mirror of
https://github.com/introlab/rtabmap.git
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moved rtabmap-ros-pkg project in this project
git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@52 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
162
guilib/include/rtabmap/gui/MainWindow.h
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162
guilib/include/rtabmap/gui/MainWindow.h
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/*
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* Copyright (C) 2010-2011, Mathieu Labbe and IntRoLab - Universite de Sherbrooke
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*
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* This file is part of RTAB-Map.
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*
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* RTAB-Map is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* RTAB-Map is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with RTAB-Map. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef MAINWINDOW_H_
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#define MAINWINDOW_H_
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#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
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#include "utilite/UEventsHandler.h"
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#include <QtGui/QMainWindow>
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#include <QtCore/QSet>
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#include "rtabmap/core/RtabmapEvent.h"
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#include "rtabmap/gui/PreferencesDialog.h"
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namespace rtabmap {
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class Camera;
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}
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class QGraphicsScene;
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class Ui_mainWindow;
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class QActionGroup;
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namespace rtabmap {
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class LikelihoodScene;
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class AboutDialog;
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class Plot;
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class PdfPlotCurve;
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class StatsToolBox;
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class DetailedProgressDialog;
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class RTABMAP_EXP MainWindow : public QMainWindow, public UEventsHandler
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{
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Q_OBJECT
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public:
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enum State {
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kIdle,
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kStartingDetection,
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kDetecting,
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kPaused,
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kMonitoring
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};
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enum SrcType {
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kSrcUndefined,
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kSrcVideo,
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kSrcImages,
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kSrcStream
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};
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public:
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/**
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* @param prefDialog If NULL, a default dialog is created. This
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* dialog is automatically destroyed with the MainWindow.
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*/
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MainWindow(PreferencesDialog * prefDialog = 0, QWidget * parent = 0);
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~MainWindow();
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public slots:
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void changeState(MainWindow::State state);
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protected:
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virtual void closeEvent(QCloseEvent* event);
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virtual void handleEvent(UEvent* anEvent);
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virtual void resizeEvent(QResizeEvent* anEvent);
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private slots:
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void startDetection();
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void pauseDetection();
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void stopDetection();
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void generateMap();
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void deleteMemory();
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void openWorkingDirectory();
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void updateEditMenu();
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void selectImages();
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void selectVideo();
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void selectStream();
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void selectDatabase();
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void resetTheMemory();
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void dumpTheMemory();
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void dumpThePrediction();
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void clearTheCache();
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void saveFigures();
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void loadFigures();
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void updateElapsedTime();
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void processStats(const rtabmap::Statistics & stat);
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void applyAllPrefSettings();
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void applyPrefSettings(PreferencesDialog::PANEL_FLAGS flags);
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void applyPrefSettings(const rtabmap::ParametersMap & parameters);
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void processRtabmapEventInit(int status, const QString & info);
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void updateItemsShown();
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void changeImgRateSetting();
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void changeTimeLimitSetting();
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void captureScreen();
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signals:
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void statsReceived(const rtabmap::Statistics &);
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void thresholdsChanged(int, int);
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void stateChanged(MainWindow::State);
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void rtabmapEventInitReceived(int status, const QString & info);
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void imgRateChanged(double);
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void timeLimitChanged(double);
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void noMoreImagesReceived();
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void loopClosureThrChanged(float);
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void retrievalThrChanged(float);
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private:
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void drawKeypoints(const std::multimap<int, cv::KeyPoint> & refWords, const std::multimap<int, cv::KeyPoint> & loopWords);
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void setupMainLayout(bool vertical);
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void updateSelectSourceMenu(int type);
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private:
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Ui_mainWindow * _ui;
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State _state;
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rtabmap::Camera * _camera;
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SrcType _srcType;
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QString _srcPath;
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//Dialogs
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PreferencesDialog * _preferencesDialog;
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AboutDialog * _aboutDialog;
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QSet<int> _lastIds;
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int _lastId;
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QMap<int, QByteArray> _imagesMap;
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QTimer * _oneSecondTimer;
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QTime * _elapsedTime;
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QTime * _logEventTime;
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PdfPlotCurve * _posteriorCurve;
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PdfPlotCurve * _likelihoodCurve;
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DetailedProgressDialog * _initProgressDialog;
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QActionGroup * _selectSourceGrp;
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QString _graphSavingFileName;
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};
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}
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#endif /* MainWindow_H_ */
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208
guilib/include/rtabmap/gui/PreferencesDialog.h
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208
guilib/include/rtabmap/gui/PreferencesDialog.h
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@@ -0,0 +1,208 @@
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/*
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* Copyright (C) 2010-2011, Mathieu Labbe and IntRoLab - Universite de Sherbrooke
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*
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* This file is part of RTAB-Map.
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*
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* RTAB-Map is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* RTAB-Map is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with RTAB-Map. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef PREFERENCESDIALOG_H_
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#define PREFERENCESDIALOG_H_
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#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
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#include <QtGui/QDialog>
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#include <QtCore/QModelIndex>
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#include "rtabmap/core/Parameters.h"
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class Ui_preferencesDialog;
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class QAbstractItemModel;
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class QAbstractButton;
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class QStandardItemModel;
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class QStandardItem;
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class QFile;
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class QGroupBox;
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class QMainWindow;
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class QLineEdit;
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class QSlider;
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namespace rtabmap {
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class PlotCurve;
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class RTABMAP_EXP PreferencesDialog : public QDialog
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{
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Q_OBJECT
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public:
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enum PanelFlag {
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kPanelDummy = 0,
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kPanelGeneralStrategy = 1,
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kPanelGeneral = 2,
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kPanelFourier = 4,
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kPanelSurf = 8,
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kPanelSource = 16,
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kPanelAll = 31
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};
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// TODO, tried to change the name of PANEL_FLAGS to PanelFlags... but signals/slots errors appeared...
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Q_DECLARE_FLAGS(PANEL_FLAGS, PanelFlag);
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enum Src {
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kSrcUndef,
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kSrcUsbDevice,
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kSrcImages,
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kSrcVideo,
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kSrcDatabase
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};
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public:
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static QString getIniFilePath();
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public:
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PreferencesDialog(QWidget * parent = 0);
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virtual ~PreferencesDialog();
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void saveWindowGeometry(const QString & windowName, const QWidget * window);
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void loadWindowGeometry(const QString & windowName, QWidget * window);
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void saveMainWindowState(const QMainWindow * mainWindow);
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void loadMainWindowState(QMainWindow * mainWindow);
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void saveCustomConfig(const QString & section, const QString & key, const QString & value);
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QString loadCustomConfig(const QString & section, const QString & key);
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rtabmap::ParametersMap getAllParameters();
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//General panel
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int getGeneralLoggerLevel() const;
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int getGeneralLoggerEventLevel() const;
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int getGeneralLoggerPauseLevel() const;
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int getGeneralLoggerType() const;
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bool getGeneralLoggerPrintTime() const;
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bool isVerticalLayoutUsed() const;
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bool isImageFlipped() const;
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bool imageRejectedShown() const;
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bool beepOnPause() const;
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int getKeypointsOpacity() const;
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QString getWorkingDirectory();
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// source panel
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double getGeneralImageRate() const;
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bool getGeneralAutoRestart() const;
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int getSourceType() const;
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QString getSourceTypeStr() const;
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int getSourceWidth() const;
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int getSourceHeight() const;
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QString getSourceImagesPath() const; //Images group
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QString getSourceImagesSuffix() const; //Images group
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int getSourceImagesSuffixIndex() const; //Images group
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int getSourceImagesStartPos() const; //Images group
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bool getSourceImagesRefreshDir() const; //Images group
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QString getSourceVideoPath() const; //Video group
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int getSourceUsbDeviceId() const; //UsbDevice group
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QString getSourceDatabasePath() const; //Database group
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bool getSourceDatabaseIgnoreChildren() const; //Database group
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//
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bool isImagesKept() const;
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double getTimeLimit() const;
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//specific
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double getLoopThr() const;
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double getReacThr() const;
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double getVpThr() const;
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double getExpThr() const;
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signals:
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void settingsChanged(PreferencesDialog::PANEL_FLAGS);
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void settingsChanged(rtabmap::ParametersMap);
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public slots:
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void setHardThr(int value);
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void setReactivationThr(int value);
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void setImgRate(double value);
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void setAutoRestart(bool value);
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void setTimeLimit(double value);
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void selectSource(Src src = kSrcUndef);
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private slots:
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void closeDialog ( QAbstractButton * button );
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void resetApply ( QAbstractButton * button );
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void resetSettings(int panelNumber);
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void loadConfigFrom();
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void saveConfigTo();
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void makeObsoleteGeneralPanel();
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void makeObsoleteSourcePanel();
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void clicked(const QModelIndex &index);
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void addParameter(int value);
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void addParameter(double value);
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void addParameter(const QString & value);
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void updatePredictionLCSliders();
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void updatePredictionLC();
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void updateKpROI();
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void changeWorkingDirectory();
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void changeDictionaryPath();
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protected:
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virtual void showEvent ( QShowEvent * event );
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void setParameter(const std::string & key, const std::string & value);
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virtual QString getParamMessage();
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virtual void readSettings(const QString & filePath = QString());
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virtual void readGuiSettings(const QString & filePath = QString());
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virtual void readCameraSettings(const QString & filePath = QString());
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virtual void readCoreSettings(const QString & filePath = QString());
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virtual void writeSettings(const QString & filePath = QString());
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virtual void writeGuiSettings(const QString & filePath = QString());
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virtual void writeCameraSettings(const QString & filePath = QString());
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virtual void writeCoreSettings(const QString & filePath = QString());
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private:
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bool validateForm();
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bool validatePanelGeneral();
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bool validatePanelFourier();
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bool validatePanelSurf();
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void setupTreeView();
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void setupSignals();
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void setupPredictionPanel();
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void setupKpRoiPanel();
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bool parseModel(QList<QGroupBox*> & boxes, QStandardItem * parentItem, int currentLevel, int & absoluteIndex);
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void addParameter(const QObject * object, int value);
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void addParameter(const QObject * object, double value);
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void addParameter(const QObject * object, const QString & value);
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void addParameters(const QGroupBox * box);
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QList<QGroupBox*> getGroupBoxes();
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protected:
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rtabmap::ParametersMap _parameters;
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PANEL_FLAGS _obsoletePanels;
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private:
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Ui_preferencesDialog * _ui;
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QStandardItemModel * _indexModel;
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bool _initialized;
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//For Bayes filter prediction parameters
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QList<QSlider*> _predictionLCSliders; // Sliders used to setup the prediction
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bool _predictionPanelInitialized;
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};
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Q_DECLARE_OPERATORS_FOR_FLAGS(PreferencesDialog::PANEL_FLAGS)
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}
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#endif /* PREFERENCESDIALOG_H_ */
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