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

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

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>