDialog.cpp
View File

@@ -308,12 +308,21 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_3dRenderingPtSizeScan[0] = _ui->spinBox_ptsize_scan;
_3dRenderingPtSizeScan[1] = _ui->spinBox_ptsize_odom_scan;
_3dRenderingShowFeatures.resize(2);
_3dRenderingShowFeatures[0] = _ui->checkBox_showFeatures;
_3dRenderingShowFeatures[1] = _ui->checkBox_showOdomFeatures;
_3dRenderingPtSizeFeatures.resize(2);
_3dRenderingPtSizeFeatures[0] = _ui->spinBox_ptsize_features;
_3dRenderingPtSizeFeatures[1] = _ui->spinBox_ptsize_odom_features;
for(int i=0; i<2; ++i)
{
connect(_3dRenderingShowClouds[i], SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_3dRenderingDecimation[i], SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_3dRenderingMaxDepth[i], SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_3dRenderingShowScans[i], SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_3dRenderingShowFeatures[i], SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_3dRenderingDownsamplingScan[i], SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_3dRenderingVoxelSizeScan[i], SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
@@ -321,6 +330,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_3dRenderingPtSize[i], SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_3dRenderingOpacityScan[i], SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_3dRenderingPtSizeScan[i], SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_3dRenderingPtSizeFeatures[i], SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
}
connect(_ui->checkBox_showGraphs, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
@@ -1119,6 +1129,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_3dRenderingDecimation[i]->setValue(8);
_3dRenderingMaxDepth[i]->setValue(0.0);
_3dRenderingShowScans[i]->setChecked(true);
_3dRenderingShowFeatures[i]->setChecked(false);
_3dRenderingDownsamplingScan[i]->setValue(1);
_3dRenderingVoxelSizeScan[i]->setValue(0.0);
@@ -1126,6 +1137,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_3dRenderingPtSize[i]->setValue(2);
_3dRenderingOpacityScan[i]->setValue(i==0?1.0:0.5);
_3dRenderingPtSizeScan[i]->setValue(2);
_3dRenderingPtSizeFeatures[i]->setValue(3);
}
_ui->checkBox_showGraphs->setChecked(true);
@@ -1454,6 +1466,7 @@ void PreferencesDialog::readGuiSettings(const QString & filePath)
_3dRenderingDecimation[i]->setValue(settings.value(QString("decimation%1").arg(i), _3dRenderingDecimation[i]->value()).toInt());
_3dRenderingMaxDepth[i]->setValue(settings.value(QString("maxDepth%1").arg(i), _3dRenderingMaxDepth[i]->value()).toDouble());
_3dRenderingShowScans[i]->setChecked(settings.value(QString("showScans%1").arg(i), _3dRenderingShowScans[i]->isChecked()).toBool());
_3dRenderingShowFeatures[i]->setChecked(settings.value(QString("showFeatures%1").arg(i), _3dRenderingShowFeatures[i]->isChecked()).toBool());
_3dRenderingDownsamplingScan[i]->setValue(settings.value(QString("downsamplingScan%1").arg(i), _3dRenderingDownsamplingScan[i]->value()).toInt());
_3dRenderingVoxelSizeScan[i]->setValue(settings.value(QString("voxelSizeScan%1").arg(i), _3dRenderingVoxelSizeScan[i]->value()).toDouble());
@@ -1461,6 +1474,7 @@ void PreferencesDialog::readGuiSettings(const QString & filePath)
_3dRenderingPtSize[i]->setValue(settings.value(QString("ptSize%1").arg(i), _3dRenderingPtSize[i]->value()).toInt());
_3dRenderingOpacityScan[i]->setValue(settings.value(QString("opacityScan%1").arg(i), _3dRenderingOpacityScan[i]->value()).toDouble());
_3dRenderingPtSizeScan[i]->setValue(settings.value(QString("ptSizeScan%1").arg(i), _3dRenderingPtSizeScan[i]->value()).toInt());
_3dRenderingPtSizeFeatures[i]->setValue(settings.value(QString("ptSizeFeatures%1").arg(i), _3dRenderingPtSizeFeatures[i]->value()).toInt());
}
_ui->checkBox_showGraphs->setChecked(settings.value("showGraphs", _ui->checkBox_showGraphs->isChecked()).toBool());
_ui->checkBox_showLabels->setChecked(settings.value("showLabels", _ui->checkBox_showLabels->isChecked()).toBool());
@@ -1832,6 +1846,7 @@ void PreferencesDialog::writeGuiSettings(const QString & filePath) const
settings.setValue(QString("decimation%1").arg(i), _3dRenderingDecimation[i]->value());
settings.setValue(QString("maxDepth%1").arg(i), _3dRenderingMaxDepth[i]->value());
settings.setValue(QString("showScans%1").arg(i), _3dRenderingShowScans[i]->isChecked());
settings.setValue(QString("showFeatures%1").arg(i), _3dRenderingShowFeatures[i]->isChecked());
settings.setValue(QString("downsamplingScan%1").arg(i), _3dRenderingDownsamplingScan[i]->value());
settings.setValue(QString("voxelSizeScan%1").arg(i), _3dRenderingVoxelSizeScan[i]->value());
@@ -1839,6 +1854,7 @@ void PreferencesDialog::writeGuiSettings(const QString & filePath) const
settings.setValue(QString("ptSize%1").arg(i), _3dRenderingPtSize[i]->value());
settings.setValue(QString("opacityScan%1").arg(i), _3dRenderingOpacityScan[i]->value());
settings.setValue(QString("ptSizeScan%1").arg(i), _3dRenderingPtSizeScan[i]->value());
settings.setValue(QString("ptSizeFeatures%1").arg(i), _3dRenderingPtSizeFeatures[i]->value());
}
settings.setValue("showGraphs", _ui->checkBox_showGraphs->isChecked());
settings.setValue("showLabels", _ui->checkBox_showLabels->isChecked());
@@ -2137,7 +2153,7 @@ bool PreferencesDialog::validateForm()
}
// verify that Robust and Reject threshold are not set at the same time
if(_ui->graphOptimization_robust->isEnabled() && _ui->graphOptimization_maxError->value()>0.0)
if(_ui->graphOptimization_robust->isChecked() && _ui->graphOptimization_maxError->value()>0.0)
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("Robust graph optimization and maximum optimization error threshold cannot be "
@@ -3544,6 +3560,18 @@ int PreferencesDialog::getScanPointSize(int index) const
UASSERT(index >= 0 && index <= 1);
return _3dRenderingPtSizeScan[index]->value();
}
bool PreferencesDialog::isFeaturesShown(int index) const
{
UASSERT(index >= 0 && index <= 1);
return _3dRenderingShowFeatures[index]->isChecked();
}
int PreferencesDialog::getFeaturesPointSize(int index) const
{
UASSERT(index >= 0 && index <= 1);
return _3dRenderingPtSizeFeatures[index]->value();
}
bool PreferencesDialog::isCloudFiltering() const
{
return _ui->radioButton_nodeFiltering->isChecked();