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Refactoring: removed some code duplication about transformation estimation and features (2D-3D) extraction.

Browse Source 
Added Feature2D::generateKeypoints3D() for convenience.
Added parameter "Vis/PnPOpenCV2".
Added parameter "Vis/ForwardEstOnly".
Removed OdometryOpticalFlow class, replaced by OdometryF2F (frame-to-frame). To get the same previous OpticalFLow approach, parameter "Vis/CorType" should be set to 1.
Some parameters under group "OdomFlow/..." are now under "Vis/CorFlow...".
In Registration class, add computeTransformationMod() method to modify input signatures.
Added constructor Signature(SensorData) for convenience.
Modified words multimap used with cv::Point3f instead of pcl::PointXYZ to limit the use of PCL headers where they are not really required.
Added Stereo::create() for convenience.
Transform: fixed quaternion constructor where data_ was not initialized. Added parentheses operator for convenience.
DatabaseViewer: loading .rtabmap/rtabmap.ini instead of .rtabmap/dbViewer.ini when used from rtabmap application. Added vertical layout option for convenience.
MainWindow: fixed wrong Odometry speed values
ParametersToolBox: using QStackedWidget instead of a QToolBox for space, added "Restore Defaults" button.
This commit is contained in:
matlabbe
2015-12-21 17:27:05 -05:00
parent 3292fb1146
commit 2e9634cf65
54 changed files with 2838 additions and 2725 deletions
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4
guilib/include/rtabmap/gui/DatabaseViewer.h
View File

@@ -60,7 +60,7 @@ class RTABMAPGUI_EXP DatabaseViewer : public QMainWindow
Q_OBJECT
public:
DatabaseViewer(QWidget * parent = 0);
DatabaseViewer(const QString & ini = QString(), QWidget * parent = 0);
virtual ~DatabaseViewer();
bool openDatabase(const QString & path);
bool isSavedMaximized() const {return savedMaximized_;}
@@ -111,6 +111,7 @@ private slots:
void updateLoggerLevel();
void updateStereo();
void notifyParametersChanged(const QStringList &);
void setupMainLayout(int vertical);
private:
QString getIniFilePath() const;
@@ -173,6 +174,7 @@ private:
bool savedMaximized_;
bool firstCall_;
QString iniFilePath_;
};
}

2
guilib/src/DataRecorder.cpp
View File

@@ -71,7 +71,7 @@ bool DataRecorder::init(const QString & path, bool recordInRAM)
{
ParametersMap customParameters;
customParameters.insert(ParametersPair(Parameters::kMemRehearsalSimilarity(), "1.0")); // desactivate rehearsal
customParameters.insert(ParametersPair(Parameters::kKpWordsPerImage(), "-1")); // desactivate keypoints extraction
customParameters.insert(ParametersPair(Parameters::kKpMaxFeatures(), "-1")); // desactivate keypoints extraction
customParameters.insert(ParametersPair(Parameters::kMemBinDataKept(), "true")); // to keep images
customParameters.insert(ParametersPair(Parameters::kMemMapLabelsAdded(), "false")); // don't create map labels
customParameters.insert(ParametersPair(Parameters::kMemBadSignaturesIgnored(), "true")); // make usre memory cleanup is done

110
guilib/src/DatabaseViewer.cpp
View File

@@ -78,11 +78,12 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
namespace rtabmap {
DatabaseViewer::DatabaseViewer(QWidget * parent) :
DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
QMainWindow(parent),
dbDriver_(0),
savedMaximized_(false),
firstCall_(true)
firstCall_(true),
iniFilePath_(ini)
{
pathDatabase_ = QDir::homePath()+"/Documents/RTAB-Map"; //use home directory by default
@@ -99,6 +100,7 @@ DatabaseViewer::DatabaseViewer(QWidget * parent) :
ui_->comboBox_logger_level->setVisible(parent==0);
ui_->label_logger_level->setVisible(parent==0);
connect(ui_->comboBox_logger_level, SIGNAL(currentIndexChanged(int)), this, SLOT(updateLoggerLevel()));
connect(ui_->checkBox_verticalLayout, SIGNAL(stateChanged(int)), this, SLOT(setupMainLayout(int)));
QString title("RTAB-Map Database Viewer[*]");
this->setWindowTitle(title);
@@ -244,6 +246,7 @@ DatabaseViewer::DatabaseViewer(QWidget * parent) :
//connect(ui_->graphicsView_A, SIGNAL(configChanged()), this, SLOT(configModified()));
//connect(ui_->graphicsView_B, SIGNAL(configChanged()), this, SLOT(configModified()));
connect(ui_->comboBox_logger_level, SIGNAL(currentIndexChanged(int)), this, SLOT(configModified()));
connect(ui_->checkBox_verticalLayout, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
// Graph view
connect(ui_->checkBox_spanAllMaps, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->checkBox_ignorePoseCorrection, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
@@ -297,6 +300,18 @@ DatabaseViewer::~DatabaseViewer()
}
}
void DatabaseViewer::setupMainLayout(int vertical)
{
if(vertical)
{
qobject_cast<QHBoxLayout *>(ui_->horizontalLayout_imageViews->layout())->setDirection(QBoxLayout::TopToBottom);
}
else if(!vertical)
{
qobject_cast<QHBoxLayout *>(ui_->horizontalLayout_imageViews->layout())->setDirection(QBoxLayout::LeftToRight);
}
}
void DatabaseViewer::showCloseButton(bool visible)
{
ui_->buttonBox->setVisible(visible);
@@ -309,6 +324,10 @@ void DatabaseViewer::configModified()
QString DatabaseViewer::getIniFilePath() const
{
if(!iniFilePath_.isEmpty())
{
return iniFilePath_;
}
QString privatePath = QDir::homePath() + "/.rtabmap";
if(!QDir(privatePath).exists())
{
@@ -338,6 +357,7 @@ void DatabaseViewer::readSettings()
savedMaximized_ = settings.value("maximized", false).toBool();
ui_->comboBox_logger_level->setCurrentIndex(settings.value("loggerLevel", ui_->comboBox_logger_level->currentIndex()).toInt());
ui_->checkBox_verticalLayout->setChecked(settings.value("verticalLayout", ui_->checkBox_verticalLayout->isChecked()).toBool());
// GraphViewer settings
ui_->graphViewer->loadSettings(settings, "GraphView");
@@ -409,6 +429,7 @@ void DatabaseViewer::writeSettings()
savedMaximized_ = this->isMaximized();
settings.setValue("loggerLevel", ui_->comboBox_logger_level->currentIndex());
settings.setValue("verticalLayout", ui_->checkBox_verticalLayout->isChecked());
// save GraphViewer settings
ui_->graphViewer->saveSettings(settings, "GraphView");
@@ -2343,10 +2364,10 @@ void DatabaseViewer::updateStereo(const SensorData * data)
// generate kpts
std::vector<cv::KeyPoint> kpts;
cv::Rect roi = Feature2D::computeRoi(leftMono, "0.03 0.03 0.04 0.04");
uInsert(parameters, ParametersPair(Parameters::kKpWordsPerImage(), parameters.at(Parameters::kVisMaxFeatures())));
uInsert(parameters, ParametersPair(Parameters::kKpMaxFeatures(), parameters.at(Parameters::kVisMaxFeatures())));
uInsert(parameters, ParametersPair(Parameters::kKpRoiRatios(), std::string(opticalFlow?"0.03 0.03 0.04 0.04":"0 0 0 0")));
Feature2D * kptDetector = Feature2D::create(parameters);
kpts = kptDetector->generateKeypoints(leftMono, opticalFlow?roi:cv::Rect());
kpts = kptDetector->generateKeypoints(leftMono);
delete kptDetector;
float timeKpt = timer.ticks();
@@ -2378,23 +2399,23 @@ void DatabaseViewer::updateStereo(const SensorData * data)
int negativeDisparityOutliers = 0;
for(unsigned int i=0; i<status.size(); ++i)
{
pcl::PointXYZ pt(bad_point, bad_point, bad_point);
cv::Point3f pt(bad_point, bad_point, bad_point);
if(status[i])
{
float disparity = leftCorners[i].x - rightCorners[i].x;
if(disparity > 0.0f)
{
pcl::PointXYZ tmpPt = util3d::projectDisparityTo3D(
cv::Point3f tmpPt = util3d::projectDisparityTo3D(
leftCorners[i],
disparity,
data->stereoCameraModel());
if(pcl::isFinite(tmpPt))
if(util3d::isFinite(tmpPt))
{
pt = pcl::transformPoint(tmpPt, data->stereoCameraModel().left().localTransform().toEigen3f());
pt = util3d::transformPoint(tmpPt, data->stereoCameraModel().left().localTransform());
status[i] = 100; //blue
++inliers;
cloud->at(oi++) = pt;
cloud->at(oi++) = pcl::PointXYZ(pt.x, pt.y, pt.z);
}
}
else
@@ -2515,9 +2536,18 @@ void DatabaseViewer::updateWordsMatching()
// Add lines
// Draw lines between corresponding features...
float scaleX = ui_->graphicsView_A->viewScale();
float deltaX = ui_->graphicsView_A->width()/scaleX;
float deltaX = 0;
float deltaY = 0;
if(ui_->checkBox_verticalLayout->isChecked())
{
deltaY = ui_->graphicsView_A->height()/scaleX;
}
else
{
deltaX = ui_->graphicsView_A->width()/scaleX;
}
const KeypointItem * kptA = wordsA.value(ids[i]);
const KeypointItem * kptB = wordsB.value(ids[i]);
ui_->graphicsView_A->addLine(
@@ -2772,18 +2802,18 @@ void DatabaseViewer::updateConstraintView(
cloudFrom->resize(sFrom->getWords3().size());
cloudTo->resize(sTo->getWords3().size());
int i=0;
for(std::multimap<int, pcl::PointXYZ>::const_iterator iter=sFrom->getWords3().begin();
for(std::multimap<int, cv::Point3f>::const_iterator iter=sFrom->getWords3().begin();
iter!=sFrom->getWords3().end();
++iter)
{
cloudFrom->at(i++) = iter->second;
cloudFrom->at(i++) = pcl::PointXYZ(iter->second.x, iter->second.y, iter->second.z);
}
i=0;
for(std::multimap<int, pcl::PointXYZ>::const_iterator iter=sTo->getWords3().begin();
for(std::multimap<int, cv::Point3f>::const_iterator iter=sTo->getWords3().begin();
iter!=sTo->getWords3().end();
++iter)
{
cloudTo->at(i++) = iter->second;
cloudTo->at(i++) = pcl::PointXYZ(iter->second.x, iter->second.y, iter->second.z);
}
if(cloudFrom->size())
@@ -3624,7 +3654,7 @@ void DatabaseViewer::refineConstraintVisually(int from, int to, bool silent, boo
Transform t;
std::string rejectedMsg;
float variance = -1.0f;
int inliers = -1;
std::vector<int> inliers;
// Add sensor data to generate features
SensorData dataFrom;
@@ -3637,9 +3667,18 @@ void DatabaseViewer::refineConstraintVisually(int from, int to, bool silent, boo
UDEBUG("");
RegistrationVis reg(parameters);
t = reg.computeTransformation2(dataFrom, dataTo, Transform::getIdentity(), &rejectedMsg, &inliers, &variance);
Signature fromS(dataFrom);
Signature toS(dataTo);
t = reg.computeTransformationMod(fromS, toS, Transform::getIdentity(), &rejectedMsg, &inliers, &variance);
UDEBUG("");
if(!silent)
{
ui_->graphicsView_A->setFeatures(fromS.getWords(), dataFrom.depthRaw());
ui_->graphicsView_B->setFeatures(toS.getWords(), dataTo.depthRaw());
updateWordsMatching();
}
if(!t.isNull())
{
Link newLink(currentLink.from(), currentLink.to(), currentLink.type(), t, variance, variance);
@@ -3668,7 +3707,7 @@ void DatabaseViewer::refineConstraintVisually(int from, int to, bool silent, boo
}
if(ui_->dockWidget_constraints->isVisible())
{
this->updateConstraintView(newLink);
this->updateConstraintView(newLink, false);
}
}
else if(!silent)
@@ -3702,20 +3741,11 @@ bool DatabaseViewer::addConstraint(int from, int to, bool silent, bool updateGra
UASSERT(!containsLink(linksRefined_, from, to));
ParametersMap parameters = ui_->parameters_toolbox->getParameters();
uInsert(parameters, ParametersPair(Parameters::kKpDetectorStrategy(), parameters.at(Parameters::kVisFeatureType())));
uInsert(parameters, ParametersPair(Parameters::kKpNNStrategy(), parameters.at(Parameters::kVisNNType())));
uInsert(parameters, ParametersPair(Parameters::kKpMaxDepth(), parameters.at(Parameters::kVisMaxDepth())));
uInsert(parameters, ParametersPair(Parameters::kKpWordsPerImage(), parameters.at(Parameters::kVisMaxFeatures())));
uInsert(parameters, ParametersPair(Parameters::kMemGenerateIds(), "false"));
uInsert(parameters, ParametersPair(Parameters::kMemRehearsalSimilarity(), "1.0"));
Transform t;
std::string rejectedMsg;
float variance = -1.0f;
int inliers = -1;
// create a fake memory to compute the transform
Memory tmpMemory(parameters);
std::vector<int> inliers;
// Add sensor data to generate features
SensorData dataFrom;
@@ -3725,27 +3755,21 @@ bool DatabaseViewer::addConstraint(int from, int to, bool silent, bool updateGra
dbDriver_->getNodeData(to, dataTo);
dataTo.uncompressData();
if(from > to)
{
tmpMemory.update(dataTo);
tmpMemory.update(dataFrom);
}
else
{
tmpMemory.update(dataFrom);
tmpMemory.update(dataTo);
}
t = tmpMemory.computeVisualTransform(from, to, &rejectedMsg, &inliers, &variance);
UDEBUG("");
RegistrationVis reg(parameters);
Signature fromS(dataFrom);
Signature toS(dataTo);
t = reg.computeTransformationMod(fromS, toS, Transform::getIdentity(), &rejectedMsg, &inliers, &variance);
UDEBUG("");
if(!silent)
{
ui_->graphicsView_A->setFeatures(tmpMemory.getSignature(from)->getWords(), dataFrom.depthRaw());
ui_->graphicsView_B->setFeatures(tmpMemory.getSignature(to)->getWords(), dataTo.depthRaw());
ui_->graphicsView_A->setFeatures(fromS.getWords(), dataFrom.depthRaw());
ui_->graphicsView_B->setFeatures(toS.getWords(), dataTo.depthRaw());
updateWordsMatching();
}
if(!t.isNull())
{
// transform is valid, make a link

28
guilib/src/MainWindow.cpp
View File

@@ -1038,6 +1038,11 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom)
_ui->statsToolBox->updateStat("Odometry/TFpitch/deg", (float)odom.data().id(), pitch*180.0/CV_PI);
_ui->statsToolBox->updateStat("Odometry/TFyaw/deg", (float)odom.data().id(), yaw*180.0/CV_PI);
}
if(odom.info().interval > 0)
{
_ui->statsToolBox->updateStat("Odometry/Interval/ms", (float)odom.data().id(), odom.info().interval*1000.f);
_ui->statsToolBox->updateStat("Odometry/Speed/kph", (float)odom.data().id(), x/odom.info().interval*3.6f);
}
if(!odom.info().transformGroundTruth.isNull())
{
@@ -1072,11 +1077,6 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom)
_ui->statsToolBox->updateStat("Odometry/PGyaw/deg", (float)odom.data().id(), yaw*180.0/CV_PI);
}
if(odom.info().interval > 0)
{
_ui->statsToolBox->updateStat("Odometry/Interval/ms", (float)odom.data().id(), odom.info().interval*1000.f);
_ui->statsToolBox->updateStat("Odometry/Speed/kph", (float)odom.data().id(), x/odom.info().interval*3.6f);
}
if(odom.info().distanceTravelled > 0)
{
_ui->statsToolBox->updateStat("Odometry/Distance/m", (float)odom.data().id(), odom.info().distanceTravelled);
@@ -1916,7 +1916,7 @@ void MainWindow::createAndAddCloudToMap(int nodeId, const Transform & pose, int
int oi=0;
UASSERT(iter->getWords().size() == iter->getWords3().size());
std::multimap<int, cv::KeyPoint>::const_iterator kter=iter->getWords().begin();
for(std::multimap<int, pcl::PointXYZ>::const_iterator jter=iter->getWords3().begin();
for(std::multimap<int, cv::Point3f>::const_iterator jter=iter->getWords3().begin();
jter!=iter->getWords3().end(); ++jter, ++kter, ++oi)
{
(*cloud)[oi].x = jter->second.x;
@@ -2870,7 +2870,7 @@ void MainWindow::editDatabase()
QString path = QFileDialog::getOpenFileName(this, tr("Edit database..."), _preferencesDialog->getWorkingDirectory(), tr("RTAB-Map database files (*.db)"));
if(!path.isEmpty())
{
DatabaseViewer * viewer = new DatabaseViewer(this);
DatabaseViewer * viewer = new DatabaseViewer(_preferencesDialog->getIniFilePath(), this);
viewer->setWindowModality(Qt::WindowModal);
viewer->setAttribute(Qt::WA_DeleteOnClose, true);
viewer->showCloseButton();
@@ -3026,7 +3026,7 @@ void MainWindow::startDetection()
Odometry * odom;
if(_preferencesDialog->getOdomStrategy() == 1)
{
odom = new OdometryOpticalFlow(parameters);
odom = new OdometryF2F(parameters);
}
else if(_preferencesDialog->getOdomStrategy() == 2)
{
@@ -3065,7 +3065,7 @@ void MainWindow::startDetection()
Odometry * odom;
if(_preferencesDialog->getOdomStrategy() == 1)
{
odom = new OdometryOpticalFlow(parameters);
odom = new OdometryF2F(parameters);
}
else if(_preferencesDialog->getOdomStrategy() == 2)
{
@@ -3524,16 +3524,16 @@ void MainWindow::postProcessing()
if(reextractFeatures)
{
signatureFrom.setWords(std::multimap<int, cv::KeyPoint>());
signatureFrom.setWords3(std::multimap<int, pcl::PointXYZ>());
signatureFrom.setWords3(std::multimap<int, cv::Point3f>());
signatureTo.setWords(std::multimap<int, cv::KeyPoint>());
signatureTo.setWords3(std::multimap<int, pcl::PointXYZ>());
signatureTo.setWords3(std::multimap<int, cv::Point3f>());
}
Transform transform;
std::string rejectedMsg;
int inliers = -1;
float variance = -1.0f;
RegistrationVis registration(parameters);
std::vector<int> inliers;
transform = registration.computeTransformation(signatureFrom, signatureTo, Transform(), &rejectedMsg, &inliers, &variance);
if(!transform.isNull())
@@ -3623,7 +3623,7 @@ void MainWindow::postProcessing()
{
std::string rejectedMsg;
float variance = -1.0f;
Transform transform = regIcp.computeTransformation(signatureFrom, signatureTo, iter->second.transform(), &rejectedMsg, 0, &variance);
Transform transform = regIcp.computeTransformation(signatureFrom.sensorData(), signatureTo.sensorData(), iter->second.transform(), &rejectedMsg, 0, &variance);
if(!transform.isNull())
{
@@ -5844,7 +5844,7 @@ std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > MainWindow::getClouds(
{
cloud->resize(s.getWords3().size());
int oi=0;
for(std::multimap<int, pcl::PointXYZ>::const_iterator jter=s.getWords3().begin(); jter!=s.getWords3().end(); ++jter)
for(std::multimap<int, cv::Point3f>::const_iterator jter=s.getWords3().begin(); jter!=s.getWords3().end(); ++jter)
{
(*cloud)[oi].x = jter->second.x;
(*cloud)[oi].y = jter->second.y;

43
guilib/src/ParametersToolBox.cpp
View File

@@ -36,11 +36,14 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <QComboBox>
#include <QDoubleSpinBox>
#include <QLineEdit>
#include <QStackedWidget>
#include <QScrollArea>
#include <QLabel>
#include <QGroupBox>
#include <QCheckBox>
#include <QVBoxLayout>
#include <QMessageBox>
#include <QPushButton>
#include <stdio.h>
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UConversion.h>
@@ -49,9 +52,20 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
namespace rtabmap {
ParametersToolBox::ParametersToolBox(QWidget *parent) :
QToolBox(parent),
QWidget(parent),
comboBox_(new QComboBox(this)),
stackedWidget_(new QStackedWidget(this)),
parameters_(Parameters::getDefaultParameters())
{
QVBoxLayout * layout = new QVBoxLayout(this);
this->setLayout(layout);
layout->addWidget(comboBox_);
layout->addWidget(stackedWidget_, 1);
QPushButton * resetButton = new QPushButton(this);
resetButton->setText(tr("Restore Defaults"));
layout->addWidget(resetButton);
connect(resetButton, SIGNAL(clicked()), this, SLOT(resetCurrentPage()));
}
ParametersToolBox::~ParametersToolBox()
@@ -66,14 +80,15 @@ QWidget * ParametersToolBox::getParameterWidget(const QString & key)
QStringList ParametersToolBox::resetPage(int index)
{
QStringList paramChanged;
const QObjectList & children = this->widget(index)->children();
const QObjectList & children = stackedWidget_->widget(index)->children().first()->children().first()->children();
for(int j=0; j<children.size();++j)
{
QString key = children.at(j)->objectName();
// ignore working memory
QString group = key.split("/").first();
if(!ignoredGroups_.contains(group))
if(!ignoredGroups_.contains(group) && parameters_.find(key.toStdString())!=parameters_.end())
{
UASSERT_MSG(parameters_.find(key.toStdString()) != parameters_.end(), uFormat("key=%s", key.toStdString().c_str()).c_str());
std::string value = Parameters::getDefaultParameters().at(key.toStdString());
parameters_.at(key.toStdString()) = value;
@@ -125,7 +140,7 @@ QStringList ParametersToolBox::resetPage(int index)
void ParametersToolBox::resetCurrentPage()
{
this->blockSignals(true);
QStringList paramChanged = this->resetPage(this->currentIndex());
QStringList paramChanged = this->resetPage(stackedWidget_->currentIndex());
this->blockSignals(false);
Q_EMIT parametersChanged(paramChanged);
}
@@ -134,7 +149,7 @@ void ParametersToolBox::resetAllPages()
{
QStringList paramChanged;
this->blockSignals(true);
for(int i=0; i< this->count(); ++i)
for(int i=0; i< stackedWidget_->count(); ++i)
{
paramChanged.append(this->resetPage(i));
}
@@ -190,9 +205,9 @@ void ParametersToolBox::updateParametersVisibility()
void ParametersToolBox::setupUi(const QSet<QString> & ignoredGroups)
{
ignoredGroups_ = ignoredGroups;
this->removeItem(0); // remove dummy page used in .ui
QWidget * currentItem = 0;
const ParametersMap & parameters = Parameters::getDefaultParameters();
QStringList groups;
for(ParametersMap::const_iterator iter=parameters.begin();
iter!=parameters.end();
++iter)
@@ -204,14 +219,16 @@ void ParametersToolBox::setupUi(const QSet<QString> & ignoredGroups)
QString name = splitted.last();
if(currentItem == 0 || currentItem->objectName().compare(group) != 0)
{
currentItem = new QWidget(this);
this->addItem(currentItem, group);
groups.push_back(group);
QScrollArea * area = new QScrollArea(this);
stackedWidget_->addWidget(area);
currentItem = new QWidget();
currentItem->setObjectName(group);
QVBoxLayout * layout = new QVBoxLayout(currentItem);
currentItem->setLayout(layout);
layout->setSizeConstraint(QLayout::SetMinimumSize);
layout->setContentsMargins(0,0,0,0);
layout->setSpacing(0);
layout->addSpacerItem(new QSpacerItem(0,0, QSizePolicy::Minimum, QSizePolicy::Expanding));
area->setWidget(currentItem);
addParameter(layout, iter->first, iter->second);
}
@@ -221,6 +238,8 @@ void ParametersToolBox::setupUi(const QSet<QString> & ignoredGroups)
}
}
}
comboBox_->addItems(groups);
connect(comboBox_, SIGNAL(currentIndexChanged(int)), stackedWidget_, SLOT(setCurrentIndex(int)));
updateParametersVisibility();
}
@@ -230,6 +249,8 @@ void ParametersToolBox::updateParameter(const std::string & key, const std::stri
QString group = QString::fromStdString(key).split("/").first();
if(!ignoredGroups_.contains(group))
{
UASSERT_MSG(parameters_.find(key) != parameters_.end(), uFormat("key=\"%s\"", key.c_str()).c_str());
parameters_.at(key) = value;
QWidget * widget = this->findChild<QWidget*>(key.c_str());
QString type = QString::fromStdString(Parameters::getType(key));
if(type.compare("string") == 0)
@@ -340,7 +361,7 @@ void ParametersToolBox::addParameter(QVBoxLayout * layout,
widget->setDecimals(3);
}
if(def>=0.0)
if(def>0.0)
{
widget->setMaximum(def*1000000.0);
}

9
guilib/src/ParametersToolBox.h
View File

@@ -33,15 +33,16 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#define PARAMETERSTOOLBOX_H_
#include <rtabmap/core/Parameters.h>
#include <QToolBox>
#include <QWidget>
#include <QSet>
class QVBoxLayout;
class QAbstractButton;
class QStackedWidget;
class QComboBox;
namespace rtabmap {
class ParametersToolBox: public QToolBox
class ParametersToolBox: public QWidget
{
Q_OBJECT
@@ -77,6 +78,8 @@ private:
void updateParametersVisibility();
private:
QComboBox * comboBox_;
QStackedWidget * stackedWidget_;
ParametersMap parameters_;
QSet<QString> ignoredGroups_;
};

32
guilib/src/PreferencesDialog.cpp
View File

@@ -208,6 +208,11 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->openni2_exposure->setEnabled(CameraOpenNI2::exposureGainAvailable());
_ui->openni2_gain->setEnabled(CameraOpenNI2::exposureGainAvailable());
#if CV_MAJOR_VERSION < 3
_ui->loopClosure_pnpOpenCV2->setVisible(false);
_ui->label_loopClosure_pnpOpenCV2->setVisible(false);
#endif
// Default Driver
connect(_ui->comboBox_sourceType, SIGNAL(currentIndexChanged(int)), this, SLOT(updateSourceGrpVisibility()));
connect(_ui->comboBox_cameraRGBD, SIGNAL(currentIndexChanged(int)), this, SLOT(updateRGBDCameraGroupBoxVisibility()));
@@ -520,7 +525,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->surf_doubleSpinBox_nndrRatio->setObjectName(Parameters::kKpNndrRatio().c_str());
_ui->surf_doubleSpinBox_maxDepth->setObjectName(Parameters::kKpMaxDepth().c_str());
_ui->surf_doubleSpinBox_minDepth->setObjectName(Parameters::kKpMinDepth().c_str());
_ui->surf_spinBox_wordsPerImageTarget->setObjectName(Parameters::kKpWordsPerImage().c_str());
_ui->surf_spinBox_wordsPerImageTarget->setObjectName(Parameters::kKpMaxFeatures().c_str());
_ui->surf_doubleSpinBox_ratioBadSign->setObjectName(Parameters::kKpBadSignRatio().c_str());
_ui->checkBox_kp_tfIdfLikelihoodUsed->setObjectName(Parameters::kKpTfIdfLikelihoodUsed().c_str());
_ui->checkBox_kp_parallelized->setObjectName(Parameters::kKpParallelized().c_str());
@@ -640,14 +645,19 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->loopClosure_estimationType->setObjectName(Parameters::kVisEstimationType().c_str());
connect(_ui->loopClosure_estimationType, SIGNAL(currentIndexChanged(int)), _ui->stackedWidget_loopClosureEstimation, SLOT(setCurrentIndex(int)));
_ui->stackedWidget_loopClosureEstimation->setCurrentIndex(Parameters::defaultVisEstimationType());
_ui->loopClosure_forwardEst->setObjectName(Parameters::kVisForwardEstOnly().c_str());
_ui->loopClosure_bowEpipolarGeometryVar->setObjectName(Parameters::kVisEpipolarGeometryVar().c_str());
_ui->loopClosure_pnpReprojError->setObjectName(Parameters::kVisPnPReprojError().c_str());
_ui->loopClosure_pnpFlags->setObjectName(Parameters::kVisPnPFlags().c_str());
_ui->loopClosure_pnpOpenCV2->setObjectName(Parameters::kVisPnPOpenCV2().c_str());
_ui->loopClosure_bowVarianceFromInliersCount->setObjectName(Parameters::kRegVarianceFromInliersCount().c_str());
_ui->loopClosure_reextract->setObjectName(Parameters::kRGBDLoopClosureReextractFeatures().c_str());
_ui->reextract_nn->setObjectName(Parameters::kVisNNType().c_str());
_ui->reextract_nndrRatio->setObjectName(Parameters::kVisNNDR().c_str());
_ui->loopClosure_correspondencesType->setObjectName(Parameters::kVisCorType().c_str());
connect(_ui->loopClosure_correspondencesType, SIGNAL(currentIndexChanged(int)), _ui->stackedWidget_loopClosureCorrespondences, SLOT(setCurrentIndex(int)));
_ui->stackedWidget_loopClosureCorrespondences->setCurrentIndex(Parameters::defaultVisCorType());
_ui->reextract_nn->setObjectName(Parameters::kVisCorNNType().c_str());
_ui->reextract_nndrRatio->setObjectName(Parameters::kVisCorNNDR().c_str());
_ui->reextract_type->setObjectName(Parameters::kVisFeatureType().c_str());
_ui->reextract_maxFeatures->setObjectName(Parameters::kVisMaxFeatures().c_str());
_ui->loopClosure_bowMaxDepth->setObjectName(Parameters::kVisMaxDepth().c_str());
@@ -685,10 +695,10 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
//Odometry Optical Flow
_ui->odom_flow_keyframeThr->setObjectName(Parameters::kOdomFlowKeyFrameThr().c_str());
_ui->odom_flow_winSize->setObjectName(Parameters::kOdomFlowWinSize().c_str());
_ui->odom_flow_maxLevel->setObjectName(Parameters::kOdomFlowMaxLevel().c_str());
_ui->odom_flow_iterations->setObjectName(Parameters::kOdomFlowIterations().c_str());
_ui->odom_flow_eps->setObjectName(Parameters::kOdomFlowEps().c_str());
_ui->odom_flow_winSize_2->setObjectName(Parameters::kVisCorFlowWinSize().c_str());
_ui->odom_flow_maxLevel_2->setObjectName(Parameters::kVisCorFlowMaxLevel().c_str());
_ui->odom_flow_iterations_2->setObjectName(Parameters::kVisCorFlowIterations().c_str());
_ui->odom_flow_eps_2->setObjectName(Parameters::kVisCorFlowEps().c_str());
_ui->odom_flow_guessMotion->setObjectName(Parameters::kOdomFlowGuessMotion().c_str());
//Odometry Mono
@@ -699,6 +709,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
//Odometry particle filter
_ui->odom_filteringStrategy->setObjectName(Parameters::kOdomFilteringStrategy().c_str());
_ui->stackedWidget_odometryFiltering->setCurrentIndex(_ui->odom_filteringStrategy->currentIndex());
connect(_ui->odom_filteringStrategy, SIGNAL(currentIndexChanged(int)), _ui->stackedWidget_odometryFiltering, SLOT(setCurrentIndex(int)));
_ui->spinBox_particleSize->setObjectName(Parameters::kOdomParticleSize().c_str());
_ui->doubleSpinBox_particleNoiseT->setObjectName(Parameters::kOdomParticleNoiseT().c_str());
_ui->doubleSpinBox_particleLambdaT->setObjectName(Parameters::kOdomParticleLambdaT().c_str());
@@ -2410,7 +2422,7 @@ void PreferencesDialog::selectSourceDatabase()
void PreferencesDialog::openDatabaseViewer()
{
DatabaseViewer * viewer = new DatabaseViewer(this);
DatabaseViewer * viewer = new DatabaseViewer(getIniFilePath(), this);
viewer->setWindowModality(Qt::WindowModal);
viewer->setAttribute(Qt::WA_DeleteOnClose, true);
viewer->showCloseButton();
@@ -2723,7 +2735,7 @@ void PreferencesDialog::setParameter(const std::string & key, const std::string
}
else if(valueInt==1 &&
(combo->objectName().toStdString().compare(Parameters::kKpNNStrategy()) == 0 ||
combo->objectName().toStdString().compare(Parameters::kVisNNType()) == 0))
combo->objectName().toStdString().compare(Parameters::kVisCorNNType()) == 0))
{
UWARN("Trying to set \"%s\" to KdTree but RTAB-Map isn't built "
@@ -4112,7 +4124,7 @@ void PreferencesDialog::testOdometry()
Odometry * odometry;
if(this->getOdomStrategy() == 1)
{
odometry = new OdometryOpticalFlow(parameters);
odometry = new OdometryF2F(parameters);
}
else if(this->getOdomStrategy() == 2)
{

747
guilib/src/ui/DatabaseViewer.ui
View File

@@ -17,7 +17,7 @@
<enum>Qt::LeftToRight</enum>
</property>
<widget class="QWidget" name="centralwidget">
<layout class="QVBoxLayout" name="verticalLayout_7" stretch="2,0">
<layout class="QVBoxLayout" name="verticalLayout_5" stretch="1,0,0">
<property name="spacing">
<number>0</number>
</property>
@@ -25,380 +25,370 @@
<number>0</number>
</property>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_3" stretch="1,1">
<property name="rightMargin">
<layout class="QHBoxLayout" name="horizontalLayout_imageViews" stretch="1,1">
<item>
<widget class="rtabmap::ImageView" name="graphicsView_A" native="true"/>
</item>
<item>
<widget class="rtabmap::ImageView" name="graphicsView_B" native="true"/>
</item>
</layout>
</item>
<item>
<layout class="QGridLayout" name="gridLayout_11">
<property name="spacing">
<number>0</number>
</property>
<item>
<layout class="QVBoxLayout" name="verticalLayout_6" stretch="1,0,0">
<property name="spacing">
<number>0</number>
<item row="0" column="0">
<widget class="QScrollArea" name="scrollArea_2">
<property name="horizontalScrollBarPolicy">
<enum>Qt::ScrollBarAsNeeded</enum>
</property>
<item>
<widget class="rtabmap::ImageView" name="graphicsView_A" native="true"/>
</item>
<item>
<widget class="QScrollArea" name="scrollArea_2">
<property name="horizontalScrollBarPolicy">
<enum>Qt::ScrollBarAsNeeded</enum>
</property>
<property name="widgetResizable">
<bool>true</bool>
</property>
<widget class="QWidget" name="scrollAreaWidgetContents_2">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>181</width>
<height>184</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout" columnstretch="0,1">
<item row="0" column="0">
<widget class="QLabel" name="label_parentsA_2">
<property name="text">
<string>Parents</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_parentsA">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_childrenA_2">
<property name="text">
<string>Children</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_childrenA">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_childrenA_4">
<property name="text">
<string>Label</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_labelA">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QLabel" name="label_childrenA_6">
<property name="text">
<string>Stamp</string>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_stampA">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_childrenA_8">
<property name="text">
<string>Weight</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_weightA">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="label_childrenA_10">
<property name="text">
<string>Map ID</string>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_mapA">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QLabel" name="label_childrenA_12">
<property name="text">
<string>Pose</string>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_poseA">
<property name="text">
<string/>
</property>
</widget>
</item>
</layout>
</widget>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout">
<property name="margin">
<number>12</number>
</property>
<item>
<layout class="QVBoxLayout" name="verticalLayout_4">
<item>
<widget class="QLabel" name="label_2">
<property name="text">
<string>Index :</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_3">
<property name="text">
<string>Id :</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QVBoxLayout" name="verticalLayout_3">
<item>
<widget class="QLabel" name="label_indexA">
<property name="text">
<string>indexA</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_idA">
<property name="text">
<string>idA</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QSlider" name="horizontalSlider_A">
<property name="focusPolicy">
<enum>Qt::ClickFocus</enum>
<property name="widgetResizable">
<bool>true</bool>
</property>
<widget class="QWidget" name="scrollAreaWidgetContents_2">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>189</width>
<height>184</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout" columnstretch="0,1">
<item row="0" column="0">
<widget class="QLabel" name="label_parentsA_2">
<property name="text">
<string>Parents</string>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_parentsA">
<property name="text">
<string/>
</property>
<property name="tickPosition">
<enum>QSlider::TicksAbove</enum>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_childrenA_2">
<property name="text">
<string>Children</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_childrenA">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_childrenA_4">
<property name="text">
<string>Label</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_labelA">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QLabel" name="label_childrenA_6">
<property name="text">
<string>Stamp</string>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_stampA">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_childrenA_8">
<property name="text">
<string>Weight</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_weightA">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="label_childrenA_10">
<property name="text">
<string>Map ID</string>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_mapA">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QLabel" name="label_childrenA_12">
<property name="text">
<string>Pose</string>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_poseA">
<property name="text">
<string/>
</property>
</widget>
</item>
</layout>
</widget>
</widget>
</item>
<item row="0" column="1">
<widget class="QScrollArea" name="scrollArea">
<property name="horizontalScrollBarPolicy">
<enum>Qt::ScrollBarAsNeeded</enum>
</property>
<property name="widgetResizable">
<bool>true</bool>
</property>
<widget class="QWidget" name="scrollAreaWidgetContents">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>187</width>
<height>184</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout_2" columnstretch="0,1">
<item row="0" column="1">
<widget class="QLabel" name="label_parentsB">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QLabel" name="label_parentsA_4">
<property name="text">
<string>Parents</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_childrenA_3">
<property name="text">
<string>Children</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_childrenB">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_childrenA_5">
<property name="text">
<string>Label</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_labelB">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QLabel" name="label_childrenA_7">
<property name="text">
<string>Stamp</string>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_stampB">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_childrenA_9">
<property name="text">
<string>Weight</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_weightB">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="label_childrenA_11">
<property name="text">
<string>Map ID</string>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_mapB">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QLabel" name="label_childrenA_13">
<property name="text">
<string>Pose</string>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_poseB">
<property name="text">
<string/>
</property>
</widget>
</item>
</layout>
</widget>
</widget>
</item>
<item row="1" column="0">
<layout class="QHBoxLayout" name="horizontalLayout">
<property name="margin">
<number>12</number>
</property>
<item>
<layout class="QVBoxLayout" name="verticalLayout_4">
<item>
<widget class="QLabel" name="label_2">
<property name="text">
<string>Index :</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_3">
<property name="text">
<string>Id :</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QVBoxLayout" name="verticalLayout_3">
<item>
<widget class="QLabel" name="label_indexA">
<property name="text">
<string>indexA</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_idA">
<property name="text">
<string>idA</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QSlider" name="horizontalSlider_A">
<property name="focusPolicy">
<enum>Qt::ClickFocus</enum>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="tickPosition">
<enum>QSlider::TicksAbove</enum>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QVBoxLayout" name="verticalLayout_5" stretch="1,0,0">
<property name="spacing">
<number>0</number>
<item row="1" column="1">
<layout class="QHBoxLayout" name="horizontalLayout_2">
<property name="margin">
<number>12</number>
</property>
<item>
<widget class="rtabmap::ImageView" name="graphicsView_B" native="true"/>
</item>
<item>
<widget class="QScrollArea" name="scrollArea">
<property name="horizontalScrollBarPolicy">
<enum>Qt::ScrollBarAsNeeded</enum>
</property>
<property name="widgetResizable">
<bool>true</bool>
</property>
<widget class="QWidget" name="scrollAreaWidgetContents">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>181</width>
<height>184</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout_2" columnstretch="0,1">
<item row="0" column="1">
<widget class="QLabel" name="label_parentsB">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QLabel" name="label_parentsA_4">
<property name="text">
<string>Parents</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_childrenA_3">
<property name="text">
<string>Children</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_childrenB">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_childrenA_5">
<property name="text">
<string>Label</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_labelB">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QLabel" name="label_childrenA_7">
<property name="text">
<string>Stamp</string>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_stampB">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_childrenA_9">
<property name="text">
<string>Weight</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_weightB">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="label_childrenA_11">
<property name="text">
<string>Map ID</string>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_mapB">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QLabel" name="label_childrenA_13">
<property name="text">
<string>Pose</string>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_poseB">
<property name="text">
<string/>
</property>
</widget>
</item>
</layout>
</widget>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_2">
<property name="margin">
<number>12</number>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<widget class="QLabel" name="label_5">
<property name="text">
<string>Index :</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_4">
<property name="text">
<string>Id :</string>
</property>
</widget>
</item>
</layout>
<widget class="QLabel" name="label_5">
<property name="text">
<string>Index :</string>
</property>
</widget>
</item>
<item>
<layout class="QVBoxLayout" name="verticalLayout_2">
<item>
<widget class="QLabel" name="label_indexB">
<property name="text">
<string>indexB</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_idB">
<property name="text">
<string>idB</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QSlider" name="horizontalSlider_B">
<property name="focusPolicy">
<enum>Qt::ClickFocus</enum>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="tickPosition">
<enum>QSlider::TicksAbove</enum>
<widget class="QLabel" name="label_4">
<property name="text">
<string>Id :</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QVBoxLayout" name="verticalLayout_2">
<item>
<widget class="QLabel" name="label_indexB">
<property name="text">
<string>indexB</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_idB">
<property name="text">
<string>idB</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QSlider" name="horizontalSlider_B">
<property name="focusPolicy">
<enum>Qt::ClickFocus</enum>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="tickPosition">
<enum>QSlider::TicksAbove</enum>
</property>
</widget>
</item>
</layout>
</item>
</layout>
@@ -829,8 +819,15 @@
<widget class="QWidget" name="dockWidgetContents_3">
<layout class="QVBoxLayout" name="verticalLayout_10">
<item>
<layout class="QHBoxLayout" name="horizontalLayout_11">
<item>
<layout class="QGridLayout" name="gridLayout_4">
<item row="0" column="2">
<widget class="QLabel" name="label_logger_level">
<property name="text">
<string>Logger level</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QComboBox" name="comboBox_logger_level">
<property name="currentIndex">
<number>1</number>
@@ -857,10 +854,17 @@
</item>
</widget>
</item>
<item>
<widget class="QLabel" name="label_logger_level">
<item row="1" column="1">
<widget class="QCheckBox" name="checkBox_verticalLayout">
<property name="text">
<string>Logger level</string>
<string/>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QLabel" name="label_logger_level_2">
<property name="text">
<string>Vertical layout</string>
</property>
</widget>
</item>
@@ -1012,7 +1016,7 @@
<rect>
<x>0</x>
<y>0</y>
<width>261</width>
<width>297</width>
<height>411</height>
</rect>
</property>
@@ -1269,7 +1273,7 @@
<rect>
<x>0</x>
<y>0</y>
<width>201</width>
<width>297</width>
<height>126</height>
</rect>
</property>
@@ -1368,7 +1372,7 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-48</y>
<y>0</y>
<width>297</width>
<height>134</height>
</rect>
@@ -1613,24 +1617,7 @@
<number>0</number>
</property>
<item>
<widget class="rtabmap::ParametersToolBox" name="parameters_toolbox">
<property name="currentIndex">
<number>0</number>
</property>
<widget class="QWidget" name="page">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>336</width>
<height>76</height>
</rect>
</property>
<attribute name="label">
<string>Page 1</string>
</attribute>
</widget>
</widget>
<widget class="rtabmap::ParametersToolBox" name="parameters_toolbox" native="true"/>
</item>
</layout>
</widget>
@@ -1770,7 +1757,7 @@
</customwidget>
<customwidget>
<class>rtabmap::ParametersToolBox</class>
<extends>QToolBox</extends>
<extends>QWidget</extends>
<header>ParametersToolBox.h</header>
<container>1</container>
</customwidget>

1296
guilib/src/ui/preferencesDialog.ui
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