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Added util3d::occupancy2DFromCloud3D() and util3d::create2DMapFromOccupancyLocalMaps() methods to create 2D occupancy maps from 3D clouds

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1899 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-10-20 02:14:31 +00:00
parent b97426c83d
commit d0325f3171
11 changed files with 910 additions and 91 deletions
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14
guilib/src/PreferencesDialog.cpp
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@@ -818,6 +818,8 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->checkBox_map_shown->setChecked(false);
_ui->doubleSpinBox_map_resolution->setValue(0.05);
_ui->checkBox_map_fillEmptySpace->setChecked(true);
_ui->checkBox_map_occupancyFrom3DCloud->setChecked(false);
_ui->checkBox_map_fillEmptyRadius->setValue(0);
_ui->doubleSpinBox_map_opacity->setValue(0.75);
}
else if(groupBox->objectName() == _ui->groupBox_logging1->objectName())
@@ -1053,6 +1055,8 @@ 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_fillEmptySpace->setChecked(settings.value("gridMapFillEmptySpace", _ui->checkBox_map_fillEmptySpace->isChecked()).toBool());
_ui->checkBox_map_occupancyFrom3DCloud->setChecked(settings.value("gridMapOccupancyFrom3DCloud", _ui->checkBox_map_occupancyFrom3DCloud->isChecked()).toBool());
_ui->checkBox_map_fillEmptyRadius->setValue(settings.value("gridMapFillEmptyRadius", _ui->checkBox_map_fillEmptyRadius->value()).toInt());
_ui->doubleSpinBox_map_opacity->setValue(settings.value("gridMapOpacity", _ui->doubleSpinBox_map_opacity->value()).toDouble());
settings.endGroup(); // General
@@ -1293,6 +1297,8 @@ void PreferencesDialog::writeGuiSettings(const QString & filePath)
settings.setValue("gridMapShown", _ui->checkBox_map_shown->isChecked());
settings.setValue("gridMapResolution", _ui->doubleSpinBox_map_resolution->value());
settings.setValue("gridMapFillEmptySpace", _ui->checkBox_map_fillEmptySpace->isChecked());
settings.setValue("gridMapOccupancyFrom3DCloud", _ui->checkBox_map_occupancyFrom3DCloud->isChecked());
settings.setValue("gridMapFillEmptyRadius", _ui->checkBox_map_fillEmptyRadius->value());
settings.setValue("gridMapOpacity", _ui->doubleSpinBox_map_opacity->value());
settings.endGroup(); // General
@@ -2653,6 +2659,14 @@ bool PreferencesDialog::getGridMapFillEmptySpace() const
{
return _ui->checkBox_map_fillEmptySpace->isChecked();
}
bool PreferencesDialog::isGridMapFrom3DCloud() const
{
return _ui->checkBox_map_occupancyFrom3DCloud->isChecked();
}
int PreferencesDialog::getGridMapFillEmptyRadius() const
{
return _ui->checkBox_map_fillEmptyRadius->value();
}
double PreferencesDialog::getGridMapOpacity() const
{
return _ui->doubleSpinBox_map_opacity->value();