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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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102
guilib/src/ui/preferencesDialog.ui
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@@ -65,7 +65,7 @@
<x>0</x>
<y>0</y>
<width>744</width>
<height>900</height>
<height>1047</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>5</number>
<number>1</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29">
@@ -391,7 +391,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
<item row="0" column="1">
<widget class="QLabel" name="label_37">
<property name="text">
<string>Radius</string>
<string>Radius.</string>
</property>
</widget>
</item>
@@ -414,7 +414,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
<item row="1" column="1">
<widget class="QLabel" name="label_48">
<property name="text">
<string>Angle</string>
<string>Angle.</string>
</property>
</widget>
</item>
@@ -438,7 +438,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
<item>
<widget class="QLabel" name="label_167">
<property name="text">
<string>When laser scans are used, a 2D grid map can be created. When the Graph view is visible or if the &quot;Show in 3D map view&quot; below is checked, the grid map is generated.</string>
<string>When the Graph view is visible or if the &quot;Show in 3D map view&quot; below is checked, the grid map is generated using the laser scans.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -466,18 +466,18 @@ Show a yellow background when the number of odometry inliers goes under this thr
<item row="1" column="1">
<widget class="QLabel" name="label_159">
<property name="text">
<string>Resolution (cell size)</string>
<string>Resolution (cell size).</string>
</property>
</widget>
</item>
<item row="2" column="1">
<item row="3" column="1">
<widget class="QLabel" name="label_164">
<property name="text">
<string>Fill empty space</string>
<string>Fill empty space.</string>
</property>
</widget>
</item>
<item row="2" column="0">
<item row="3" column="0">
<widget class="QCheckBox" name="checkBox_map_fillEmptySpace">
<property name="text">
<string/>
@@ -487,26 +487,10 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_map_opacity">
<property name="suffix">
<string/>
</property>
<property name="minimum">
<double>0.750000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="value">
<double>0.750000000000000</double>
</property>
</widget>
</item>
<item row="3" column="1">
<item row="2" column="1">
<widget class="QLabel" name="label_170">
<property name="text">
<string>Opacity</string>
<string>Opacity.</string>
</property>
</widget>
</item>
@@ -523,7 +507,69 @@ Show a yellow background when the number of odometry inliers goes under this thr
<item row="0" column="1">
<widget class="QLabel" name="label_map_shown">
<property name="text">
<string>Show in 3D map view</string>
<string>Show in 3D map view.</string>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QCheckBox" name="checkBox_map_occupancyFrom3DCloud">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_map_opacity">
<property name="suffix">
<string/>
</property>
<property name="minimum">
<double>0.750000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="value">
<double>0.750000000000000</double>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_210">
<property name="text">
<string>Occupancy from 3D cloud projection on the ground. Laser scans are ignored when activated.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_211">
<property name="text">
<string>Fill empty radius. Used when occupancy from 3D projection is activated.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QSpinBox" name="checkBox_map_fillEmptyRadius">
<property name="suffix">
<string> cells</string>
</property>
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>10</number>
</property>
<property name="value">
<number>0</number>
</property>
</widget>
</item>