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3D Rendering: Added option to show graph's frustums, added option to filter floor and/or ceiling.

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This commit is contained in:
matlabbe
2017-02-09 18:32:44 -05:00
parent e4629cc740
commit 0d0577a886
10 changed files with 1324 additions and 1048 deletions
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guilib/src/PreferencesDialog.cpp
+35 -18
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@@ -379,8 +379,12 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->doubleSpinBox_voxel, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->doubleSpinBox_noiseRadius, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->spinBox_noiseMinNeighbors, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->doubleSpinBox_ceilingFilterHeight, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->doubleSpinBox_floorFilterHeight, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->spinBox_normalKSearch, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->checkBox_showGraphs, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->checkBox_showFrustums, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->checkBox_showLabels, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->radioButton_noFiltering, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteCloudRenderingPanel()));
@@ -391,8 +395,6 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->spinBox_subtractFilteringMinPts, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->doubleSpinBox_subtractFilteringRadius, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->doubleSpinBox_subtractFilteringAngle, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->spinBox_normalKSearch, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->checkBox_gainCompensation, SIGNAL(stateChanged(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()));
@@ -1257,11 +1259,14 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->doubleSpinBox_noiseRadius->setValue(0);
_ui->spinBox_noiseMinNeighbors->setValue(5);
_ui->doubleSpinBox_ceilingFilterHeight->setValue(0);
_ui->doubleSpinBox_floorFilterHeight->setValue(0);
_ui->checkBox_showGraphs->setChecked(true);
_ui->checkBox_showFrustums->setChecked(false);
_ui->checkBox_showLabels->setChecked(false);
_ui->spinBox_normalKSearch->setValue(10);
_ui->checkBox_gainCompensation->setChecked(false);
_ui->doubleSpinBox_mesh_angleTolerance->setValue(15.0);
_ui->groupBox_organized->setChecked(false);
@@ -1647,8 +1652,12 @@ void PreferencesDialog::readGuiSettings(const QString & filePath)
_ui->doubleSpinBox_voxel->setValue(settings.value("cloudVoxel", _ui->doubleSpinBox_voxel->value()).toDouble());
_ui->doubleSpinBox_noiseRadius->setValue(settings.value("cloudNoiseRadius", _ui->doubleSpinBox_noiseRadius->value()).toDouble());
_ui->spinBox_noiseMinNeighbors->setValue(settings.value("cloudNoiseMinNeighbors", _ui->spinBox_noiseMinNeighbors->value()).toInt());
_ui->doubleSpinBox_ceilingFilterHeight->setValue(settings.value("cloudCeilingHeight", _ui->doubleSpinBox_ceilingFilterHeight->value()).toDouble());
_ui->doubleSpinBox_floorFilterHeight->setValue(settings.value("cloudFloorHeight", _ui->doubleSpinBox_floorFilterHeight->value()).toDouble());
_ui->spinBox_normalKSearch->setValue(settings.value("normalKSearch", _ui->spinBox_normalKSearch->value()).toInt());
_ui->checkBox_showGraphs->setChecked(settings.value("showGraphs", _ui->checkBox_showGraphs->isChecked()).toBool());
_ui->checkBox_showFrustums->setChecked(settings.value("showFrustums", _ui->checkBox_showFrustums->isChecked()).toBool());
_ui->checkBox_showLabels->setChecked(settings.value("showLabels", _ui->checkBox_showLabels->isChecked()).toBool());
_ui->radioButton_noFiltering->setChecked(settings.value("noFiltering", _ui->radioButton_noFiltering->isChecked()).toBool());
@@ -1659,8 +1668,6 @@ void PreferencesDialog::readGuiSettings(const QString & filePath)
_ui->spinBox_subtractFilteringMinPts->setValue(settings.value("subtractFilteringMinPts", _ui->spinBox_subtractFilteringMinPts->value()).toInt());
_ui->doubleSpinBox_subtractFilteringRadius->setValue(settings.value("subtractFilteringRadius", _ui->doubleSpinBox_subtractFilteringRadius->value()).toDouble());
_ui->doubleSpinBox_subtractFilteringAngle->setValue(settings.value("subtractFilteringAngle", _ui->doubleSpinBox_subtractFilteringAngle->value()).toDouble());
_ui->spinBox_normalKSearch->setValue(settings.value("normalKSearch", _ui->spinBox_normalKSearch->value()).toInt());
_ui->checkBox_gainCompensation->setChecked(settings.value("gainCompensation", _ui->checkBox_gainCompensation->isChecked()).toBool());
_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());
@@ -2030,8 +2037,12 @@ void PreferencesDialog::writeGuiSettings(const QString & filePath) const
settings.setValue("cloudVoxel", _ui->doubleSpinBox_voxel->value());
settings.setValue("cloudNoiseRadius", _ui->doubleSpinBox_noiseRadius->value());
settings.setValue("cloudNoiseMinNeighbors", _ui->spinBox_noiseMinNeighbors->value());
settings.setValue("cloudCeilingHeight", _ui->doubleSpinBox_ceilingFilterHeight->value());
settings.setValue("cloudFloorHeight", _ui->doubleSpinBox_floorFilterHeight->value());
settings.setValue("normalKSearch", _ui->spinBox_normalKSearch->value());
settings.setValue("showGraphs", _ui->checkBox_showGraphs->isChecked());
settings.setValue("showFrustums", _ui->checkBox_showFrustums->isChecked());
settings.setValue("showLabels", _ui->checkBox_showLabels->isChecked());
settings.setValue("noFiltering", _ui->radioButton_noFiltering->isChecked());
@@ -2042,8 +2053,6 @@ void PreferencesDialog::writeGuiSettings(const QString & filePath) const
settings.setValue("subtractFilteringMinPts", _ui->spinBox_subtractFilteringMinPts->value());
settings.setValue("subtractFilteringRadius", _ui->doubleSpinBox_subtractFilteringRadius->value());
settings.setValue("subtractFilteringAngle", _ui->doubleSpinBox_subtractFilteringAngle->value());
settings.setValue("normalKSearch", _ui->spinBox_normalKSearch->value());
settings.setValue("gainCompensation", _ui->checkBox_gainCompensation->isChecked());
settings.setValue("gridMapShown", _ui->checkBox_map_shown->isChecked());
settings.setValue("gridMapResolution", _ui->doubleSpinBox_map_resolution->value());
@@ -3938,23 +3947,39 @@ double PreferencesDialog::getOctomapOccupancyThr() const
return _ui->doubleSpinBox_octomap_occupancyThr->value();
}
double PreferencesDialog::getMapVoxel() const
double PreferencesDialog::getVoxel() const
{
return _ui->doubleSpinBox_voxel->value();
}
double PreferencesDialog::getMapNoiseRadius() const
double PreferencesDialog::getNoiseRadius() const
{
return _ui->doubleSpinBox_noiseRadius->value();
}
int PreferencesDialog::getMapNoiseMinNeighbors() const
int PreferencesDialog::getNoiseMinNeighbors() const
{
return _ui->spinBox_noiseMinNeighbors->value();
}
double PreferencesDialog::getCeilingFilteringHeight() const
{
return _ui->doubleSpinBox_ceilingFilterHeight->value();
}
double PreferencesDialog::getFloorFilteringHeight() const
{
return _ui->doubleSpinBox_floorFilterHeight->value();
}
int PreferencesDialog::getNormalKSearch() const
{
return _ui->spinBox_normalKSearch->value();
}
bool PreferencesDialog::isGraphsShown() const
{
return _ui->checkBox_showGraphs->isChecked();
}
bool PreferencesDialog::isFrustumsShown() const
{
return _ui->checkBox_showFrustums->isChecked();
}
bool PreferencesDialog::isLabelsShown() const
{
return _ui->checkBox_showLabels->isChecked();
@@ -4088,14 +4113,6 @@ double PreferencesDialog::getSubtractFilteringAngle() const
{
return _ui->doubleSpinBox_subtractFilteringAngle->value()*M_PI/180.0;
}
int PreferencesDialog::getNormalKSearch() const
{
return _ui->spinBox_normalKSearch->value();
}
bool PreferencesDialog::gainCompensation() const
{
return _ui->checkBox_gainCompensation->isChecked();
}
bool PreferencesDialog::getGridMapShown() const
{
return _ui->checkBox_map_shown->isChecked();