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Bump version 0.20.22. Refactored RtabmapThread commands handling. MainWindow/RtabmapThread/Statistics/UVariant: added new option to republish missing data on GUI side. MainWindow: fixed 1 sec lag when waypoints are used. Parameters: added Rtabmap/MaxRepublished (moved from rtabmap_ros). OccupancyGrid: fixed ground cells ignored if there are empty cells, also don't add pose in addedNodes if corresponding node was not in cache.

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This commit is contained in:
matlabbe
2022-10-28 12:25:48 -07:00
parent 8e30c1c812
commit 1297714271
18 changed files with 1021 additions and 610 deletions
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9
guilib/src/PreferencesDialog.cpp
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@@ -450,6 +450,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
// General panel
connect(_ui->general_checkBox_imagesKept, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
connect(_ui->general_checkBox_missing_cache_republished, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
connect(_ui->general_checkBox_cloudsKept, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
connect(_ui->checkBox_verticalLayoutUsed, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
connect(_ui->checkBox_imageRejectedShown, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
@@ -888,6 +889,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->general_spinBox_imagesBufferSize->setObjectName(Parameters::kRtabmapImageBufferSize().c_str());
_ui->general_checkBox_createIntermediateNodes->setObjectName(Parameters::kRtabmapCreateIntermediateNodes().c_str());
_ui->general_spinBox_maxRetrieved->setObjectName(Parameters::kRtabmapMaxRetrieved().c_str());
_ui->general_spinBox_max_republished->setObjectName(Parameters::kRtabmapMaxRepublished().c_str());
_ui->general_checkBox_startNewMapOnLoopClosure->setObjectName(Parameters::kRtabmapStartNewMapOnLoopClosure().c_str());
_ui->general_checkBox_startNewMapOnGoodSignature->setObjectName(Parameters::kRtabmapStartNewMapOnGoodSignature().c_str());
_ui->general_checkBox_imagesAlreadyRectified->setObjectName(Parameters::kRtabmapImagesAlreadyRectified().c_str());
@@ -1792,6 +1794,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
if(groupBox->objectName() == _ui->groupBox_generalSettingsGui0->objectName())
{
_ui->general_checkBox_imagesKept->setChecked(true);
_ui->general_checkBox_missing_cache_republished->setChecked(true);
_ui->general_checkBox_cloudsKept->setChecked(true);
_ui->checkBox_beep->setChecked(false);
_ui->checkBox_stamps->setChecked(true);
@@ -2272,6 +2275,7 @@ void PreferencesDialog::readGuiSettings(const QString & filePath)
settings.beginGroup("Gui");
settings.beginGroup("General");
_ui->general_checkBox_imagesKept->setChecked(settings.value("imagesKept", _ui->general_checkBox_imagesKept->isChecked()).toBool());
_ui->general_checkBox_missing_cache_republished->setChecked(settings.value("missingRepublished", _ui->general_checkBox_missing_cache_republished->isChecked()).toBool());
_ui->general_checkBox_cloudsKept->setChecked(settings.value("cloudsKept", _ui->general_checkBox_cloudsKept->isChecked()).toBool());
_ui->comboBox_loggerLevel->setCurrentIndex(settings.value("loggerLevel", _ui->comboBox_loggerLevel->currentIndex()).toInt());
_ui->comboBox_loggerEventLevel->setCurrentIndex(settings.value("loggerEventLevel", _ui->comboBox_loggerEventLevel->currentIndex()).toInt());
@@ -2801,6 +2805,7 @@ void PreferencesDialog::writeGuiSettings(const QString & filePath) const
settings.beginGroup("General");
settings.remove("");
settings.setValue("imagesKept", _ui->general_checkBox_imagesKept->isChecked());
settings.setValue("missingRepublished", _ui->general_checkBox_missing_cache_republished->isChecked());
settings.setValue("cloudsKept", _ui->general_checkBox_cloudsKept->isChecked());
settings.setValue("loggerLevel", _ui->comboBox_loggerLevel->currentIndex());
settings.setValue("loggerEventLevel", _ui->comboBox_loggerEventLevel->currentIndex());
@@ -6482,6 +6487,10 @@ bool PreferencesDialog::isImagesKept() const
{
return _ui->general_checkBox_imagesKept->isChecked();
}
bool PreferencesDialog::isMissingCacheRepublished() const
{
return _ui->general_checkBox_missing_cache_republished->isChecked();
}
bool PreferencesDialog::isCloudsKept() const
{
return _ui->general_checkBox_cloudsKept->isChecked();