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0.16.0: Database updated with Data.empty_cells, Admin.opt_map, Admin.opt_map_x_min and Admin.opt_map_y_min fields. Changed Parameter Grid/ProjRayTracing to Grid/RayTracing (OctoMap ray tracing done for 3D local grids). Improved OctoMap performance.

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This commit is contained in:
matlabbe
2018-02-08 21:40:17 -05:00
parent e7ceacc215
commit fced2c521c
32 changed files with 1642 additions and 600 deletions
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40
guilib/src/PreferencesDialog.cpp
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@@ -453,7 +453,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->spinBox_octomap_treeDepth, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->checkBox_octomap_2dgrid, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->checkBox_octomap_show3dMap, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->checkBox_octomap_cubeRendering, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->comboBox_octomap_renderingType, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->spinBox_octomap_pointSize, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->doubleSpinBox_octomap_occupancyThr, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
@@ -915,8 +915,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->doubleSpinBox_grid_maxDepth->setObjectName(Parameters::kGridDepthMax().c_str());
_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->checkBox_grid_projRayTracing->setObjectName(Parameters::kGridRayTracing().c_str());
_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());
@@ -938,6 +937,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->spinBox_grid_scanDecimation->setObjectName(Parameters::kGridScanDecimation().c_str());
_ui->checkBox_grid_fullUpdate->setObjectName(Parameters::kGridGlobalFullUpdate().c_str());
_ui->doubleSpinBox_grid_updateError->setObjectName(Parameters::kGridGlobalUpdateError().c_str());
_ui->doubleSpinBox_grid_minMapSize->setObjectName(Parameters::kGridGlobalMinSize().c_str());
_ui->spinBox_grid_maxNodes->setObjectName(Parameters::kGridGlobalMaxNodes().c_str());
_ui->doubleSpinBox_grid_footprintRadius->setObjectName(Parameters::kGridGlobalFootprintRadius().c_str());
@@ -1466,7 +1466,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->spinBox_octomap_treeDepth->setValue(16);
_ui->checkBox_octomap_2dgrid->setChecked(true);
_ui->checkBox_octomap_show3dMap->setChecked(true);
_ui->checkBox_octomap_cubeRendering->setChecked(false);
_ui->comboBox_octomap_renderingType->setCurrentIndex(0);
_ui->spinBox_octomap_pointSize->setValue(5);
_ui->doubleSpinBox_octomap_occupancyThr->setValue(0.5);
}
@@ -1854,7 +1854,7 @@ void PreferencesDialog::readGuiSettings(const QString & filePath)
_ui->spinBox_octomap_treeDepth->setValue(settings.value("octomap_depth", _ui->spinBox_octomap_treeDepth->value()).toInt());
_ui->checkBox_octomap_2dgrid->setChecked(settings.value("octomap_2dgrid", _ui->checkBox_octomap_2dgrid->isChecked()).toBool());
_ui->checkBox_octomap_show3dMap->setChecked(settings.value("octomap_3dmap", _ui->checkBox_octomap_show3dMap->isChecked()).toBool());
_ui->checkBox_octomap_cubeRendering->setChecked(settings.value("octomap_cube", _ui->checkBox_octomap_cubeRendering->isChecked()).toBool());
_ui->comboBox_octomap_renderingType->setCurrentIndex(settings.value("octomap_rendering_type", _ui->comboBox_octomap_renderingType->currentIndex()).toInt());
_ui->doubleSpinBox_octomap_occupancyThr->setValue(settings.value("octomap_occupancy_thr", _ui->doubleSpinBox_octomap_occupancyThr->value()).toDouble());
_ui->spinBox_octomap_pointSize->setValue(settings.value("octomap_point_size", _ui->spinBox_octomap_pointSize->value()).toInt());
@@ -2257,7 +2257,7 @@ void PreferencesDialog::writeGuiSettings(const QString & filePath) const
settings.setValue("octomap_depth", _ui->spinBox_octomap_treeDepth->value());
settings.setValue("octomap_2dgrid", _ui->checkBox_octomap_2dgrid->isChecked());
settings.setValue("octomap_3dmap", _ui->checkBox_octomap_show3dMap->isChecked());
settings.setValue("octomap_cube", _ui->checkBox_octomap_cubeRendering->isChecked());
settings.setValue("octomap_rendering_type", _ui->comboBox_octomap_renderingType->currentIndex());
settings.setValue("octomap_occupancy_thr", _ui->doubleSpinBox_octomap_occupancyThr->value());
settings.setValue("octomap_point_size", _ui->spinBox_octomap_pointSize->value());
@@ -4082,22 +4082,6 @@ 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());
@@ -4319,9 +4303,9 @@ bool PreferencesDialog::isOctomapShown() const
#endif
return false;
}
bool PreferencesDialog::isOctomapCubeRendering() const
int PreferencesDialog::getOctomapRenderingType() const
{
return _ui->checkBox_octomap_cubeRendering->isChecked();
return _ui->comboBox_octomap_renderingType->currentIndex();
}
bool PreferencesDialog::isOctomap2dGrid() const
{
@@ -4334,10 +4318,6 @@ int PreferencesDialog::getOctomapTreeDepth() const
{
return _ui->spinBox_octomap_treeDepth->value();
}
bool PreferencesDialog::isOctomapFullUpdate() const
{
return uStr2Bool(this->getParameter(Parameters::kGridGlobalFullUpdate()));
}
double PreferencesDialog::getOctomapOccupancyThr() const
{
return _ui->doubleSpinBox_octomap_occupancyThr->value();
@@ -4538,10 +4518,6 @@ bool PreferencesDialog::getGridMapShown() const
{
return _ui->checkBox_map_shown->isChecked();
}
double PreferencesDialog::getGridMapResolution() const
{
return _ui->doubleSpinBox_grid_resolution->value();
}
bool PreferencesDialog::isGridMapFrom3DCloud() const
{
return _ui->groupBox_grid_fromDepthImage->isChecked();