i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-04 16:57:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

GUI: added option to show octomap as a point cloud (less GPU power required)

Browse Source
This commit is contained in:
matlabbe
2016-10-18 13:29:40 -04:00
parent 73268c2af2
commit 5a24bcfe51
5 changed files with 69 additions and 24 deletions
Download Patch File Download Diff File Expand all files Collapse all files
guilib/src/PreferencesDialog.cpp
+8
View File
@@ -382,6 +382,7 @@ 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->groupBox_organized, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->doubleSpinBox_mesh_angleTolerance, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
@@ -1260,6 +1261,7 @@ 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(true);
_ui->doubleSpinBox_octomap_occupancyThr->setValue(0.5);
}
else if(groupBox->objectName() == _ui->groupBox_logging1->objectName())
@@ -1616,6 +1618,7 @@ 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->doubleSpinBox_octomap_occupancyThr->setValue(settings.value("octomap_occupancy_thr", _ui->doubleSpinBox_octomap_occupancyThr->value()).toDouble());
_ui->groupBox_organized->setChecked(settings.value("meshing", _ui->groupBox_organized->isChecked()).toBool());
@@ -2046,6 +2049,7 @@ 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_occupancy_thr", _ui->doubleSpinBox_octomap_occupancyThr->value());
@@ -3812,6 +3816,10 @@ bool PreferencesDialog::isOctomapShown() const
#endif
return false;
}
bool PreferencesDialog::isOctomapCubeRendering() const
{
return _ui->checkBox_octomap_cubeRendering->isChecked();
}
bool PreferencesDialog::isOctomap2dGrid() const
{
#ifdef RTABMAP_OCTOMAP