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Parameters: added Grid/FullUpdate (default true). Updated how occupancy grid is updated after loop closure. OctoMap: added tree depth argument when creating 2d map, added full update argument on constructor (default false). MainWindow: using OccupancyGrid object instead of keeping in cache local grids (we can have actual time to update the global grid).

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This commit is contained in:
matlabbe
2017-04-07 18:31:11 -04:00
parent 6bfce63060
commit b7dbf27931
13 changed files with 831 additions and 676 deletions
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6
guilib/src/DatabaseViewer.cpp
View File

@@ -2673,6 +2673,10 @@ void DatabaseViewer::update(int value,
localMaps,
ui_->doubleSpinBox_gridCellSize->value(),
xMin, yMin);
//OccupancyGrid grid(ui_->parameters_toolbox->getParameters());
//grid.addToCache(data.id(), localMaps.begin()->second.first, localMaps.begin()->second.second);
//grid.update(poses);
//map8S = grid.getMap(xMin, yMin);
}
if(!map8S.empty())
{
@@ -3892,7 +3896,7 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
#ifdef RTABMAP_OCTOMAP
if(ui_->checkBox_octomap->isChecked())
{
map = octomap_->createProjectionMap(xMin, yMin, cell, 0);
map = octomap_->createProjectionMap(xMin, yMin, cell, 0, ui_->spinBox_grid_depth->value());
}
else
#endif

131
guilib/src/MainWindow.cpp
View File

@@ -154,7 +154,6 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_waypointsIndex(0),
_cachedMemoryUsage(0),
_createdCloudsMemoryUsage(0),
_cachedGridsMemoryUsage(0),
_occupancyGrid(0),
_octomap(0),
_odometryCorrection(Transform::getIdentity()),
@@ -246,7 +245,10 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_occupancyGrid = new OccupancyGrid(_preferencesDialog->getAllParameters());
#ifdef RTABMAP_OCTOMAP
_octomap = new OctoMap(_preferencesDialog->getGridMapResolution(), _preferencesDialog->getOctomapOccupancyThr());
_octomap = new OctoMap(
_preferencesDialog->getGridMapResolution(),
_preferencesDialog->getOctomapOccupancyThr(),
_preferencesDialog->isOctomapFullUpdate());
#endif
// Timer
@@ -596,7 +598,6 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_ui->statsToolBox->updateStat("GUI/Refresh stats/ms", false);
_ui->statsToolBox->updateStat("GUI/Cache Data Size/MB", false);
_ui->statsToolBox->updateStat("GUI/Cache Clouds Size/MB", false);
_ui->statsToolBox->updateStat("GUI/Cache Grids Size/MB", false);
#ifdef RTABMAP_OCTOMAP
_ui->statsToolBox->updateStat("GUI/Octomap Size/MB", false);
#endif
@@ -1856,7 +1857,6 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
}
_ui->statsToolBox->updateStat("GUI/Cache Data Size/MB", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), _cachedMemoryUsage/(1024*1024), _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("GUI/Cache Clouds Size/MB", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), _createdCloudsMemoryUsage/(1024*1024), _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("GUI/Cache Grids Size/MB", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), _cachedGridsMemoryUsage/(1024*1024), _preferencesDialog->isCacheSavedInFigures());
#ifdef RTABMAP_OCTOMAP
_ui->statsToolBox->updateStat("GUI/Octomap Size/MB", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), _octomap->octree()->memoryUsage()/(1024*1024), _preferencesDialog->isCacheSavedInFigures());
#endif
@@ -2052,16 +2052,10 @@ void MainWindow::updateMapCloud(
}
// occupancy grids
if(iter->first < 0)
{
_gridLocalMaps.erase(iter->first);
_gridViewPoints.erase(iter->first);
}
bool updateGridMap =
((_ui->graphicsView_graphView->isVisible() && _ui->graphicsView_graphView->isGridMapVisible()) ||
(_cloudViewer->isVisible() && _preferencesDialog->getGridMapShown())) &&
_gridLocalMaps.find(iter->first) == _gridLocalMaps.end();
_occupancyGrid->addedNodes().find(iter->first) == _occupancyGrid->addedNodes().end();
bool updateOctomap = false;
#ifdef RTABMAP_OCTOMAP
updateOctomap =
@@ -2072,41 +2066,27 @@ void MainWindow::updateMapCloud(
if(updateGridMap || updateOctomap)
{
QMap<int, Signature>::iterator jter = _cachedSignatures.find(iter->first);
if(jter!=_cachedSignatures.end())
if(jter!=_cachedSignatures.end() && jter->sensorData().gridCellSize() > 0.0f)
{
if(_gridLocalMaps.find(iter->first) == _gridLocalMaps.end())
{
cv::Mat ground;
cv::Mat obstacles;
if (jter->sensorData().gridCellSize() > 0.0f)
{
jter->sensorData().uncompressDataConst(0, 0, 0, 0, &ground, &obstacles);
_gridLocalMaps.insert(std::make_pair(iter->first, std::make_pair(ground, obstacles)));
_gridViewPoints.insert(std::make_pair(iter->first, jter->sensorData().gridViewPoint()));
_cachedGridsMemoryUsage += (long)(ground.total()*ground.elemSize() + obstacles.total()*obstacles.elemSize());
cv::Mat ground;
cv::Mat obstacles;
jter->sensorData().uncompressDataConst(0, 0, 0, 0, &ground, &obstacles);
_occupancyGrid->addToCache(iter->first, ground, obstacles);
if (ground.cols || obstacles.cols)
{
_occupancyGrid->addToCache(iter->first, ground, obstacles);
}
}
}
#ifdef RTABMAP_OCTOMAP
if(updateOctomap)
{
std::map<int, std::pair<cv::Mat, cv::Mat> >::iterator mter = _gridLocalMaps.find(iter->first);
std::map<int, cv::Point3f>::iterator pter = _gridViewPoints.find(iter->first);
if(mter != _gridLocalMaps.end() && pter!=_gridViewPoints.end())
if((ground.empty() || ground.channels() > 2) &&
(obstacles.empty() || obstacles.channels() > 2))
{
if((mter->second.first.empty() || mter->second.first.channels() > 2) &&
(mter->second.second.empty() || mter->second.second.channels() > 2))
{
_octomap->addToCache(iter->first, mter->second.first, mter->second.second, pter->second);
}
else if(!mter->second.first.empty() && !mter->second.second.empty())
{
UWARN("Node %d: Cannot update octomap with 2D occupancy grids.", iter->first);
}
cv::Point3f viewpoint = jter->sensorData().gridViewPoint();
_octomap->addToCache(iter->first, ground, obstacles, viewpoint);
}
else if(!ground.empty() || !obstacles.empty())
{
UWARN("Node %d: Cannot update octomap with 2D occupancy grids.", iter->first);
}
}
#endif
@@ -2384,8 +2364,7 @@ void MainWindow::updateMapCloud(
_ui->graphicsView_graphView->updateGTGraph(_currentGTPosesMap);
}
cv::Mat map8U;
if((_ui->graphicsView_graphView->isVisible() || _preferencesDialog->getGridMapShown()) &&
_gridLocalMaps.size())
if((_ui->graphicsView_graphView->isVisible() || _preferencesDialog->getGridMapShown()))
{
float xMin, yMin;
float resolution = _preferencesDialog->getGridMapResolution();
@@ -2393,35 +2372,26 @@ void MainWindow::updateMapCloud(
#ifdef RTABMAP_OCTOMAP
if(_preferencesDialog->isOctomap2dGrid())
{
map8S = _octomap->createProjectionMap(xMin, yMin, resolution, 0);
map8S = _octomap->createProjectionMap(xMin, yMin, resolution, 0, _preferencesDialog->getOctomapTreeDepth());
}
else
#endif
{
if(_preferencesDialog->isGridMapIncremental())
_occupancyGrid->update(poses, 0, _preferencesDialog->getGridMapFootprintRadius());
if(stats)
{
_occupancyGrid->update(poses, 0, _preferencesDialog->getGridMapFootprintRadius());
if(stats)
{
stats->insert(std::make_pair("GUI/Grid Update/ms", (float)timer.restart()*1000.0f));
}
map8S = _occupancyGrid->getMap(xMin, yMin);
}
else
{
map8S = util3d::create2DMapFromOccupancyLocalMaps(
poses,
_gridLocalMaps,
resolution,
xMin, yMin,
0,
_preferencesDialog->isGridMapEroded(),
_preferencesDialog->getGridMapFootprintRadius());
stats->insert(std::make_pair("GUI/Grid Update/ms", (float)timer.restart()*1000.0f));
}
map8S = _occupancyGrid->getMap(xMin, yMin);
}
if(!map8S.empty())
{
if(_preferencesDialog->isGridMapEroded())
{
map8S = util3d::erodeMap(map8S);
}
//convert to gray scaled map
map8U = util3d::convertMap2Image8U(map8S);
@@ -2516,7 +2486,7 @@ void MainWindow::updateMapCloud(
_ui->actionSave_point_cloud->setEnabled(!_cachedSignatures.empty() || !_cachedClouds.empty());
_ui->actionView_high_res_point_cloud->setEnabled(!_cachedSignatures.empty() || !_cachedClouds.empty());
_ui->actionExport_2D_scans_ply_pcd->setEnabled(!_createdScans.empty());
_ui->actionExport_2D_Grid_map_bmp_png->setEnabled(!_gridLocalMaps.empty());
_ui->actionExport_2D_Grid_map_bmp_png->setEnabled(!_occupancyGrid->addedNodes().empty());
_ui->actionView_scans->setEnabled(!_createdScans.empty());
#ifdef RTABMAP_OCTOMAP
_ui->actionExport_octomap->setEnabled(_octomap->octree()->size());
@@ -4477,17 +4447,18 @@ void MainWindow::startDetection()
"progress will not be shown in the GUI."));
}
_occupancyGrid->clear();
_occupancyGrid->parseParameters(parameters);
#ifdef RTABMAP_OCTOMAP
UASSERT(_octomap != 0);
delete _octomap;
_octomap = new OctoMap(
_preferencesDialog->getGridMapResolution(),
_preferencesDialog->getOctomapOccupancyThr());
_preferencesDialog->getOctomapOccupancyThr(),
_preferencesDialog->isOctomapFullUpdate());
#endif
_occupancyGrid->clear();
_occupancyGrid->parseParameters(parameters);
// clear odometry visual stuff
_cloudViewer->removeCloud("cloudOdom");
_cloudViewer->removeCloud("scanOdom");
@@ -5614,8 +5585,6 @@ void MainWindow::clearTheCache()
_previousCloud.second.first.second.reset();
_previousCloud.second.second.reset();
_createdScans.clear();
_gridLocalMaps.clear();
_cachedGridsMemoryUsage = 0;
_createdFeatures.clear();
_cloudViewer->clear();
_cloudViewer->setBackgroundColor(_cloudViewer->getDefaultBackgroundColor());
@@ -5664,7 +5633,10 @@ void MainWindow::clearTheCache()
// re-create one if the resolution has changed
UASSERT(_octomap != 0);
delete _octomap;
_octomap = new OctoMap(_preferencesDialog->getGridMapResolution(), _preferencesDialog->getOctomapOccupancyThr());
_octomap = new OctoMap(
_preferencesDialog->getGridMapResolution(),
_preferencesDialog->getOctomapOccupancyThr(),
_preferencesDialog->isOctomapFullUpdate());
#endif
_occupancyGrid->clear();
}
@@ -5944,17 +5916,16 @@ void MainWindow::exportGridMap()
else
#endif
{
pixels = util3d::create2DMapFromOccupancyLocalMaps(
poses,
_gridLocalMaps,
gridCellSize,
xMin, yMin,
0,
_preferencesDialog->isGridMapEroded());
pixels = _occupancyGrid->getMap(xMin, yMin);
}
if(!pixels.empty())
{
if(_preferencesDialog->isGridMapEroded())
{
pixels = util3d::erodeMap(pixels);
}
cv::Mat map8U(pixels.rows, pixels.cols, CV_8U);
//convert to gray scaled map
for (int i = 0; i < pixels.rows; ++i)
@@ -6617,7 +6588,7 @@ void MainWindow::changeState(MainWindow::State newState)
_ui->actionSave_point_cloud->setEnabled(!_cachedSignatures.empty() || !_cachedClouds.empty());
_ui->actionView_high_res_point_cloud->setEnabled(!_cachedSignatures.empty() || !_cachedClouds.empty());
_ui->actionExport_2D_scans_ply_pcd->setEnabled(!_createdScans.empty());
_ui->actionExport_2D_Grid_map_bmp_png->setEnabled(!_gridLocalMaps.empty());
_ui->actionExport_2D_Grid_map_bmp_png->setEnabled(!_occupancyGrid->addedNodes().empty());
_ui->actionView_scans->setEnabled(!_createdScans.empty());
#ifdef RTABMAP_OCTOMAP
_ui->actionExport_octomap->setEnabled(_octomap->octree()->size());
@@ -6679,7 +6650,7 @@ void MainWindow::changeState(MainWindow::State newState)
_ui->actionSave_point_cloud->setEnabled(!_cachedSignatures.empty() || !_cachedClouds.empty());
_ui->actionView_high_res_point_cloud->setEnabled(!_cachedSignatures.empty() || !_cachedClouds.empty());
_ui->actionExport_2D_scans_ply_pcd->setEnabled(!_createdScans.empty());
_ui->actionExport_2D_Grid_map_bmp_png->setEnabled(!_gridLocalMaps.empty());
_ui->actionExport_2D_Grid_map_bmp_png->setEnabled(!_occupancyGrid->addedNodes().empty());
_ui->actionView_scans->setEnabled(!_createdScans.empty());
#ifdef RTABMAP_OCTOMAP
_ui->actionExport_octomap->setEnabled(_octomap->octree()->size());
@@ -6805,7 +6776,7 @@ void MainWindow::changeState(MainWindow::State newState)
_ui->actionSave_point_cloud->setEnabled(!_cachedSignatures.empty() || !_cachedClouds.empty());
_ui->actionView_high_res_point_cloud->setEnabled(!_cachedSignatures.empty() || !_cachedClouds.empty());
_ui->actionExport_2D_scans_ply_pcd->setEnabled(!_createdScans.empty());
_ui->actionExport_2D_Grid_map_bmp_png->setEnabled(!_gridLocalMaps.empty());
_ui->actionExport_2D_Grid_map_bmp_png->setEnabled(!_occupancyGrid->addedNodes().empty());
_ui->actionView_scans->setEnabled(!_createdScans.empty());
#ifdef RTABMAP_OCTOMAP
_ui->actionExport_octomap->setEnabled(_octomap->octree()->size());
@@ -6872,7 +6843,7 @@ void MainWindow::changeState(MainWindow::State newState)
_ui->actionSave_point_cloud->setEnabled(!_cachedSignatures.empty() || !_cachedClouds.empty());
_ui->actionView_high_res_point_cloud->setEnabled(!_cachedSignatures.empty() || !_cachedClouds.empty());
_ui->actionExport_2D_scans_ply_pcd->setEnabled(!_createdScans.empty());
_ui->actionExport_2D_Grid_map_bmp_png->setEnabled(!_gridLocalMaps.empty());
_ui->actionExport_2D_Grid_map_bmp_png->setEnabled(!_occupancyGrid->addedNodes().empty());
_ui->actionView_scans->setEnabled(!_createdScans.empty());
#ifdef RTABMAP_OCTOMAP
_ui->actionExport_octomap->setEnabled(_octomap->octree()->size());

18
guilib/src/PreferencesDialog.cpp
View File

@@ -409,6 +409,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->groupBox_octomap, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->spinBox_octomap_treeDepth, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->checkBox_octomap_fullUpdate, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->checkBox_octomap_2dgrid, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->checkBox_octomap_show3dMap, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->checkBox_octomap_cubeRendering, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
@@ -842,6 +843,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->checkBox_grid_flatObstaclesDetected->setObjectName(Parameters::kGridFlatObstacleDetected().c_str());
_ui->groupBox_grid_fromDepthImage->setObjectName(Parameters::kGridFromDepth().c_str());
_ui->checkBox_grid_projMapFrame->setObjectName(Parameters::kGridMapFrameProjection().c_str());
_ui->checkBox_grid_fullUpdate->setObjectName(Parameters::kGridFullUpdate().c_str());
_ui->doubleSpinBox_grid_maxGroundAngle->setObjectName(Parameters::kGridMaxGroundAngle().c_str());
_ui->spinBox_grid_normalK->setObjectName(Parameters::kGridNormalK().c_str());
_ui->doubleSpinBox_grid_maxGroundHeight->setObjectName(Parameters::kGridMaxGroundHeight().c_str());
@@ -1306,15 +1308,15 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->checkBox_map_shown->setChecked(false);
_ui->doubleSpinBox_map_resolution->setValue(0.05);
_ui->checkBox_map_erode->setChecked(false);
_ui->checkBox_map_incremental->setChecked(false);
_ui->doubleSpinBox_map_footprintRadius->setValue(0);
_ui->doubleSpinBox_map_opacity->setValue(0.75);
_ui->groupBox_octomap->setChecked(false);
_ui->spinBox_octomap_treeDepth->setValue(16);
_ui->checkBox_octomap_fullUpdate->setChecked(false);
_ui->checkBox_octomap_2dgrid->setChecked(true);
_ui->checkBox_octomap_show3dMap->setChecked(true);
_ui->checkBox_octomap_cubeRendering->setChecked(true);
_ui->checkBox_octomap_cubeRendering->setChecked(false);
_ui->spinBox_octomap_pointSize->setValue(5);
_ui->doubleSpinBox_octomap_occupancyThr->setValue(0.5);
}
@@ -1685,12 +1687,12 @@ 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_erode->setChecked(settings.value("gridMapEroded", _ui->checkBox_map_erode->isChecked()).toBool());
_ui->checkBox_map_incremental->setChecked(settings.value("gridMapIncremental", _ui->checkBox_map_incremental->isChecked()).toBool());
_ui->doubleSpinBox_map_footprintRadius->setValue(settings.value("gridMapFootprintRadius", _ui->doubleSpinBox_map_footprintRadius->value()).toDouble());
_ui->doubleSpinBox_map_opacity->setValue(settings.value("gridMapOpacity", _ui->doubleSpinBox_map_opacity->value()).toDouble());
_ui->groupBox_octomap->setChecked(settings.value("octomap", _ui->groupBox_octomap->isChecked()).toBool());
_ui->spinBox_octomap_treeDepth->setValue(settings.value("octomap_depth", _ui->spinBox_octomap_treeDepth->value()).toInt());
_ui->checkBox_octomap_fullUpdate->setChecked(settings.value("octomap_full_update", _ui->checkBox_octomap_fullUpdate->isChecked()).toBool());
_ui->checkBox_octomap_2dgrid->setChecked(settings.value("octomap_2dgrid", _ui->checkBox_octomap_2dgrid->isChecked()).toBool());
_ui->checkBox_octomap_show3dMap->setChecked(settings.value("octomap_3dmap", _ui->checkBox_octomap_show3dMap->isChecked()).toBool());
_ui->checkBox_octomap_cubeRendering->setChecked(settings.value("octomap_cube", _ui->checkBox_octomap_cubeRendering->isChecked()).toBool());
@@ -2071,12 +2073,12 @@ 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("gridMapEroded", _ui->checkBox_map_erode->isChecked());
settings.setValue("gridMapIncremental", _ui->checkBox_map_incremental->isChecked());
settings.setValue("gridMapFootprintRadius", _ui->doubleSpinBox_map_footprintRadius->value());
settings.setValue("gridMapOpacity", _ui->doubleSpinBox_map_opacity->value());
settings.setValue("octomap", _ui->groupBox_octomap->isChecked());
settings.setValue("octomap_depth", _ui->spinBox_octomap_treeDepth->value());
settings.setValue("octomap_full_update", _ui->checkBox_octomap_fullUpdate->isChecked());
settings.setValue("octomap_2dgrid", _ui->checkBox_octomap_2dgrid->isChecked());
settings.setValue("octomap_3dmap", _ui->checkBox_octomap_show3dMap->isChecked());
settings.setValue("octomap_cube", _ui->checkBox_octomap_cubeRendering->isChecked());
@@ -4064,9 +4066,9 @@ int PreferencesDialog::getOctomapTreeDepth() const
{
return _ui->spinBox_octomap_treeDepth->value();
}
bool PreferencesDialog::isOctomapGroundAnObstacle() const
bool PreferencesDialog::isOctomapFullUpdate() const
{
return _ui->checkBox_grid_groundObstacle->isChecked();
return _ui->checkBox_octomap_fullUpdate->isChecked();
}
double PreferencesDialog::getOctomapOccupancyThr() const
{
@@ -4255,10 +4257,6 @@ bool PreferencesDialog::isGridMapEroded() const
{
return _ui->checkBox_map_erode->isChecked();
}
bool PreferencesDialog::isGridMapIncremental() const
{
return _ui->checkBox_map_incremental->isChecked();
}
double PreferencesDialog::getGridMapFootprintRadius() const
{
return _ui->doubleSpinBox_map_footprintRadius->value();

545
guilib/src/ui/preferencesDialog.ui
View File

@@ -65,7 +65,7 @@
<x>0</x>
<y>0</y>
<width>673</width>
<height>2718</height>
<height>2735</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
@@ -1794,6 +1794,26 @@ 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="1" column="1">
<widget class="QLabel" name="label_159">
<property name="text">
<string>Resolution (cell size).</string>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_170">
<property name="text">
<string>Opacity.</string>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_map_opacity">
<property name="suffix">
@@ -1849,30 +1869,10 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_159">
<property name="text">
<string>Resolution (cell size).</string>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_170">
<property name="text">
<string>Opacity.</string>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_224">
<property name="text">
<string>Erode. Not used if incremental.</string>
<string>Erode.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -1924,29 +1924,6 @@ 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_332">
<property name="text">
<string>Incremental.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QCheckBox" name="checkBox_map_incremental">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
</layout>
</item>
<item>
@@ -1958,7 +1935,17 @@ Show a yellow background when the number of odometry inliers goes under this thr
<bool>true</bool>
</property>
<layout class="QGridLayout" name="gridLayout_72" columnstretch="0,1">
<item row="5" column="1">
<item row="0" column="0">
<widget class="QCheckBox" name="checkBox_octomap_show3dMap">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_octomap_treeDepth_4">
<property name="text">
<string>Occupancy threshold.</string>
@@ -1971,20 +1958,20 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_octomap_treeDepth_5">
<property name="text">
<string>Cube rendering. Disable to show as a point cloud (a lot less GPU power required).</string>
<item row="6" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_octomap_occupancyThr">
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="wordWrap">
<bool>true</bool>
<property name="singleStep">
<double>0.050000000000000</double>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
<property name="value">
<double>0.500000000000000</double>
</property>
</widget>
</item>
<item row="3" column="1">
<item row="5" 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>
@@ -1997,7 +1984,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="3" column="0">
<item row="5" column="0">
<widget class="QSpinBox" name="spinBox_octomap_treeDepth">
<property name="minimum">
<number>1</number>
@@ -2010,8 +1997,34 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QSpinBox" name="spinBox_octomap_pointSize">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>99</number>
</property>
<property name="value">
<number>5</number>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_octomap_treeDepth_7">
<property name="text">
<string>Full update. When the graph is changed, the whole map will be reconstructed instead of moving individually each cells of the map. Also, data added to cache won't be released after updating the map. This process is longer but more robust to drift that would erase some parts of the map when it should not.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QCheckBox" name="checkBox_octomap_2dgrid">
<widget class="QCheckBox" name="checkBox_octomap_fullUpdate">
<property name="text">
<string/>
</property>
@@ -2020,10 +2033,10 @@ 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_octomap_treeDepth_2">
<item row="2" column="1">
<widget class="QLabel" name="label_octomap_treeDepth_5">
<property name="text">
<string>Show 2D occupancy grid map from OctoMap projection.</string>
<string>Cube rendering. Warning: this requires significant more GPU power.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -2046,30 +2059,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QCheckBox" name="checkBox_octomap_show3dMap">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_octomap_occupancyThr">
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.050000000000000</double>
</property>
<property name="value">
<double>0.500000000000000</double>
</property>
</widget>
</item>
<item row="1" column="0">
<item row="2" column="0">
<widget class="QCheckBox" name="checkBox_octomap_cubeRendering">
<property name="text">
<string/>
@@ -2079,7 +2069,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="2" column="1">
<item row="3" column="1">
<widget class="QLabel" name="label_octomap_treeDepth_6">
<property name="text">
<string>Point size. When cube rendering is disabled.</string>
@@ -2092,16 +2082,26 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QSpinBox" name="spinBox_octomap_pointSize">
<property name="minimum">
<number>1</number>
<item row="1" column="1">
<widget class="QLabel" name="label_octomap_treeDepth_8">
<property name="text">
<string>2D grid map created from OctoMap.</string>
</property>
<property name="maximum">
<number>99</number>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="value">
<number>5</number>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="checkBox_octomap_2dgrid">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
@@ -8421,43 +8421,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<layout class="QVBoxLayout" name="verticalLayout_110">
<item>
<layout class="QGridLayout" name="gridLayout_75" columnstretch="0,1">
<item row="3" column="1">
<widget class="QLabel" name="label_327">
<property name="text">
<string>Minimum ground 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="1" column="1">
<widget class="QLabel" name="label_326">
<property name="text">
<string>Resolution (cell size).</string>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="10" column="1">
<widget class="QLabel" name="label_335">
<property name="text">
<string>Footprint filtering height (0=disabled). Footprint length and width should be set.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="6" column="0">
<item row="9" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_noiseRadius">
<property name="suffix">
<string> m</string>
@@ -8476,111 +8440,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_maxObstacleHeight">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="maximum">
<double>9999.000000000000000</double>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_maxGroundHeight">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="maximum">
<double>99999.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_321">
<property name="text">
<string>Noise filtering min neighbors.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_325">
<property name="text">
<string>Noise filtering radius (0=disabled). Done after segmentation.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QCheckBox" name="checkBox_grid_projMapFrame">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_311">
<property name="text">
<string>Projection in map frame. On a 3D terrain and a fixed local camera transform (the cloud is created relative to ground), you may want to disable this to do the projection in robot frame instead.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_310">
<property name="text">
<string>Maximum ground height (0=disabled). Should be set if Normals Segmentation Approach is checked below.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<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="3" column="0">
<item row="6" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_minGroundHeight">
<property name="suffix">
<string> m</string>
@@ -8602,7 +8462,88 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="13" column="1">
<widget class="QLabel" name="label_335">
<property name="text">
<string>Footprint filtering height (0=disabled). Footprint length and width should be set.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_maxObstacleHeight">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="maximum">
<double>9999.000000000000000</double>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_maxGroundHeight">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="maximum">
<double>99999.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
</widget>
</item>
<item row="10" column="1">
<widget class="QLabel" name="label_321">
<property name="text">
<string>Noise filtering min neighbors.</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="1">
<widget class="QLabel" name="label_310">
<property name="text">
<string>Maximum ground height (0=disabled). Should be set if Normals Segmentation Approach is checked below.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="8" 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="10" column="0">
<widget class="QSpinBox" name="spinBox_grid_noiseMinNeighbors">
<property name="minimum">
<number>1</number>
@@ -8615,7 +8556,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="1" column="0">
<item row="3" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_resolution">
<property name="suffix">
<string> m</string>
@@ -8631,7 +8572,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="11" column="1">
<item row="14" column="1">
<widget class="QLabel" name="label_331">
<property name="text">
<string>Laser scan decimation.</string>
@@ -8644,7 +8585,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="11" column="0">
<item row="14" column="0">
<widget class="QSpinBox" name="spinBox_grid_scanDecimation">
<property name="minimum">
<number>1</number>
@@ -8657,7 +8598,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="8" column="1">
<item row="11" column="1">
<widget class="QLabel" name="label_333">
<property name="text">
<string>Footprint filtering length (0=disabled).</string>
@@ -8670,7 +8611,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="9" column="1">
<item row="12" column="1">
<widget class="QLabel" name="label_334">
<property name="text">
<string>Footprint filtering width (0=disabled). Footprint length should be set.</string>
@@ -8683,26 +8624,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_footprintLength">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="maximum">
<double>10.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
<item row="9" column="0">
<item row="12" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_footprintWidth">
<property name="suffix">
<string> m</string>
@@ -8721,7 +8643,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="10" column="0">
<item row="13" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_footprintHeight">
<property name="suffix">
<string> m</string>
@@ -8740,6 +8662,74 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_332">
<property name="text">
<string>Global occupancy grid full update. When the graph is changed, the whole map will be reconstructed instead of moving individually each cells of the map. Also, data added to cache won't be released after updating the map. This process is longer but more robust to drift that would erase some parts of the map when it should not.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_327">
<property name="text">
<string>Minimum ground 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="3" column="1">
<widget class="QLabel" name="label_326">
<property name="text">
<string>Resolution (cell size).</string>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="9" column="1">
<widget class="QLabel" name="label_325">
<property name="text">
<string>Noise filtering radius (0=disabled). Done after segmentation.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="11" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_footprintLength">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="maximum">
<double>10.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QCheckBox" name="checkbox_rgbd_createOccupancyGrid">
<property name="text">
@@ -8763,6 +8753,39 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="checkBox_grid_fullUpdate">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_311">
<property name="text">
<string>Projection in map frame. On a 3D terrain and a fixed local camera transform (the cloud is created relative to ground), you may want to disable this to do the projection in robot frame instead.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QCheckBox" name="checkBox_grid_projMapFrame">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
</layout>
</item>
<item>