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Added viewpoint to laser scan 2D ray tracing

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This commit is contained in:
matlabbe
2017-03-06 12:07:59 -05:00
parent 9f65ef199b
commit d1e9525052
5 changed files with 134 additions and 9 deletions
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1
guilib/include/rtabmap/gui/PreferencesDialog.h
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@@ -299,6 +299,7 @@ private slots:
void updateKpROI();
void updateStereoDisparityVisibility();
void useOdomFeatures();
void useGridProjRayTracing();
void changeWorkingDirectory();
void changeDictionaryPath();
void readSettingsEnd();

17
guilib/src/PreferencesDialog.cpp
View File

@@ -832,6 +832,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->doubleSpinBox_grid_minDepth->setObjectName(Parameters::kGridDepthMin().c_str());
_ui->lineEdit_grid_roi->setObjectName(Parameters::kGridDepthRoiRatios().c_str());
_ui->checkBox_grid_projRayTracing->setObjectName(Parameters::kGridProjRayTracing().c_str());
connect(_ui->checkBox_grid_projRayTracing, SIGNAL(stateChanged(int)), this, SLOT(useGridProjRayTracing()));
_ui->doubleSpinBox_grid_footprintLength->setObjectName(Parameters::kGridFootprintLength().c_str());
_ui->doubleSpinBox_grid_footprintWidth->setObjectName(Parameters::kGridFootprintWidth().c_str());
_ui->doubleSpinBox_grid_footprintHeight->setObjectName(Parameters::kGridFootprintHeight().c_str());
@@ -3750,6 +3751,22 @@ void PreferencesDialog::useOdomFeatures()
}
}
void PreferencesDialog::useGridProjRayTracing()
{
if(this->isVisible() && _ui->checkBox_grid_projRayTracing->isChecked() && _ui->groupBox_grid_3d->isChecked())
{
int r = QMessageBox::question(this, tr("Using ray tracing for 2D projection..."),
tr("Currently the 3D occupancy grid parameter is checked, but 2D ray tracing "
"only works with 2D occupancy grids. Do you want to uncheck 3D occupancy grid?"), QMessageBox::Yes | QMessageBox::No, QMessageBox::Yes);
if(r == QMessageBox::Yes)
{
_ui->groupBox_grid_3d->setChecked(false);
}
}
}
void PreferencesDialog::changeWorkingDirectory()
{
QString directory = QFileDialog::getExistingDirectory(this, tr("Working directory"), _ui->lineEdit_workingDirectory->text());