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Added notification message box when a global path is computed. Refactoring occupancy grid.

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This commit is contained in:
Mathieu Labbe
2015-05-05 17:38:38 -04:00
parent b2bfa91153
commit f32319f0dc
9 changed files with 117 additions and 68 deletions
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80
guilib/src/MainWindow.cpp
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@@ -1479,27 +1479,13 @@ void MainWindow::updateMapCloud(
{
float xMin, yMin;
float resolution = _preferencesDialog->getGridMapResolution();
cv::Mat map8S;
if(_preferencesDialog->isGridMapFrom3DCloud())
{
map8S = util3d::create2DMapFromOccupancyLocalMaps(
cv::Mat map8S = util3d::create2DMapFromOccupancyLocalMaps(
poses,
_projectionLocalMaps,
_preferencesDialog->isGridMapFrom3DCloud()?_projectionLocalMaps:_gridLocalMaps,
resolution,
xMin, yMin,
0,
_preferencesDialog->isGridMapEroded());
}
else if(_gridLocalMaps.size())
{
map8S = util3d::create2DMapFromOccupancyLocalMaps(
poses,
_gridLocalMaps,
resolution,
xMin, yMin,
0,
_preferencesDialog->isGridMapEroded());
}
if(!map8S.empty())
{
//convert to gray scaled map
@@ -1977,20 +1963,40 @@ void MainWindow::processRtabmapEvent3DMap(const rtabmap::RtabmapEvent3DMap & eve
void MainWindow::processRtabmapGlobalPathEvent(const rtabmap::RtabmapGlobalPathEvent & event)
{
if(event.getPoses().empty())
{
QMessageBox::warning(this, tr("Setting goal failed"), tr("Setting goal to location %1 failed. "
"Some reasons: \n"
"1) the location doesn't exist in the graph,\n"
"2) the location is not linked to the global graph or\n"
"3) the location is too near of the current location (goal already reached).").arg(event.getGoal()));
}
else
if(!event.getPoses().empty())
{
_ui->graphicsView_graphView->setGlobalPath(event.getPoses());
_ui->statusbar->showMessage(
tr("Global path computed from %1 (%2 poses, %3 m)!").arg(event.getGoal()).arg(event.getPoses().size()).arg(graph::computePathLength(event.getPoses())),
10000);
}
if(_preferencesDialog->notifyWhenNewGlobalPathIsReceived())
{
// use MessageBox
if(event.getPoses().empty())
{
QMessageBox * warn = new QMessageBox(
QMessageBox::Warning,
tr("Setting goal failed!"),
tr("Setting goal to location %1 failed. "
"Some reasons: \n"
"1) the location doesn't exist in the graph,\n"
"2) the location is not linked to the global graph or\n"
"3) the location is too near of the current location (goal already reached).").arg(event.getGoal()),
QMessageBox::Ok,
this);
warn->setAttribute(Qt::WA_DeleteOnClose, true);
warn->show();
}
else
{
QMessageBox * info = new QMessageBox(
QMessageBox::Information,
tr("Goal detected!"),
tr("Global path computed from %1 to %2 (%3 poses, %4 m).").arg(event.getPoses().front().first).arg(event.getGoal()).arg(event.getPoses().size()).arg(graph::computePathLength(event.getPoses())),
QMessageBox::Ok,
this);
info->setAttribute(Qt::WA_DeleteOnClose, true);
info->show();
}
}
}
@@ -4038,27 +4044,13 @@ void MainWindow::exportGridMap()
// create the map
float xMin=0.0f, yMin=0.0f;
cv::Mat pixels;
if(_preferencesDialog->isGridMapFrom3DCloud())
{
pixels = util3d::create2DMapFromOccupancyLocalMaps(
cv::Mat pixels = util3d::create2DMapFromOccupancyLocalMaps(
poses,
_projectionLocalMaps,
_preferencesDialog->isGridMapFrom3DCloud()?_projectionLocalMaps:_gridLocalMaps,
gridCellSize,
xMin, yMin,
0,
_preferencesDialog->isGridMapEroded());
}
else
{
pixels = util3d::create2DMapFromOccupancyLocalMaps(
poses,
_gridLocalMaps,
gridCellSize,
xMin, yMin,
0,
_preferencesDialog->isGridMapEroded());
}
if(!pixels.empty())
{