mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 17:40:23 +08:00
Refactoring: removed some code duplication about transformation estimation and features (2D-3D) extraction.
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
@@ -17,7 +17,7 @@
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@@ -25,380 +25,370 @@
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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||||
</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>
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
Reference in New Issue
Block a user