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

merged master->branch

Browse Source
This commit is contained in:
matlabbe
2026-04-05 14:20:35 -07:00
parent ffb3be7ba3 8fd701aabe
commit 0405949ff4
103 changed files with 7621 additions and 3191 deletions
Download Patch File Download Diff File Expand all files Collapse all files
guilib/include/rtabmap/gui/MainWindow.h
+1
View File
@@ -330,6 +330,7 @@ protected:
int iterations,
bool interSession,
bool intraSession,
int minGraphDistance,
// SBA params:
bool sba,
int sbaIterations,
guilib/include/rtabmap/gui/PostProcessingDialog.h
+2
View File
@@ -59,6 +59,7 @@ public:
int iterations() const;
bool intraSession() const;
bool interSession() const;
int minGraphDistance() const;
bool isRefineNeighborLinks() const;
bool isRefineLoopClosureLinks() const;
bool isSBA() const;
@@ -74,6 +75,7 @@ public:
void setIterations(int iterations);
void setIntraSession(bool enabled);
void setInterSession(bool enabled);
void setMinGraphDistance(int value);
void setRefineNeighborLinks(bool on);
void setRefineLoopClosureLinks(bool on);
void setSBA(bool on);
guilib/include/rtabmap/gui/PreferencesDialog.h
+1
View File
@@ -293,6 +293,7 @@ public:
double getSourceScanForceGroundNormalsUp() const;
Transform getSourceLocalTransform() const; //Openni group
Transform getLaserLocalTransform() const; // directory images
Transform getGroundTruthLocalTransform() const; // directory images
Transform getIMULocalTransform() const; // directory images
QString getIMUPath() const;
int getIMURate() const;
guilib/include/rtabmap/gui/StatsToolBox.h
+5
View File
@@ -32,6 +32,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <QWidget>
#include <QtCore/QMap>
#include <QTimer>
class QToolButton;
class QLabel;
@@ -59,6 +60,7 @@ public:
public Q_SLOTS:
void updateMenu(const QMenu * menu);
void updateLabel();
Q_SIGNALS:
void valueAdded(qreal);
@@ -117,6 +119,8 @@ Q_SIGNALS:
private Q_SLOTS:
void plot(const StatItem * stat, const QString & plotName = QString());
void figureDeleted(QObject * obj);
void requestLabelsUpdate();
void updateLabels();
protected:
virtual void contextMenuEvent(QContextMenuEvent * event);
@@ -127,6 +131,7 @@ private:
QString _workingDirectory;
int _newFigureMaxItems;
QMap<QString, QWidget*> _figures;
QTimer _updateLabelsTimer;
};
}
guilib/src/3rdParty/QMultiComboBox.cpp
Vendored
+1 -1
View File
@@ -40,7 +40,7 @@ QMultiComboBox::QMultiComboBox(QWidget *widget ) :
QMultiComboBox::~QMultiComboBox()
{
disconnect(&vlist_,0,0,0);
vlist_.disconnect(SIGNAL(itemChanged(QListWidgetItem*)));
}
guilib/src/AboutDialog.cpp
+7
View File
@@ -121,6 +121,13 @@ AboutDialog::AboutDialog(QWidget * parent) :
_ui->label_liblas->setText("No");
_ui->label_liblas_license->setEnabled(false);
#endif
#ifdef RTABMAP_OPENGV
_ui->label_opengv->setText("Yes");
_ui->label_opengv_license->setEnabled(true);
#else
_ui->label_opengv->setText("No");
_ui->label_opengv_license->setEnabled(false);
#endif
#ifdef RTABMAP_CUDASIFT
_ui->label_cudasift->setText("Yes");
_ui->label_cudasift_license->setEnabled(true);
guilib/src/DataRecorder.cpp
+6 -4
View File
@@ -72,13 +72,15 @@ bool DataRecorder::init(const QString & path, bool recordInRAM)
ParametersMap customParameters;
customParameters.insert(ParametersPair(Parameters::kMemRehearsalSimilarity(), "1.0")); // deactivate rehearsal
customParameters.insert(ParametersPair(Parameters::kKpMaxFeatures(), "-1")); // deactivate keypoints extraction
customParameters.insert(ParametersPair(Parameters::kMemBinDataKept(), "true")); // to keep images
customParameters.insert(ParametersPair(Parameters::kMemBinDataKept(), "true")); // make sure we keep images
customParameters.insert(ParametersPair(Parameters::kMemMapLabelsAdded(), "false")); // don't create map labels
customParameters.insert(ParametersPair(Parameters::kRGBDCreateOccupancyGrid(), "false")); // make sure we don't create local grids
customParameters.insert(ParametersPair(Parameters::kMemBadSignaturesIgnored(), "true")); // make sure memory cleanup is done
customParameters.insert(ParametersPair(Parameters::kMemIntermediateNodeDataKept(), "true"));
if(!recordInRAM)
customParameters.insert(ParametersPair(Parameters::kMemNotLinkedNodesKept(), "true")); // make sure we save every frame
if(recordInRAM)
{
customParameters.insert(ParametersPair(Parameters::kDbSqlite3InMemory(), "false"));
customParameters.insert(ParametersPair(Parameters::kDbSqlite3InMemory(), "true"));
}
memory_ = new Memory();
if(!memory_->init(path.toStdString(), true, customParameters))
guilib/src/DatabaseViewer.cpp
+97 -7
View File
@@ -239,6 +239,7 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
parameters.insert(*Parameters::getDefaultParameters().find(Parameters::kRGBDLoopClosureReextractFeatures()));
parameters.insert(*Parameters::getDefaultParameters().find(Parameters::kRGBDLoopCovLimited()));
parameters.insert(*Parameters::getDefaultParameters().find(Parameters::kRGBDProximityPathFilteringRadius()));
parameters.insert(*Parameters::getDefaultParameters().find(Parameters::kMemSTMSize()));
ui_->parameters_toolbox->setupUi(parameters);
exportDialog_->setObjectName("ExportCloudsDialog");
restoreDefaultSettings();
@@ -481,6 +482,7 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
connect(ui_->spinBox_detectMore_iterations, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
connect(ui_->checkBox_detectMore_intraSession, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->checkBox_detectMore_interSession, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->spinBox_minGraphDistance, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
connect(ui_->checkBox_opt_graph_as_guess, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->lineEdit_obstacleColor, SIGNAL(textChanged(const QString &)), this, SLOT(configModified()));
@@ -678,6 +680,7 @@ void DatabaseViewer::readSettings()
ui_->checkBox_detectMore_intraSession->setChecked(settings.value("intra_session", ui_->checkBox_detectMore_intraSession->isChecked()).toBool());
ui_->checkBox_detectMore_interSession->setChecked(settings.value("inter_session", ui_->checkBox_detectMore_interSession->isChecked()).toBool());
ui_->checkBox_opt_graph_as_guess->setChecked(settings.value("opt_graph_as_guess", ui_->checkBox_opt_graph_as_guess->isChecked()).toBool());
ui_->spinBox_minGraphDistance->setValue(settings.value("min_graph_distance", ui_->spinBox_minGraphDistance->value()).toInt());
settings.endGroup();
settings.endGroup();
@@ -775,6 +778,7 @@ void DatabaseViewer::writeSettings()
settings.setValue("intra_session", ui_->checkBox_detectMore_intraSession->isChecked());
settings.setValue("inter_session", ui_->checkBox_detectMore_interSession->isChecked());
settings.setValue("opt_graph_as_guess", ui_->checkBox_opt_graph_as_guess->isChecked());
settings.setValue("min_graph_distance", ui_->spinBox_minGraphDistance->value());
settings.endGroup();
settings.endGroup();
@@ -855,6 +859,8 @@ void DatabaseViewer::restoreDefaultSettings()
ui_->checkBox_detectMore_intraSession->setChecked(true);
ui_->checkBox_detectMore_interSession->setChecked(true);
ui_->checkBox_opt_graph_as_guess->setChecked(true);
ui_->spinBox_fromToMapId->setValue(-1);
ui_->spinBox_minGraphDistance->setValue(10);
}
void DatabaseViewer::openDatabase()
@@ -4284,10 +4290,12 @@ void DatabaseViewer::detectMoreLoopClosures()
const ParametersMap & parameters = ui_->parameters_toolbox->getParameters();
bool loopCovLimited = Parameters::defaultRGBDLoopCovLimited();
Parameters::parse(parameters, Parameters::kRGBDLoopCovLimited(), loopCovLimited);
std::multimap<int, Link> links = updateLinksWithModifications(links_);
if(loopCovLimited)
{
odomMaxInf_ = graph::getMaxOdomInf(updateLinksWithModifications(links_));
odomMaxInf_ = graph::getMaxOdomInf(links);
}
links = graph::filterLinks(links, Link::kNeighbor, true); // keep only neighbor links
int iterations = ui_->spinBox_detectMore_iterations->value();
UASSERT(iterations > 0);
@@ -4297,6 +4305,8 @@ void DatabaseViewer::detectMoreLoopClosures()
bool intraSession = ui_->checkBox_detectMore_intraSession->isChecked();
bool interSession = ui_->checkBox_detectMore_interSession->isChecked();
bool useOptimizedGraphAsGuess = ui_->checkBox_opt_graph_as_guess->isChecked();
int fromToMapId = ui_->spinBox_fromToMapId->value();
int minimumGraphDistance = ui_->spinBox_minGraphDistance->value();
if(!interSession && !intraSession)
{
QMessageBox::warning(this, tr("Cannot detect more loop closures"), tr("Intra and inter session parameters are disabled! Enable one or both."));
@@ -4313,14 +4323,68 @@ void DatabaseViewer::detectMoreLoopClosures()
ui_->doubleSpinBox_detectMore_radius->value(),
ui_->doubleSpinBox_detectMore_angle->value()*CV_PI/180.0);
progressDialog->setMaximumSteps(progressDialog->maximumSteps()+(int)clusters.size());
progressDialog->appendText(tr("Looking for more loop closures, %1 clusters found.").arg(clusters.size()));
QApplication::processEvents();
if(progressDialog->isCanceled())
{
break;
}
progressDialog->appendText(tr("Looking for more loop closures: %1 clusters found.").arg(clusters.size()));
if(fromToMapId >=0)
{
int clusterBefore = clusters.size();
for(std::multimap<int, int>::iterator iter=clusters.begin(); iter!=clusters.end();)
{
int mapId = uValue(mapIds_, iter->first, 0);
if(mapId != fromToMapId)
{
iter = clusters.erase(iter);
}
else {
++iter;
}
}
progressDialog->appendText(tr("Looking for more loop closures: filtered %1/%2 clusters for map session %3.")
.arg(clusterBefore-clusters.size()).arg(clusterBefore).arg(fromToMapId));
if(clusters.empty())
{
progressDialog->appendText(tr("No clusters belong to mapId %1, aborting!").arg(fromToMapId));
QApplication::processEvents();
break;
}
}
if(minimumGraphDistance > 1)
{
int clusterBefore = clusters.size();
for(std::multimap<int, int>::iterator iter=clusters.begin(); iter!=clusters.end();)
{
if(abs(iter->first - iter->second) < minimumGraphDistance)
{
iter = clusters.erase(iter);
}
else
{
// compute path to know how far we are in terms of graph length
std::list<int> path = graph::computePath(links, iter->first, iter->second);
if(!path.empty() && (int)path.size() <= minimumGraphDistance)
{
iter = clusters.erase(iter);
}
else
{
++iter;
}
}
}
progressDialog->appendText(tr("Filtered %1/%2 clusters for too close nodes (below minimum graph distance=%3).")
.arg(clusterBefore-clusters.size()).arg(clusterBefore).arg(minimumGraphDistance));
QApplication::processEvents();
}
progressDialog->setMaximumSteps(progressDialog->maximumSteps()+(int)clusters.size());
QApplication::processEvents();
std::set<int> addedLinks;
int i=0;
for(std::multimap<int, int>::iterator iter=clusters.begin(); iter!= clusters.end() && !progressDialog->isCanceled(); ++iter, ++i)
@@ -4674,10 +4738,17 @@ void DatabaseViewer::graphNodeSelected(int id)
void DatabaseViewer::graphLinkSelected(int from, int to)
{
if(from>0 && idToIndex_.contains(from))
ui_->horizontalSlider_A->setValue(idToIndex_.value(from));
if(to>0 && idToIndex_.contains(to))
ui_->horizontalSlider_B->setValue(idToIndex_.value(to));
if(from < 0 || to < 0)
{
updateLoopClosuresSlider(from, to);
}
else
{
if(idToIndex_.contains(from))
ui_->horizontalSlider_A->setValue(idToIndex_.value(from));
if(idToIndex_.contains(to))
ui_->horizontalSlider_B->setValue(idToIndex_.value(to));
}
}
void DatabaseViewer::sliderAValueChanged(int value)
@@ -6137,6 +6208,14 @@ void DatabaseViewer::updateWordsMatching(const std::vector<int> & inliers)
kptB->keypoint().pt.y,
cB);
}
else if(ids[i]<0)
{
ui_->graphicsView_A->setFeatureColor(ids[i], Qt::gray);
}
}
for(auto iter = wordsB.begin(); iter.key()<0 && iter!=wordsB.end(); ++iter)
{
ui_->graphicsView_B->setFeatureColor(iter.key(), Qt::gray);
}
ui_->graphicsView_A->update();
ui_->graphicsView_B->update();
@@ -8017,6 +8096,17 @@ void DatabaseViewer::updateGraphView()
ui_->label_timeOptimization->setNum(0);
ui_->label_poses->setNum((int)optPoses.size());
graphes_.push_back(optPoses);
// Just get the links:
std::map<int, rtabmap::Transform> posesOut;
UINFO("Get connected graph from %d (%d poses, %d links)", fromId, (int)poses.size(), (int)links.size());
std::shared_ptr<Optimizer> optimizer(Optimizer::create(parameters));
optimizer->getConnectedGraph(
fromId,
optPoses,
links,
posesOut,
graphLinks_);
UINFO("Connected graph of %d poses and %d links", (int)posesOut.size(), (int)graphLinks_.size());
}
ui_->horizontalSlider_rotation->setEnabled(false);
ui_->pushButton_applyRotation->setEnabled(false);
guilib/src/ExportCloudsDialog.cpp
+2 -2
View File
@@ -3703,7 +3703,7 @@ std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::Indic
0,
0,
0,
_ui->checkBox_fromDepth->isChecked()?&confidence:0);
_ui->checkBox_fromDepth->isChecked()&&_ui->spinBox_depthConfidence->value()>0?&confidence:0);
}
else if(_dbDriver)
{
@@ -3717,7 +3717,7 @@ std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::Indic
0,
0,
0,
_ui->checkBox_fromDepth->isChecked()?&confidence:0);
_ui->checkBox_fromDepth->isChecked()&&_ui->spinBox_depthConfidence->value()>0?&confidence:0);
}
if(_ui->checkBox_fromDepth->isChecked() && !data.imageRaw().empty() && !data.depthOrRightRaw().empty())
guilib/src/ImageView.cpp
+4 -4
View File
@@ -1255,11 +1255,11 @@ void ImageView::setFeatures(const std::multimap<int, cv::KeyPoint> & refWords, c
{
if (xRatio > 0 && yRatio > 0)
{
addFeature(iter->first, iter->second, util2d::getDepth(depth, iter->second.pt.x*xRatio, iter->second.pt.y*yRatio, false), color);
addFeature(iter->first, iter->second, util2d::getDepth(depth, iter->second.pt.x*xRatio, iter->second.pt.y*yRatio, false), iter->first<0?Qt::gray:color);
}
else
{
addFeature(iter->first, iter->second, 0, color);
addFeature(iter->first, iter->second, 0, iter->first<0?Qt::gray:color);
}
}
@@ -1401,7 +1401,7 @@ void ImageView::setImageDepth(const cv::Mat & imageDepth, const cv::Mat & imageD
cv::Point3f pt;
int cameraIndex = u/subImageWidth;
UASSERT(cameraIndex>=0 && cameraIndex < (int)models.size() && subImageWidth == models[cameraIndex].imageWidth());
models[cameraIndex].project(u,v,float(val)/1000.0f, pt.x, pt.y, pt.z);
models[cameraIndex].project(u-(cameraIndex*subImageWidth),v,float(val)/1000.0f, pt.x, pt.y, pt.z);
pt = util3d::transformPoint(pt, models[cameraIndex].localTransform());
val = (unsigned short)(pt.z*1000.0f);
}
@@ -1417,7 +1417,7 @@ void ImageView::setImageDepth(const cv::Mat & imageDepth, const cv::Mat & imageD
cv::Point3f pt;
int cameraIndex = u/subImageWidth;
UASSERT(cameraIndex>=0 && cameraIndex < (int)models.size() && subImageWidth == models[cameraIndex].imageWidth());
models[cameraIndex].project(u,v,val, pt.x, pt.y, pt.z);
models[cameraIndex].project(u-(cameraIndex*subImageWidth),v,val, pt.x, pt.y, pt.z);
pt = util3d::transformPoint(pt, models[cameraIndex].localTransform());
val = pt.z;
}
guilib/src/MainWindow.cpp
+32 -1
View File
@@ -3313,7 +3313,7 @@ void MainWindow::updateMapCloud(
{
std::string gtFrustumId = uFormat("f_gt_%d", iter->first);
color = Qt::gray;
_cloudViewer->addOrUpdateFrustum(gtFrustumId, _currentGTPosesMap.at(iter->first), t, _cloudViewer->getFrustumScale(), color, model.fovX(), model.fovY());
_cloudViewer->addOrUpdateFrustum(gtFrustumId, mapToGt*_currentGTPosesMap.at(iter->first), t, _cloudViewer->getFrustumScale(), color, model.fovX(), model.fovY());
}
}
}
@@ -6563,6 +6563,7 @@ void MainWindow::showPostProcessingDialog()
_postProcessingDialog->iterations(),
_postProcessingDialog->interSession(),
_postProcessingDialog->intraSession(),
_postProcessingDialog->minGraphDistance(),
_postProcessingDialog->isSBA(),
_postProcessingDialog->sbaIterations(),
_postProcessingDialog->sbaVariance(),
@@ -6579,6 +6580,7 @@ void MainWindow::postProcessing(
int iterations,
bool interSession,
bool intraSession,
int minGraphDistance,
bool sba,
int sbaIterations,
double sbaVariance,
@@ -6687,6 +6689,7 @@ void MainWindow::postProcessing(
{
odomMaxInf = graph::getMaxOdomInf(_currentLinksMap);
}
std::multimap<int, Link> neigborLinks = graph::filterLinks(_currentLinksMap, Link::kNeighbor, true);
std::shared_ptr<Registration> registration(Registration::create(parameters));
@@ -6705,6 +6708,34 @@ void MainWindow::postProcessing(
_progressDialog->appendText(tr("Looking for more loop closures, clustering poses... found %1 clusters.").arg(clusters.size()));
QApplication::processEvents();
if(minGraphDistance > 1)
{
int clustersBefore = clusters.size();
for(std::multimap<int, int>::iterator iter=clusters.begin(); iter!=clusters.end();)
{
if(abs(iter->first - iter->second) < minGraphDistance)
{
iter = clusters.erase(iter);
}
else
{
// compute path to know how far we are in terms of graph length
std::list<int> path = graph::computePath(neigborLinks, iter->first, iter->second);
if(!path.empty() && (int)path.size() <= minGraphDistance)
{
iter = clusters.erase(iter);
}
else
{
++iter;
}
}
}
_progressDialog->appendText(tr("Filtered %1/%2 clusters for too close nodes (below minimum graph distance=%3).")
.arg(clustersBefore-clusters.size()).arg(clustersBefore).arg(minGraphDistance));
QApplication::processEvents();
}
int i=0;
std::set<int> addedLinks;
for(std::multimap<int, int>::iterator iter=clusters.begin(); iter!= clusters.end() && !_progressCanceled; ++iter, ++i)
guilib/src/PostProcessingDialog.cpp
+13
View File
@@ -82,6 +82,7 @@ PostProcessingDialog::PostProcessingDialog(QWidget * parent) :
connect(_ui->iterations, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->intraSession, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->interSession, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->minGraphDistance, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->refineNeighborLinks, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->refineLoopClosureLinks, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
@@ -150,6 +151,7 @@ void PostProcessingDialog::saveSettings(QSettings & settings, const QString & gr
settings.setValue("iterations", this->iterations());
settings.setValue("intra_session", this->intraSession());
settings.setValue("inter_session", this->interSession());
settings.setValue("min_graph_distance", this->minGraphDistance());
settings.setValue("refine_neigbors", this->isRefineNeighborLinks());
settings.setValue("refine_lc", this->isRefineLoopClosureLinks());
settings.setValue("sba", this->isSBA());
@@ -175,6 +177,7 @@ void PostProcessingDialog::loadSettings(QSettings & settings, const QString & gr
this->setIterations(settings.value("iterations", this->iterations()).toInt());
this->setIntraSession(settings.value("intra_session", this->intraSession()).toBool());
this->setInterSession(settings.value("inter_session", this->interSession()).toBool());
this->setMinGraphDistance(settings.value("min_graph_distance", this->minGraphDistance()).toInt());
this->setRefineNeighborLinks(settings.value("refine_neigbors", this->isRefineNeighborLinks()).toBool());
this->setRefineLoopClosureLinks(settings.value("refine_lc", this->isRefineLoopClosureLinks()).toBool());
this->setSBA(settings.value("sba", this->isSBA()).toBool());
@@ -197,6 +200,7 @@ void PostProcessingDialog::restoreDefaults()
setIterations(5);
setIntraSession(true);
setInterSession(true);
setMinGraphDistance(10);
setRefineNeighborLinks(false);
setRefineLoopClosureLinks(false);
setSBA(false);
@@ -254,6 +258,11 @@ bool PostProcessingDialog::interSession() const
return _ui->interSession->isChecked();
}
int PostProcessingDialog::minGraphDistance() const
{
return _ui->minGraphDistance->value();
}
bool PostProcessingDialog::isRefineNeighborLinks() const
{
return _ui->refineNeighborLinks->isChecked();
@@ -311,6 +320,10 @@ void PostProcessingDialog::setInterSession(bool enabled)
{
_ui->interSession->setChecked(enabled);
}
void PostProcessingDialog::setMinGraphDistance(int value)
{
_ui->minGraphDistance->setValue(value);
}
void PostProcessingDialog::setRefineNeighborLinks(bool on)
{
_ui->refineNeighborLinks->setChecked(on);
guilib/src/PreferencesDialog.cpp
+91 -4
View File
@@ -171,6 +171,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->sift_label_gpu->setEnabled(false);
_ui->sift_doubleSpinBox_gaussianDiffThreshold->setEnabled(false);
_ui->sift_label_gaussianThreshold->setEnabled(false);
_ui->sift_doubleSpinBox_maxGaussianDiffThreshold->setEnabled(false);
_ui->sift_label_maxGaussianThreshold->setEnabled(false);
_ui->sift_checkBox_upscale->setEnabled(false);
_ui->sift_label_upscale->setEnabled(false);
#endif
@@ -755,10 +757,13 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->source_checkBox_ignoreLandmarks, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->source_checkBox_ignoreFeatures, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->source_checkBox_ignorePriors, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->source_checkBox_ignoreIMU, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->source_spinBox_databaseStartId, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->source_spinBox_databaseStopId, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->source_checkBox_useDbStamps, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->source_lineEdit_databaseCameraIndex, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->source_checkBox_overrideLocalTransforms, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->source_lineEdit_databaseLocalTransformOffset, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->source_checkBox_stereoToDepthDB, SIGNAL(toggled(bool)), _ui->checkbox_stereo_depthGenerated, SLOT(setChecked(bool)));
connect(_ui->checkbox_stereo_depthGenerated, SIGNAL(toggled(bool)), _ui->source_checkBox_stereoToDepthDB, SLOT(setChecked(bool)));
@@ -847,6 +852,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->comboBox_cameraImages_odomFormat, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->lineEdit_cameraImages_gt, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->comboBox_cameraImages_gtFormat, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->lineEdit_cameraImages_gt_transform, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->doubleSpinBox_maxPoseTimeDiff, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->lineEdit_cameraImages_path_imu, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->lineEdit_cameraImages_imu_transform, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
@@ -1067,6 +1073,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
// Database
_ui->checkBox_dbInMemory->setObjectName(Parameters::kDbSqlite3InMemory().c_str());
_ui->checkBox_dbReadOnly->setObjectName(Parameters::kMemLocalizationReadOnly().c_str());
_ui->spinBox_dbCacheSize->setObjectName(Parameters::kDbSqlite3CacheSize().c_str());
_ui->comboBox_dbJournalMode->setObjectName(Parameters::kDbSqlite3JournalMode().c_str());
_ui->comboBox_dbSynchronous->setObjectName(Parameters::kDbSqlite3Synchronous().c_str());
@@ -1140,6 +1147,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->sift_checkBox_rootsift->setObjectName(Parameters::kSIFTRootSIFT().c_str());
_ui->sift_checkBox_gpu->setObjectName(Parameters::kSIFTGpu().c_str());
_ui->sift_doubleSpinBox_gaussianDiffThreshold->setObjectName(Parameters::kSIFTGaussianThreshold().c_str());
_ui->sift_doubleSpinBox_maxGaussianDiffThreshold->setObjectName(Parameters::kSIFTMaxGaussianThreshold().c_str());
_ui->sift_checkBox_upscale->setObjectName(Parameters::kSIFTUpscale().c_str());
//BRIEF descriptor
@@ -1354,6 +1362,9 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->odom_flow_iterations->setObjectName(Parameters::kVisCorFlowIterations().c_str());
_ui->odom_flow_eps->setObjectName(Parameters::kVisCorFlowEps().c_str());
_ui->odom_flow_gpu->setObjectName(Parameters::kVisCorFlowGpu().c_str());
_ui->odom_flow_useMinEigenVals->setObjectName(Parameters::kVisCorFlowUseMinEigenVals().c_str());
_ui->odom_flow_minEigThreshold->setObjectName(Parameters::kVisCorFlowMinEigThreshold().c_str());
_ui->odom_flow_errorThreshold->setObjectName(Parameters::kVisCorFlowErrorThreshold().c_str());
_ui->loopClosure_bundle->setObjectName(Parameters::kVisBundleAdjustment().c_str());
//RegistrationIcp
@@ -1674,6 +1685,9 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->stereo_maxDisparity->setObjectName(Parameters::kStereoMaxDisparity().c_str());
_ui->stereo_ssd->setObjectName(Parameters::kStereoSSD().c_str());
_ui->stereo_flow_eps->setObjectName(Parameters::kStereoEps().c_str());
_ui->stereo_flow_useMinEigenVals->setObjectName(Parameters::kStereoUseMinEigenVals().c_str());
_ui->stereo_flow_minEigThreshold->setObjectName(Parameters::kStereoMinEigThreshold().c_str());
_ui->stereo_flow_errorThreshold->setObjectName(Parameters::kStereoErrorThreshold().c_str());
_ui->stereo_opticalFlow->setObjectName(Parameters::kStereoOpticalFlow().c_str());
_ui->stereo_flow_gpu->setObjectName(Parameters::kStereoGpu().c_str());
@@ -2194,10 +2208,13 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->source_checkBox_ignoreLandmarks->setChecked(true);
_ui->source_checkBox_ignoreFeatures->setChecked(true);
_ui->source_checkBox_ignorePriors->setChecked(false);
_ui->source_checkBox_ignoreIMU->setChecked(false);
_ui->source_spinBox_databaseStartId->setValue(0);
_ui->source_spinBox_databaseStopId->setValue(0);
_ui->source_lineEdit_databaseCameraIndex->setText("");
_ui->source_checkBox_useDbStamps->setChecked(true);
_ui->source_checkBox_overrideLocalTransforms->setChecked(false);
_ui->source_lineEdit_databaseLocalTransformOffset->setText("");
#ifdef _WIN32
_ui->comboBox_cameraRGBD->setCurrentIndex(kSrcOpenNI2-kSrcRGBD); // openni2
@@ -2347,6 +2364,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->comboBox_cameraImages_odomFormat->setCurrentIndex(0);
_ui->lineEdit_cameraImages_gt->setText("");
_ui->comboBox_cameraImages_gtFormat->setCurrentIndex(0);
_ui->lineEdit_cameraImages_gt_transform->setText("0 0 0 0 0 0");
_ui->doubleSpinBox_maxPoseTimeDiff->setValue(0.02);
_ui->lineEdit_cameraImages_path_imu->setText("");
_ui->lineEdit_cameraImages_imu_transform->setText("0 0 1 0 -1 0 1 0 0");
@@ -2881,6 +2899,7 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
_ui->comboBox_cameraImages_odomFormat->setCurrentIndex(settings.value("odom_format", _ui->comboBox_cameraImages_odomFormat->currentIndex()).toInt());
_ui->lineEdit_cameraImages_gt->setText(settings.value("gt_path", _ui->lineEdit_cameraImages_gt->text()).toString());
_ui->comboBox_cameraImages_gtFormat->setCurrentIndex(settings.value("gt_format", _ui->comboBox_cameraImages_gtFormat->currentIndex()).toInt());
_ui->lineEdit_cameraImages_gt_transform->setText(settings.value("gt_transform", _ui->lineEdit_cameraImages_gt_transform->text()).toString());
_ui->doubleSpinBox_maxPoseTimeDiff->setValue(settings.value("max_pose_time_diff", _ui->doubleSpinBox_maxPoseTimeDiff->value()).toDouble());
_ui->lineEdit_cameraImages_path_imu->setText(settings.value("imu_path", _ui->lineEdit_cameraImages_path_imu->text()).toString());
@@ -2951,10 +2970,14 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
_ui->source_checkBox_ignoreLandmarks->setChecked(settings.value("ignoreLandmarks", _ui->source_checkBox_ignoreLandmarks->isChecked()).toBool());
_ui->source_checkBox_ignoreFeatures->setChecked(settings.value("ignoreFeatures", _ui->source_checkBox_ignoreFeatures->isChecked()).toBool());
_ui->source_checkBox_ignorePriors->setChecked(settings.value("ignorePriors", _ui->source_checkBox_ignorePriors->isChecked()).toBool());
_ui->source_checkBox_ignoreIMU->setChecked(settings.value("ignoreImu", _ui->source_checkBox_ignoreIMU->isChecked()).toBool());
_ui->source_spinBox_databaseStartId->setValue(settings.value("startId", _ui->source_spinBox_databaseStartId->value()).toInt());
_ui->source_spinBox_databaseStopId->setValue(settings.value("stopId", _ui->source_spinBox_databaseStopId->value()).toInt());
_ui->source_lineEdit_databaseCameraIndex->setText(settings.value("cameraIndices", _ui->source_lineEdit_databaseCameraIndex->text()).toString());
_ui->source_checkBox_useDbStamps->setChecked(settings.value("useDatabaseStamps", _ui->source_checkBox_useDbStamps->isChecked()).toBool());
_ui->source_checkBox_overrideLocalTransforms->setChecked(settings.value("overrideLocalTransforms", _ui->source_checkBox_overrideLocalTransforms->isChecked()).toBool());
_ui->source_lineEdit_databaseLocalTransformOffset->setText(settings.value("localTransformOffsets", _ui->source_lineEdit_databaseLocalTransformOffset->text()).toString());
settings.endGroup(); // Database
settings.endGroup(); // Camera
@@ -3497,6 +3520,7 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.setValue("odom_format", _ui->comboBox_cameraImages_odomFormat->currentIndex());
settings.setValue("gt_path", _ui->lineEdit_cameraImages_gt->text());
settings.setValue("gt_format", _ui->comboBox_cameraImages_gtFormat->currentIndex());
settings.setValue("gt_transform", _ui->lineEdit_cameraImages_gt_transform->text());
settings.setValue("max_pose_time_diff", _ui->doubleSpinBox_maxPoseTimeDiff->value());
settings.setValue("imu_path", _ui->lineEdit_cameraImages_path_imu->text());
settings.setValue("imu_local_transform", _ui->lineEdit_cameraImages_imu_transform->text());
@@ -3566,10 +3590,13 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.setValue("ignoreLandmarks", _ui->source_checkBox_ignoreLandmarks->isChecked());
settings.setValue("ignoreFeatures", _ui->source_checkBox_ignoreFeatures->isChecked());
settings.setValue("ignorePriors", _ui->source_checkBox_ignorePriors->isChecked());
settings.setValue("ignoreImu", _ui->source_checkBox_ignoreIMU->isChecked());
settings.setValue("startId", _ui->source_spinBox_databaseStartId->value());
settings.setValue("stopId", _ui->source_spinBox_databaseStopId->value());
settings.setValue("cameraIndices", _ui->source_lineEdit_databaseCameraIndex->text());
settings.setValue("useDatabaseStamps", _ui->source_checkBox_useDbStamps->isChecked());
settings.setValue("overrideLocalTransforms", _ui->source_checkBox_overrideLocalTransforms->isChecked());
settings.setValue("localTransformOffsets", _ui->source_lineEdit_databaseLocalTransformOffset->text());
settings.endGroup(); // Database
settings.endGroup(); // Camera
@@ -6505,6 +6532,15 @@ Transform PreferencesDialog::getLaserLocalTransform() const
}
return t;
}
Transform PreferencesDialog::getGroundTruthLocalTransform() const
{
Transform t = Transform::fromString(_ui->lineEdit_cameraImages_gt_transform->text().replace("PI_2", QString::number(3.141592/2.0)).toStdString());
if(t.isNull())
{
return Transform::getIdentity();
}
return t;
}
QString PreferencesDialog::getIMUPath() const
{
@@ -6871,7 +6907,7 @@ Camera * PreferencesDialog::createCamera(
((CameraRGBDImages*)camera)->setMaxFrames(_ui->spinBox_cameraRGBDImages_maxFrames->value());
((CameraRGBDImages*)camera)->setBayerMode(_ui->comboBox_cameraImages_bayerMode->currentIndex()-1);
((CameraRGBDImages*)camera)->setOdometryPath(_ui->lineEdit_cameraImages_odom->text().toStdString(), _ui->comboBox_cameraImages_odomFormat->currentIndex());
((CameraRGBDImages*)camera)->setGroundTruthPath(_ui->lineEdit_cameraImages_gt->text().toStdString(), _ui->comboBox_cameraImages_gtFormat->currentIndex());
((CameraRGBDImages*)camera)->setGroundTruthPath(_ui->lineEdit_cameraImages_gt->text().toStdString(), _ui->comboBox_cameraImages_gtFormat->currentIndex(), this->getGroundTruthLocalTransform());
((CameraRGBDImages*)camera)->setMaxPoseTimeDiff(_ui->doubleSpinBox_maxPoseTimeDiff->value());
((CameraRGBDImages*)camera)->setScanPath(
_ui->lineEdit_cameraImages_path_scans->text().isEmpty()?"":_ui->lineEdit_cameraImages_path_scans->text().append(QDir::separator()).toStdString(),
@@ -6917,7 +6953,7 @@ Camera * PreferencesDialog::createCamera(
((CameraStereoImages*)camera)->setMaxFrames(_ui->spinBox_cameraStereoImages_maxFrames->value());
((CameraStereoImages*)camera)->setBayerMode(_ui->comboBox_cameraImages_bayerMode->currentIndex()-1);
((CameraStereoImages*)camera)->setOdometryPath(_ui->lineEdit_cameraImages_odom->text().toStdString(), _ui->comboBox_cameraImages_odomFormat->currentIndex());
((CameraStereoImages*)camera)->setGroundTruthPath(_ui->lineEdit_cameraImages_gt->text().toStdString(), _ui->comboBox_cameraImages_gtFormat->currentIndex());
((CameraStereoImages*)camera)->setGroundTruthPath(_ui->lineEdit_cameraImages_gt->text().toStdString(), _ui->comboBox_cameraImages_gtFormat->currentIndex(), this->getGroundTruthLocalTransform());
((CameraStereoImages*)camera)->setMaxPoseTimeDiff(_ui->doubleSpinBox_maxPoseTimeDiff->value());
((CameraStereoImages*)camera)->setScanPath(
_ui->lineEdit_cameraImages_path_scans->text().isEmpty()?"":_ui->lineEdit_cameraImages_path_scans->text().append(QDir::separator()).toStdString(),
@@ -7117,7 +7153,8 @@ Camera * PreferencesDialog::createCamera(
_ui->comboBox_cameraImages_odomFormat->currentIndex());
((CameraImages*)camera)->setGroundTruthPath(
_ui->lineEdit_cameraImages_gt->text().toStdString(),
_ui->comboBox_cameraImages_gtFormat->currentIndex());
_ui->comboBox_cameraImages_gtFormat->currentIndex(),
this->getGroundTruthLocalTransform());
((CameraImages*)camera)->setMaxPoseTimeDiff(_ui->doubleSpinBox_maxPoseTimeDiff->value());
((CameraImages*)camera)->setScanPath(
_ui->lineEdit_cameraImages_path_scans->text().isEmpty()?"":_ui->lineEdit_cameraImages_path_scans->text().append(QDir::separator()).toStdString(),
@@ -7171,6 +7208,54 @@ Camera * PreferencesDialog::createCamera(
}
}
}
std::vector<Transform> localTransformOverrides;
if(_ui->source_checkBox_overrideLocalTransforms->isChecked())
{
if(!_ui->lineEdit_sourceLocalTransform->text().isEmpty())
{
std::list<std::string> transforms = uSplit(_ui->lineEdit_sourceLocalTransform->text().replace("PI_2", QString::number(3.141592/2.0)).toStdString(), ';');
for(auto t: transforms)
{
localTransformOverrides.push_back(Transform::fromString(t));
}
// offset(s)?
if(!_ui->source_lineEdit_databaseLocalTransformOffset->text().isEmpty())
{
std::vector<float> localTransformOffsetOverrides;
std::list<std::string> offsetStr = uSplit(_ui->source_lineEdit_databaseLocalTransformOffset->text().toStdString(), ' ');
for(std::list<std::string>::iterator iter=offsetStr.begin(); iter!=offsetStr.end(); ++iter)
{
localTransformOffsetOverrides.push_back(uStr2Float(*iter));
UINFO("Camera offset = %f", localTransformOffsetOverrides.back());
}
if(!localTransformOffsetOverrides.empty())
{
if(!localTransformOverrides.empty() && localTransformOffsetOverrides.size() > 1 && localTransformOffsetOverrides.size() != localTransformOverrides.size())
{
QMessageBox::warning(this, tr("DBReader"),
tr( "Camera lens offset vector size (%1) is not equal to local transform overrides (%2). "
"Camera lens offset vector should be one to affect all cameras or the same size than local transforms overrides.").arg(localTransformOffsetOverrides.size()).arg(localTransformOverrides.size()), QMessageBox::Ok);
return 0;
}
else {
for(size_t i=0; i<localTransformOverrides.size(); ++i)
{
float offset = localTransformOffsetOverrides.size()==1?localTransformOffsetOverrides[0]:localTransformOffsetOverrides[i];
localTransformOverrides[i] *= Transform(0, offset, 0);
UINFO("Overriding camera's local transform %ld to %s (offset=%f)", i, localTransformOverrides[i].prettyPrint().c_str(), offset);
}
}
}
}
}
else if(!_ui->source_lineEdit_databaseLocalTransformOffset->text().isEmpty())
{
UWARN("Overriding camera offsets can only be used when camera local transforms are overriden. Ignoring offsets :\"%s\"",
_ui->source_lineEdit_databaseLocalTransformOffset->text().toStdString().c_str());
}
}
camera = new DBReader(_ui->source_database_lineEdit_path->text().toStdString(),
_ui->source_checkBox_useDbStamps->isChecked()?-1:this->getGeneralInputRate(),
@@ -7185,7 +7270,9 @@ Camera * PreferencesDialog::createCamera(
_ui->source_checkBox_ignoreFeatures->isChecked(),
0,
-1,
_ui->source_checkBox_ignorePriors->isChecked());
_ui->source_checkBox_ignorePriors->isChecked(),
_ui->source_checkBox_ignoreIMU->isChecked(),
localTransformOverrides);
}
else
{
guilib/src/StatsToolBox.cpp
+35 -10
View File
@@ -69,6 +69,7 @@ StatItem::StatItem(const QString & name, bool cacheOn, const std::vector<qreal>
_y = y;
}
_unit->setText(unit);
_value->setTextFormat(Qt::PlainText);
this->updateMenu(menu);
}
@@ -90,7 +91,6 @@ void StatItem::addValue(qreal y)
{
_y.push_back(y);
}
_value->setText(QString::number(y, 'g', 3));
Q_EMIT valueAdded(y);
}
@@ -107,7 +107,6 @@ void StatItem::addValue(qreal x, qreal y)
_x.push_back(x);
}
_value->setText(QString::number(y, 'g', 3));
Q_EMIT valueAdded(x,y);
}
@@ -117,18 +116,23 @@ void StatItem::setValues(const std::vector<qreal> & x, const std::vector<qreal>
{
_x = x;
_y = y;
if(y.size())
{
_value->setNum(y[y.size()-1]);
}
}
else
{
_value->setText("*");
}
Q_EMIT valuesChanged(x,y);
}
void StatItem::updateLabel()
{
QString newText;
if(_y.size())
{
newText = QString::number(_y.back(), 'g', 3);
}
if(newText != _value->text())
{
_value->setText(newText);
}
}
QString StatItem::value() const
{
return _value->text();
@@ -227,6 +231,8 @@ StatsToolBox::StatsToolBox(QWidget * parent) :
_plotMenu->addAction(tr("<New figure>"));
_workingDirectory = QDir::homePath();
_newFigureMaxItems = 0;
_updateLabelsTimer.setSingleShot(true);
connect(&_updateLabelsTimer, &QTimer::timeout, this, &StatsToolBox::updateLabels);
}
StatsToolBox::~StatsToolBox()
@@ -263,6 +269,7 @@ void StatsToolBox::updateStat(const QString & statFullName, qreal y, bool cacheO
std::vector<qreal> vx,vy(1);
vy[0] = y;
updateStat(statFullName, vx, vy, cacheOn);
requestLabelsUpdate();
}
void StatsToolBox::updateStat(const QString & statFullName, qreal x, qreal y, bool cacheOn)
@@ -271,6 +278,7 @@ void StatsToolBox::updateStat(const QString & statFullName, qreal x, qreal y, bo
vx[0] = x;
vy[0] = y;
updateStat(statFullName, vx, vy, cacheOn);
requestLabelsUpdate();
}
void StatsToolBox::updateStat(const QString & statFullName, const std::vector<qreal> & x, const std::vector<qreal> & y, bool cacheOn)
@@ -295,6 +303,7 @@ void StatsToolBox::updateStat(const QString & statFullName, const std::vector<qr
{
item->setValues(x, y);
}
requestLabelsUpdate();
}
else
{
@@ -378,6 +387,22 @@ void StatsToolBox::updateStat(const QString & statFullName, const std::vector<qr
}
}
void StatsToolBox::requestLabelsUpdate()
{
if(!_updateLabelsTimer.isActive())
{
_updateLabelsTimer.start(100); // Max 10 Hz
}
}
void StatsToolBox::updateLabels()
{
QList<StatItem *> items = _statBox->findChildren<StatItem *>();
for(int i=0; i<items.size(); ++i)
{
items[i]->updateLabel();
}
}
void StatsToolBox::plot(const StatItem * stat, const QString & plotName)
{
QWidget * fig = _figures.value(plotName, (QWidget*)0);
guilib/src/ui/DatabaseViewer.ui
+156 -116
View File
@@ -61,7 +61,7 @@
<rect>
<x>0</x>
<y>0</y>
<width>307</width>
<width>364</width>
<height>389</height>
</rect>
</property>
@@ -392,7 +392,7 @@
<rect>
<x>0</x>
<y>0</y>
<width>306</width>
<width>364</width>
<height>389</height>
</rect>
</property>
@@ -1722,14 +1722,14 @@
<item>
<widget class="QToolBox" name="toolBox">
<property name="currentIndex">
<number>1</number>
<number>2</number>
</property>
<widget class="QWidget" name="page_3">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>314</width>
<width>403</width>
<height>188</height>
</rect>
</property>
@@ -2604,15 +2604,133 @@
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>222</width>
<height>306</height>
<y>-175</y>
<width>403</width>
<height>319</height>
</rect>
</property>
<attribute name="label">
<string>Detect more loop closures</string>
</attribute>
<layout class="QGridLayout" name="gridLayout_10" columnstretch="0,1">
<item row="2" column="1">
<widget class="QLabel" name="label_30">
<property name="text">
<string>Angle</string>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_34">
<property name="text">
<string>Inter-session</string>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QCheckBox" name="checkBox_detectMore_interSession">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_29">
<property name="text">
<string>Radius Max</string>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_32">
<property name="text">
<string>Intra-session</string>
</property>
</widget>
</item>
<item row="9" column="0">
<spacer name="verticalSpacer_5">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_detectMore_angle">
<property name="suffix">
<string> degrees</string>
</property>
<property name="decimals">
<number>0</number>
</property>
<property name="maximum">
<double>180.000000000000000</double>
</property>
<property name="singleStep">
<double>1.000000000000000</double>
</property>
<property name="value">
<double>30.000000000000000</double>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_36">
<property name="text">
<string>Radius Min</string>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QSpinBox" name="spinBox_detectMore_iterations">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>100</number>
</property>
<property name="value">
<number>5</number>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_38">
<property name="text">
<string>From/to map ID only (-1 is all)</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_31">
<property name="text">
<string>Iterations</string>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QCheckBox" name="checkBox_opt_graph_as_guess">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QCheckBox" name="checkBox_detectMore_intraSession">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_detectMore_radiusMin">
<property name="suffix">
@@ -2632,63 +2750,13 @@
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_36">
<item row="6" column="1">
<widget class="QLabel" name="label_37">
<property name="text">
<string>Radius Min</string>
<string>Use optimized graph as guess</string>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_32">
<property name="text">
<string>Intra-session</string>
</property>
</widget>
</item>
<item row="7" column="0">
<spacer name="verticalSpacer_5">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_29">
<property name="text">
<string>Radius Max</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_30">
<property name="text">
<string>Angle</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_detectMore_angle">
<property name="suffix">
<string> degrees</string>
</property>
<property name="decimals">
<number>0</number>
</property>
<property name="maximum">
<double>180.000000000000000</double>
</property>
<property name="singleStep">
<double>1.000000000000000</double>
</property>
<property name="value">
<double>30.000000000000000</double>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
@@ -2711,64 +2779,36 @@
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QSpinBox" name="spinBox_detectMore_iterations">
<item row="7" column="0">
<widget class="QSpinBox" name="spinBox_fromToMapId">
<property name="minimum">
<number>-1</number>
</property>
<property name="maximum">
<number>9999</number>
</property>
<property name="value">
<number>-1</number>
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QLabel" name="label_40">
<property name="text">
<string>Minimum graph distance</string>
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QSpinBox" name="spinBox_minGraphDistance">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>100</number>
<number>9999</number>
</property>
<property name="value">
<number>5</number>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QCheckBox" name="checkBox_detectMore_intraSession">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_31">
<property name="text">
<string>Iterations</string>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_34">
<property name="text">
<string>Inter-session</string>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QCheckBox" name="checkBox_detectMore_interSession">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QCheckBox" name="checkBox_opt_graph_as_guess">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_37">
<property name="text">
<string>Use optimized graph as guess</string>
</property>
<property name="wordWrap">
<bool>true</bool>
<number>10</number>
</property>
</widget>
</item>
@@ -2779,8 +2819,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>181</width>
<height>485</height>
<width>428</width>
<height>196</height>
</rect>
</property>
<attribute name="label">
guilib/src/ui/aboutDialog.ui
+1263 -1230
View File
File diff suppressed because it is too large Load Diff
guilib/src/ui/mainWindow.ui
+21 -18
View File
@@ -18,7 +18,7 @@
<normaloff>:/images/RTAB-Map.ico</normaloff>:/images/RTAB-Map.ico</iconset>
</property>
<property name="dockOptions">
<set>QMainWindow::AllowNestedDocks|QMainWindow::AllowTabbedDocks|QMainWindow::AnimatedDocks|QMainWindow::VerticalTabs</set>
<set>QMainWindow::DockOption::AllowNestedDocks|QMainWindow::DockOption::AllowTabbedDocks|QMainWindow::DockOption::AnimatedDocks|QMainWindow::DockOption::VerticalTabs</set>
</property>
<widget class="QWidget" name="widget_mainWindow"/>
<widget class="QMenuBar" name="menubar">
@@ -27,7 +27,7 @@
<x>0</x>
<y>0</y>
<width>1012</width>
<height>22</height>
<height>21</height>
</rect>
</property>
<widget class="QMenu" name="menuFile">
@@ -494,7 +494,7 @@
</widget>
<widget class="QDockWidget" name="dockWidget_statsV2">
<property name="floating">
<bool>true</bool>
<bool>false</bool>
</property>
<property name="windowTitle">
<string>Statistics</string>
@@ -522,7 +522,7 @@
<item>
<layout class="QGridLayout" name="gridLayout" columnstretch="10,0">
<property name="sizeConstraint">
<enum>QLayout::SetMinimumSize</enum>
<enum>QLayout::SizeConstraint::SetMinimumSize</enum>
</property>
<property name="verticalSpacing">
<number>2</number>
@@ -530,7 +530,7 @@
<item row="3" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_stats_timeLimit">
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
<set>Qt::AlignmentFlag::AlignRight|Qt::AlignmentFlag::AlignTrailing|Qt::AlignmentFlag::AlignVCenter</set>
</property>
<property name="suffix">
<string> ms</string>
@@ -562,14 +562,14 @@
<string>Unknown</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
<set>Qt::AlignmentFlag::AlignRight|Qt::AlignmentFlag::AlignTrailing|Qt::AlignmentFlag::AlignVCenter</set>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_stats_imgRate">
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
<set>Qt::AlignmentFlag::AlignRight|Qt::AlignmentFlag::AlignTrailing|Qt::AlignmentFlag::AlignVCenter</set>
</property>
<property name="suffix">
<string> Hz</string>
@@ -604,7 +604,7 @@
<string>Unknown</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
<set>Qt::AlignmentFlag::AlignRight|Qt::AlignmentFlag::AlignTrailing|Qt::AlignmentFlag::AlignVCenter</set>
</property>
</widget>
</item>
@@ -621,7 +621,7 @@
<string>Unknown</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
<set>Qt::AlignmentFlag::AlignRight|Qt::AlignmentFlag::AlignTrailing|Qt::AlignmentFlag::AlignVCenter</set>
</property>
</widget>
</item>
@@ -638,7 +638,7 @@
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
<set>Qt::AlignmentFlag::AlignRight|Qt::AlignmentFlag::AlignTrailing|Qt::AlignmentFlag::AlignVCenter</set>
</property>
</widget>
</item>
@@ -656,7 +656,7 @@
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
<set>Qt::AlignmentFlag::AlignRight|Qt::AlignmentFlag::AlignTrailing|Qt::AlignmentFlag::AlignVCenter</set>
</property>
</widget>
</item>
@@ -673,7 +673,7 @@
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
<set>Qt::AlignmentFlag::AlignRight|Qt::AlignmentFlag::AlignTrailing|Qt::AlignmentFlag::AlignVCenter</set>
</property>
</widget>
</item>
@@ -697,7 +697,7 @@
<item row="2" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_stats_detectionRate">
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
<set>Qt::AlignmentFlag::AlignRight|Qt::AlignmentFlag::AlignTrailing|Qt::AlignmentFlag::AlignVCenter</set>
</property>
<property name="suffix">
<string> Hz</string>
@@ -731,7 +731,7 @@
<item>
<spacer name="verticalSpacer_2">
<property name="orientation">
<enum>Qt::Vertical</enum>
<enum>Qt::Orientation::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
@@ -893,7 +893,7 @@
</widget>
<widget class="QDockWidget" name="dockWidget_mapVisibility">
<property name="floating">
<bool>true</bool>
<bool>false</bool>
</property>
<property name="windowTitle">
<string>Map visibility</string>
@@ -956,7 +956,7 @@
</widget>
<widget class="QDockWidget" name="dockWidget_imageView">
<property name="allowedAreas">
<set>Qt::AllDockWidgetAreas</set>
<set>Qt::DockWidgetArea::AllDockWidgetAreas</set>
</property>
<property name="windowTitle">
<string>Loop closure detection</string>
@@ -998,7 +998,7 @@
<string/>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
<set>Qt::AlignmentFlag::AlignCenter</set>
</property>
</widget>
</item>
@@ -1024,7 +1024,7 @@
<string/>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
<set>Qt::AlignmentFlag::AlignCenter</set>
</property>
</widget>
</item>
@@ -1422,6 +1422,9 @@
</property>
</action>
<action name="actionClose_database">
<property name="enabled">
<bool>true</bool>
</property>
<property name="icon">
<iconset resource="../GuiLib.qrc">
<normaloff>:/images/document-save.png</normaloff>:/images/document-save.png</iconset>
guilib/src/ui/postProcessingDialog.ui
+44 -18
View File
@@ -6,8 +6,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>552</width>
<height>633</height>
<width>553</width>
<height>662</height>
</rect>
</property>
<property name="windowTitle">
@@ -67,10 +67,10 @@
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_3">
<item row="4" column="1">
<widget class="QLabel" name="label_9">
<property name="text">
<string>Cluster radius</string>
<string>Inter-session</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -87,10 +87,10 @@
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_6">
<item row="0" column="1">
<widget class="QLabel" name="label_3">
<property name="text">
<string>Iterations</string>
<string>Cluster radius</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -120,16 +120,6 @@
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_9">
<property name="text">
<string>Inter-session</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QCheckBox" name="intraSession">
<property name="text">
@@ -137,6 +127,16 @@
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_6">
<property name="text">
<string>Iterations</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QCheckBox" name="interSession">
<property name="text">
@@ -144,6 +144,32 @@
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_11">
<property name="text">
<string>Minimum graph distance</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QSpinBox" name="minGraphDistance">
<property name="suffix">
<string> nodes</string>
</property>
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>9999</number>
</property>
<property name="value">
<number>10</number>
</property>
</widget>
</item>
</layout>
</item>
<item>
guilib/src/ui/preferencesDialog.ui
+1184 -869
View File
File diff suppressed because it is too large Load Diff