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GUI: Added more parameters for 3D projection grid map

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This commit is contained in:
matlabbe
2016-06-10 20:12:13 -04:00
parent 4a3f490814
commit 9f296c67b2
5 changed files with 666 additions and 254 deletions
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guilib/include/rtabmap/gui/PreferencesDialog.h
+11 -2
View File
@@ -147,6 +147,9 @@ public:
bool isGraphsShown() const; bool isGraphsShown() const;
bool isLabelsShown() const; bool isLabelsShown() const;
double getMapVoxel() const;
double getMapNoiseRadius() const;
int getMapNoiseMinNeighbors() const;
bool isCloudsShown(int index) const; // 0=map, 1=odom bool isCloudsShown(int index) const; // 0=map, 1=odom
int getCloudDecimation(int index) const; // 0=map, 1=odom int getCloudDecimation(int index) const; // 0=map, 1=odom
double getCloudMaxDepth(int index) const; // 0=map, 1=odom double getCloudMaxDepth(int index) const; // 0=map, 1=odom
@@ -172,9 +175,15 @@ public:
double getSubtractFilteringAngle() const; double getSubtractFilteringAngle() const;
bool getGridMapShown() const; bool getGridMapShown() const;
double getGridMapResolution() const; double getGridMapResolution() const;;
bool isGridMapFrom3DCloud() const;
bool isGridMapEroded() const; bool isGridMapEroded() const;
bool isGridMapFrom3DCloud() const;
bool projMapFrame() const;
double projMaxGroundAngle() const;
double projMaxGroundHeight() const;
int projMinClusterSize() const;
double projMaxObstaclesHeight() const;
bool projFlatObstaclesDetected() const;
double getGridMapOpacity() const; double getGridMapOpacity() const;
bool isCloudMeshing() const; bool isCloudMeshing() const;
guilib/src/MainWindow.cpp
+153 -101
View File
@@ -1891,10 +1891,14 @@ void MainWindow::updateMapCloud(
} }
else if(_createdClouds.find(iter->first) == _createdClouds.end() && _cachedSignatures.contains(iter->first)) else if(_createdClouds.find(iter->first) == _createdClouds.end() && _cachedSignatures.contains(iter->first))
{ {
this->createAndAddCloudToMap(iter->first, iter->second, uValue(mapIds, iter->first, -1)); if((_cloudViewer->isVisible() && _preferencesDialog->isCloudsShown(0)) ||
if(_createdClouds.find(iter->first) != _createdClouds.end()) _projectionLocalMaps.find(iter->first) == _projectionLocalMaps.end())
{ {
_cloudViewer->setCloudVisibility(cloudName.c_str(), _cloudViewer->isVisible() && _preferencesDialog->isCloudsShown(0)); this->createAndAddCloudToMap(iter->first, iter->second, uValue(mapIds, iter->first, -1));
if(_createdClouds.find(iter->first) != _createdClouds.end())
{
_cloudViewer->setCloudVisibility(cloudName.c_str(), _cloudViewer->isVisible() && _preferencesDialog->isCloudsShown(0));
}
} }
} }
} }
@@ -2255,135 +2259,185 @@ void MainWindow::createAndAddCloudToMap(int nodeId, const Transform & pose, int
indices.get(), indices.get(),
_preferencesDialog->getAllParameters()); _preferencesDialog->getAllParameters());
// filtering pipeline
if(indices->size() && _preferencesDialog->getMapVoxel() > 0.0)
{
cloudWithoutNormals = util3d::voxelize(cloudWithoutNormals, indices, _preferencesDialog->getMapVoxel());
//generate indices for all points (they are all valid)
indices->resize(cloudWithoutNormals->size());
for(unsigned int i=0; i<cloudWithoutNormals->size(); ++i)
{
indices->at(i) = i;
}
}
// Do radius filtering after voxel filtering ( a lot faster)
if(indices->size() &&
_preferencesDialog->getMapNoiseRadius() > 0.0 &&
_preferencesDialog->getMapNoiseMinNeighbors() > 0)
{
indices = rtabmap::util3d::radiusFiltering(
cloudWithoutNormals,
indices,
_preferencesDialog->getMapNoiseRadius(),
_preferencesDialog->getMapNoiseMinNeighbors());
}
//compute normals //compute normals
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloud = util3d::computeNormals(cloudWithoutNormals, 10); pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloud = util3d::computeNormals(cloudWithoutNormals, 10);
if(indices->size() && _preferencesDialog->isGridMapFrom3DCloud()) if(indices->size() &&
_preferencesDialog->isGridMapFrom3DCloud() &&
_projectionLocalMaps.find(nodeId) == _projectionLocalMaps.end())
{ {
UTimer timer; UTimer timer;
float cellSize = _preferencesDialog->getGridMapResolution();
float groundNormalMaxAngle = M_PI_4;
int minClusterSize = 20;
cv::Mat ground, obstacles; cv::Mat ground, obstacles;
pcl::PointCloud<pcl::PointXYZRGB>::Ptr voxelCloud = util3d::voxelize(cloudWithoutNormals, indices, cellSize); pcl::PointCloud<pcl::PointXYZRGB>::Ptr voxelCloud = cloudWithoutNormals;
// voxelize to grid cell size
if(_preferencesDialog->getMapVoxel() < _preferencesDialog->getGridMapResolution())
{
voxelCloud = util3d::voxelize(voxelCloud, indices, _preferencesDialog->getGridMapResolution());
}
// add pose rotation without yaw // add pose rotation without yaw
float roll, pitch, yaw; if(_preferencesDialog->projMapFrame())
pose.getEulerAngles(roll, pitch, yaw); {
voxelCloud = util3d::transformPointCloud(voxelCloud, Transform(0,0,0, roll, pitch, 0)); float roll, pitch, yaw;
pose.getEulerAngles(roll, pitch, yaw);
voxelCloud = util3d::transformPointCloud(voxelCloud, Transform(0,0, pose.z(), roll, pitch, 0));
}
if(_preferencesDialog->projMaxObstaclesHeight())
{
voxelCloud = util3d::passThrough(voxelCloud, "z", std::numeric_limits<int>::min(), _preferencesDialog->projMaxObstaclesHeight());
}
util3d::occupancy2DFromCloud3D<pcl::PointXYZRGB>( util3d::occupancy2DFromCloud3D<pcl::PointXYZRGB>(
voxelCloud, voxelCloud,
ground, ground,
obstacles, obstacles,
cellSize, _preferencesDialog->getGridMapResolution(),
groundNormalMaxAngle, _preferencesDialog->projMaxGroundAngle(),
minClusterSize); _preferencesDialog->projMinClusterSize(),
_preferencesDialog->projFlatObstaclesDetected(),
_preferencesDialog->projMaxGroundHeight());
if(!ground.empty() || !obstacles.empty()) if(!ground.empty() || !obstacles.empty())
{ {
_projectionLocalMaps.insert(std::make_pair(nodeId, std::make_pair(ground, obstacles))); _projectionLocalMaps.insert(std::make_pair(nodeId, std::make_pair(ground, obstacles)));
} }
UDEBUG("time gridMapFrom2DCloud = %f s", timer.ticks()); UDEBUG("time gridMapFrom3DCloud = %f s", timer.ticks());
} }
if(_preferencesDialog->isSubtractFiltering() && if(_cloudViewer->isVisible() && _preferencesDialog->isCloudsShown(0))
_preferencesDialog->getSubtractFilteringRadius() > 0.0)
{ {
pcl::IndicesPtr beforeFiltering = indices; if(_preferencesDialog->isSubtractFiltering() &&
if( cloud->size() && _preferencesDialog->getSubtractFilteringRadius() > 0.0)
_previousCloud.first>0 &&
_previousCloud.second.first.get() != 0 &&
_previousCloud.second.second.get() != 0 &&
_previousCloud.second.second->size() &&
_currentPosesMap.find(_previousCloud.first) != _currentPosesMap.end())
{ {
UTimer time; pcl::IndicesPtr beforeFiltering = indices;
if( cloud->size() &&
_previousCloud.first>0 &&
_previousCloud.second.first.get() != 0 &&
_previousCloud.second.second.get() != 0 &&
_previousCloud.second.second->size() &&
_currentPosesMap.find(_previousCloud.first) != _currentPosesMap.end())
{
UTimer time;
rtabmap::Transform t = pose.inverse() * _currentPosesMap.at(_previousCloud.first); rtabmap::Transform t = pose.inverse() * _currentPosesMap.at(_previousCloud.first);
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr previousCloud = rtabmap::util3d::transformPointCloud(_previousCloud.second.first, t); pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr previousCloud = rtabmap::util3d::transformPointCloud(_previousCloud.second.first, t);
//UWARN("saved new.pcd and old.pcd"); //UWARN("saved new.pcd and old.pcd");
//pcl::io::savePCDFile("new.pcd", *cloud, *indices); //pcl::io::savePCDFile("new.pcd", *cloud, *indices);
//pcl::io::savePCDFile("old.pcd", *previousCloud, *_previousCloud.second.second); //pcl::io::savePCDFile("old.pcd", *previousCloud, *_previousCloud.second.second);
indices = rtabmap::util3d::subtractFiltering( indices = rtabmap::util3d::subtractFiltering(
cloud, cloud,
indices, indices,
previousCloud, previousCloud,
_previousCloud.second.second, _previousCloud.second.second,
_preferencesDialog->getSubtractFilteringRadius(), _preferencesDialog->getSubtractFilteringRadius(),
_preferencesDialog->getSubtractFilteringAngle(), _preferencesDialog->getSubtractFilteringAngle(),
_preferencesDialog->getSubtractFilteringMinPts()); _preferencesDialog->getSubtractFilteringMinPts());
UWARN("Time subtract filtering %d from %d -> %d (%fs)", UWARN("Time subtract filtering %d from %d -> %d (%fs)",
(int)_previousCloud.second.second->size(), (int)_previousCloud.second.second->size(),
(int)beforeFiltering->size(), (int)beforeFiltering->size(),
(int)indices->size(), (int)indices->size(),
time.ticks()); time.ticks());
}
// keep all indices for next subtraction
_previousCloud.first = nodeId;
_previousCloud.second.first = cloud;
_previousCloud.second.second = beforeFiltering;
} }
// keep all indices for next subtraction
_previousCloud.first = nodeId;
_previousCloud.second.first = cloud;
_previousCloud.second.second = beforeFiltering;
}
// keep substracted clouds // keep substracted clouds
_createdClouds.insert(std::make_pair(nodeId, std::make_pair(cloud, indices))); _createdClouds.insert(std::make_pair(nodeId, std::make_pair(cloud, indices)));
if(indices->size()) if(indices->size())
{
if(_preferencesDialog->isCloudMeshing() && cloud->isOrganized())
{ {
// Fast organized mesh if(_preferencesDialog->isCloudMeshing() && cloud->isOrganized())
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr output;
// we need to extract indices as pcl::OrganizedFastMesh doesn't take indices
output = util3d::extractIndices(cloud, indices, false, true);
Eigen::Vector3f viewpoint(0.0f,0.0f,0.0f);
if(data.cameraModels().size() && !data.cameraModels()[0].localTransform().isNull())
{ {
viewpoint[0] = data.cameraModels()[0].localTransform().x(); // Fast organized mesh
viewpoint[1] = data.cameraModels()[0].localTransform().y(); pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr output;
viewpoint[2] = data.cameraModels()[0].localTransform().z(); // we need to extract indices as pcl::OrganizedFastMesh doesn't take indices
} output = util3d::extractIndices(cloud, indices, false, true);
else if(!data.stereoCameraModel().localTransform().isNull()) Eigen::Vector3f viewpoint(0.0f,0.0f,0.0f);
{ if(data.cameraModels().size() && !data.cameraModels()[0].localTransform().isNull())
viewpoint[0] = data.stereoCameraModel().localTransform().x();
viewpoint[1] = data.stereoCameraModel().localTransform().y();
viewpoint[2] = data.stereoCameraModel().localTransform().z();
}
std::vector<pcl::Vertices> polygons = util3d::organizedFastMesh(
output,
_preferencesDialog->getCloudMeshingAngle(),
_preferencesDialog->isCloudMeshingQuad(),
_preferencesDialog->getCloudMeshingTriangleSize(),
viewpoint);
if(polygons.size())
{
// remove unused vertices to save memory
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr outputFiltered(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
std::vector<pcl::Vertices> outputPolygons;
util3d::filterNotUsedVerticesFromMesh(*output, polygons, *outputFiltered, outputPolygons);
if(!_cloudViewer->addCloudMesh(cloudName, outputFiltered, outputPolygons, pose))
{ {
UERROR("Adding mesh cloud %d to viewer failed!", nodeId); viewpoint[0] = data.cameraModels()[0].localTransform().x();
viewpoint[1] = data.cameraModels()[0].localTransform().y();
viewpoint[2] = data.cameraModels()[0].localTransform().z();
}
else if(!data.stereoCameraModel().localTransform().isNull())
{
viewpoint[0] = data.stereoCameraModel().localTransform().x();
viewpoint[1] = data.stereoCameraModel().localTransform().y();
viewpoint[2] = data.stereoCameraModel().localTransform().z();
}
std::vector<pcl::Vertices> polygons = util3d::organizedFastMesh(
output,
_preferencesDialog->getCloudMeshingAngle(),
_preferencesDialog->isCloudMeshingQuad(),
_preferencesDialog->getCloudMeshingTriangleSize(),
viewpoint);
if(polygons.size())
{
// remove unused vertices to save memory
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr outputFiltered(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
std::vector<pcl::Vertices> outputPolygons;
util3d::filterNotUsedVerticesFromMesh(*output, polygons, *outputFiltered, outputPolygons);
if(!_cloudViewer->addCloudMesh(cloudName, outputFiltered, outputPolygons, pose))
{
UERROR("Adding mesh cloud %d to viewer failed!", nodeId);
}
}
}
else
{
if(_preferencesDialog->isCloudMeshing())
{
UWARN("Online meshing is activated but the generated cloud is "
"dense (voxel filtering is used or multiple cameras are used). Disable "
"online meshing in Preferences->3D Rendering to hide this warning.");
}
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr output;
// don't keep organized to save memory
output = util3d::extractIndices(cloud, indices, false, false);
QColor color = Qt::gray;
if(mapId >= 0)
{
color = (Qt::GlobalColor)(mapId+3 % 12 + 7 );
}
if(!_cloudViewer->addCloud(cloudName, output, pose, color))
{
UERROR("Adding cloud %d to viewer failed!", nodeId);
} }
} }
} }
else _cloudViewer->setCloudOpacity(cloudName, _preferencesDialog->getCloudOpacity(0));
{ _cloudViewer->setCloudPointSize(cloudName, _preferencesDialog->getCloudPointSize(0));
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr output;
// don't keep organized to save memory
output = util3d::extractIndices(cloud, indices, false, false);
QColor color = Qt::gray;
if(mapId >= 0)
{
color = (Qt::GlobalColor)(mapId+3 % 12 + 7 );
}
if(!_cloudViewer->addCloud(cloudName, output, pose, color))
{
UERROR("Adding cloud %d to viewer failed!", nodeId);
}
}
} }
} }
else else
@@ -2391,8 +2445,6 @@ void MainWindow::createAndAddCloudToMap(int nodeId, const Transform & pose, int
return; return;
} }
_cloudViewer->setCloudOpacity(cloudName, _preferencesDialog->getCloudOpacity(0));
_cloudViewer->setCloudPointSize(cloudName, _preferencesDialog->getCloudPointSize(0));
UDEBUG(""); UDEBUG("");
} }
guilib/src/PreferencesDialog.cpp
+87 -9
View File
@@ -348,6 +348,9 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_3dRenderingPtSizeScan[i], SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_3dRenderingPtSizeScan[i], SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_3dRenderingPtSizeFeatures[i], SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_3dRenderingPtSizeFeatures[i], SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
} }
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->checkBox_showGraphs, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_ui->checkBox_showGraphs, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->checkBox_showLabels, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_ui->checkBox_showLabels, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
@@ -364,8 +367,14 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->checkBox_map_shown, SIGNAL(clicked(bool)), 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())); connect(_ui->doubleSpinBox_map_resolution, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->doubleSpinBox_map_opacity, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_ui->doubleSpinBox_map_opacity, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->checkBox_map_occupancyFrom3DCloud, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->checkBox_map_erode, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_ui->checkBox_map_erode, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->groupBox_map_occupancyFrom3DCloud, SIGNAL(clicked(bool)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->checkBox_projMapFrame, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->doubleSpinBox_projMaxGroundAngle, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->doubleSpinBox_projMaxGroundHeight, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->spinBox_projMinClusterSize, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->doubleSpinBox_projMaxObstaclesHeight, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->checkBox_projFlatObstaclesDetected, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->groupBox_organized, SIGNAL(clicked(bool)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_ui->groupBox_organized, SIGNAL(clicked(bool)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->doubleSpinBox_mesh_angleTolerance, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_ui->doubleSpinBox_mesh_angleTolerance, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
@@ -1167,6 +1176,9 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_3dRenderingPtSizeScan[i]->setValue(2); _3dRenderingPtSizeScan[i]->setValue(2);
_3dRenderingPtSizeFeatures[i]->setValue(3); _3dRenderingPtSizeFeatures[i]->setValue(3);
} }
_ui->doubleSpinBox_voxel->setValue(0);
_ui->doubleSpinBox_noiseRadius->setValue(0);
_ui->spinBox_noiseMinNeighbors->setValue(5);
_ui->checkBox_showGraphs->setChecked(true); _ui->checkBox_showGraphs->setChecked(true);
_ui->checkBox_showLabels->setChecked(false); _ui->checkBox_showLabels->setChecked(false);
@@ -1182,9 +1194,15 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->checkBox_map_shown->setChecked(false); _ui->checkBox_map_shown->setChecked(false);
_ui->doubleSpinBox_map_resolution->setValue(0.05); _ui->doubleSpinBox_map_resolution->setValue(0.05);
_ui->checkBox_map_occupancyFrom3DCloud->setChecked(false);
_ui->checkBox_map_erode->setChecked(false); _ui->checkBox_map_erode->setChecked(false);
_ui->doubleSpinBox_map_opacity->setValue(0.75); _ui->doubleSpinBox_map_opacity->setValue(0.75);
_ui->groupBox_map_occupancyFrom3DCloud->setChecked(false);
_ui->checkBox_projMapFrame->setChecked(true);
_ui->doubleSpinBox_projMaxGroundAngle->setValue(30);
_ui->doubleSpinBox_projMaxGroundHeight->setValue(0);
_ui->spinBox_projMinClusterSize->setValue(20);
_ui->doubleSpinBox_projMaxObstaclesHeight->setValue(0);
_ui->checkBox_projFlatObstaclesDetected->setChecked(true);
_ui->doubleSpinBox_mesh_angleTolerance->setValue(15.0); _ui->doubleSpinBox_mesh_angleTolerance->setValue(15.0);
#if PCL_VERSION_COMPARE(>=, 1, 7, 2) #if PCL_VERSION_COMPARE(>=, 1, 7, 2)
@@ -1512,6 +1530,10 @@ void PreferencesDialog::readGuiSettings(const QString & filePath)
_3dRenderingPtSizeScan[i]->setValue(settings.value(QString("ptSizeScan%1").arg(i), _3dRenderingPtSizeScan[i]->value()).toInt()); _3dRenderingPtSizeScan[i]->setValue(settings.value(QString("ptSizeScan%1").arg(i), _3dRenderingPtSizeScan[i]->value()).toInt());
_3dRenderingPtSizeFeatures[i]->setValue(settings.value(QString("ptSizeFeatures%1").arg(i), _3dRenderingPtSizeFeatures[i]->value()).toInt()); _3dRenderingPtSizeFeatures[i]->setValue(settings.value(QString("ptSizeFeatures%1").arg(i), _3dRenderingPtSizeFeatures[i]->value()).toInt());
} }
_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->checkBox_showGraphs->setChecked(settings.value("showGraphs", _ui->checkBox_showGraphs->isChecked()).toBool()); _ui->checkBox_showGraphs->setChecked(settings.value("showGraphs", _ui->checkBox_showGraphs->isChecked()).toBool());
_ui->checkBox_showLabels->setChecked(settings.value("showLabels", _ui->checkBox_showLabels->isChecked()).toBool()); _ui->checkBox_showLabels->setChecked(settings.value("showLabels", _ui->checkBox_showLabels->isChecked()).toBool());
@@ -1526,9 +1548,15 @@ void PreferencesDialog::readGuiSettings(const QString & filePath)
_ui->checkBox_map_shown->setChecked(settings.value("gridMapShown", _ui->checkBox_map_shown->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()); _ui->doubleSpinBox_map_resolution->setValue(settings.value("gridMapResolution", _ui->doubleSpinBox_map_resolution->value()).toDouble());
_ui->checkBox_map_occupancyFrom3DCloud->setChecked(settings.value("gridMapOccupancyFrom3DCloud", _ui->checkBox_map_occupancyFrom3DCloud->isChecked()).toBool());
_ui->checkBox_map_erode->setChecked(settings.value("gridMapEroded", _ui->checkBox_map_erode->isChecked()).toBool()); _ui->checkBox_map_erode->setChecked(settings.value("gridMapEroded", _ui->checkBox_map_erode->isChecked()).toBool());
_ui->doubleSpinBox_map_opacity->setValue(settings.value("gridMapOpacity", _ui->doubleSpinBox_map_opacity->value()).toDouble()); _ui->doubleSpinBox_map_opacity->setValue(settings.value("gridMapOpacity", _ui->doubleSpinBox_map_opacity->value()).toDouble());
_ui->groupBox_map_occupancyFrom3DCloud->setChecked(settings.value("gridMapOccupancyFrom3DCloud", _ui->groupBox_map_occupancyFrom3DCloud->isChecked()).toBool());
_ui->checkBox_projMapFrame->setChecked(settings.value("projMapFrame", _ui->checkBox_projMapFrame->isChecked()).toBool());
_ui->doubleSpinBox_projMaxGroundAngle->setValue(settings.value("projMaxGroundAngle", _ui->doubleSpinBox_projMaxGroundAngle->value()).toDouble());
_ui->doubleSpinBox_projMaxGroundHeight->setValue(settings.value("projMaxGroundHeight", _ui->doubleSpinBox_projMaxGroundHeight->value()).toDouble());
_ui->spinBox_projMinClusterSize->setValue(settings.value("projMinClusterSize", _ui->spinBox_projMinClusterSize->value()).toInt());
_ui->doubleSpinBox_projMaxObstaclesHeight->setValue(settings.value("projMaxObstaclesHeight", _ui->doubleSpinBox_projMaxObstaclesHeight->value()).toDouble());
_ui->checkBox_projFlatObstaclesDetected->setChecked(settings.value("projFlatObstaclesDetected", _ui->checkBox_projFlatObstaclesDetected->isChecked()).toBool());
_ui->groupBox_organized->setChecked(settings.value("meshing", _ui->groupBox_organized->isChecked()).toBool()); _ui->groupBox_organized->setChecked(settings.value("meshing", _ui->groupBox_organized->isChecked()).toBool());
_ui->doubleSpinBox_mesh_angleTolerance->setValue(settings.value("meshing_angle", _ui->doubleSpinBox_mesh_angleTolerance->value()).toDouble()); _ui->doubleSpinBox_mesh_angleTolerance->setValue(settings.value("meshing_angle", _ui->doubleSpinBox_mesh_angleTolerance->value()).toDouble());
@@ -1904,6 +1932,10 @@ void PreferencesDialog::writeGuiSettings(const QString & filePath) const
settings.setValue(QString("ptSizeScan%1").arg(i), _3dRenderingPtSizeScan[i]->value()); settings.setValue(QString("ptSizeScan%1").arg(i), _3dRenderingPtSizeScan[i]->value());
settings.setValue(QString("ptSizeFeatures%1").arg(i), _3dRenderingPtSizeFeatures[i]->value()); settings.setValue(QString("ptSizeFeatures%1").arg(i), _3dRenderingPtSizeFeatures[i]->value());
} }
settings.setValue("cloudVoxel", _ui->doubleSpinBox_voxel->value());
settings.setValue("cloudNoiseRadius", _ui->doubleSpinBox_noiseRadius->value());
settings.setValue("cloudNoiseMinNeighbors", _ui->spinBox_noiseMinNeighbors->value());
settings.setValue("showGraphs", _ui->checkBox_showGraphs->isChecked()); settings.setValue("showGraphs", _ui->checkBox_showGraphs->isChecked());
settings.setValue("showLabels", _ui->checkBox_showLabels->isChecked()); settings.setValue("showLabels", _ui->checkBox_showLabels->isChecked());
@@ -1914,14 +1946,22 @@ void PreferencesDialog::writeGuiSettings(const QString & filePath) const
settings.setValue("subtractFiltering", _ui->radioButton_subtractFiltering->isChecked()); settings.setValue("subtractFiltering", _ui->radioButton_subtractFiltering->isChecked());
settings.setValue("subtractFilteringMinPts", _ui->spinBox_subtractFilteringMinPts->value()); settings.setValue("subtractFilteringMinPts", _ui->spinBox_subtractFilteringMinPts->value());
settings.setValue("subtractFilteringRadius", _ui->doubleSpinBox_subtractFilteringRadius->value()); settings.setValue("subtractFilteringRadius", _ui->doubleSpinBox_subtractFilteringRadius->value());
settings.setValue("subtractFilteringAngle", _ui->doubleSpinBox_subtractFilteringAngle->value()); settings.setValue("subtractFilteringAngle", _ui->doubleSpinBox_subtractFilteringAngle->value());
settings.setValue("gridMapShown", _ui->checkBox_map_shown->isChecked()); settings.setValue("gridMapShown", _ui->checkBox_map_shown->isChecked());
settings.setValue("gridMapResolution", _ui->doubleSpinBox_map_resolution->value()); settings.setValue("gridMapResolution", _ui->doubleSpinBox_map_resolution->value());
settings.setValue("gridMapOccupancyFrom3DCloud", _ui->checkBox_map_occupancyFrom3DCloud->isChecked());
settings.setValue("gridMapEroded", _ui->checkBox_map_erode->isChecked()); settings.setValue("gridMapEroded", _ui->checkBox_map_erode->isChecked());
settings.setValue("gridMapOpacity", _ui->doubleSpinBox_map_opacity->value()); settings.setValue("gridMapOpacity", _ui->doubleSpinBox_map_opacity->value());
settings.setValue("gridMapOccupancyFrom3DCloud", _ui->groupBox_map_occupancyFrom3DCloud->isChecked());
settings.setValue("projMapFrame", _ui->checkBox_projMapFrame->isChecked());
settings.setValue("projMaxGroundAngle", _ui->doubleSpinBox_projMaxGroundAngle->value());
settings.setValue("projMaxGroundHeight", _ui->doubleSpinBox_projMaxGroundHeight->value());
settings.setValue("projMinClusterSize", _ui->spinBox_projMinClusterSize->value());
settings.setValue("projMaxObstaclesHeight", _ui->doubleSpinBox_projMaxObstaclesHeight->value());
settings.setValue("projFlatObstaclesDetected", _ui->checkBox_projFlatObstaclesDetected->isChecked());
settings.setValue("meshing", _ui->groupBox_organized->isChecked()); settings.setValue("meshing", _ui->groupBox_organized->isChecked());
settings.setValue("meshing_angle", _ui->doubleSpinBox_mesh_angleTolerance->value()); settings.setValue("meshing_angle", _ui->doubleSpinBox_mesh_angleTolerance->value());
settings.setValue("meshing_quad", _ui->checkBox_mesh_quad->isChecked()); settings.setValue("meshing_quad", _ui->checkBox_mesh_quad->isChecked());
@@ -3558,6 +3598,20 @@ bool PreferencesDialog::isCloudsShown(int index) const
UASSERT(index >= 0 && index <= 1); UASSERT(index >= 0 && index <= 1);
return _3dRenderingShowClouds[index]->isChecked(); return _3dRenderingShowClouds[index]->isChecked();
} }
double PreferencesDialog::getMapVoxel() const
{
return _ui->doubleSpinBox_voxel->value();
}
double PreferencesDialog::getMapNoiseRadius() const
{
return _ui->doubleSpinBox_noiseRadius->value();
}
int PreferencesDialog::getMapNoiseMinNeighbors() const
{
return _ui->spinBox_noiseMinNeighbors->value();
}
bool PreferencesDialog::isGraphsShown() const bool PreferencesDialog::isGraphsShown() const
{ {
return _ui->checkBox_showGraphs->isChecked(); return _ui->checkBox_showGraphs->isChecked();
@@ -3681,14 +3735,38 @@ double PreferencesDialog::getGridMapResolution() const
{ {
return _ui->doubleSpinBox_map_resolution->value(); return _ui->doubleSpinBox_map_resolution->value();
} }
bool PreferencesDialog::isGridMapFrom3DCloud() const
{
return _ui->checkBox_map_occupancyFrom3DCloud->isChecked();
}
bool PreferencesDialog::isGridMapEroded() const bool PreferencesDialog::isGridMapEroded() const
{ {
return _ui->checkBox_map_erode->isChecked(); return _ui->checkBox_map_erode->isChecked();
} }
bool PreferencesDialog::isGridMapFrom3DCloud() const
{
return _ui->groupBox_map_occupancyFrom3DCloud->isChecked();
}
bool PreferencesDialog::projMapFrame() const
{
return _ui->checkBox_projMapFrame->isChecked();
}
double PreferencesDialog::projMaxGroundAngle() const
{
return _ui->doubleSpinBox_projMaxGroundAngle->value()*M_PI/180.0;
}
double PreferencesDialog::projMaxGroundHeight() const
{
return _ui->doubleSpinBox_projMaxGroundHeight->value();
}
int PreferencesDialog::projMinClusterSize() const
{
return _ui->spinBox_projMinClusterSize->value();
}
double PreferencesDialog::projMaxObstaclesHeight() const
{
return _ui->doubleSpinBox_projMaxObstaclesHeight->value();
}
bool PreferencesDialog::projFlatObstaclesDetected() const
{
return _ui->checkBox_projFlatObstaclesDetected->isChecked();
}
double PreferencesDialog::getGridMapOpacity() const double PreferencesDialog::getGridMapOpacity() const
{ {
return _ui->doubleSpinBox_map_opacity->value(); return _ui->doubleSpinBox_map_opacity->value();
guilib/src/ui/DatabaseViewer.ui
+93 -72
View File
@@ -21,16 +21,7 @@
<property name="spacing"> <property name="spacing">
<number>0</number> <number>0</number>
</property> </property>
<property name="leftMargin"> <property name="margin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number> <number>0</number>
</property> </property>
<item> <item>
@@ -61,7 +52,7 @@
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>205</width> <width>201</width>
<height>196</height> <height>196</height>
</rect> </rect>
</property> </property>
@@ -219,7 +210,7 @@
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>204</width> <width>201</width>
<height>196</height> <height>196</height>
</rect> </rect>
</property> </property>
@@ -366,16 +357,7 @@
</item> </item>
<item row="1" column="0"> <item row="1" column="0">
<layout class="QHBoxLayout" name="horizontalLayout"> <layout class="QHBoxLayout" name="horizontalLayout">
<property name="leftMargin"> <property name="margin">
<number>12</number>
</property>
<property name="topMargin">
<number>12</number>
</property>
<property name="rightMargin">
<number>12</number>
</property>
<property name="bottomMargin">
<number>12</number> <number>12</number>
</property> </property>
<item> <item>
@@ -431,16 +413,7 @@
</item> </item>
<item row="1" column="1"> <item row="1" column="1">
<layout class="QHBoxLayout" name="horizontalLayout_2"> <layout class="QHBoxLayout" name="horizontalLayout_2">
<property name="leftMargin"> <property name="margin">
<number>12</number>
</property>
<property name="topMargin">
<number>12</number>
</property>
<property name="rightMargin">
<number>12</number>
</property>
<property name="bottomMargin">
<number>12</number> <number>12</number>
</property> </property>
<item> <item>
@@ -1007,14 +980,14 @@
<item> <item>
<widget class="QToolBox" name="toolBox"> <widget class="QToolBox" name="toolBox">
<property name="currentIndex"> <property name="currentIndex">
<number>3</number> <number>1</number>
</property> </property>
<widget class="QWidget" name="page_3"> <widget class="QWidget" name="page_3">
<property name="geometry"> <property name="geometry">
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>340</width> <width>333</width>
<height>186</height> <height>186</height>
</rect> </rect>
</property> </property>
@@ -1149,9 +1122,9 @@
<property name="geometry"> <property name="geometry">
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>-236</y>
<width>282</width> <width>297</width>
<height>611</height> <height>704</height>
</rect> </rect>
</property> </property>
<attribute name="label"> <attribute name="label">
@@ -1225,7 +1198,7 @@
<bool>true</bool> <bool>true</bool>
</property> </property>
<property name="checked"> <property name="checked">
<bool>false</bool> <bool>true</bool>
</property> </property>
<layout class="QGridLayout" name="gridLayout_8" columnstretch="0,1"> <layout class="QGridLayout" name="gridLayout_8" columnstretch="0,1">
<item row="0" column="0"> <item row="0" column="0">
@@ -1355,6 +1328,81 @@
</property> </property>
</widget> </widget>
</item> </item>
<item row="8" column="1">
<widget class="QLabel" name="label_69">
<property name="text">
<string>Flat obstacles detected</string>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_projMaxGroundHeight">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>999.000000000000000</double>
</property>
<property name="singleStep">
<double>1.000000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_68">
<property name="text">
<string>Max ground height</string>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_70">
<property name="text">
<string>Max obstacles height</string>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_projMaxObstaclesHeight">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>999.000000000000000</double>
</property>
<property name="singleStep">
<double>1.000000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QCheckBox" name="checkBox_projFlatObstaclesDetected">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
</layout> </layout>
</widget> </widget>
</item> </item>
@@ -1561,8 +1609,8 @@
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>205</width> <width>290</width>
<height>117</height> <height>182</height>
</rect> </rect>
</property> </property>
<attribute name="label"> <attribute name="label">
@@ -1661,8 +1709,8 @@
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>267</width> <width>290</width>
<height>157</height> <height>182</height>
</rect> </rect>
</property> </property>
<attribute name="label"> <attribute name="label">
@@ -1761,16 +1809,7 @@
<property name="spacing"> <property name="spacing">
<number>0</number> <number>0</number>
</property> </property>
<property name="leftMargin"> <property name="margin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number> <number>0</number>
</property> </property>
<item> <item>
@@ -1883,16 +1922,7 @@
<property name="spacing"> <property name="spacing">
<number>0</number> <number>0</number>
</property> </property>
<property name="leftMargin"> <property name="margin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number> <number>0</number>
</property> </property>
<item> <item>
@@ -1946,16 +1976,7 @@
</attribute> </attribute>
<widget class="QWidget" name="dockWidgetContents_7"> <widget class="QWidget" name="dockWidgetContents_7">
<layout class="QVBoxLayout" name="verticalLayout_13"> <layout class="QVBoxLayout" name="verticalLayout_13">
<property name="leftMargin"> <property name="margin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number> <number>0</number>
</property> </property>
<item> <item>
guilib/src/ui/preferencesDialog.ui
+322 -70
View File
@@ -63,7 +63,7 @@
<property name="geometry"> <property name="geometry">
<rect> <rect>
<x>0</x> <x>0</x>
<y>-477</y> <y>-269</y>
<width>686</width> <width>686</width>
<height>2023</height> <height>2023</height>
</rect> </rect>
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum> <enum>QFrame::Raised</enum>
</property> </property>
<property name="currentIndex"> <property name="currentIndex">
<number>3</number> <number>1</number>
</property> </property>
<widget class="QWidget" name="page_22"> <widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1"> <layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -629,7 +629,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
<item> <item>
<widget class="QLabel" name="label_167"> <widget class="QLabel" name="label_167">
<property name="text"> <property name="text">
<string>When the Graph view is visible or if the &quot;Show in 3D map view&quot; below is checked, the grid map is generated using the laser scans.</string> <string>When the Graph View is visible or if the &quot;Show in 3D map view&quot; below is checked, the grid map is generated using the laser scans or from 3D projection of the clouds (when activated below).</string>
</property> </property>
<property name="wordWrap"> <property name="wordWrap">
<bool>true</bool> <bool>true</bool>
@@ -713,30 +713,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property> </property>
</widget> </widget>
</item> </item>
<item row="3" column="0">
<widget class="QCheckBox" name="checkBox_map_occupancyFrom3DCloud">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="3" column="1"> <item row="3" column="1">
<widget class="QLabel" name="label_210">
<property name="text">
<string>Occupancy from 3D cloud projection on the ground. Laser scans are ignored when activated.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_224"> <widget class="QLabel" name="label_224">
<property name="text"> <property name="text">
<string>Erode.</string> <string>Erode.</string>
@@ -749,7 +726,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property> </property>
</widget> </widget>
</item> </item>
<item row="4" column="0"> <item row="3" column="0">
<widget class="QCheckBox" name="checkBox_map_erode"> <widget class="QCheckBox" name="checkBox_map_erode">
<property name="text"> <property name="text">
<string/> <string/>
@@ -761,6 +738,191 @@ Show a yellow background when the number of odometry inliers goes under this thr
</item> </item>
</layout> </layout>
</item> </item>
<item>
<widget class="QGroupBox" name="groupBox_map_occupancyFrom3DCloud">
<property name="title">
<string>Occupancy from 3D cloud projection on the ground</string>
</property>
<property name="checkable">
<bool>true</bool>
</property>
<layout class="QVBoxLayout" name="verticalLayout_102">
<item>
<widget class="QLabel" name="label_312">
<property name="text">
<string>Note that 3D cloud filtering stuff under Map columns below are applied before the projection (except for floor and ceiling filterings).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item>
<layout class="QGridLayout" name="gridLayout_67" columnstretch="0,1">
<item row="0" column="0">
<widget class="QCheckBox" name="checkBox_projMapFrame">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_311">
<property name="text">
<string>Projection in map frame. On a 3D terrain and a fixed local camera transform (the cloud is created relative to ground), you may want to disable this to do the projection in robot frame instead.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_projMaxGroundAngle">
<property name="suffix">
<string> deg</string>
</property>
<property name="decimals">
<number>0</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>180.000000000000000</double>
</property>
<property name="value">
<double>30.000000000000000</double>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_307">
<property name="text">
<string>Maximum ground normal angle</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QSpinBox" name="spinBox_projMinClusterSize">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>10000</number>
</property>
<property name="value">
<number>20</number>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_308">
<property name="text">
<string>Mininum cluster size.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QCheckBox" name="checkBox_projFlatObstaclesDetected">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_272">
<property name="text">
<string>Flat obstacles detected</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_projMaxGroundHeight">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="maximum">
<double>99999.000000000000000</double>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_310">
<property name="text">
<string>Maximum ground height (0=disabled).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_projMaxObstaclesHeight">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="maximum">
<double>9999.000000000000000</double>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_309">
<property name="text">
<string>Maximum obstacles height (0=disabled).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</item>
</layout> </layout>
</widget> </widget>
</item> </item>
@@ -773,7 +935,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
<enum>QFrame::Raised</enum> <enum>QFrame::Raised</enum>
</property> </property>
<layout class="QGridLayout" name="gridLayout_2" columnstretch="0,0,1"> <layout class="QGridLayout" name="gridLayout_2" columnstretch="0,0,1">
<item row="9" column="0"> <item row="12" column="0">
<widget class="QCheckBox" name="checkBox_showScans"> <widget class="QCheckBox" name="checkBox_showScans">
<property name="text"> <property name="text">
<string/> <string/>
@@ -783,7 +945,20 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property> </property>
</widget> </widget>
</item> </item>
<item row="12" column="0"> <item row="12" column="2">
<widget class="QLabel" name="label_110">
<property name="text">
<string>Show scans.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="15" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_scan"> <widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_scan">
<property name="suffix"> <property name="suffix">
<string/> <string/>
@@ -802,19 +977,6 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property> </property>
</widget> </widget>
</item> </item>
<item row="9" column="2">
<widget class="QLabel" name="label_110">
<property name="text">
<string>Show scans.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="2"> <item row="1" column="2">
<widget class="QLabel" name="label_119"> <widget class="QLabel" name="label_119">
<property name="text"> <property name="text">
@@ -828,7 +990,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property> </property>
</widget> </widget>
</item> </item>
<item row="14" column="1"> <item row="17" column="1">
<widget class="QCheckBox" name="checkBox_showOdomFeatures"> <widget class="QCheckBox" name="checkBox_showOdomFeatures">
<property name="text"> <property name="text">
<string/> <string/>
@@ -838,7 +1000,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property> </property>
</widget> </widget>
</item> </item>
<item row="14" column="0"> <item row="17" column="0">
<widget class="QCheckBox" name="checkBox_showFeatures"> <widget class="QCheckBox" name="checkBox_showFeatures">
<property name="text"> <property name="text">
<string/> <string/>
@@ -912,7 +1074,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property> </property>
</widget> </widget>
</item> </item>
<item row="7" column="0"> <item row="10" column="0">
<widget class="QSpinBox" name="spinBox_ptsize"> <widget class="QSpinBox" name="spinBox_ptsize">
<property name="minimum"> <property name="minimum">
<number>1</number> <number>1</number>
@@ -925,7 +1087,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property> </property>
</widget> </widget>
</item> </item>
<item row="12" column="1"> <item row="15" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_odom_scan"> <widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_odom_scan">
<property name="suffix"> <property name="suffix">
<string/> <string/>
@@ -970,7 +1132,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property> </property>
</widget> </widget>
</item> </item>
<item row="6" column="2"> <item row="9" column="2">
<widget class="QLabel" name="label_155"> <widget class="QLabel" name="label_155">
<property name="text"> <property name="text">
<string>3D cloud opacity.</string> <string>3D cloud opacity.</string>
@@ -983,7 +1145,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property> </property>
</widget> </widget>
</item> </item>
<item row="7" column="1"> <item row="10" column="1">
<widget class="QSpinBox" name="spinBox_ptsize_odom"> <widget class="QSpinBox" name="spinBox_ptsize_odom">
<property name="minimum"> <property name="minimum">
<number>1</number> <number>1</number>
@@ -996,7 +1158,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property> </property>
</widget> </widget>
</item> </item>
<item row="13" column="1"> <item row="16" column="1">
<widget class="QSpinBox" name="spinBox_ptsize_odom_scan"> <widget class="QSpinBox" name="spinBox_ptsize_odom_scan">
<property name="minimum"> <property name="minimum">
<number>1</number> <number>1</number>
@@ -1006,7 +1168,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property> </property>
</widget> </widget>
</item> </item>
<item row="13" column="2"> <item row="16" column="2">
<widget class="QLabel" name="label_158"> <widget class="QLabel" name="label_158">
<property name="text"> <property name="text">
<string>Scan point size (1..64).</string> <string>Scan point size (1..64).</string>
@@ -1019,7 +1181,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property> </property>
</widget> </widget>
</item> </item>
<item row="11" column="0"> <item row="14" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_voxelSizeScan"> <widget class="QDoubleSpinBox" name="doubleSpinBox_voxelSizeScan">
<property name="suffix"> <property name="suffix">
<string> m</string> <string> m</string>
@@ -1038,7 +1200,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property> </property>
</widget> </widget>
</item> </item>
<item row="11" column="2"> <item row="14" column="2">
<widget class="QLabel" name="label_271"> <widget class="QLabel" name="label_271">
<property name="text"> <property name="text">
<string>Scan voxel size.</string> <string>Scan voxel size.</string>
@@ -1051,7 +1213,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property> </property>
</widget> </widget>
</item> </item>
<item row="10" column="1"> <item row="13" column="1">
<widget class="QSpinBox" name="spinBox_downsamplingScan_odom"> <widget class="QSpinBox" name="spinBox_downsamplingScan_odom">
<property name="minimum"> <property name="minimum">
<number>1</number> <number>1</number>
@@ -1061,7 +1223,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property> </property>
</widget> </widget>
</item> </item>
<item row="12" column="2"> <item row="15" column="2">
<widget class="QLabel" name="label_156"> <widget class="QLabel" name="label_156">
<property name="text"> <property name="text">
<string>Scan opacity.</string> <string>Scan opacity.</string>
@@ -1097,7 +1259,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property> </property>
</widget> </widget>
</item> </item>
<item row="6" column="0"> <item row="9" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity"> <widget class="QDoubleSpinBox" name="doubleSpinBox_opacity">
<property name="suffix"> <property name="suffix">
<string/> <string/>
@@ -1116,7 +1278,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property> </property>
</widget> </widget>
</item> </item>
<item row="9" column="1"> <item row="12" column="1">
<widget class="QCheckBox" name="checkBox_showOdomScans"> <widget class="QCheckBox" name="checkBox_showOdomScans">
<property name="text"> <property name="text">
<string/> <string/>
@@ -1126,7 +1288,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property> </property>
</widget> </widget>
</item> </item>
<item row="16" column="2"> <item row="19" column="2">
<widget class="QLabel" name="label_213"> <widget class="QLabel" name="label_213">
<property name="text"> <property name="text">
<string>Show graphs.</string> <string>Show graphs.</string>
@@ -1139,7 +1301,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property> </property>
</widget> </widget>
</item> </item>
<item row="16" column="0"> <item row="19" column="0">
<widget class="QCheckBox" name="checkBox_showGraphs"> <widget class="QCheckBox" name="checkBox_showGraphs">
<property name="text"> <property name="text">
<string/> <string/>
@@ -1149,7 +1311,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property> </property>
</widget> </widget>
</item> </item>
<item row="6" column="1"> <item row="9" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_odom"> <widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_odom">
<property name="suffix"> <property name="suffix">
<string/> <string/>
@@ -1168,7 +1330,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property> </property>
</widget> </widget>
</item> </item>
<item row="13" column="0"> <item row="16" column="0">
<widget class="QSpinBox" name="spinBox_ptsize_scan"> <widget class="QSpinBox" name="spinBox_ptsize_scan">
<property name="minimum"> <property name="minimum">
<number>1</number> <number>1</number>
@@ -1188,7 +1350,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property> </property>
</widget> </widget>
</item> </item>
<item row="17" column="2"> <item row="20" column="2">
<widget class="QLabel" name="label_243"> <widget class="QLabel" name="label_243">
<property name="text"> <property name="text">
<string>Show labels.</string> <string>Show labels.</string>
@@ -1201,7 +1363,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property> </property>
</widget> </widget>
</item> </item>
<item row="17" column="0"> <item row="20" column="0">
<widget class="QCheckBox" name="checkBox_showLabels"> <widget class="QCheckBox" name="checkBox_showLabels">
<property name="text"> <property name="text">
<string/> <string/>
@@ -1211,7 +1373,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property> </property>
</widget> </widget>
</item> </item>
<item row="11" column="1"> <item row="14" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_voxelSizeScan_odom"> <widget class="QDoubleSpinBox" name="doubleSpinBox_voxelSizeScan_odom">
<property name="suffix"> <property name="suffix">
<string> m</string> <string> m</string>
@@ -1230,7 +1392,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property> </property>
</widget> </widget>
</item> </item>
<item row="10" column="2"> <item row="13" column="2">
<widget class="QLabel" name="label_273"> <widget class="QLabel" name="label_273">
<property name="text"> <property name="text">
<string>Scan downsampling step size.</string> <string>Scan downsampling step size.</string>
@@ -1243,7 +1405,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property> </property>
</widget> </widget>
</item> </item>
<item row="10" column="0"> <item row="13" column="0">
<widget class="QSpinBox" name="spinBox_downsamplingScan"> <widget class="QSpinBox" name="spinBox_downsamplingScan">
<property name="minimum"> <property name="minimum">
<number>1</number> <number>1</number>
@@ -1253,7 +1415,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property> </property>
</widget> </widget>
</item> </item>
<item row="7" column="2"> <item row="10" column="2">
<widget class="QLabel" name="label_157"> <widget class="QLabel" name="label_157">
<property name="text"> <property name="text">
<string>3D cloud point size (1..64).</string> <string>3D cloud point size (1..64).</string>
@@ -1279,7 +1441,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property> </property>
</widget> </widget>
</item> </item>
<item row="14" column="2"> <item row="17" column="2">
<widget class="QLabel" name="label_123"> <widget class="QLabel" name="label_123">
<property name="text"> <property name="text">
<string>Show 3D features.</string> <string>Show 3D features.</string>
@@ -1292,7 +1454,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property> </property>
</widget> </widget>
</item> </item>
<item row="15" column="2"> <item row="18" column="2">
<widget class="QLabel" name="label_166"> <widget class="QLabel" name="label_166">
<property name="text"> <property name="text">
<string>Feature point size.</string> <string>Feature point size.</string>
@@ -1305,7 +1467,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property> </property>
</widget> </widget>
</item> </item>
<item row="15" column="1"> <item row="18" column="1">
<widget class="QSpinBox" name="spinBox_ptsize_odom_features"> <widget class="QSpinBox" name="spinBox_ptsize_odom_features">
<property name="minimum"> <property name="minimum">
<number>1</number> <number>1</number>
@@ -1315,7 +1477,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property> </property>
</widget> </widget>
</item> </item>
<item row="15" column="0"> <item row="18" column="0">
<widget class="QSpinBox" name="spinBox_ptsize_features"> <widget class="QSpinBox" name="spinBox_ptsize_features">
<property name="minimum"> <property name="minimum">
<number>1</number> <number>1</number>
@@ -1379,6 +1541,96 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property> </property>
</widget> </widget>
</item> </item>
<item row="6" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_voxel">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>3</number>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
<item row="6" column="2">
<widget class="QLabel" name="label_171">
<property name="text">
<string>3D cloud voxel filtering size (0=disabled).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QSpinBox" name="spinBox_noiseMinNeighbors">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>1000</number>
</property>
<property name="value">
<number>5</number>
</property>
</widget>
</item>
<item row="7" column="2">
<widget class="QLabel" name="label_168">
<property name="text">
<string>3D cloud noise filtering radius (0=disabled). Done after voxel filtering.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_noiseRadius">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>3</number>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.050000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
<item row="8" column="2">
<widget class="QLabel" name="label_169">
<property name="text">
<string>3D cloud noise filtering min neighbors.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
</layout> </layout>
</widget> </widget>
</item> </item>