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Added parameter Kp/NewWordsComparedTogether for dictionary, always true but when comparing loop closures with Reextracting features, it is set to false to save time.

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fixed crash when calling getMap without rtabmap yet initialized.
Parameter "LccReextract/LoopClosureFeatures" is now named "LccReextract/Activated"


git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1855 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-10-14 21:48:50 +00:00
parent 39a9c4ebd8
commit 22ce2525fc
7 changed files with 86 additions and 58 deletions
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92
guilib/src/PreferencesDialog.cpp
View File

@@ -346,6 +346,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->lineEdit_kp_roi->setObjectName(Parameters::kKpRoiRatios().c_str());
_ui->lineEdit_dictionaryPath->setObjectName(Parameters::kKpDictionaryPath().c_str());
connect(_ui->toolButton_dictionaryPath, SIGNAL(clicked()), this, SLOT(changeDictionaryPath()));
_ui->checkBox_kp_newWordsComparedTogether->setObjectName(Parameters::kKpNewWordsComparedTogether().c_str());
//SURF detector
_ui->surf_doubleSpinBox_hessianThr->setObjectName(Parameters::kSURFHessianThreshold().c_str());
@@ -429,7 +430,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->loopClosure_bowMaxDepth->setObjectName(Parameters::kLccBowMaxDepth().c_str());
_ui->loopClosure_bowForce2D->setObjectName(Parameters::kLccBowForce2D().c_str());
_ui->groupBox_reextract->setObjectName(Parameters::kLccReextractLoopClosureFeatures().c_str());
_ui->groupBox_reextract->setObjectName(Parameters::kLccReextractActivated().c_str());
_ui->reextract_nn->setObjectName(Parameters::kLccReextractNNType().c_str());
_ui->reextract_nndrRatio->setObjectName(Parameters::kLccReextractNNDR().c_str());
_ui->reextract_type->setObjectName(Parameters::kLccReextractFeatureType().c_str());
@@ -1834,64 +1835,57 @@ void PreferencesDialog::setParameter(const std::string & key, const std::string
QWidget * obj = _ui->stackedWidget->findChild<QWidget*>(key.c_str());
if(obj)
{
if(obj->isEnabled())
QSpinBox * spin = qobject_cast<QSpinBox *>(obj);
QDoubleSpinBox * doubleSpin = qobject_cast<QDoubleSpinBox *>(obj);
QComboBox * combo = qobject_cast<QComboBox *>(obj);
QCheckBox * check = qobject_cast<QCheckBox *>(obj);
QRadioButton * radio = qobject_cast<QRadioButton *>(obj);
QLineEdit * lineEdit = qobject_cast<QLineEdit *>(obj);
QGroupBox * groupBox = qobject_cast<QGroupBox *>(obj);
bool ok;
if(spin)
{
QSpinBox * spin = qobject_cast<QSpinBox *>(obj);
QDoubleSpinBox * doubleSpin = qobject_cast<QDoubleSpinBox *>(obj);
QComboBox * combo = qobject_cast<QComboBox *>(obj);
QCheckBox * check = qobject_cast<QCheckBox *>(obj);
QRadioButton * radio = qobject_cast<QRadioButton *>(obj);
QLineEdit * lineEdit = qobject_cast<QLineEdit *>(obj);
QGroupBox * groupBox = qobject_cast<QGroupBox *>(obj);
bool ok;
if(spin)
spin->setValue(QString(value.c_str()).toInt(&ok));
if(!ok)
{
spin->setValue(QString(value.c_str()).toInt(&ok));
if(!ok)
{
UERROR("Conversion failed from \"%s\" for parameter %s", value.c_str(), key.c_str());
}
UERROR("Conversion failed from \"%s\" for parameter %s", value.c_str(), key.c_str());
}
else if(doubleSpin)
}
else if(doubleSpin)
{
doubleSpin->setValue(QString(value.c_str()).toDouble(&ok));
if(!ok)
{
doubleSpin->setValue(QString(value.c_str()).toDouble(&ok));
if(!ok)
{
UERROR("Conversion failed from \"%s\" for parameter %s", value.c_str(), key.c_str());
}
UERROR("Conversion failed from \"%s\" for parameter %s", value.c_str(), key.c_str());
}
else if(combo)
}
else if(combo)
{
combo->setCurrentIndex(QString(value.c_str()).toInt(&ok));
if(!ok)
{
combo->setCurrentIndex(QString(value.c_str()).toInt(&ok));
if(!ok)
{
UERROR("Conversion failed from \"%s\" for parameter %s", value.c_str(), key.c_str());
}
}
else if(check)
{
check->setChecked(uStr2Bool(value.c_str()));
}
else if(radio)
{
radio->setChecked(uStr2Bool(value.c_str()));
}
else if(lineEdit)
{
lineEdit->setText(value.c_str());
}
else if(groupBox)
{
groupBox->setChecked(uStr2Bool(value.c_str()));
}
else
{
ULOGGER_WARN("QObject called %s can't be cast to a supported widget", key.c_str());
UERROR("Conversion failed from \"%s\" for parameter %s", value.c_str(), key.c_str());
}
}
else if(check)
{
check->setChecked(uStr2Bool(value.c_str()));
}
else if(radio)
{
radio->setChecked(uStr2Bool(value.c_str()));
}
else if(lineEdit)
{
lineEdit->setText(value.c_str());
}
else if(groupBox)
{
groupBox->setChecked(uStr2Bool(value.c_str()));
}
else
{
UDEBUG("Ignoring parameter %s because it is disabled.", key.c_str());
ULOGGER_WARN("QObject called %s can't be cast to a supported widget", key.c_str());
}
}
else

24
guilib/src/ui/preferencesDialog.ui
View File

@@ -65,7 +65,7 @@
<x>0</x>
<y>0</y>
<width>744</width>
<height>1019</height>
<height>900</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>24</number>
<number>9</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29">
@@ -3561,6 +3561,26 @@ When set to false, no new words are added to dictionary, so no more updates are
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QCheckBox" name="checkBox_kp_newWordsComparedTogether">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="6" column="2">
<widget class="QLabel" name="label_186">
<property name="text">
<string>When adding new words to dictionary, they are compared also with each other (to detect same words in the same signature).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>