i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 09:30:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

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
Download Patch File Download Diff File Expand all files Collapse all files

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);
}