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added subtractFiltering() method to filter point clouds by subtracting the previous cloud

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matlabbe
2015-06-29 00:19:45 -04:00
parent 5269649661
commit fce1816c21
10 changed files with 341 additions and 64 deletions
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26
guilib/src/PreferencesDialog.cpp
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@@ -295,9 +295,11 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->checkBox_mls, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->doubleSpinBox_mlsRadius, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->groupBox_poseFiltering, SIGNAL(clicked(bool)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->checkBox_nodeFiltering, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->checkBox_subtractFiltering, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->doubleSpinBox_cloudFilterRadius, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->doubleSpinBox_cloudFilterAngle, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->spinBox_substractFilteringMinPts, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->checkBox_map_shown, SIGNAL(clicked(bool)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->doubleSpinBox_map_resolution, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
@@ -999,9 +1001,11 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->checkBox_mls->setChecked(false);
_ui->doubleSpinBox_mlsRadius->setValue(0.04);
_ui->groupBox_poseFiltering->setChecked(true);
_ui->checkBox_nodeFiltering->setChecked(true);
_ui->checkBox_subtractFiltering->setChecked(false);
_ui->doubleSpinBox_cloudFilterRadius->setValue(0.1);
_ui->doubleSpinBox_cloudFilterAngle->setValue(30);
_ui->spinBox_substractFilteringMinPts->setValue(0);
_ui->checkBox_map_shown->setChecked(false);
_ui->doubleSpinBox_map_resolution->setValue(0.05);
@@ -1261,9 +1265,11 @@ void PreferencesDialog::readGuiSettings(const QString & filePath)
_ui->checkBox_mls->setChecked(settings.value("meshSmoothing", _ui->checkBox_mls->isChecked()).toBool());
_ui->doubleSpinBox_mlsRadius->setValue(settings.value("meshSmoothingRadius", _ui->doubleSpinBox_mlsRadius->value()).toDouble());
_ui->groupBox_poseFiltering->setChecked(settings.value("cloudFiltering", _ui->groupBox_poseFiltering->isChecked()).toBool());
_ui->checkBox_nodeFiltering->setChecked(settings.value("cloudFiltering", _ui->checkBox_nodeFiltering->isChecked()).toBool());
_ui->checkBox_subtractFiltering->setChecked(settings.value("subtractFiltering", _ui->checkBox_subtractFiltering->isChecked()).toBool());
_ui->doubleSpinBox_cloudFilterRadius->setValue(settings.value("cloudFilteringRadius", _ui->doubleSpinBox_cloudFilterRadius->value()).toDouble());
_ui->doubleSpinBox_cloudFilterAngle->setValue(settings.value("cloudFilteringAngle", _ui->doubleSpinBox_cloudFilterAngle->value()).toDouble());
_ui->spinBox_substractFilteringMinPts->setValue(settings.value("cloudFilteringAngleMinPts", _ui->spinBox_substractFilteringMinPts->value()).toDouble());
_ui->checkBox_map_shown->setChecked(settings.value("gridMapShown", _ui->checkBox_map_shown->isChecked()).toBool());
_ui->doubleSpinBox_map_resolution->setValue(settings.value("gridMapResolution", _ui->doubleSpinBox_map_resolution->value()).toDouble());
@@ -1551,9 +1557,11 @@ void PreferencesDialog::writeGuiSettings(const QString & filePath) const
settings.setValue("meshSmoothing", _ui->checkBox_mls->isChecked());
settings.setValue("meshSmoothingRadius", _ui->doubleSpinBox_mlsRadius->value());
settings.setValue("cloudFiltering", _ui->groupBox_poseFiltering->isChecked());
settings.setValue("cloudFiltering", _ui->checkBox_nodeFiltering->isChecked());
settings.setValue("subtractFiltering", _ui->checkBox_subtractFiltering->isChecked());
settings.setValue("cloudFilteringRadius", _ui->doubleSpinBox_cloudFilterRadius->value());
settings.setValue("cloudFilteringAngle", _ui->doubleSpinBox_cloudFilterAngle->value());
settings.setValue("subtractFilteringMinPts", _ui->spinBox_substractFilteringMinPts->value());
settings.setValue("gridMapShown", _ui->checkBox_map_shown->isChecked());
settings.setValue("gridMapResolution", _ui->doubleSpinBox_map_resolution->value());
@@ -3069,7 +3077,11 @@ double PreferencesDialog::getMeshSmoothingRadius() const
}
bool PreferencesDialog::isCloudFiltering() const
{
return _ui->groupBox_poseFiltering->isChecked();
return _ui->checkBox_nodeFiltering->isChecked();
}
bool PreferencesDialog::isSubtractFiltering() const
{
return _ui->checkBox_subtractFiltering->isChecked();
}
double PreferencesDialog::getCloudFilteringRadius() const
{
@@ -3079,6 +3091,10 @@ double PreferencesDialog::getCloudFilteringAngle() const
{
return _ui->doubleSpinBox_cloudFilterAngle->value();
}
int PreferencesDialog::getSubstractFilteringMinPts() const
{
return _ui->spinBox_substractFilteringMinPts->value();
}
bool PreferencesDialog::getGridMapShown() const
{
return _ui->checkBox_map_shown->isChecked();