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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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18
guilib/src/PreferencesDialog.cpp
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@@ -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();