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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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52
guilib/src/PreferencesDialog.cpp
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@@ -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);