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DbViewer: added ground angle and cluster size parameters for grid projection map

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This commit is contained in:
matlabbe
2015-10-14 17:11:30 -04:00
parent b8382fe5bd
commit 78164c9770
2 changed files with 81 additions and 22 deletions
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guilib/src/DatabaseViewer.cpp
+14 -4
View File
@@ -236,6 +236,8 @@ DatabaseViewer::DatabaseViewer(QWidget * parent) :
connect(ui_->doubleSpinBox_gridCellSize, SIGNAL(editingFinished()), this, SLOT(updateGrid()));
connect(ui_->spinBox_projDecimation, SIGNAL(editingFinished()), this, SLOT(updateGrid()));
connect(ui_->doubleSpinBox_projMaxDepth, SIGNAL(editingFinished()), this, SLOT(updateGrid()));
connect(ui_->doubleSpinBox_projMaxAngle, SIGNAL(editingFinished()), this, SLOT(updateGrid()));
connect(ui_->spinBox_projClusterSize, SIGNAL(editingFinished()), this, SLOT(updateGrid()));
connect(ui_->spinBox_stereo_flowIterations, SIGNAL(valueChanged(int)), this, SLOT(updateStereo()));
connect(ui_->spinBox_stereo_flowMaxLevel, SIGNAL(valueChanged(int)), this, SLOT(updateStereo()));
@@ -275,6 +277,8 @@ DatabaseViewer::DatabaseViewer(QWidget * parent) :
connect(ui_->doubleSpinBox_gridCellSize, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
connect(ui_->spinBox_projDecimation, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
connect(ui_->doubleSpinBox_projMaxDepth, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
connect(ui_->doubleSpinBox_projMaxAngle, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
connect(ui_->spinBox_projClusterSize, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
connect(ui_->groupBox_posefiltering, SIGNAL(clicked(bool)), this, SLOT(configModified()));
connect(ui_->doubleSpinBox_posefilteringRadius, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
connect(ui_->doubleSpinBox_posefilteringAngle, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
@@ -399,6 +403,8 @@ void DatabaseViewer::readSettings()
ui_->doubleSpinBox_gridCellSize->setValue(settings.value("gridCellSize", ui_->doubleSpinBox_gridCellSize->value()).toDouble());
ui_->spinBox_projDecimation->setValue(settings.value("projDecimation", ui_->spinBox_projDecimation->value()).toInt());
ui_->doubleSpinBox_projMaxDepth->setValue(settings.value("projMaxDepth", ui_->doubleSpinBox_projMaxDepth->value()).toDouble());
ui_->doubleSpinBox_projMaxAngle->setValue(settings.value("projMaxAngle", ui_->doubleSpinBox_projMaxAngle->value()).toDouble());
ui_->spinBox_projClusterSize->setValue(settings.value("projClusterSize", ui_->spinBox_projClusterSize->value()).toInt());
ui_->groupBox_posefiltering->setChecked(settings.value("poseFiltering", ui_->groupBox_posefiltering->isChecked()).toBool());
ui_->doubleSpinBox_posefilteringRadius->setValue(settings.value("poseFilteringRadius", ui_->doubleSpinBox_posefilteringRadius->value()).toDouble());
ui_->doubleSpinBox_posefilteringAngle->setValue(settings.value("poseFilteringAngle", ui_->doubleSpinBox_posefilteringAngle->value()).toDouble());
@@ -497,6 +503,8 @@ void DatabaseViewer::writeSettings()
settings.setValue("gridCellSize", ui_->doubleSpinBox_gridCellSize->value());
settings.setValue("projDecimation", ui_->spinBox_projDecimation->value());
settings.setValue("projMaxDepth", ui_->doubleSpinBox_projMaxDepth->value());
settings.setValue("projMaxAngle", ui_->doubleSpinBox_projMaxAngle->value());
settings.setValue("projClusterSize", ui_->spinBox_projClusterSize->value());
settings.setValue("poseFiltering", ui_->groupBox_posefiltering->isChecked());
settings.setValue("poseFilteringRadius", ui_->doubleSpinBox_posefilteringRadius->value());
settings.setValue("poseFilteringAngle", ui_->doubleSpinBox_posefilteringAngle->value());
@@ -2712,8 +2720,8 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
{
UTimer timer;
float cellSize = ui_->doubleSpinBox_gridCellSize->value();
float groundNormalMaxAngle = M_PI_4;
int minClusterSize = 20;
float groundNormalMaxAngle = ui_->doubleSpinBox_projMaxAngle->value();
int minClusterSize = ui_->spinBox_projClusterSize->value();
cv::Mat ground, obstacles;
util3d::occupancy2DFromCloud3D<pcl::PointXYZ>(
@@ -3016,9 +3024,11 @@ void DatabaseViewer::updateGraphView()
void DatabaseViewer::updateGrid()
{
if((sender() != ui_->spinBox_projDecimation && sender() != ui_->doubleSpinBox_projMaxDepth) ||
if((sender() != ui_->spinBox_projDecimation && sender() != ui_->doubleSpinBox_projMaxDepth && sender()!=ui_->doubleSpinBox_projMaxAngle && sender()!=ui_->spinBox_projClusterSize) ||
(sender() == ui_->spinBox_projDecimation && ui_->groupBox_gridFromProjection->isChecked()) ||
(sender() == ui_->doubleSpinBox_projMaxDepth && ui_->groupBox_gridFromProjection->isChecked()))
(sender() == ui_->doubleSpinBox_projMaxDepth && ui_->groupBox_gridFromProjection->isChecked()) ||
(sender() == ui_->doubleSpinBox_projMaxAngle && ui_->groupBox_gridFromProjection->isChecked()) ||
(sender() == ui_->spinBox_projClusterSize && ui_->groupBox_gridFromProjection->isChecked()))
{
localMaps_.clear();
updateGraphView();