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Added source odometry guess option in standalone app

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This commit is contained in:
matlabbe
2025-09-28 16:31:42 -07:00
parent a552bdfb2f
commit 0f37bafd66
7 changed files with 389 additions and 336 deletions
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guilib/src/PreferencesDialog.cpp
+9 -1
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@@ -918,6 +918,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->doubleSpinBox_odom_sensor_scale_factor, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->doubleSpinBox_odom_sensor_wait_time, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkBox_odom_sensor_use_as_gt, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkbox_passthrough_source_odom, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->comboBox_imuFilter_strategy, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->comboBox_imuFilter_strategy, SIGNAL(currentIndexChanged(int)), _ui->stackedWidget_imuFilter, SLOT(setCurrentIndex(int)));
@@ -2309,6 +2310,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->doubleSpinBox_odom_sensor_scale_factor->setValue(1);
_ui->doubleSpinBox_odom_sensor_wait_time->setValue(100);
_ui->checkBox_odom_sensor_use_as_gt->setChecked(false);
_ui->checkbox_passthrough_source_odom->setChecked(false);
_ui->comboBox_imuFilter_strategy->setCurrentIndex(2);
_ui->doubleSpinBox_imuFilterMadgwickGain->setValue(Parameters::defaultImuFilterMadgwickGain());
@@ -2835,6 +2837,7 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
_ui->doubleSpinBox_odom_sensor_scale_factor->setValue(settings.value("odom_sensor_scale_factor", _ui->doubleSpinBox_odom_sensor_scale_factor->value()).toDouble());
_ui->doubleSpinBox_odom_sensor_wait_time->setValue(settings.value("odom_sensor_wait_time", _ui->doubleSpinBox_odom_sensor_wait_time->value()).toDouble());
_ui->checkBox_odom_sensor_use_as_gt->setChecked(settings.value("odom_sensor_odom_as_gt", _ui->checkBox_odom_sensor_use_as_gt->isChecked()).toBool());
_ui->checkbox_passthrough_source_odom->setChecked(settings.value("odom_sensor_as_guess", _ui->checkbox_passthrough_source_odom->isChecked()).toBool());
settings.endGroup(); // OdomSensor
settings.beginGroup("UsbCam");
@@ -3439,6 +3442,7 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.setValue("odom_sensor_scale_factor", _ui->doubleSpinBox_odom_sensor_scale_factor->value());
settings.setValue("odom_sensor_wait_time", _ui->doubleSpinBox_odom_sensor_wait_time->value());
settings.setValue("odom_sensor_odom_as_gt", _ui->checkBox_odom_sensor_use_as_gt->isChecked());
settings.setValue("odom_sensor_as_guess", _ui->checkbox_passthrough_source_odom->isChecked());
settings.endGroup(); // OdomSensor
settings.beginGroup("UsbCam");
@@ -5777,7 +5781,7 @@ void PreferencesDialog::updateSourceGrpVisibility()
// Odom Sensor Group
_ui->frame_visual_odometry_sensor->setVisible(getOdomSourceDriver() != kSrcUndef); // Not Lidar None
_ui->groupBox_odom_sensor->setVisible(_ui->comboBox_sourceType->currentIndex() != 3); // Don't show when database is selected
_ui->comboBox_odom_sensor->setEnabled(_ui->comboBox_sourceType->currentIndex() != 3); // Don't enable when database is selected
// Lidar Sensor Group
_ui->comboBox_lidar_src->setEnabled(_ui->comboBox_sourceType->currentIndex() != 3); // Disable if database input
@@ -5911,6 +5915,10 @@ bool PreferencesDialog::isOdomDisabled() const
{
return _ui->checkbox_odomDisabled->isChecked();
}
bool PreferencesDialog::isOdomAsGuessEnabled() const
{
return _ui->checkbox_passthrough_source_odom->isChecked();
}
bool PreferencesDialog::isOdomSensorAsGt() const
{
return _ui->checkBox_odom_sensor_use_as_gt->isChecked();