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MainWindow: added timing stats on global map creation. Updated util3d::occupancy2DFromLaserScan() and util3d::create2DMap() interfaces (hit/noHit scans in opencv matrix format). Parameter default: Grid/ProjRayTracing=true, Grid/NormalK=true

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This commit is contained in:
matlabbe
2017-04-06 12:27:12 -04:00
parent e415dd8504
commit 1d8952867d
13 changed files with 386 additions and 117 deletions
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guilib/src/DatabaseViewer.cpp
+36 -3
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@@ -1721,6 +1721,7 @@ void DatabaseViewer::regenerateLocalMaps()
rtabmap::ProgressDialog progressDialog(this);
progressDialog.setMaximumSteps(ids_.size());
progressDialog.show();
progressDialog.setCancelButtonVisible(true);
UPlot * plot = new UPlot(this);
plot->setWindowFlags(Qt::Window);
@@ -1730,10 +1731,19 @@ void DatabaseViewer::regenerateLocalMaps()
UPlotCurve * gridCreationCurve = plot->addCurve("Grid Creation");
plot->show();
UPlot * plotCells = new UPlot(this);
plotCells->setWindowFlags(Qt::Window);
plotCells->setWindowTitle("Occupancy Cells");
plotCells->setAttribute(Qt::WA_DeleteOnClose);
UPlotCurve * totalCurve = plotCells->addCurve("Total");
UPlotCurve * groundCurve = plotCells->addCurve("Empty");
UPlotCurve * obstaclesCurve = plotCells->addCurve("Occupied");
plotCells->show();
double decompressionTime = 0;
double gridCreationTime = 0;
for(int i =0; i<ids_.size(); ++i)
for(int i =0; i<ids_.size() && !progressDialog.isCanceled(); ++i)
{
UTimer timer;
SensorData data;
@@ -1758,6 +1768,10 @@ void DatabaseViewer::regenerateLocalMaps()
uInsert(generatedLocalMaps_, std::make_pair(data.id(), std::make_pair(ground, obstacles)));
uInsert(generatedLocalMapsInfo_, std::make_pair(data.id(), std::make_pair(grid.getCellSize(), viewpoint)));
msg = QString("Generated local occupancy grid map %1/%2").arg(i+1).arg((int)ids_.size());
totalCurve->addValue(ids_.at(i), obstacles.cols+ground.cols);
groundCurve->addValue(ids_.at(i), ground.cols);
obstaclesCurve->addValue(ids_.at(i), obstacles.cols);
}
progressDialog.appendText(msg);
@@ -1772,7 +1786,16 @@ void DatabaseViewer::regenerateLocalMaps()
}
}
progressDialog.setValue(progressDialog.maximumSteps());
updateGrid();
if(graphes_.size())
{
update3dView();
sliderIterationsValueChanged((int)graphes_.size()-1);
}
else
{
updateGrid();
}
}
void DatabaseViewer::regenerateCurrentLocalMaps()
@@ -1826,7 +1849,16 @@ void DatabaseViewer::regenerateCurrentLocalMaps()
QApplication::processEvents();
}
progressDialog.setValue(progressDialog.maximumSteps());
updateGrid();
if(graphes_.size())
{
update3dView();
sliderIterationsValueChanged((int)graphes_.size()-1);
}
else
{
updateGrid();
}
}
void DatabaseViewer::view3DMap()
@@ -3967,6 +3999,7 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
Qt::red);
occupancyGridViewer_->setCloudPointSize("obstaclesXYZ", 5);
}
occupancyGridViewer_->update();
}
}
}