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Gui 3d rendering: added default color scheme option, added min and max range options for laser scans

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This commit is contained in:
matlabbe
2018-02-17 09:46:08 -05:00
parent 077b3ab59e
commit d181bedbfc
11 changed files with 615 additions and 227 deletions
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16
guilib/include/rtabmap/gui/CloudViewer.h
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@@ -85,7 +85,8 @@ public:
const pcl::PCLPointCloud2Ptr & binaryCloud,
const Transform & pose,
bool rgb,
bool haveNormals,
bool hasNormals,
bool hasIntensity,
const QColor & color = QColor());
bool addCloud(
@@ -100,6 +101,18 @@ public:
const Transform & pose = Transform::getIdentity(),
const QColor & color = QColor());
bool addCloud(
const std::string & id,
const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
const Transform & pose = Transform::getIdentity(),
const QColor & color = QColor());
bool addCloud(
const std::string & id,
const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
const Transform & pose = Transform::getIdentity(),
const QColor & color = QColor());
bool addCloud(
const std::string & id,
const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
@@ -287,6 +300,7 @@ public slots:
void setDefaultBackgroundColor(const QColor & color);
void setBackgroundColor(const QColor & color);
void setCloudVisibility(const std::string & id, bool isVisible);
void setCloudColorIndex(const std::string & id, int index);
void setCloudOpacity(const std::string & id, double opacity = 1.0);
void setCloudPointSize(const std::string & id, int size);
virtual void clear();

8
guilib/include/rtabmap/gui/PreferencesDialog.h
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@@ -181,12 +181,16 @@ public:
double getCloudMaxDepth(int index) const; // 0=map, 1=odom
double getCloudMinDepth(int index) const; // 0=map, 1=odom
std::vector<float> getCloudRoiRatios(int index) const; // 0=map, 1=odom
int getCloudColorScheme(int index) const; // 0=map, 1=odom
double getCloudOpacity(int index) const; // 0=map, 1=odom
int getCloudPointSize(int index) const; // 0=map, 1=odom
bool isScansShown(int index) const; // 0=map, 1=odom
int getDownsamplingStepScan(int index) const; // 0=map, 1=odom
double getScanMaxRange(int index) const; // 0=map, 1=odom
double getScanMinRange(int index) const; // 0=map, 1=odom
double getCloudVoxelSizeScan(int index) const; // 0=map, 1=odom
int getScanColorScheme(int index) const; // 0=map, 1=odom
double getScanOpacity(int index) const; // 0=map, 1=odom
int getScanPointSize(int index) const; // 0=map, 1=odom
@@ -390,11 +394,15 @@ private:
QVector<QDoubleSpinBox*> _3dRenderingMaxDepth;
QVector<QDoubleSpinBox*> _3dRenderingMinDepth;
QVector<QLineEdit*> _3dRenderingRoiRatios;
QVector<QSpinBox*> _3dRenderingColorScheme;
QVector<QDoubleSpinBox*> _3dRenderingOpacity;
QVector<QSpinBox*> _3dRenderingPtSize;
QVector<QCheckBox*> _3dRenderingShowScans;
QVector<QSpinBox*> _3dRenderingDownsamplingScan;
QVector<QDoubleSpinBox*> _3dRenderingMaxRange;
QVector<QDoubleSpinBox*> _3dRenderingMinRange;
QVector<QDoubleSpinBox*> _3dRenderingVoxelSizeScan;
QVector<QSpinBox*> _3dRenderingColorSchemeScan;
QVector<QDoubleSpinBox*> _3dRenderingOpacityScan;
QVector<QSpinBox*> _3dRenderingPtSizeScan;
QVector<QCheckBox*> _3dRenderingShowFeatures;

53
guilib/src/CloudViewer.cpp
View File

@@ -528,7 +528,8 @@ bool CloudViewer::addCloud(
const pcl::PCLPointCloud2Ptr & binaryCloud,
const Transform & pose,
bool rgb,
bool haveNormals,
bool hasNormals,
bool hasIntensity,
const QColor & color)
{
int previousColorIndex = -1;
@@ -541,7 +542,7 @@ bool CloudViewer::addCloud(
Eigen::Vector4f origin(pose.x(), pose.y(), pose.z(), 0.0f);
Eigen::Quaternionf orientation = Eigen::Quaternionf(pose.toEigen3f().linear());
if(haveNormals && _aShowNormals->isChecked())
if(hasNormals && _aShowNormals->isChecked())
{
pcl::PointCloud<pcl::PointNormal>::Ptr cloud_xyz (new pcl::PointCloud<pcl::PointNormal>);
pcl::fromPCLPointCloud2 (*binaryCloud, *cloud_xyz);
@@ -580,12 +581,18 @@ bool CloudViewer::addCloud(
colorHandler.reset(new pcl::visualization::PointCloudColorHandlerRGBField<pcl::PCLPointCloud2>(binaryCloud));
_visualizer->addPointCloud (binaryCloud, colorHandler, origin, orientation, id);
}
else if(hasIntensity)
{
//rgb
colorHandler.reset(new pcl::visualization::PointCloudColorHandlerGenericField<pcl::PCLPointCloud2>(binaryCloud, "intensity"));
_visualizer->addPointCloud (binaryCloud, colorHandler, origin, orientation, id);
}
else if(previousColorIndex == 5)
{
previousColorIndex = -1;
}
if(haveNormals)
if(hasNormals)
{
//normals
colorHandler.reset (new pcl::visualization::PointCloudColorHandlerGenericField<pcl::PCLPointCloud2> (binaryCloud, "normal_x"));
@@ -604,7 +611,7 @@ bool CloudViewer::addCloud(
{
_visualizer->updateColorHandlerIndex(id, previousColorIndex);
}
else if(rgb)
else if(rgb || hasIntensity)
{
_visualizer->updateColorHandlerIndex(id, 5);
}
@@ -627,7 +634,7 @@ bool CloudViewer::addCloud(
{
pcl::PCLPointCloud2Ptr binaryCloud(new pcl::PCLPointCloud2);
pcl::toPCLPointCloud2(*cloud, *binaryCloud);
return addCloud(id, binaryCloud, pose, true, true, color);
return addCloud(id, binaryCloud, pose, true, true, false, color);
}
bool CloudViewer::addCloud(
@@ -638,7 +645,29 @@ bool CloudViewer::addCloud(
{
pcl::PCLPointCloud2Ptr binaryCloud(new pcl::PCLPointCloud2);
pcl::toPCLPointCloud2(*cloud, *binaryCloud);
return addCloud(id, binaryCloud, pose, true, false, color);
return addCloud(id, binaryCloud, pose, true, false, false, color);
}
bool CloudViewer::addCloud(
const std::string & id,
const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
const Transform & pose,
const QColor & color)
{
pcl::PCLPointCloud2Ptr binaryCloud(new pcl::PCLPointCloud2);
pcl::toPCLPointCloud2(*cloud, *binaryCloud);
return addCloud(id, binaryCloud, pose, false, true, true, color);
}
bool CloudViewer::addCloud(
const std::string & id,
const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
const Transform & pose,
const QColor & color)
{
pcl::PCLPointCloud2Ptr binaryCloud(new pcl::PCLPointCloud2);
pcl::toPCLPointCloud2(*cloud, *binaryCloud);
return addCloud(id, binaryCloud, pose, false, false, true, color);
}
bool CloudViewer::addCloud(
@@ -649,7 +678,7 @@ bool CloudViewer::addCloud(
{
pcl::PCLPointCloud2Ptr binaryCloud(new pcl::PCLPointCloud2);
pcl::toPCLPointCloud2(*cloud, *binaryCloud);
return addCloud(id, binaryCloud, pose, false, true, color);
return addCloud(id, binaryCloud, pose, false, true, false, color);
}
bool CloudViewer::addCloud(
@@ -660,7 +689,7 @@ bool CloudViewer::addCloud(
{
pcl::PCLPointCloud2Ptr binaryCloud(new pcl::PCLPointCloud2);
pcl::toPCLPointCloud2(*cloud, *binaryCloud);
return addCloud(id, binaryCloud, pose, false, false, color);
return addCloud(id, binaryCloud, pose, false, false, false, color);
}
bool CloudViewer::addCloudMesh(
@@ -2132,6 +2161,14 @@ bool CloudViewer::getCloudVisibility(const std::string & id)
return false;
}
void CloudViewer::setCloudColorIndex(const std::string & id, int index)
{
if(index>0)
{
_visualizer->updateColorHandlerIndex(id, index-1);
}
}
void CloudViewer::setCloudOpacity(const std::string & id, double opacity)
{
double lastOpacity;

9
guilib/src/DatabaseViewer.cpp
View File

@@ -3195,6 +3195,15 @@ void DatabaseViewer::update(int value,
}
cloudViewer_->addCloud("scan", scan, pose, Qt::yellow);
}
else if(data.laserScanRaw().hasIntensity() && data.laserScanRaw().hasNormals())
{
pcl::PointCloud<pcl::PointXYZINormal>::Ptr scan = util3d::laserScanToPointCloudINormal(data.laserScanRaw(), data.laserScanRaw().localTransform());
if(ui_->doubleSpinBox_voxelSize->value() > 0.0)
{
scan = util3d::voxelize(scan, ui_->doubleSpinBox_voxelSize->value());
}
cloudViewer_->addCloud("scan", scan, pose, Qt::yellow);
}
else if(data.laserScanRaw().hasNormals())
{
pcl::PointCloud<pcl::PointNormal>::Ptr scan = util3d::laserScanToPointCloudNormal(data.laserScanRaw(), data.laserScanRaw().localTransform());

118
guilib/src/MainWindow.cpp
View File

@@ -1099,6 +1099,7 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
}
}
_cloudViewer->setCloudVisibility("cloudOdom", true);
_cloudViewer->setCloudColorIndex("cloudOdom", _preferencesDialog->getCloudColorScheme(1));
_cloudViewer->setCloudOpacity("cloudOdom", _preferencesDialog->getCloudOpacity(1));
_cloudViewer->setCloudPointSize("cloudOdom", _preferencesDialog->getCloudPointSize(1));
@@ -1122,6 +1123,7 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
else
{
_cloudViewer->setCloudVisibility("scanMapOdom", true);
_cloudViewer->setCloudColorIndex("scanMapOdom", _preferencesDialog->getScanColorScheme(1));
_cloudViewer->setCloudOpacity("scanMapOdom", _preferencesDialog->getScanOpacity(1));
_cloudViewer->setCloudPointSize("scanMapOdom", _preferencesDialog->getScanPointSize(1));
}
@@ -1133,9 +1135,14 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
{
LaserScan scan = odom.data().laserScanRaw();
if(_preferencesDialog->getDownsamplingStepScan(1) > 0)
if(_preferencesDialog->getDownsamplingStepScan(1) > 1 ||
_preferencesDialog->getScanMaxRange(1) > 0.0f ||
_preferencesDialog->getScanMinRange(1) > 0.0f)
{
scan = util3d::downsample(scan, _preferencesDialog->getDownsamplingStepScan(1));
scan = util3d::commonFiltering(scan,
_preferencesDialog->getDownsamplingStepScan(1),
_preferencesDialog->getScanMinRange(1),
_preferencesDialog->getScanMaxRange(1));
}
pcl::PointCloud<pcl::PointNormal>::Ptr cloud;
@@ -1152,6 +1159,7 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
else
{
_cloudViewer->setCloudVisibility("scanOdom", true);
_cloudViewer->setCloudColorIndex("scanOdom", _preferencesDialog->getScanColorScheme(1));
_cloudViewer->setCloudOpacity("scanOdom", _preferencesDialog->getScanOpacity(1));
_cloudViewer->setCloudPointSize("scanOdom", _preferencesDialog->getScanPointSize(1));
scanUpdated = true;
@@ -2169,6 +2177,7 @@ void MainWindow::updateMapCloud(
}
}
_cloudViewer->setCloudVisibility(cloudName, (_cloudViewer->isVisible() && _preferencesDialog->isCloudsShown(0)));
_cloudViewer->setCloudColorIndex(cloudName, _preferencesDialog->getCloudColorScheme(0));
_cloudViewer->setCloudOpacity(cloudName, _preferencesDialog->getCloudOpacity(0));
_cloudViewer->setCloudPointSize(cloudName, _preferencesDialog->getCloudPointSize(0));
}
@@ -2210,6 +2219,7 @@ void MainWindow::updateMapCloud(
}
}
_cloudViewer->setCloudVisibility(scanName, _preferencesDialog->isScansShown(0));
_cloudViewer->setCloudColorIndex(scanName, _preferencesDialog->getScanColorScheme(0));
_cloudViewer->setCloudOpacity(scanName, _preferencesDialog->getScanOpacity(0));
_cloudViewer->setCloudPointSize(scanName, _preferencesDialog->getScanPointSize(0));
}
@@ -2643,6 +2653,7 @@ void MainWindow::updateMapCloud(
{
UDEBUG("");
_cloudViewer->updateCloudPose("cloudOdom", _odometryCorrection);
_cloudViewer->setCloudColorIndex("cloudOdom", _preferencesDialog->getCloudColorScheme(1));
_cloudViewer->setCloudOpacity("cloudOdom", _preferencesDialog->getCloudOpacity(1));
_cloudViewer->setCloudPointSize("cloudOdom", _preferencesDialog->getCloudPointSize(1));
}
@@ -2658,6 +2669,7 @@ void MainWindow::updateMapCloud(
{
UDEBUG("");
_cloudViewer->updateCloudPose("scanOdom", _odometryCorrection);
_cloudViewer->setCloudColorIndex("scanOdom", _preferencesDialog->getScanColorScheme(1));
_cloudViewer->setCloudOpacity("scanOdom", _preferencesDialog->getScanOpacity(1));
_cloudViewer->setCloudPointSize("scanOdom", _preferencesDialog->getScanPointSize(1));
}
@@ -2673,6 +2685,7 @@ void MainWindow::updateMapCloud(
{
UDEBUG("");
_cloudViewer->updateCloudPose("scanMapOdom", _odometryCorrection);
_cloudViewer->setCloudColorIndex("scanMapOdom", _preferencesDialog->getScanColorScheme(1));
_cloudViewer->setCloudOpacity("scanMapOdom", _preferencesDialog->getScanOpacity(1));
_cloudViewer->setCloudPointSize("scanMapOdom", _preferencesDialog->getScanPointSize(1));
}
@@ -3016,6 +3029,7 @@ std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> MainWindow::c
_cachedClouds.insert(std::make_pair(nodeId, outputPair));
_createdCloudsMemoryUsage += (long)(output->size() * sizeof(pcl::PointXYZRGB) + indices->size()*sizeof(int));
}
_cloudViewer->setCloudColorIndex(cloudName, _preferencesDialog->getCloudColorScheme(0));
_cloudViewer->setCloudOpacity(cloudName, _preferencesDialog->getCloudOpacity(0));
_cloudViewer->setCloudPointSize(cloudName, _preferencesDialog->getCloudPointSize(0));
}
@@ -3054,19 +3068,30 @@ void MainWindow::createAndAddScanToMap(int nodeId, const Transform & pose, int m
LaserScan scan;
iter->sensorData().uncompressData(0, 0, &scan);
if(_preferencesDialog->getDownsamplingStepScan(0) > 0)
if(_preferencesDialog->getDownsamplingStepScan(0) > 1 ||
_preferencesDialog->getScanMaxRange(0) > 0.0f ||
_preferencesDialog->getScanMinRange(0) > 0.0f)
{
scan = util3d::downsample(scan, _preferencesDialog->getDownsamplingStepScan(0));
scan = util3d::commonFiltering(scan,
_preferencesDialog->getDownsamplingStepScan(0),
_preferencesDialog->getScanMinRange(0),
_preferencesDialog->getScanMaxRange(0));
}
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud;
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudRGB;
pcl::PointCloud<pcl::PointXYZI>::Ptr cloudI;
pcl::PointCloud<pcl::PointNormal>::Ptr cloudWithNormals;
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloudRGBWithNormals;
pcl::PointCloud<pcl::PointXYZINormal>::Ptr cloudIWithNormals;
if(scan.hasNormals() && scan.hasRGB() && _preferencesDialog->getCloudVoxelSizeScan(0) <= 0.0)
{
cloudRGBWithNormals = util3d::laserScanToPointCloudRGBNormal(scan, scan.localTransform());
}
else if(scan.hasNormals() && scan.hasIntensity() && _preferencesDialog->getCloudVoxelSizeScan(0) <= 0.0)
{
cloudIWithNormals = util3d::laserScanToPointCloudINormal(scan, scan.localTransform());
}
else if((scan.hasNormals()) && _preferencesDialog->getCloudVoxelSizeScan(0) <= 0.0)
{
cloudWithNormals = util3d::laserScanToPointCloudNormal(scan, scan.localTransform());
@@ -3075,6 +3100,10 @@ void MainWindow::createAndAddScanToMap(int nodeId, const Transform & pose, int m
{
cloudRGB = util3d::laserScanToPointCloudRGB(scan, scan.localTransform());
}
else if(scan.hasIntensity())
{
cloudI = util3d::laserScanToPointCloudI(scan, scan.localTransform());
}
else
{
cloud = util3d::laserScanToPointCloud(scan, scan.localTransform());
@@ -3090,6 +3119,10 @@ void MainWindow::createAndAddScanToMap(int nodeId, const Transform & pose, int m
{
cloudRGB = util3d::voxelize(cloudRGB, _preferencesDialog->getCloudVoxelSizeScan(0));
}
if(cloudI.get())
{
cloudI = util3d::voxelize(cloudI, _preferencesDialog->getCloudVoxelSizeScan(0));
}
}
// Do ceiling/floor filtering
@@ -3110,6 +3143,19 @@ void MainWindow::createAndAddScanToMap(int nodeId, const Transform & pose, int m
//transform back in sensor frame
cloudRGBWithNormals = util3d::transformPointCloud(cloudTransformed, pose.inverse());
}
if(cloudIWithNormals.get())
{
// perform in /map frame
pcl::PointCloud<pcl::PointXYZINormal>::Ptr cloudTransformed = util3d::transformPointCloud(cloudIWithNormals, pose);
cloudTransformed = rtabmap::util3d::passThrough(
cloudTransformed,
"z",
_preferencesDialog->getScanFloorFilteringHeight()==0.0?(float)std::numeric_limits<int>::min():_preferencesDialog->getScanFloorFilteringHeight(),
_preferencesDialog->getScanCeilingFilteringHeight()==0.0?(float)std::numeric_limits<int>::max():_preferencesDialog->getScanCeilingFilteringHeight());
//transform back in sensor frame
cloudIWithNormals = util3d::transformPointCloud(cloudTransformed, pose.inverse());
}
if(cloudWithNormals.get())
{
// perform in /map frame
@@ -3136,6 +3182,19 @@ void MainWindow::createAndAddScanToMap(int nodeId, const Transform & pose, int m
//transform back in sensor frame
cloudRGB = util3d::transformPointCloud(cloudTransformed, pose.inverse());
}
if(cloudI.get())
{
// perform in /map frame
pcl::PointCloud<pcl::PointXYZI>::Ptr cloudTransformed = util3d::transformPointCloud(cloudI, pose);
cloudTransformed = rtabmap::util3d::passThrough(
cloudTransformed,
"z",
_preferencesDialog->getScanFloorFilteringHeight()==0.0?(float)std::numeric_limits<int>::min():_preferencesDialog->getScanFloorFilteringHeight(),
_preferencesDialog->getScanCeilingFilteringHeight()==0.0?(float)std::numeric_limits<int>::max():_preferencesDialog->getScanCeilingFilteringHeight());
//transform back in sensor frame
cloudI = util3d::transformPointCloud(cloudTransformed, pose.inverse());
}
if(cloud.get())
{
// perform in /map frame
@@ -3151,7 +3210,7 @@ void MainWindow::createAndAddScanToMap(int nodeId, const Transform & pose, int m
}
}
if( (cloud.get() || cloudRGB.get()) &&
if( (cloud.get() || cloudRGB.get() || cloudI.get()) &&
(_preferencesDialog->getScanNormalKSearch() > 0 || _preferencesDialog->getScanNormalRadiusSearch() > 0.0))
{
Eigen::Vector3f scanViewpoint(
@@ -3174,14 +3233,28 @@ void MainWindow::createAndAddScanToMap(int nodeId, const Transform & pose, int m
pcl::concatenateFields(*cloud, *normals, *cloudWithNormals);
cloud.reset();
}
else
else if(cloudRGB.get() && cloudRGB->size())
{
UASSERT(cloudRGB.get() && cloudRGB->size()); // Assuming 4 channels cannot be 2D
// Assuming 3D
normals = util3d::computeNormals(cloudRGB, _preferencesDialog->getScanNormalKSearch(), _preferencesDialog->getScanNormalRadiusSearch(), scanViewpoint);
cloudRGBWithNormals.reset(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
pcl::concatenateFields(*cloudRGB, *normals, *cloudRGBWithNormals);
cloudRGB.reset();
}
else if(cloudI.get())
{
if(scan.is2d())
{
normals = util3d::computeFastOrganizedNormals2D(cloudI, _preferencesDialog->getScanNormalKSearch(), _preferencesDialog->getScanNormalRadiusSearch(), scanViewpoint);
}
else
{
normals = util3d::computeNormals(cloudI, _preferencesDialog->getScanNormalKSearch(), _preferencesDialog->getScanNormalRadiusSearch(), scanViewpoint);
}
cloudIWithNormals.reset(new pcl::PointCloud<pcl::PointXYZINormal>);
pcl::concatenateFields(*cloud, *normals, *cloudIWithNormals);
cloudI.reset();
}
}
QColor color = Qt::gray;
@@ -3198,6 +3271,21 @@ void MainWindow::createAndAddScanToMap(int nodeId, const Transform & pose, int m
scan = LaserScan(util3d::laserScanFromPointCloud(*cloudRGBWithNormals, scan.localTransform().inverse()), scan.maxPoints(), scan.maxRange(), LaserScan::kXYZRGBNormal, scan.localTransform());
}
}
else if(cloudIWithNormals.get())
{
added = _cloudViewer->addCloud(scanName, cloudIWithNormals, pose, color);
if(added && nodeId > 0)
{
if(scan.is2d())
{
scan = LaserScan(util3d::laserScan2dFromPointCloud(*cloudIWithNormals, scan.localTransform().inverse()), scan.maxPoints(), scan.maxRange(), LaserScan::kXYINormal, scan.localTransform());
}
else
{
scan = LaserScan(util3d::laserScanFromPointCloud(*cloudIWithNormals, scan.localTransform().inverse()), scan.maxPoints(), scan.maxRange(), LaserScan::kXYZINormal, scan.localTransform());
}
}
}
else if(cloudWithNormals.get())
{
added = _cloudViewer->addCloud(scanName, cloudWithNormals, pose, color);
@@ -3221,6 +3309,21 @@ void MainWindow::createAndAddScanToMap(int nodeId, const Transform & pose, int m
scan = LaserScan(util3d::laserScanFromPointCloud(*cloudRGB, scan.localTransform().inverse()), scan.maxPoints(), scan.maxRange(), LaserScan::kXYZRGB, scan.localTransform());
}
}
else if(cloudI.get())
{
added = _cloudViewer->addCloud(scanName, cloudI, pose, color);
if(added && nodeId > 0)
{
if(scan.is2d())
{
scan = LaserScan(util3d::laserScan2dFromPointCloud(*cloudI, scan.localTransform().inverse()), scan.maxPoints(), scan.maxRange(), LaserScan::kXYI, scan.localTransform());
}
else
{
scan = LaserScan(util3d::laserScanFromPointCloud(*cloudI, scan.localTransform().inverse()), scan.maxPoints(), scan.maxRange(), LaserScan::kXYZI, scan.localTransform());
}
}
}
else
{
UASSERT(cloud.get());
@@ -3248,6 +3351,7 @@ void MainWindow::createAndAddScanToMap(int nodeId, const Transform & pose, int m
_createdScans.insert(std::make_pair(nodeId, scan)); // keep scan in scan frame
}
_cloudViewer->setCloudColorIndex(scanName, _preferencesDialog->getScanColorScheme(0));
_cloudViewer->setCloudOpacity(scanName, _preferencesDialog->getScanOpacity(0));
_cloudViewer->setCloudPointSize(scanName, _preferencesDialog->getScanPointSize(0));
}

52
guilib/src/PreferencesDialog.cpp
View File

@@ -363,6 +363,10 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_3dRenderingRoiRatios[0] = _ui->lineEdit_roiRatios;
_3dRenderingRoiRatios[1] = _ui->lineEdit_roiRatios_odom;
_3dRenderingColorScheme.resize(2);
_3dRenderingColorScheme[0] = _ui->spinBox_colorScheme;
_3dRenderingColorScheme[1] = _ui->spinBox_colorScheme_odom;
_3dRenderingOpacity.resize(2);
_3dRenderingOpacity[0] = _ui->doubleSpinBox_opacity;
_3dRenderingOpacity[1] = _ui->doubleSpinBox_opacity_odom;
@@ -379,10 +383,22 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_3dRenderingDownsamplingScan[0] = _ui->spinBox_downsamplingScan;
_3dRenderingDownsamplingScan[1] = _ui->spinBox_downsamplingScan_odom;
_3dRenderingMaxRange.resize(2);
_3dRenderingMaxRange[0] = _ui->doubleSpinBox_maxRange;
_3dRenderingMaxRange[1] = _ui->doubleSpinBox_maxRange_odom;
_3dRenderingMinRange.resize(2);
_3dRenderingMinRange[0] = _ui->doubleSpinBox_minRange;
_3dRenderingMinRange[1] = _ui->doubleSpinBox_minRange_odom;
_3dRenderingVoxelSizeScan.resize(2);
_3dRenderingVoxelSizeScan[0] = _ui->doubleSpinBox_voxelSizeScan;
_3dRenderingVoxelSizeScan[1] = _ui->doubleSpinBox_voxelSizeScan_odom;
_3dRenderingColorSchemeScan.resize(2);
_3dRenderingColorSchemeScan[0] = _ui->spinBox_colorSchemeScan;
_3dRenderingColorSchemeScan[1] = _ui->spinBox_colorSchemeScan_odom;
_3dRenderingOpacityScan.resize(2);
_3dRenderingOpacityScan[0] = _ui->doubleSpinBox_opacity_scan;
_3dRenderingOpacityScan[1] = _ui->doubleSpinBox_opacity_odom_scan;
@@ -415,9 +431,13 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_3dRenderingShowFrustums[i], SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_3dRenderingDownsamplingScan[i], SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_3dRenderingMaxRange[i], SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_3dRenderingMinRange[i], SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_3dRenderingVoxelSizeScan[i], SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_3dRenderingColorScheme[i], SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_3dRenderingOpacity[i], SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_3dRenderingPtSize[i], SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_3dRenderingColorSchemeScan[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()));
@@ -1414,9 +1434,13 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_3dRenderingShowFrustums[i]->setChecked(false);
_3dRenderingDownsamplingScan[i]->setValue(1);
_3dRenderingMaxRange[i]->setValue(0.0);
_3dRenderingMinRange[i]->setValue(0.0);
_3dRenderingVoxelSizeScan[i]->setValue(0.0);
_3dRenderingColorScheme[i]->setValue(0);
_3dRenderingOpacity[i]->setValue(i==0?1.0:0.75);
_3dRenderingPtSize[i]->setValue(2);
_3dRenderingColorSchemeScan[i]->setValue(0);
_3dRenderingOpacityScan[i]->setValue(i==0?1.0:0.5);
_3dRenderingPtSizeScan[i]->setValue(2);
_3dRenderingPtSizeFeatures[i]->setValue(3);
@@ -1818,9 +1842,13 @@ void PreferencesDialog::readGuiSettings(const QString & filePath)
_3dRenderingShowFrustums[i]->setChecked(settings.value(QString("showFrustums%1").arg(i), _3dRenderingShowFrustums[i]->isChecked()).toBool());
_3dRenderingDownsamplingScan[i]->setValue(settings.value(QString("downsamplingScan%1").arg(i), _3dRenderingDownsamplingScan[i]->value()).toInt());
_3dRenderingMaxRange[i]->setValue(settings.value(QString("maxRange%1").arg(i), _3dRenderingMaxRange[i]->value()).toDouble());
_3dRenderingMinRange[i]->setValue(settings.value(QString("minRange%1").arg(i), _3dRenderingMinRange[i]->value()).toDouble());
_3dRenderingVoxelSizeScan[i]->setValue(settings.value(QString("voxelSizeScan%1").arg(i), _3dRenderingVoxelSizeScan[i]->value()).toDouble());
_3dRenderingColorScheme[i]->setValue(settings.value(QString("colorScheme%1").arg(i), _3dRenderingColorScheme[i]->value()).toInt());
_3dRenderingOpacity[i]->setValue(settings.value(QString("opacity%1").arg(i), _3dRenderingOpacity[i]->value()).toDouble());
_3dRenderingPtSize[i]->setValue(settings.value(QString("ptSize%1").arg(i), _3dRenderingPtSize[i]->value()).toInt());
_3dRenderingColorSchemeScan[i]->setValue(settings.value(QString("colorSchemeScan%1").arg(i), _3dRenderingColorSchemeScan[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());
@@ -2221,9 +2249,13 @@ void PreferencesDialog::writeGuiSettings(const QString & filePath) const
settings.setValue(QString("showFrustums%1").arg(i), _3dRenderingShowFrustums[i]->isChecked());
settings.setValue(QString("downsamplingScan%1").arg(i), _3dRenderingDownsamplingScan[i]->value());
settings.setValue(QString("maxRange%1").arg(i), _3dRenderingMaxRange[i]->value());
settings.setValue(QString("minRange%1").arg(i), _3dRenderingMinRange[i]->value());
settings.setValue(QString("voxelSizeScan%1").arg(i), _3dRenderingVoxelSizeScan[i]->value());
settings.setValue(QString("colorScheme%1").arg(i), _3dRenderingColorScheme[i]->value());
settings.setValue(QString("opacity%1").arg(i), _3dRenderingOpacity[i]->value());
settings.setValue(QString("ptSize%1").arg(i), _3dRenderingPtSize[i]->value());
settings.setValue(QString("colorSchemeScan%1").arg(i), _3dRenderingColorSchemeScan[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());
@@ -4431,6 +4463,11 @@ std::vector<float> PreferencesDialog::getCloudRoiRatios(int index) const
}
return roiRatios;
}
int PreferencesDialog::getCloudColorScheme(int index) const
{
UASSERT(index >= 0 && index <= 1);
return _3dRenderingColorScheme[index]->value();
}
double PreferencesDialog::getCloudOpacity(int index) const
{
UASSERT(index >= 0 && index <= 1);
@@ -4452,11 +4489,26 @@ int PreferencesDialog::getDownsamplingStepScan(int index) const
UASSERT(index >= 0 && index <= 1);
return _3dRenderingDownsamplingScan[index]->value();
}
double PreferencesDialog::getScanMaxRange(int index) const
{
UASSERT(index >= 0 && index <= 1);
return _3dRenderingMaxRange[index]->value();
}
double PreferencesDialog::getScanMinRange(int index) const
{
UASSERT(index >= 0 && index <= 1);
return _3dRenderingMinRange[index]->value();
}
double PreferencesDialog::getCloudVoxelSizeScan(int index) const
{
UASSERT(index >= 0 && index <= 1);
return _3dRenderingVoxelSizeScan[index]->value();
}
int PreferencesDialog::getScanColorScheme(int index) const
{
UASSERT(index >= 0 && index <= 1);
return _3dRenderingColorSchemeScan[index]->value();
}
double PreferencesDialog::getScanOpacity(int index) const
{
UASSERT(index >= 0 && index <= 1);

514
guilib/src/ui/preferencesDialog.ui
View File

@@ -7,7 +7,7 @@
<x>0</x>
<y>0</y>
<width>976</width>
<height>739</height>
<height>900</height>
</rect>
</property>
<property name="sizePolicy">
@@ -63,7 +63,7 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-1377</y>
<y>-78</y>
<width>673</width>
<height>2834</height>
</rect>
@@ -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" stretch="0,1">
@@ -503,6 +503,74 @@ Show a yellow background when the number of odometry inliers goes under this thr
<layout class="QVBoxLayout" name="verticalLayout_112">
<item>
<layout class="QGridLayout" name="gridLayout_2" columnstretch="0,0,1">
<item row="5" column="0">
<widget class="QLineEdit" name="lineEdit_roiRatios"/>
</item>
<item row="15" column="0">
<widget class="QSpinBox" name="spinBox_ptsize">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>64</number>
</property>
<property name="value">
<number>2</number>
</property>
</widget>
</item>
<item row="10" column="2">
<widget class="QLabel" name="label_355">
<property name="text">
<string>Floor filtering height (0=Disabled). This is done in /map frame.</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="2">
<widget class="QLabel" name="label_169">
<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="12" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_normalRadiusSearch">
<property name="singleStep">
<double>0.010000000000000</double>
</property>
</widget>
</item>
<item row="13" column="2">
<widget class="QLabel" name="label_459">
<property name="text">
<string>Default color scheme key.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="13" column="1">
<widget class="QSpinBox" name="spinBox_colorScheme_odom"/>
</item>
<item row="13" column="0">
<widget class="QSpinBox" name="spinBox_colorScheme"/>
</item>
<item row="3" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_maxDepth_odom">
<property name="suffix">
@@ -525,9 +593,6 @@ Show a yellow background when the number of odometry inliers goes under this thr
<item row="5" column="1">
<widget class="QLineEdit" name="lineEdit_roiRatios_odom"/>
</item>
<item row="5" column="0">
<widget class="QLineEdit" name="lineEdit_roiRatios"/>
</item>
<item row="0" column="0">
<widget class="QLabel" name="label_154">
<property name="text">
@@ -613,7 +678,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="13" column="0">
<item row="14" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity">
<property name="suffix">
<string/>
@@ -632,26 +697,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="13" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_odom">
<property name="suffix">
<string/>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>1.000000000000000</double>
</property>
</widget>
</item>
<item row="13" column="2">
<item row="14" column="2">
<widget class="QLabel" name="label_155">
<property name="text">
<string>Opacity.</string>
@@ -664,7 +710,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="14" column="2">
<item row="15" column="2">
<widget class="QLabel" name="label_157">
<property name="text">
<string>Point size (1..64).</string>
@@ -849,20 +895,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="14" column="0">
<widget class="QSpinBox" name="spinBox_ptsize">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>64</number>
</property>
<property name="value">
<number>2</number>
</property>
</widget>
</item>
<item row="14" column="1">
<item row="15" column="1">
<widget class="QSpinBox" name="spinBox_ptsize_odom">
<property name="minimum">
<number>1</number>
@@ -875,32 +908,6 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="10" column="2">
<widget class="QLabel" name="label_355">
<property name="text">
<string>Floor filtering height (0=Disabled). This is done in /map frame.</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="2">
<widget class="QLabel" name="label_169">
<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="2">
<widget class="QLabel" name="label_168">
<property name="text">
@@ -1014,10 +1021,22 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="12" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_normalRadiusSearch">
<item row="14" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_odom">
<property name="suffix">
<string/>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
<double>0.100000000000000</double>
</property>
<property name="value">
<double>1.000000000000000</double>
</property>
</widget>
</item>
@@ -1128,7 +1147,39 @@ Show a yellow background when the number of odometry inliers goes under this thr
<string>Laser Scan</string>
</property>
<layout class="QGridLayout" name="gridLayout_79" columnstretch="0,0,1">
<item row="9" column="1">
<item row="11" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_odom_scan">
<property name="suffix">
<string/>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>1.000000000000000</double>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QLabel" name="label_273">
<property name="text">
<string>Scan downsampling step size.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="12" column="1">
<widget class="QSpinBox" name="spinBox_ptsize_odom_scan">
<property name="minimum">
<number>1</number>
@@ -1138,7 +1189,143 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QLabel" name="label_110">
<property name="text">
<string>Show scans.</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="2">
<widget class="QLabel" name="label_271">
<property name="text">
<string>Scan voxel size.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_356">
<property name="text">
<string>Odometry</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QLabel" name="label_359">
<property name="text">
<string>Map</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">
<widget class="QDoubleSpinBox" name="doubleSpinBox_ceilingFilterHeight_scan">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>3</number>
</property>
<property name="minimum">
<double>-10.000000000000000</double>
</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="8" column="2">
<widget class="QLabel" name="label_241">
<property name="text">
<string>Normal K search. If not 0, normals will be computed and added to created cloud for visualization (keys 7, 8 and 9).</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="2">
<widget class="QLabel" name="label_458">
<property name="text">
<string>Default color scheme key.</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="2">
<widget class="QLabel" name="label_460">
<property name="text">
<string>Maximum range (0 means no limit).</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="QDoubleSpinBox" name="doubleSpinBox_maxRange">
<property name="suffix">
<string> m</string>
</property>
<property name="maximum">
<double>999.000000000000000</double>
</property>
</widget>
</item>
<item row="9" column="2">
<widget class="QLabel" name="label_428">
<property name="text">
<string>Normal radius search. If not 0, normals will be computed and added to created cloud for visualization (keys 7, 8 and 9).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="12" column="2">
<widget class="QLabel" name="label_158">
<property name="text">
<string>Scan point size (1..64).</string>
@@ -1180,7 +1367,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="8" column="2">
<item row="11" column="2">
<widget class="QLabel" name="label_156">
<property name="text">
<string>Scan opacity.</string>
@@ -1193,20 +1380,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QLabel" name="label_110">
<property name="text">
<string>Show scans.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="9" column="0">
<item row="12" column="0">
<widget class="QSpinBox" name="spinBox_ptsize_scan">
<property name="minimum">
<number>1</number>
@@ -1246,7 +1420,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="8" column="0">
<item row="11" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_scan">
<property name="suffix">
<string/>
@@ -1265,51 +1439,6 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QLabel" name="label_271">
<property name="text">
<string>Scan voxel size.</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="QDoubleSpinBox" name="doubleSpinBox_opacity_odom_scan">
<property name="suffix">
<string/>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>1.000000000000000</double>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QLabel" name="label_273">
<property name="text">
<string>Scan downsampling step size.</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">
<widget class="QDoubleSpinBox" name="doubleSpinBox_voxelSizeScan">
<property name="suffix">
@@ -1329,33 +1458,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_356">
<property name="text">
<string>Odometry</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QLabel" name="label_359">
<property name="text">
<string>Map</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="2">
<item row="6" column="2">
<widget class="QLabel" name="label_367">
<property name="text">
<string>Ceiling filtering height (0=Disabled). This is done in /map frame.</string>
@@ -1368,7 +1471,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="5" column="2">
<item row="7" column="2">
<widget class="QLabel" name="label_368">
<property name="text">
<string>Floor filtering height (0=Disabled). This is done in /map frame.</string>
@@ -1381,29 +1484,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_ceilingFilterHeight_scan">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>3</number>
</property>
<property name="minimum">
<double>-10.000000000000000</double>
</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="5" column="0">
<item row="7" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_floorFilterHeight_scan">
<property name="suffix">
<string> m</string>
@@ -1425,20 +1506,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="6" column="2">
<widget class="QLabel" name="label_241">
<property name="text">
<string>Normal K search. If not 0, normals will be computed and added to created cloud for visualization (keys 7, 8 and 9).</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="8" column="0">
<widget class="QSpinBox" name="spinBox_normalKSearch_scan">
<property name="minimum">
<number>0</number>
@@ -1451,10 +1519,23 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="7" column="2">
<widget class="QLabel" name="label_428">
<item row="9" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_normalRadiusSearch_scan">
<property name="singleStep">
<double>0.010000000000000</double>
</property>
</widget>
</item>
<item row="10" column="0">
<widget class="QSpinBox" name="spinBox_colorSchemeScan"/>
</item>
<item row="10" column="1">
<widget class="QSpinBox" name="spinBox_colorSchemeScan_odom"/>
</item>
<item row="5" column="2">
<widget class="QLabel" name="label_461">
<property name="text">
<string>Normal radius search. If not 0, normals will be computed and added to created cloud for visualization (keys 7, 8 and 9).</string>
<string>Minimum range.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -1464,10 +1545,33 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_normalRadiusSearch_scan">
<property name="singleStep">
<double>0.010000000000000</double>
<item row="5" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_minRange">
<property name="suffix">
<string> m</string>
</property>
<property name="maximum">
<double>999.000000000000000</double>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_maxRange_odom">
<property name="suffix">
<string> m</string>
</property>
<property name="maximum">
<double>999.000000000000000</double>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_minRange_odom">
<property name="suffix">
<string> m</string>
</property>
<property name="maximum">
<double>999.000000000000000</double>
</property>
</widget>
</item>