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Added octomap ground is an obstacle option

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This commit is contained in:
matlabbe
2016-07-16 10:57:59 -04:00
parent b4b7b6f455
commit f161609a24
4 changed files with 53 additions and 15 deletions
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11
guilib/src/PreferencesDialog.cpp
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@@ -159,7 +159,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->label_octomap->setEnabled(false);
_ui->spinBox_octomap_treeDepth->setEnabled(false);
_ui->label_octomap_treeDepth->setEnabled(false);
_ui->checkBox_octomap_groundObstacle->setEnabled(false);
_ui->label_octomap_groundObstacle->setEnabled(false);
#endif
#ifndef RTABMAP_NONFREE
@@ -390,6 +391,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->checkBox_octomap, SIGNAL(clicked(bool)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->spinBox_octomap_treeDepth, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->checkBox_octomap_groundObstacle, SIGNAL(clicked(bool)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->groupBox_organized, SIGNAL(clicked(bool)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->doubleSpinBox_mesh_angleTolerance, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
@@ -1228,6 +1230,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->checkBox_octomap->setChecked(false);
_ui->spinBox_octomap_treeDepth->setValue(16);
_ui->checkBox_octomap_groundObstacle->setChecked(true);
_ui->doubleSpinBox_mesh_angleTolerance->setValue(15.0);
#if PCL_VERSION_COMPARE(>=, 1, 7, 2)
@@ -1589,6 +1592,7 @@ void PreferencesDialog::readGuiSettings(const QString & filePath)
_ui->checkBox_octomap->setChecked(settings.value("octomap", _ui->checkBox_octomap->isChecked()).toBool());
_ui->spinBox_octomap_treeDepth->setValue(settings.value("octomap_depth", _ui->spinBox_octomap_treeDepth->value()).toInt());
_ui->checkBox_octomap_groundObstacle->setChecked(settings.value("octomap_ground_is_obstacle", _ui->checkBox_octomap_groundObstacle->isChecked()).toBool());
_ui->groupBox_organized->setChecked(settings.value("meshing", _ui->groupBox_organized->isChecked()).toBool());
_ui->doubleSpinBox_mesh_angleTolerance->setValue(settings.value("meshing_angle", _ui->doubleSpinBox_mesh_angleTolerance->value()).toDouble());
@@ -1999,6 +2003,7 @@ void PreferencesDialog::writeGuiSettings(const QString & filePath) const
settings.setValue("octomap", _ui->checkBox_octomap->isChecked());
settings.setValue("octomap_depth", _ui->spinBox_octomap_treeDepth->value());
settings.setValue("octomap_ground_is_obstacle", _ui->checkBox_octomap_groundObstacle->isChecked());
settings.setValue("meshing", _ui->groupBox_organized->isChecked());
settings.setValue("meshing_angle", _ui->doubleSpinBox_mesh_angleTolerance->value());
@@ -3663,6 +3668,10 @@ int PreferencesDialog::getOctomapTreeDepth() const
{
return _ui->spinBox_octomap_treeDepth->value();
}
bool PreferencesDialog::isOctomapGroundAnObstacle() const
{
return _ui->checkBox_octomap_groundObstacle->isChecked();
}
double PreferencesDialog::getMapVoxel() const
{