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Refactoring of the cameraStereoImages and cameraRGBDImages classes (now inheriting from CameraImages) for easy setting of laser scan path, timestamps path and ground truth path.

Browse Source 
Added graph::importPoses().
Can now have a ground truth published with SensorData (filled optionally by CameraImages classes).
Increased database closing time performance when the database is not saved.
Added ParametersToolBox widget in DatabaseViewer for core parameters (refactoring done to make easy access to all rtabmap parameters in DatabaseViewer).
Added Parameters::getType(key).
Added Transform::interpolate() to interpolate between two transforms (SLERP)
Updated pf_filter.m and added test_pf_filter.m MATLAB scripts (making easier to compare with a ground truth)
UPlot: can now save all curve data of a figure in one action (see right-click on legend area->"Copy all curve data to clipboard")
This commit is contained in:
matlabbe
2015-12-17 14:13:19 -05:00
parent f5c062448d
commit 3292fb1146
49 changed files with 2135 additions and 2010 deletions
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1
guilib/include/rtabmap/gui/DatabaseViewer.h
View File

@@ -110,6 +110,7 @@ private slots:
void updateConstraintView();
void updateLoggerLevel();
void updateStereo();
void notifyParametersChanged(const QStringList &);
private:
QString getIniFilePath() const;

1
guilib/include/rtabmap/gui/MainWindow.h
View File

@@ -302,7 +302,6 @@ private:
Transform _odometryCorrection;
Transform _lastOdomPose;
bool _processingOdometry;
double _lastOdomInfoUpdateTime;
QTimer * _oneSecondTimer;
QTime * _elapsedTime;

4
guilib/include/rtabmap/gui/PreferencesDialog.h
View File

@@ -194,6 +194,7 @@ public:
bool isSourceStereoDepthGenerated() const;
Transform getSourceLocalTransform() const; //Openni group
Transform getStereoLaserLocalTransform() const; // stereo images
Transform getRGBDLaserLocalTransform() const; // rgbd images
Camera * createCamera(bool useRawImages = false); // return camera should be deleted if not null
int getIgnoredDCComponents() const;
@@ -260,10 +261,13 @@ private slots:
void selectSourceRGBDImagesStamps();
void selectSourceRGBDImagesPathRGB();
void selectSourceRGBDImagesPathDepth();
void selectSourceRGBDImagesPathScans();
void selectSourceRGBDImagesPathGt();
void selectSourceStereoImagesStamps();
void selectSourceStereoImagesPathLeft();
void selectSourceStereoImagesPathRight();
void selectSourceStereoImagesPathScans();
void selectSourceStereoImagesPathGt();
void selectSourceImagesPath();
void selectSourceVideoPath();
void selectSourceStereoVideoPath();

2
guilib/include/rtabmap/utilite/UPlot.h
View File

@@ -140,6 +140,7 @@ public:
bool isVisible() const {return _visible;}
void setData(QVector<UPlotItem*> & data); // take the ownership
void getData(QVector<float> & x, QVector<float> & y) const; // only call in Qt MainThread
void getData(QMap<float,float> & data) const; // only call in Qt MainThread
void draw(QPainter * painter, const QRect & limits);
public slots:
@@ -416,6 +417,7 @@ private:
bool _flat;
QMenu * _menu;
QAction * _aUseFlatButtons;
QAction * _aCopyAllCurveToClipboard;
};

2
guilib/src/CMakeLists.txt
View File

@@ -25,6 +25,7 @@ SET(headers_ui
./MapVisibilityWidget.h
../include/${PROJECT_PREFIX}/gui/GraphViewer.h
./CreateSimpleCalibrationDialog.h
./ParametersToolBox.h
)
SET(uis
@@ -86,6 +87,7 @@ SET(SRC_FILES
./MapVisibilityWidget.cpp
./GraphViewer.cpp
./CreateSimpleCalibrationDialog.cpp
./ParametersToolBox.cpp
${moc_srcs}
${moc_uis}
${srcs_qrc}

571
guilib/src/DatabaseViewer.cpp
View File

@@ -60,6 +60,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/Features2d.h"
#include "rtabmap/core/Compression.h"
#include "rtabmap/core/Graph.h"
#include "rtabmap/core/Stereo.h"
#include "rtabmap/core/Optimizer.h"
#include "rtabmap/core/RegistrationVis.h"
#include "rtabmap/core/RegistrationIcp.h"
@@ -67,6 +68,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/SensorData.h"
#include "ExportDialog.h"
#include "rtabmap/gui/ProgressDialog.h"
#include "ParametersToolBox.h"
#include <pcl/io/pcd_io.h>
#include <pcl/io/ply_io.h>
@@ -103,7 +105,8 @@ DatabaseViewer::DatabaseViewer(QWidget * parent) :
ui_->dockWidget_constraints->setVisible(false);
ui_->dockWidget_graphView->setVisible(false);
ui_->dockWidget_parameters->setVisible(false);
ui_->dockWidget_guiparameters->setVisible(false);
ui_->dockWidget_coreparameters->setVisible(false);
ui_->dockWidget_info->setVisible(false);
ui_->dockWidget_stereoView->setVisible(false);
ui_->dockWidget_view3d->setVisible(false);
@@ -113,51 +116,34 @@ DatabaseViewer::DatabaseViewer(QWidget * parent) :
ui_->graphicsView_stereo->setAlpha(255);
QSet<QString> ignoredGroups;
ignoredGroups.insert("Rtabmap");
ignoredGroups.insert("Mem");
ignoredGroups.insert("Kp");
ignoredGroups.insert("Odom");
ignoredGroups.insert("OdomBow");
ignoredGroups.insert("OdomFlow");
ignoredGroups.insert("OdomMono");
ignoredGroups.insert("VhEp");
ignoredGroups.insert("StereoBM");
ignoredGroups.insert("RGBD");
ignoredGroups.insert("DbSqlite3");
ignoredGroups.insert("Bayes");
ui_->parameters_toolbox->setupUi(ignoredGroups);
this->readSettings();
if(RTABMAP_NONFREE == 0)
{
ui_->comboBox_featureType->setItemData(0, 0, Qt::UserRole - 1);
ui_->comboBox_featureType->setItemData(1, 0, Qt::UserRole - 1);
if(ui_->comboBox_featureType->currentIndex() <= 1)
{
UWARN("SURF/SIFT not available, setting feature default to FAST/BRIEF.");
ui_->comboBox_featureType->setCurrentIndex(4);
ui_->comboBox_nnType->setCurrentIndex(3);
}
}
if(!Optimizer::isAvailable(Optimizer::kTypeG2O))
{
ui_->comboBox_graphOptimizer->setItemData(1, 0, Qt::UserRole - 1);
if(ui_->comboBox_graphOptimizer->currentIndex() == 1)
{
UWARN("g2o is not available, setting optimization default to TORO.");
ui_->comboBox_graphOptimizer->setCurrentIndex(0);
}
}
if(!Optimizer::isAvailable(Optimizer::kTypeGTSAM))
{
ui_->comboBox_graphOptimizer->setItemData(1, 0, Qt::UserRole - 1);
if(ui_->comboBox_graphOptimizer->currentIndex() == 2)
{
UWARN("GTSAM is not available, setting optimization default to TORO.");
ui_->comboBox_graphOptimizer->setCurrentIndex(0);
}
}
if(!Optimizer::isAvailable(Optimizer::kTypeG2O) && !Optimizer::isAvailable(Optimizer::kTypeGTSAM))
{
ui_->checkBox_robust->setEnabled(false);
}
ui_->menuView->addAction(ui_->dockWidget_constraints->toggleViewAction());
ui_->menuView->addAction(ui_->dockWidget_graphView->toggleViewAction());
ui_->menuView->addAction(ui_->dockWidget_stereoView->toggleViewAction());
ui_->menuView->addAction(ui_->dockWidget_view3d->toggleViewAction());
ui_->menuView->addAction(ui_->dockWidget_parameters->toggleViewAction());
ui_->menuView->addAction(ui_->dockWidget_guiparameters->toggleViewAction());
ui_->menuView->addAction(ui_->dockWidget_coreparameters->toggleViewAction());
ui_->menuView->addAction(ui_->dockWidget_info->toggleViewAction());
connect(ui_->dockWidget_graphView->toggleViewAction(), SIGNAL(triggered()), this, SLOT(updateGraphView()));
connect(ui_->parameters_toolbox, SIGNAL(parametersChanged(const QStringList &)), this, SLOT(notifyParametersChanged(const QStringList &)));
connect(ui_->actionQuit, SIGNAL(triggered()), this, SLOT(close()));
// connect actions with custom slots
@@ -225,19 +211,14 @@ DatabaseViewer::DatabaseViewer(QWidget * parent) :
ui_->spinBox_optimizationsFrom->setEnabled(false);
connect(ui_->horizontalSlider_iterations, SIGNAL(valueChanged(int)), this, SLOT(sliderIterationsValueChanged(int)));
connect(ui_->horizontalSlider_iterations, SIGNAL(sliderMoved(int)), this, SLOT(sliderIterationsValueChanged(int)));
connect(ui_->spinBox_iterations, SIGNAL(editingFinished()), this, SLOT(updateGraphView()));
connect(ui_->spinBox_optimizationsFrom, SIGNAL(editingFinished()), this, SLOT(updateGraphView()));
connect(ui_->checkBox_spanAllMaps, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
connect(ui_->checkBox_robust, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
connect(ui_->checkBox_ignoreCovariance, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
connect(ui_->checkBox_ignorePoseCorrection, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
connect(ui_->checkBox_ignorePoseCorrection, SIGNAL(stateChanged(int)), this, SLOT(updateConstraintView()));
connect(ui_->checkBox_ignoreGlobalLoop, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
connect(ui_->checkBox_ignoreLocalLoopSpace, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
connect(ui_->checkBox_ignoreLocalLoopTime, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
connect(ui_->checkBox_ignoreUserLoop, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
connect(ui_->comboBox_graphOptimizer, SIGNAL(currentIndexChanged(int)), this, SLOT(updateGraphView()));
connect(ui_->checkBox_2dslam, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
connect(ui_->spinBox_optimizationDepth, SIGNAL(editingFinished()), this, SLOT(updateGraphView()));
connect(ui_->checkBox_gridErode, SIGNAL(stateChanged(int)), this, SLOT(updateGrid()));
connect(ui_->checkBox_gridFillUnkownSpace, SIGNAL(stateChanged(int)), this, SLOT(updateGrid()));
@@ -252,18 +233,6 @@ DatabaseViewer::DatabaseViewer(QWidget * parent) :
connect(ui_->doubleSpinBox_projMaxAngle, SIGNAL(editingFinished()), this, SLOT(updateGrid()));
connect(ui_->spinBox_projClusterSize, SIGNAL(editingFinished()), this, SLOT(updateGrid()));
connect(ui_->spinBox_stereo_flowIterations, SIGNAL(valueChanged(int)), this, SLOT(updateStereo()));
connect(ui_->spinBox_stereo_flowMaxLevel, SIGNAL(valueChanged(int)), this, SLOT(updateStereo()));
connect(ui_->spinBox_stereo_flowWinSize, SIGNAL(valueChanged(int)), this, SLOT(updateStereo()));
connect(ui_->spinBox_stereo_gfttBlockSize, SIGNAL(valueChanged(int)), this, SLOT(updateStereo()));
connect(ui_->doubleSpinBox_stereo_flowEps, SIGNAL(valueChanged(double)), this, SLOT(updateStereo()));
connect(ui_->doubleSpinBox_stereo_gfttMinDistance, SIGNAL(valueChanged(double)), this, SLOT(updateStereo()));
connect(ui_->spinBox_stereo_gfttMaxFeatures, SIGNAL(valueChanged(int)), this, SLOT(updateStereo()));
connect(ui_->doubleSpinBox_stereo_gfttQuality, SIGNAL(valueChanged(double)), this, SLOT(updateStereo()));
connect(ui_->doubleSpinBox_stereo_maxSlope, SIGNAL(valueChanged(double)), this, SLOT(updateStereo()));
connect(ui_->checkBox_stereo_subpix, SIGNAL(stateChanged(int)), this, SLOT(updateStereo()));
connect(ui_->checkBox_stereo_opticalFlow, SIGNAL(stateChanged(int)), this, SLOT(updateStereo()));
connect(ui_->checkBox_stereo_ssd, SIGNAL(stateChanged(int)), this, SLOT(updateStereo()));
ui_->label_stereo_inliers_name->setStyleSheet("QLabel {color : blue; }");
ui_->label_stereo_flowOutliers_name->setStyleSheet("QLabel {color : red; }");
ui_->label_stereo_slopeOutliers_name->setStyleSheet("QLabel {color : yellow; }");
@@ -276,17 +245,12 @@ DatabaseViewer::DatabaseViewer(QWidget * parent) :
//connect(ui_->graphicsView_B, SIGNAL(configChanged()), this, SLOT(configModified()));
connect(ui_->comboBox_logger_level, SIGNAL(currentIndexChanged(int)), this, SLOT(configModified()));
// Graph view
connect(ui_->spinBox_iterations, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
connect(ui_->checkBox_spanAllMaps, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->checkBox_robust, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->checkBox_ignoreCovariance, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->checkBox_ignorePoseCorrection, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->checkBox_ignoreGlobalLoop, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->checkBox_ignoreLocalLoopSpace, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->checkBox_ignoreLocalLoopTime, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->checkBox_ignoreUserLoop, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->comboBox_graphOptimizer, SIGNAL(currentIndexChanged(int)), this, SLOT(configModified()));
connect(ui_->checkBox_2dslam, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->spinBox_optimizationDepth, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
connect(ui_->checkBox_gridErode, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->checkBox_gridFillUnkownSpace, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
@@ -299,45 +263,14 @@ DatabaseViewer::DatabaseViewer(QWidget * parent) :
connect(ui_->groupBox_posefiltering, SIGNAL(clicked(bool)), this, SLOT(configModified()));
connect(ui_->doubleSpinBox_posefilteringRadius, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
connect(ui_->doubleSpinBox_posefilteringAngle, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
// ICP parameters
connect(ui_->spinBox_icp_decimation, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
connect(ui_->doubleSpinBox_icp_maxDepth, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
connect(ui_->doubleSpinBox_icp_voxel, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
connect(ui_->spinBox_icp_downsamplingStepSize, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
connect(ui_->doubleSpinBox_icp_maxCorrespDistance, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
connect(ui_->spinBox_icp_iteration, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
connect(ui_->checkBox_icp_p2plane, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->spinBox_icp_normalKSearch, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
connect(ui_->checkBox_icp_2d, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->checkBox_icp_laserScan, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->doubleSpinBox_icp_minCorrespondenceRatio, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
// Visual parameters
connect(ui_->groupBox_visual_recomputeFeatures, SIGNAL(clicked(bool)), this, SLOT(configModified()));
connect(ui_->comboBox_featureType, SIGNAL(currentIndexChanged(int)), this, SLOT(configModified()));
connect(ui_->comboBox_nnType, SIGNAL(currentIndexChanged(int)), this, SLOT(configModified()));
connect(ui_->checkBox_visual_2d, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->checkBox_visual_var_inliers, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->doubleSpinBox_visual_nndr, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
connect(ui_->spinBox_visual_minCorrespondences, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
connect(ui_->doubleSpinBox_visual_maxCorrespDistance, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
connect(ui_->spinBox_visual_iteration, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
connect(ui_->doubleSpinBox_visual_maxDepth, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
connect(ui_->doubleSpinBox_detectMore_radius, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
connect(ui_->doubleSpinBox_detectMore_angle, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
connect(ui_->spinBox_detectMore_iterations, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
//stereo parameters
connect(ui_->spinBox_stereo_flowIterations, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
connect(ui_->spinBox_stereo_flowMaxLevel, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
connect(ui_->spinBox_stereo_flowWinSize, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
connect(ui_->spinBox_stereo_gfttBlockSize, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
connect(ui_->doubleSpinBox_stereo_flowEps, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
connect(ui_->doubleSpinBox_stereo_gfttMinDistance, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
connect(ui_->spinBox_stereo_gfttMaxFeatures, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
connect(ui_->doubleSpinBox_stereo_gfttQuality, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
connect(ui_->doubleSpinBox_stereo_maxSlope, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
connect(ui_->checkBox_stereo_subpix, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->checkBox_stereo_opticalFlow, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->checkBox_stereo_ssd, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
// dockwidget
QList<QDockWidget*> dockWidgets = this->findChildren<QDockWidget*>();
@@ -350,7 +283,8 @@ DatabaseViewer::DatabaseViewer(QWidget * parent) :
ui_->dockWidget_graphView->installEventFilter(this);
ui_->dockWidget_stereoView->installEventFilter(this);
ui_->dockWidget_view3d->installEventFilter(this);
ui_->dockWidget_parameters->installEventFilter(this);
ui_->dockWidget_guiparameters->installEventFilter(this);
ui_->dockWidget_coreparameters->installEventFilter(this);
ui_->dockWidget_info->installEventFilter(this);
}
@@ -409,17 +343,12 @@ void DatabaseViewer::readSettings()
ui_->graphViewer->loadSettings(settings, "GraphView");
settings.beginGroup("optimization");
ui_->spinBox_iterations->setValue(settings.value("iterations", ui_->spinBox_iterations->value()).toInt());
ui_->checkBox_spanAllMaps->setChecked(settings.value("spanToAllMaps", ui_->checkBox_spanAllMaps->isChecked()).toBool());
ui_->checkBox_robust->setChecked(settings.value("robust", ui_->checkBox_robust->isChecked()).toBool());
ui_->checkBox_ignoreCovariance->setChecked(settings.value("ignoreCovariance", ui_->checkBox_ignoreCovariance->isChecked()).toBool());
ui_->checkBox_ignorePoseCorrection->setChecked(settings.value("ignorePoseCorrection", ui_->checkBox_ignorePoseCorrection->isChecked()).toBool());
ui_->checkBox_ignoreGlobalLoop->setChecked(settings.value("ignoreGlobalLoop", ui_->checkBox_ignoreGlobalLoop->isChecked()).toBool());
ui_->checkBox_ignoreLocalLoopSpace->setChecked(settings.value("ignoreLocalLoopSpace", ui_->checkBox_ignoreLocalLoopSpace->isChecked()).toBool());
ui_->checkBox_ignoreLocalLoopTime->setChecked(settings.value("ignoreLocalLoopTime", ui_->checkBox_ignoreLocalLoopTime->isChecked()).toBool());
ui_->checkBox_ignoreUserLoop->setChecked(settings.value("ignoreUserLoop", ui_->checkBox_ignoreUserLoop->isChecked()).toBool());
ui_->comboBox_graphOptimizer->setCurrentIndex(settings.value("strategy", ui_->comboBox_graphOptimizer->currentIndex()).toInt());
ui_->checkBox_2dslam->setChecked(settings.value("slam2d", ui_->checkBox_2dslam->isChecked()).toBool());
ui_->spinBox_optimizationDepth->setValue(settings.value("depth", ui_->spinBox_optimizationDepth->value()).toInt());
ui_->checkBox_gridErode->setChecked(settings.value("erode", ui_->checkBox_gridErode->isChecked()).toBool());
ui_->checkBox_gridFillUnkownSpace->setChecked(settings.value("unknownSpaceFilled", ui_->checkBox_gridFillUnkownSpace->isChecked()).toBool());
@@ -445,53 +374,23 @@ void DatabaseViewer::readSettings()
settings.beginGroup("icp");
ui_->spinBox_icp_decimation->setValue(settings.value("decimation", ui_->spinBox_icp_decimation->value()).toInt());
ui_->doubleSpinBox_icp_maxDepth->setValue(settings.value("maxDepth", ui_->doubleSpinBox_icp_maxDepth->value()).toDouble());
ui_->doubleSpinBox_icp_voxel->setValue(settings.value("voxel", ui_->doubleSpinBox_icp_voxel->value()).toDouble());
ui_->spinBox_icp_downsamplingStepSize->setValue(settings.value("samplingStep", ui_->spinBox_icp_downsamplingStepSize->value()).toInt());
ui_->doubleSpinBox_icp_maxCorrespDistance->setValue(settings.value("maxCorrDist", ui_->doubleSpinBox_icp_maxCorrespDistance->value()).toDouble());
ui_->spinBox_icp_iteration->setValue(settings.value("iterations", ui_->spinBox_icp_iteration->value()).toInt());
ui_->checkBox_icp_p2plane->setChecked(settings.value("point2place", ui_->checkBox_icp_p2plane->isChecked()).toBool());
ui_->spinBox_icp_normalKSearch->setValue(settings.value("normalKSearch", ui_->spinBox_icp_normalKSearch->value()).toInt());
ui_->checkBox_icp_2d->setChecked(settings.value("icp2d", ui_->checkBox_icp_2d->isChecked()).toBool());
ui_->checkBox_icp_laserScan->setChecked(settings.value("icpLaserScan", ui_->checkBox_icp_laserScan->isChecked()).toBool());
ui_->doubleSpinBox_icp_minCorrespondenceRatio->setValue(settings.value("icpMinRatio", ui_->doubleSpinBox_icp_minCorrespondenceRatio->value()).toDouble());
settings.endGroup();
// Visual parameters
settings.beginGroup("visual");
ui_->comboBox_estimationType->setCurrentIndex(settings.value("estimationType", ui_->comboBox_estimationType->currentIndex()).toInt());
ui_->comboBox_pnpFlags->setCurrentIndex(settings.value("pnpFlags", ui_->comboBox_pnpFlags->currentIndex()).toInt());
ui_->groupBox_visual_recomputeFeatures->setChecked(settings.value("reextract", ui_->groupBox_visual_recomputeFeatures->isChecked()).toBool());
ui_->comboBox_featureType->setCurrentIndex(settings.value("featureType", ui_->comboBox_featureType->currentIndex()).toInt());
ui_->comboBox_nnType->setCurrentIndex(settings.value("nnType", ui_->comboBox_nnType->currentIndex()).toInt());
ui_->checkBox_visual_2d->setChecked(settings.value("force2d", ui_->checkBox_visual_2d->isChecked()).toBool());
ui_->checkBox_visual_var_inliers->setChecked(settings.value("varianceInliers", ui_->checkBox_visual_var_inliers->isChecked()).toBool());
ui_->doubleSpinBox_visual_nndr->setValue(settings.value("nndr", ui_->doubleSpinBox_visual_nndr->value()).toDouble());
ui_->spinBox_visual_minCorrespondences->setValue(settings.value("minCorr", ui_->spinBox_visual_minCorrespondences->value()).toInt());
ui_->doubleSpinBox_visual_maxCorrespDistance->setValue(settings.value("maxCorrDist", ui_->doubleSpinBox_visual_maxCorrespDistance->value()).toDouble());
ui_->spinBox_visual_iteration->setValue(settings.value("iterations", ui_->spinBox_visual_iteration->value()).toDouble());
ui_->doubleSpinBox_visual_maxDepth->setValue(settings.value("maxDepth", ui_->doubleSpinBox_visual_maxDepth->value()).toDouble());
ui_->doubleSpinBox_detectMore_radius->setValue(settings.value("detectMoreRadius", ui_->doubleSpinBox_detectMore_radius->value()).toDouble());
ui_->doubleSpinBox_detectMore_angle->setValue(settings.value("detectMoreAngle", ui_->doubleSpinBox_detectMore_angle->value()).toDouble());
ui_->spinBox_detectMore_iterations->setValue(settings.value("detectMoreIterations", ui_->spinBox_detectMore_iterations->value()).toInt());
settings.endGroup();
//Stereo parameters
settings.beginGroup("stereo");
ui_->spinBox_stereo_flowIterations->setValue(settings.value("flowIterations", ui_->spinBox_stereo_flowIterations->value()).toInt());
ui_->spinBox_stereo_flowMaxLevel->setValue(settings.value("flowMaxLevel", ui_->spinBox_stereo_flowMaxLevel->value()).toInt());
ui_->spinBox_stereo_flowWinSize->setValue(settings.value("flowWinSize", ui_->spinBox_stereo_flowWinSize->value()).toInt());
ui_->spinBox_stereo_gfttBlockSize->setValue(settings.value("gfttBlockSize", ui_->spinBox_stereo_gfttBlockSize->value()).toInt());
ui_->doubleSpinBox_stereo_flowEps->setValue(settings.value("flowEps", ui_->doubleSpinBox_stereo_flowEps->value()).toDouble());
ui_->doubleSpinBox_stereo_gfttMinDistance->setValue(settings.value("gfttMinDistance", ui_->doubleSpinBox_stereo_gfttMinDistance->value()).toDouble());
ui_->spinBox_stereo_gfttMaxFeatures->setValue(settings.value("gfttMaxFeatures", ui_->spinBox_stereo_gfttMaxFeatures->value()).toInt());
ui_->doubleSpinBox_stereo_gfttQuality->setValue(settings.value("gfttQuality", ui_->doubleSpinBox_stereo_gfttQuality->value()).toDouble());
ui_->doubleSpinBox_stereo_maxSlope->setValue(settings.value("maxSlope", ui_->doubleSpinBox_stereo_maxSlope->value()).toDouble());
ui_->checkBox_stereo_subpix->setChecked(settings.value("subpix", ui_->checkBox_stereo_subpix->isChecked()).toBool());
ui_->checkBox_stereo_opticalFlow->setChecked(settings.value("opticalFlow", ui_->checkBox_stereo_opticalFlow->isChecked()).toBool());
ui_->checkBox_stereo_ssd->setChecked(settings.value("ssd", ui_->checkBox_stereo_ssd->isChecked()).toBool());
settings.endGroup();
settings.endGroup(); // DatabaseViewer
ParametersMap parameters;
Parameters::readINI(path.toStdString(), parameters);
for(ParametersMap::iterator iter = parameters.begin(); iter!= parameters.end(); ++iter)
{
ui_->parameters_toolbox->updateParameter(iter->first, iter->second);
}
}
void DatabaseViewer::writeSettings()
@@ -516,17 +415,16 @@ void DatabaseViewer::writeSettings()
// save optimization settings
settings.beginGroup("optimization");
settings.setValue("iterations", ui_->spinBox_iterations->value());
//settings.setValue("iterations", ui_->spinBox_iterations->value());
settings.setValue("spanToAllMaps", ui_->checkBox_spanAllMaps->isChecked());
settings.setValue("robust", ui_->checkBox_robust->isChecked());
settings.setValue("ignoreCovariance", ui_->checkBox_ignoreCovariance->isChecked());
//settings.setValue("robust", ui_->checkBox_robust->isChecked());
settings.setValue("ignorePoseCorrection", ui_->checkBox_ignorePoseCorrection->isChecked());
settings.setValue("ignoreGlobalLoop", ui_->checkBox_ignoreGlobalLoop->isChecked());
settings.setValue("ignoreLocalLoopSpace", ui_->checkBox_ignoreLocalLoopSpace->isChecked());
settings.setValue("ignoreLocalLoopTime", ui_->checkBox_ignoreLocalLoopTime->isChecked());
settings.setValue("ignoreUserLoop", ui_->checkBox_ignoreUserLoop->isChecked());
settings.setValue("strategy", ui_->comboBox_graphOptimizer->currentIndex());
settings.setValue("slam2d", ui_->checkBox_2dslam->isChecked());
//settings.setValue("strategy", ui_->comboBox_graphOptimizer->currentIndex());
//settings.setValue("slam2d", ui_->checkBox_2dslam->isChecked());
settings.setValue("depth", ui_->spinBox_optimizationDepth->value());
settings.setValue("erode", ui_->checkBox_gridErode->isChecked());
settings.setValue("unknownSpaceFilled", ui_->checkBox_gridFillUnkownSpace->isChecked());
@@ -553,54 +451,21 @@ void DatabaseViewer::writeSettings()
settings.beginGroup("icp");
settings.setValue("decimation", ui_->spinBox_icp_decimation->value());
settings.setValue("maxDepth", ui_->doubleSpinBox_icp_maxDepth->value());
settings.setValue("voxel", ui_->doubleSpinBox_icp_voxel->value());
settings.setValue("samplingStep", ui_->spinBox_icp_downsamplingStepSize->value());
settings.setValue("maxCorrDist", ui_->doubleSpinBox_icp_maxCorrespDistance->value());
settings.setValue("iterations", ui_->spinBox_icp_iteration->value());
settings.setValue("point2place", ui_->checkBox_icp_p2plane->isChecked());
settings.setValue("normalKSearch", ui_->spinBox_icp_normalKSearch->value());
settings.setValue("icp2d", ui_->checkBox_icp_2d->isChecked());
settings.setValue("icpLaserScan", ui_->checkBox_icp_laserScan->isChecked());
settings.setValue("icpMinRatio", ui_->doubleSpinBox_icp_minCorrespondenceRatio->value());
settings.endGroup();
// save Visual parameters
settings.beginGroup("visual");
settings.setValue("estimationType", ui_->comboBox_estimationType->currentIndex());
settings.setValue("pnpFlags", ui_->comboBox_pnpFlags->currentIndex());
settings.setValue("reextract", ui_->groupBox_visual_recomputeFeatures->isChecked());
settings.setValue("featureType", ui_->comboBox_featureType->currentIndex());
settings.setValue("nnType", ui_->comboBox_nnType->currentIndex());
settings.setValue("force2d", ui_->checkBox_visual_2d->isChecked());
settings.setValue("varianceInliers", ui_->checkBox_visual_var_inliers->isChecked());
settings.setValue("nndr", ui_->doubleSpinBox_visual_nndr->value());
settings.setValue("minCorr", ui_->spinBox_visual_minCorrespondences->value());
settings.setValue("maxCorrDist", ui_->doubleSpinBox_visual_maxCorrespDistance->value());
settings.setValue("iterations", ui_->spinBox_visual_iteration->value());
settings.setValue("maxDepth", ui_->doubleSpinBox_visual_maxDepth->value());
settings.setValue("detectMoreRadius", ui_->doubleSpinBox_detectMore_radius->value());
settings.setValue("detectMoreAngle", ui_->doubleSpinBox_detectMore_angle->value());
settings.setValue("detectMoreIterations", ui_->spinBox_detectMore_iterations->value());
settings.endGroup();
//Stereo parameters
settings.beginGroup("stereo");
settings.setValue("flowIterations", ui_->spinBox_stereo_flowIterations->value());
settings.setValue("flowMaxLevel", ui_->spinBox_stereo_flowMaxLevel->value());
settings.setValue("flowWinSize", ui_->spinBox_stereo_flowWinSize->value());
settings.setValue("gfttBlockSize", ui_->spinBox_stereo_gfttBlockSize->value());
settings.setValue("flowEps", ui_->doubleSpinBox_stereo_flowEps->value());
settings.setValue("gfttMinDistance", ui_->doubleSpinBox_stereo_gfttMinDistance->value());
settings.setValue("gfttMaxFeatures", ui_->spinBox_stereo_gfttMaxFeatures->value());
settings.setValue("gfttQuality", ui_->doubleSpinBox_stereo_gfttQuality->value());
settings.setValue("maxSlope", ui_->doubleSpinBox_stereo_maxSlope->value());
settings.setValue("subpix", ui_->checkBox_stereo_subpix->isChecked());
settings.setValue("opticalFlow", ui_->checkBox_stereo_opticalFlow->isChecked());
settings.setValue("ssd", ui_->checkBox_stereo_ssd->isChecked());
settings.endGroup();
settings.endGroup(); // DatabaseViewer
const ParametersMap & parameters = ui_->parameters_toolbox->getParameters();
Parameters::writeINI(path.toStdString(), parameters);
this->setWindowModified(false);
}
@@ -1430,7 +1295,8 @@ void DatabaseViewer::generateTOROGraph()
QString path = QFileDialog::getSaveFileName(this, tr("Save File"), pathDatabase_+"/constraints" + QString::number(id) + ".graph", tr("TORO file (*.graph)"));
if(!path.isEmpty())
{
if(ui_->checkBox_ignoreCovariance->isChecked())
bool varianceIgnored = uStr2Bool(ui_->parameters_toolbox->getParameters().at(Parameters::kOptimizerVarianceIgnored()));
if(varianceIgnored)
{
std::multimap<int, rtabmap::Link> links = graphLinks_;
for(std::multimap<int, rtabmap::Link>::iterator iter=links.begin(); iter!=links.end(); ++iter)
@@ -1472,18 +1338,20 @@ void DatabaseViewer::generateG2OGraph()
QString path = QFileDialog::getSaveFileName(this, tr("Save File"), pathDatabase_+"/constraints" + QString::number(id) + ".g2o", tr("g2o file (*.g2o)"));
if(!path.isEmpty())
{
if(ui_->checkBox_ignoreCovariance->isChecked())
bool varianceIgnored = uStr2Bool(ui_->parameters_toolbox->getParameters().at(Parameters::kOptimizerVarianceIgnored()));
bool robust = uStr2Bool(ui_->parameters_toolbox->getParameters().at(Parameters::kOptimizerRobust()));
if(varianceIgnored)
{
std::multimap<int, rtabmap::Link> links = graphLinks_;
for(std::multimap<int, rtabmap::Link>::iterator iter=links.begin(); iter!=links.end(); ++iter)
{
iter->second.setInfMatrix(cv::Mat::eye(6,6,CV_64FC1));
}
graph::exportPoses(path.toStdString(), 4, uValueAt(graphes_, id), links, std::map<int, double>(), ui_->checkBox_robust->isChecked());
graph::exportPoses(path.toStdString(), 4, uValueAt(graphes_, id), links, std::map<int, double>(), robust);
}
else
{
graph::exportPoses(path.toStdString(), 4, uValueAt(graphes_, id), graphLinks_, std::map<int, double>(), ui_->checkBox_robust->isChecked());
graph::exportPoses(path.toStdString(), 4, uValueAt(graphes_, id), graphLinks_, std::map<int, double>(), robust);
}
}
}
@@ -1680,7 +1548,8 @@ void DatabaseViewer::view3DLaserScans()
color = (Qt::GlobalColor)(mapId % 12 + 7 );
}
pcl::PointCloud<pcl::PointNormal>::Ptr cloudNormals = util3d::computeNormals(cloud, ui_->spinBox_icp_normalKSearch->value());
int normalK = uStr2Int(ui_->parameters_toolbox->getParameters().at(Parameters::kIcpPointToPlaneNormalNeighbors()));
pcl::PointCloud<pcl::PointNormal>::Ptr cloudNormals = util3d::computeNormals(cloud, normalK);
viewer->addCloud(uFormat("cloud%d", iter->first), cloudNormals, pose, color);
@@ -2460,18 +2329,24 @@ void DatabaseViewer::updateStereo(const SensorData * data)
}
UTimer timer;
ParametersMap parameters = ui_->parameters_toolbox->getParameters();
bool opticalFlow = uStr2Bool(parameters.at(Parameters::kStereoOpticalFlow()));
Stereo * stereo = 0;
if(opticalFlow)
{
stereo = new StereoOpticalFlow(parameters);
}
else
{
stereo = new Stereo(parameters);
}
// generate kpts
std::vector<cv::KeyPoint> kpts;
cv::Rect roi = Feature2D::computeRoi(leftMono, "0.03 0.03 0.04 0.04");
ParametersMap parameters;
parameters.insert(ParametersPair(Parameters::kKpWordsPerImage(), uNumber2Str(ui_->spinBox_stereo_gfttMaxFeatures->value())));
parameters.insert(ParametersPair(Parameters::kGFTTMinDistance(), uNumber2Str(ui_->doubleSpinBox_stereo_gfttMinDistance->value())));
parameters.insert(ParametersPair(Parameters::kGFTTQualityLevel(), uNumber2Str(ui_->doubleSpinBox_stereo_gfttQuality->value())));
parameters.insert(ParametersPair(Parameters::kGFTTBlockSize(), uNumber2Str(ui_->spinBox_stereo_gfttBlockSize->value())));
Feature2D::Type type = Feature2D::kFeatureGfttBrief;
Feature2D * kptDetector = Feature2D::create(type, parameters);
kpts = kptDetector->generateKeypoints(leftMono, roi);
uInsert(parameters, ParametersPair(Parameters::kKpWordsPerImage(), parameters.at(Parameters::kVisMaxFeatures())));
Feature2D * kptDetector = Feature2D::create(parameters);
kpts = kptDetector->generateKeypoints(leftMono, opticalFlow?roi:cv::Rect());
delete kptDetector;
float timeKpt = timer.ticks();
@@ -2479,55 +2354,18 @@ void DatabaseViewer::updateStereo(const SensorData * data)
std::vector<cv::Point2f> leftCorners;
cv::KeyPoint::convert(kpts, leftCorners);
int subPixWinSize = 3;
int subPixIterations = 30;
double subPixEps = 0.02;
if(ui_->checkBox_stereo_subpix->isChecked())
{
UDEBUG("cv::cornerSubPix() begin");
cv::cornerSubPix(leftMono, leftCorners,
cv::Size( subPixWinSize, subPixWinSize ),
cv::Size( -1, -1 ),
cv::TermCriteria( CV_TERMCRIT_ITER | CV_TERMCRIT_EPS, subPixIterations, subPixEps ) );
UDEBUG("cv::cornerSubPix() end");
}
// Find features in the new right image
std::vector<unsigned char> status;
std::vector<cv::Point2f> rightCorners;
if(ui_->checkBox_stereo_opticalFlow->isChecked())
{
UDEBUG("");
std::vector<float> err;
util2d::calcOpticalFlowPyrLKStereo(
leftMono,
data->rightRaw(),
leftCorners,
rightCorners,
status,
err,
cv::Size(ui_->spinBox_stereo_flowWinSize->value(), 3), ui_->spinBox_stereo_flowMaxLevel->value(),
cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, ui_->spinBox_stereo_flowIterations->value(), ui_->doubleSpinBox_stereo_flowEps->value()));
UDEBUG("");
}
else
{
UDEBUG("");
rightCorners = util2d::calcStereoCorrespondences(
leftMono,
data->rightRaw(),
leftCorners,
status,
cv::Size(ui_->spinBox_stereo_flowWinSize->value(), 3),
ui_->spinBox_stereo_flowMaxLevel->value(),
ui_->spinBox_stereo_flowIterations->value(),
0,
64,
ui_->checkBox_stereo_ssd->isChecked());
UDEBUG("");
}
float timeFlow = timer.ticks();
rightCorners = stereo->computeCorrespondences(
leftMono,
data->rightRaw(),
leftCorners,
status);
delete stereo;
float timeStereo = timer.ticks();
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
cloud->resize(kpts.size());
@@ -2543,35 +2381,20 @@ void DatabaseViewer::updateStereo(const SensorData * data)
pcl::PointXYZ pt(bad_point, bad_point, bad_point);
if(status[i])
{
//UDEBUG("Left(%f,%f), right(%f,%f) disparity=%f", leftCorners[i].x, leftCorners[i].y, rightCorners[i].x, rightCorners[i].y, leftCorners[i].x - rightCorners[i].x);
float disparity = leftCorners[i].x - rightCorners[i].x;
if(disparity > 0.0f)
{
if(fabs((leftCorners[i].y-rightCorners[i].y) / (leftCorners[i].x-rightCorners[i].x)) < ui_->doubleSpinBox_stereo_maxSlope->value())
{
pcl::PointXYZ tmpPt = util3d::projectDisparityTo3D(
leftCorners[i],
disparity,
data->stereoCameraModel());
pcl::PointXYZ tmpPt = util3d::projectDisparityTo3D(
leftCorners[i],
disparity,
data->stereoCameraModel());
if(pcl::isFinite(tmpPt))
{
pt = pcl::transformPoint(tmpPt, data->stereoCameraModel().left().localTransform().toEigen3f());
status[i] = 100; //blue
++inliers;
cloud->at(oi++) = pt;
}
}
else if(fabs(leftCorners[i].y-rightCorners[i].y) <=1.0f)
{
status[i] = 110; //cyan
++inliers;
}
else
{
status[i] = 101; //yellow
++slopeOutliers;
if(pcl::isFinite(tmpPt))
{
pt = pcl::transformPoint(tmpPt, data->stereoCameraModel().left().localTransform().toEigen3f());
status[i] = 100; //blue
++inliers;
cloud->at(oi++) = pt;
}
}
else
@@ -2587,8 +2410,8 @@ void DatabaseViewer::updateStereo(const SensorData * data)
}
cloud->resize(oi);
UINFO("correspondences = %d/%d (%f) (time kpt=%fs flow=%fs)",
(int)cloud->size(), (int)leftCorners.size(), float(cloud->size())/float(leftCorners.size()), timeKpt, timeFlow);
UINFO("correspondences = %d/%d (%f) (time kpt=%fs stereo=%fs)",
(int)cloud->size(), (int)leftCorners.size(), float(cloud->size())/float(leftCorners.size()), timeKpt, timeStereo);
ui_->stereoViewer->updateCameraTargetPosition(Transform::getIdentity());
ui_->stereoViewer->addOrUpdateCloud("stereo", cloud);
@@ -3081,13 +2904,7 @@ void DatabaseViewer::updateConstraintView(
}
if(poses.size())
{
ParametersMap optimizerParameters;
uInsert(optimizerParameters, std::make_pair(Parameters::kOptimizerStrategy(), uNumber2Str(ui_->comboBox_graphOptimizer->currentIndex())));
uInsert(optimizerParameters, std::make_pair(Parameters::kOptimizerIterations(), uNumber2Str(ui_->spinBox_iterations->value())));
uInsert(optimizerParameters, std::make_pair(Parameters::kOptimizerSlam2D(), uBool2Str(ui_->checkBox_2dslam->isChecked())));
uInsert(optimizerParameters, std::make_pair(Parameters::kOptimizerVarianceIgnored(), uBool2Str(ui_->checkBox_ignoreCovariance->isChecked())));
uInsert(optimizerParameters, std::make_pair(Parameters::kOptimizerRobust(), uBool2Str(ui_->checkBox_robust->isChecked())));
Optimizer * optimizer = Optimizer::create(optimizerParameters);
Optimizer * optimizer = Optimizer::create(ui_->parameters_toolbox->getParameters());
UASSERT(uContains(poses, link.to()));
std::map<int, rtabmap::Transform> posesOut;
@@ -3557,13 +3374,7 @@ void DatabaseViewer::updateGraphView()
.arg(totalLocalTime)
.arg(totalUser));
ParametersMap optimizerParameters;
uInsert(optimizerParameters, std::make_pair(Parameters::kOptimizerStrategy(), uNumber2Str(ui_->comboBox_graphOptimizer->currentIndex())));
uInsert(optimizerParameters, std::make_pair(Parameters::kOptimizerIterations(), uNumber2Str(ui_->spinBox_iterations->value())));
uInsert(optimizerParameters, std::make_pair(Parameters::kOptimizerSlam2D(), uBool2Str(ui_->checkBox_2dslam->isChecked())));
uInsert(optimizerParameters, std::make_pair(Parameters::kOptimizerVarianceIgnored(), uBool2Str(ui_->checkBox_ignoreCovariance->isChecked())));
uInsert(optimizerParameters, std::make_pair(Parameters::kOptimizerRobust(), uBool2Str(ui_->checkBox_robust->isChecked())));
Optimizer * optimizer = Optimizer::create(optimizerParameters);
Optimizer * optimizer = Optimizer::create(ui_->parameters_toolbox->getParameters());
std::map<int, rtabmap::Transform> posesOut;
std::multimap<int, rtabmap::Link> linksOut;
@@ -3711,6 +3522,7 @@ void DatabaseViewer::refineConstraint(int from, int to, bool silent, bool update
dbDriver_->getNodeData(currentLink.from(), dataFrom);
dbDriver_->getNodeData(currentLink.to(), dataTo);
ParametersMap parameters = ui_->parameters_toolbox->getParameters();
UTimer timer;
if(!ui_->checkBox_icp_laserScan->isChecked())
@@ -3739,16 +3551,6 @@ void DatabaseViewer::refineConstraint(int from, int to, bool silent, bool update
}
UINFO("Uncompress time: %f s", timer.ticks());
ParametersMap parameters;
parameters.insert(ParametersPair(Parameters::kIcpDownsamplingStep(), uNumber2Str(ui_->spinBox_icp_downsamplingStepSize->value())));
parameters.insert(ParametersPair(Parameters::kIcpVoxelSize(), uNumber2Str(ui_->doubleSpinBox_icp_voxel->value())));
parameters.insert(ParametersPair(Parameters::kIcp2D(), uBool2Str(ui_->checkBox_icp_2d->isChecked())));
parameters.insert(ParametersPair(Parameters::kIcpPointToPlane(), uBool2Str(ui_->checkBox_icp_p2plane->isChecked())));
parameters.insert(ParametersPair(Parameters::kIcpPointToPlaneNormalNeighbors(), uNumber2Str(ui_->spinBox_icp_normalKSearch->value())));
parameters.insert(ParametersPair(Parameters::kIcpMaxCorrespondenceDistance(), uNumber2Str(ui_->doubleSpinBox_icp_maxCorrespDistance->value())));
parameters.insert(ParametersPair(Parameters::kIcpIterations(), uNumber2Str(ui_->spinBox_icp_iteration->value())));
parameters.insert(ParametersPair(Parameters::kIcpCorrespondenceRatio(), uNumber2Str(ui_->doubleSpinBox_icp_minCorrespondenceRatio->value())));
RegistrationIcp registration(parameters);
transform = registration.computeTransformation(dataFrom, dataTo, t, 0, 0, &variance);
UINFO("Icp time: %f s", timer.ticks());
@@ -3803,6 +3605,7 @@ void DatabaseViewer::refineConstraintVisually()
void DatabaseViewer::refineConstraintVisually(int from, int to, bool silent, bool updateGraph)
{
UDEBUG("");
if(from == to)
{
UWARN("Cannot refine link to same node");
@@ -3816,72 +3619,26 @@ void DatabaseViewer::refineConstraintVisually(int from, int to, bool silent, boo
return;
}
ParametersMap parameters;
parameters.insert(ParametersPair(Parameters::kKpDetectorStrategy(), uNumber2Str(ui_->comboBox_featureType->currentIndex())));
parameters.insert(ParametersPair(Parameters::kKpNNStrategy(), uNumber2Str(ui_->comboBox_nnType->currentIndex())));
parameters.insert(ParametersPair(Parameters::kVisInlierDistance(), uNumber2Str(ui_->doubleSpinBox_visual_maxCorrespDistance->value())));
parameters.insert(ParametersPair(Parameters::kKpMaxDepth(), uNumber2Str(ui_->doubleSpinBox_visual_maxDepth->value())));
parameters.insert(ParametersPair(Parameters::kKpNndrRatio(), uNumber2Str(ui_->doubleSpinBox_visual_nndr->value())));
parameters.insert(ParametersPair(Parameters::kVisIterations(), uNumber2Str(ui_->spinBox_visual_iteration->value())));
parameters.insert(ParametersPair(Parameters::kVisMinInliers(), uNumber2Str(ui_->spinBox_visual_minCorrespondences->value())));
parameters.insert(ParametersPair(Parameters::kVisEstimationType(), uNumber2Str(ui_->comboBox_estimationType->currentIndex())));
parameters.insert(ParametersPair(Parameters::kVisPnPFlags(), uNumber2Str(ui_->comboBox_pnpFlags->currentIndex())));
parameters.insert(ParametersPair(Parameters::kVisForce2D(), uBool2Str(ui_->checkBox_visual_2d->isChecked())));
parameters.insert(ParametersPair(Parameters::kRegVarianceFromInliersCount(), uBool2Str(ui_->checkBox_visual_var_inliers->isChecked())));
parameters.insert(ParametersPair(Parameters::kMemGenerateIds(), "false"));
parameters.insert(ParametersPair(Parameters::kMemRehearsalSimilarity(), "1.0"));
parameters.insert(ParametersPair(Parameters::kKpWordsPerImage(), "0"));
ParametersMap parameters = ui_->parameters_toolbox->getParameters();
Transform t;
std::string rejectedMsg;
float variance = -1.0f;
int inliers = -1;
if(ui_->groupBox_visual_recomputeFeatures->isChecked())
{
// create a fake memory to compute transform
Memory tmpMemory(parameters);
// Add sensor data to generate features
SensorData dataFrom;
dbDriver_->getNodeData(from, dataFrom);
dataFrom.uncompressData();
SensorData dataTo;
dbDriver_->getNodeData(to, dataTo);
dataTo.uncompressData();
if(from > to)
{
tmpMemory.update(dataTo);
tmpMemory.update(dataFrom);
}
else
{
tmpMemory.update(dataFrom);
tmpMemory.update(dataTo);
}
// Add sensor data to generate features
SensorData dataFrom;
dbDriver_->getNodeData(from, dataFrom);
dataFrom.uncompressData();
SensorData dataTo;
dbDriver_->getNodeData(to, dataTo);
dataTo.uncompressData();
t = tmpMemory.computeVisualTransform(from, to, &rejectedMsg, &inliers, &variance);
}
else
{
std::list<int> ids;
ids.push_back(to);
ids.push_back(from);
std::list<Signature*> signatures;
dbDriver_->loadSignatures(ids, signatures);
if(signatures.size() == 2)
{
RegistrationVis registration(parameters);
t = registration.computeTransformation(*signatures.back(), *signatures.front(), Transform(), &rejectedMsg, &inliers, &variance);
}
//cleanup
for(std::list<Signature*>::iterator iter=signatures.begin(); iter!=signatures.end(); ++iter)
{
delete *iter;
}
}
UDEBUG("");
RegistrationVis reg(parameters);
t = reg.computeTransformation2(dataFrom, dataTo, Transform::getIdentity(), &rejectedMsg, &inliers, &variance);
UDEBUG("");
if(!t.isNull())
{
@@ -3944,79 +3701,49 @@ bool DatabaseViewer::addConstraint(int from, int to, bool silent, bool updateGra
UASSERT(!containsLink(linksRemoved_, from, to));
UASSERT(!containsLink(linksRefined_, from, to));
ParametersMap parameters;
parameters.insert(ParametersPair(Parameters::kKpDetectorStrategy(), uNumber2Str(ui_->comboBox_featureType->currentIndex())));
parameters.insert(ParametersPair(Parameters::kKpNNStrategy(), uNumber2Str(ui_->comboBox_nnType->currentIndex())));
parameters.insert(ParametersPair(Parameters::kVisInlierDistance(), uNumber2Str(ui_->doubleSpinBox_visual_maxCorrespDistance->value())));
parameters.insert(ParametersPair(Parameters::kKpMaxDepth(), uNumber2Str(ui_->doubleSpinBox_visual_maxDepth->value())));
parameters.insert(ParametersPair(Parameters::kKpNndrRatio(), uNumber2Str(ui_->doubleSpinBox_visual_nndr->value())));
parameters.insert(ParametersPair(Parameters::kVisIterations(), uNumber2Str(ui_->spinBox_visual_iteration->value())));
parameters.insert(ParametersPair(Parameters::kVisMinInliers(), uNumber2Str(ui_->spinBox_visual_minCorrespondences->value())));
parameters.insert(ParametersPair(Parameters::kVisEstimationType(), uNumber2Str(ui_->comboBox_estimationType->currentIndex())));
parameters.insert(ParametersPair(Parameters::kVisPnPFlags(), uNumber2Str(ui_->comboBox_pnpFlags->currentIndex())));
parameters.insert(ParametersPair(Parameters::kVisForce2D(), uBool2Str(ui_->checkBox_visual_2d->isChecked())));
parameters.insert(ParametersPair(Parameters::kRegVarianceFromInliersCount(), uBool2Str(ui_->checkBox_visual_var_inliers->isChecked())));
parameters.insert(ParametersPair(Parameters::kMemGenerateIds(), "false"));
parameters.insert(ParametersPair(Parameters::kMemRehearsalSimilarity(), "1.0"));
parameters.insert(ParametersPair(Parameters::kKpWordsPerImage(), "0"));
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;
if(ui_->groupBox_visual_recomputeFeatures->isChecked())
// create a fake memory to compute the transform
Memory tmpMemory(parameters);
// Add sensor data to generate features
SensorData dataFrom;
dbDriver_->getNodeData(from, dataFrom);
dataFrom.uncompressData();
SensorData dataTo;
dbDriver_->getNodeData(to, dataTo);
dataTo.uncompressData();
if(from > to)
{
// create a fake memory to compute the transform
Memory tmpMemory(parameters);
// Add sensor data to generate features
SensorData dataFrom;
dbDriver_->getNodeData(from, dataFrom);
dataFrom.uncompressData();
SensorData dataTo;
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);
if(!silent)
{
ui_->graphicsView_A->setFeatures(tmpMemory.getSignature(from)->getWords(), dataFrom.depthRaw());
ui_->graphicsView_B->setFeatures(tmpMemory.getSignature(to)->getWords(), dataTo.depthRaw());
updateWordsMatching();
}
tmpMemory.update(dataTo);
tmpMemory.update(dataFrom);
}
else
{
std::list<int> ids;
ids.push_back(to);
ids.push_back(from);
std::list<Signature*> signatures;
dbDriver_->loadSignatures(ids, signatures);
tmpMemory.update(dataFrom);
tmpMemory.update(dataTo);
}
if(signatures.size() == 2)
{
RegistrationVis registration(parameters);
t = registration.computeTransformation(*signatures.back(), *signatures.front(), Transform(), &rejectedMsg, &inliers, &variance);
}
//cleanup
for(std::list<Signature*>::iterator iter=signatures.begin(); iter!=signatures.end(); ++iter)
{
delete *iter;
}
t = tmpMemory.computeVisualTransform(from, to, &rejectedMsg, &inliers, &variance);
if(!silent)
{
ui_->graphicsView_A->setFeatures(tmpMemory.getSignature(from)->getWords(), dataFrom.depthRaw());
ui_->graphicsView_B->setFeatures(tmpMemory.getSignature(to)->getWords(), dataTo.depthRaw());
updateWordsMatching();
}
if(!t.isNull())
@@ -4264,4 +3991,36 @@ void DatabaseViewer::updateLoopClosuresSlider(int from, int to)
}
}
void DatabaseViewer::notifyParametersChanged(const QStringList & parametersChanged)
{
bool updateStereo = false;
bool updateGraphView = false;
for(QStringList::const_iterator iter=parametersChanged.constBegin();
iter!=parametersChanged.constEnd() && (!updateStereo || !updateGraphView);
++iter)
{
QString group = iter->split('/').first();
if(!updateStereo && group == "Stereo")
{
updateStereo = true;
continue;
}
if(!updateGraphView && group == "Optimize")
{
updateGraphView = true;
continue;
}
}
if(updateStereo)
{
this->updateStereo();
}
if(updateGraphView)
{
this->updateGraphView();
}
this->configModified();
}
} // namespace rtabmap

76
guilib/src/MainWindow.cpp
View File

@@ -145,7 +145,6 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_waypointsIndex(0),
_odometryCorrection(Transform::getIdentity()),
_processingOdometry(false),
_lastOdomInfoUpdateTime(0),
_oneSecondTimer(0),
_elapsedTime(0),
_posteriorCurve(0),
@@ -509,6 +508,7 @@ MainWindow::~MainWindow()
this->stopDetection();
delete _ui;
delete _elapsedTime;
UDEBUG("");
}
void MainWindow::setupMainLayout(bool vertical)
@@ -698,22 +698,19 @@ void MainWindow::handleEvent(UEvent* anEvent)
}
else if(anEvent->getClassName().compare("OdometryEvent") == 0)
{
// limit 10 Hz max
if(UTimer::now() - _lastOdomInfoUpdateTime > 0.1)
OdometryEvent * odomEvent = (OdometryEvent*)anEvent;
if(!_processingOdometry && !_processingStatistics)
{
_lastOdomInfoUpdateTime = UTimer::now();
OdometryEvent * odomEvent = (OdometryEvent*)anEvent;
if(!_processingOdometry && !_processingStatistics)
{
_processingOdometry = true; // if we receive too many odometry events!
emit odometryReceived(*odomEvent);
}
else
{
// we receive too many odometry events! just send without data
OdometryEvent tmp(SensorData(cv::Mat(), odomEvent->data().id()), odomEvent->pose(), odomEvent->covariance(), odomEvent->info());
emit odometryReceived(tmp);
}
_processingOdometry = true; // if we receive too many odometry events!
emit odometryReceived(*odomEvent);
}
else
{
// we receive too many odometry events! just send without data
SensorData data(cv::Mat(), odomEvent->data().id(), odomEvent->data().stamp());
data.setGroundTruth(odomEvent->data().groundTruth());
OdometryEvent tmp(data, odomEvent->pose(), odomEvent->covariance(), odomEvent->info());
emit odometryReceived(tmp);
}
}
else if(anEvent->getClassName().compare("ULogEvent") == 0)
@@ -1034,12 +1031,45 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom)
if(!odom.info().transformFiltered.isNull())
{
odom.info().transformFiltered.getTranslationAndEulerAngles(x,y,z,roll,pitch,yaw);
_ui->statsToolBox->updateStat("Odometry/Fx/m", (float)odom.data().id(), x);
_ui->statsToolBox->updateStat("Odometry/Fy/m", (float)odom.data().id(), y);
_ui->statsToolBox->updateStat("Odometry/Fz/m", (float)odom.data().id(), z);
_ui->statsToolBox->updateStat("Odometry/Froll/deg", (float)odom.data().id(), roll*180.0/CV_PI);
_ui->statsToolBox->updateStat("Odometry/Fpitch/deg", (float)odom.data().id(), pitch*180.0/CV_PI);
_ui->statsToolBox->updateStat("Odometry/Fyaw/deg", (float)odom.data().id(), yaw*180.0/CV_PI);
_ui->statsToolBox->updateStat("Odometry/TFx/m", (float)odom.data().id(), x);
_ui->statsToolBox->updateStat("Odometry/TFy/m", (float)odom.data().id(), y);
_ui->statsToolBox->updateStat("Odometry/TFz/m", (float)odom.data().id(), z);
_ui->statsToolBox->updateStat("Odometry/TFroll/deg", (float)odom.data().id(), roll*180.0/CV_PI);
_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().transformGroundTruth.isNull())
{
odom.info().transformGroundTruth.getTranslationAndEulerAngles(x,y,z,roll,pitch,yaw);
_ui->statsToolBox->updateStat("Odometry/TGx/m", (float)odom.data().id(), x);
_ui->statsToolBox->updateStat("Odometry/TGy/m", (float)odom.data().id(), y);
_ui->statsToolBox->updateStat("Odometry/TGz/m", (float)odom.data().id(), z);
_ui->statsToolBox->updateStat("Odometry/TGroll/deg", (float)odom.data().id(), roll*180.0/CV_PI);
_ui->statsToolBox->updateStat("Odometry/TGpitch/deg", (float)odom.data().id(), pitch*180.0/CV_PI);
_ui->statsToolBox->updateStat("Odometry/TGyaw/deg", (float)odom.data().id(), yaw*180.0/CV_PI);
}
//cumulative pose
if(!odom.pose().isNull())
{
odom.pose().getTranslationAndEulerAngles(x,y,z,roll,pitch,yaw);
_ui->statsToolBox->updateStat("Odometry/Px/m", (float)odom.data().id(), x);
_ui->statsToolBox->updateStat("Odometry/Py/m", (float)odom.data().id(), y);
_ui->statsToolBox->updateStat("Odometry/Pz/m", (float)odom.data().id(), z);
_ui->statsToolBox->updateStat("Odometry/Proll/deg", (float)odom.data().id(), roll*180.0/CV_PI);
_ui->statsToolBox->updateStat("Odometry/Ppitch/deg", (float)odom.data().id(), pitch*180.0/CV_PI);
_ui->statsToolBox->updateStat("Odometry/Pyaw/deg", (float)odom.data().id(), yaw*180.0/CV_PI);
}
if(!odom.data().groundTruth().isNull())
{
odom.data().groundTruth().getTranslationAndEulerAngles(x,y,z,roll,pitch,yaw);
_ui->statsToolBox->updateStat("Odometry/PGx/m", (float)odom.data().id(), x);
_ui->statsToolBox->updateStat("Odometry/PGy/m", (float)odom.data().id(), y);
_ui->statsToolBox->updateStat("Odometry/PGz/m", (float)odom.data().id(), z);
_ui->statsToolBox->updateStat("Odometry/PGroll/deg", (float)odom.data().id(), roll*180.0/CV_PI);
_ui->statsToolBox->updateStat("Odometry/PGpitch/deg", (float)odom.data().id(), pitch*180.0/CV_PI);
_ui->statsToolBox->updateStat("Odometry/PGyaw/deg", (float)odom.data().id(), yaw*180.0/CV_PI);
}
if(odom.info().interval > 0)
@@ -2826,7 +2856,7 @@ bool MainWindow::closeDatabase()
}
}
this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdClose));
this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdClose, !_newDatabasePathOutput.isEmpty()));
return true;
}

516
guilib/src/ParametersToolBox.cpp Normal file
View File

@@ -0,0 +1,516 @@
/*
Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
//
// Original version from Find-Object: https://github.com/introlab/find-object
//
#include <rtabmap/core/Parameters.h>
#include <rtabmap/core/Optimizer.h>
#include "ParametersToolBox.h"
#include <QComboBox>
#include <QDoubleSpinBox>
#include <QLineEdit>
#include <QLabel>
#include <QGroupBox>
#include <QCheckBox>
#include <QVBoxLayout>
#include <QMessageBox>
#include <stdio.h>
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UConversion.h>
#include <opencv2/opencv_modules.hpp>
namespace rtabmap {
ParametersToolBox::ParametersToolBox(QWidget *parent) :
QToolBox(parent),
parameters_(Parameters::getDefaultParameters())
{
}
ParametersToolBox::~ParametersToolBox()
{
}
QWidget * ParametersToolBox::getParameterWidget(const QString & key)
{
return this->findChild<QWidget*>(key);
}
QStringList ParametersToolBox::resetPage(int index)
{
QStringList paramChanged;
const QObjectList & children = this->widget(index)->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))
{
std::string value = Parameters::getDefaultParameters().at(key.toStdString());
parameters_.at(key.toStdString()) = value;
if(qobject_cast<QComboBox*>(children.at(j)))
{
if(((QComboBox*)children.at(j))->currentIndex() != QString::fromStdString(value).split(':').first().toInt())
{
((QComboBox*)children.at(j))->setCurrentIndex(QString::fromStdString(value).split(':').first().toInt());
paramChanged.append(key);
}
}
else if(qobject_cast<QSpinBox*>(children.at(j)))
{
if(((QSpinBox*)children.at(j))->value() != uStr2Int(value))
{
((QSpinBox*)children.at(j))->setValue(uStr2Int(value));
paramChanged.append(key);
}
}
else if(qobject_cast<QDoubleSpinBox*>(children.at(j)))
{
if(((QDoubleSpinBox*)children.at(j))->value() != uStr2Double(value))
{
((QDoubleSpinBox*)children.at(j))->setValue(uStr2Double(value));
paramChanged.append(key);
}
}
else if(qobject_cast<QCheckBox*>(children.at(j)))
{
if(((QCheckBox*)children.at(j))->isChecked() != uStr2Bool(value))
{
((QCheckBox*)children.at(j))->setChecked(uStr2Bool(value));
paramChanged.append(key);
}
}
else if(qobject_cast<QLineEdit*>(children.at(j)))
{
if(((QLineEdit*)children.at(j))->text().compare(QString::fromStdString(value)) != 0)
{
((QLineEdit*)children.at(j))->setText(QString::fromStdString(value));
paramChanged.append(key);
}
}
}
}
return paramChanged;
}
void ParametersToolBox::resetCurrentPage()
{
this->blockSignals(true);
QStringList paramChanged = this->resetPage(this->currentIndex());
this->blockSignals(false);
Q_EMIT parametersChanged(paramChanged);
}
void ParametersToolBox::resetAllPages()
{
QStringList paramChanged;
this->blockSignals(true);
for(int i=0; i< this->count(); ++i)
{
paramChanged.append(this->resetPage(i));
}
this->blockSignals(false);
Q_EMIT parametersChanged(paramChanged);
}
void ParametersToolBox::updateParametersVisibility()
{
//show/hide not used parameters
/*QComboBox * descriptorBox = this->findChild<QComboBox*>(Parameters::kFeature2D_2Descriptor());
QComboBox * detectorBox = this->findChild<QComboBox*>(Parameters::kFeature2D_1Detector());
if(descriptorBox && detectorBox)
{
QString group = Parameters::kFeature2D_2Descriptor().split('/').first();
QWidget * panel = 0;
for(int i=0; i<this->count(); ++i)
{
if(this->widget(i)->objectName().compare(group) == 0)
{
panel = this->widget(i);
break;
}
}
if(panel)
{
const QObjectList & objects = panel->children();
QString descriptorName = descriptorBox->currentText();
QString detectorName = detectorBox->currentText();
for(int i=0; i<objects.size(); ++i)
{
if(!objects[i]->objectName().isEmpty())
{
if(objects[i]->objectName().contains(descriptorName) || objects[i]->objectName().contains(detectorName))
{
((QWidget*)objects[i])->setVisible(true);
}
else if(objects[i]->objectName().contains("Fast") && detectorName == QString("ORB"))
{
((QWidget*)objects[i])->setVisible(true); // ORB uses some FAST parameters
}
else if(!objects[i]->objectName().split('/').at(1).at(0).isDigit())
{
((QWidget*)objects[i])->setVisible(false);
}
}
}
}
}*/
}
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();
for(ParametersMap::const_iterator iter=parameters.begin();
iter!=parameters.end();
++iter)
{
QStringList splitted = QString::fromStdString(iter->first).split('/');
QString group = splitted.first();
if(!ignoredGroups_.contains(group))
{
QString name = splitted.last();
if(currentItem == 0 || currentItem->objectName().compare(group) != 0)
{
currentItem = new QWidget(this);
this->addItem(currentItem, group);
currentItem->setObjectName(group);
QVBoxLayout * layout = new QVBoxLayout(currentItem);
currentItem->setLayout(layout);
layout->setContentsMargins(0,0,0,0);
layout->setSpacing(0);
layout->addSpacerItem(new QSpacerItem(0,0, QSizePolicy::Minimum, QSizePolicy::Expanding));
addParameter(layout, iter->first, iter->second);
}
else
{
addParameter((QVBoxLayout*)currentItem->layout(), iter->first, iter->second);
}
}
}
updateParametersVisibility();
}
void ParametersToolBox::updateParameter(const std::string & key, const std::string & value)
{
QString group = QString::fromStdString(key).split("/").first();
if(!ignoredGroups_.contains(group))
{
QWidget * widget = this->findChild<QWidget*>(key.c_str());
QString type = QString::fromStdString(Parameters::getType(key));
if(type.compare("string") == 0)
{
QString valueQt = QString::fromStdString(value);
if(valueQt.contains(';'))
{
// It's a list, just change the index
QStringList splitted = valueQt.split(':');
((QComboBox*)widget)->setCurrentIndex(splitted.first().toInt());
}
else
{
((QLineEdit*)widget)->setText(valueQt);
}
}
else if(type.compare("int") == 0)
{
((QSpinBox*)widget)->setValue(uStr2Int(value));
}
else if(type.compare("uint") == 0)
{
((QSpinBox*)widget)->setValue(uStr2Int(value));
}
else if(type.compare("double") == 0)
{
((QDoubleSpinBox*)widget)->setValue(uStr2Double(value));
}
else if(type.compare("float") == 0)
{
((QDoubleSpinBox*)widget)->setValue(uStr2Float(value));
}
else if(type.compare("bool") == 0)
{
((QCheckBox*)widget)->setChecked(uStr2Bool(value));
}
}
}
void ParametersToolBox::addParameter(
QVBoxLayout * layout,
const std::string & key,
const std::string & value)
{
std::string type = Parameters::getType(key);
if(type.compare("string") == 0)
{
addParameter(layout, key.c_str(), QString::fromStdString(value));
}
else if(type.compare("int") == 0)
{
addParameter(layout, key.c_str(), uStr2Int(value));
}
else if(type.compare("uint") == 0)
{
addParameter(layout, key.c_str(), uStr2Int(value));
}
else if(type.compare("double") == 0)
{
addParameter(layout, key.c_str(), uStr2Double(value));
}
else if(type.compare("float") == 0)
{
addParameter(layout, key.c_str(), uStr2Double(value));
}
else if(type.compare("bool") == 0)
{
addParameter(layout, key.c_str(), uStr2Bool(value));
}
}
void ParametersToolBox::addParameter(QVBoxLayout * layout,
const QString & key,
const QString & value)
{
if(value.contains(';'))
{
QComboBox * widget = new QComboBox(this);
widget->setObjectName(key);
QStringList splitted = value.split(':');
widget->addItems(splitted.last().split(';'));
widget->setCurrentIndex(splitted.first().toInt());
connect(widget, SIGNAL(currentIndexChanged(int)), this, SLOT(changeParameter(int)));
addParameter(layout, key, widget);
}
else
{
QLineEdit * widget = new QLineEdit(value, this);
widget->setObjectName(key);
connect(widget, SIGNAL(editingFinished()), this, SLOT(changeParameter()));
addParameter(layout, key, widget);
}
}
void ParametersToolBox::addParameter(QVBoxLayout * layout,
const QString & key,
const double & value)
{
QDoubleSpinBox * widget = new QDoubleSpinBox(this);
double def = uStr2Double(Parameters::getDefaultParameters().at(key.toStdString()));
if(def<0.01)
{
widget->setDecimals(4);
}
else if(def<0.1)
{
widget->setDecimals(3);
}
if(def>=0.0)
{
widget->setMaximum(def*1000000.0);
}
else if(def==0.0)
{
widget->setMaximum(1000000.0);
}
else if(def<0.0)
{
widget->setMinimum(def*1000000.0);
widget->setMaximum(0.0);
}
widget->setValue(value);
widget->setObjectName(key);
connect(widget, SIGNAL(editingFinished()), this, SLOT(changeParameter()));
addParameter(layout, key, widget);
}
void ParametersToolBox::addParameter(QVBoxLayout * layout,
const QString & key,
const int & value)
{
QSpinBox * widget = new QSpinBox(this);
int def = uStr2Int(Parameters::getDefaultParameters().at(key.toStdString()));
if(def>0)
{
widget->setMaximum(def*1000000);
}
else if(def == 0)
{
widget->setMaximum(1000000);
}
else if(def<0)
{
widget->setMinimum(def*1000000);
widget->setMaximum(0);
}
widget->setValue(value);
widget->setObjectName(key);
if(key.compare(Parameters::kVisFeatureType().c_str()) == 0)
{
if(RTABMAP_NONFREE == 0)
{
if(value <= 1)
{
UWARN("SURF/SIFT not available, setting feature default to FAST/BRIEF.");
widget->setValue(4);
}
}
}
if(key.compare(Parameters::kOptimizerStrategy().c_str()) == 0)
{
if(!Optimizer::isAvailable(Optimizer::kTypeG2O))
{
if(value == 1)
{
UWARN("g2o is not available, setting optimization default to TORO.");
widget->setValue(0);
}
}
if(!Optimizer::isAvailable(Optimizer::kTypeGTSAM))
{
if(value == 2)
{
UWARN("GTSAM is not available, setting optimization default to TORO.");
widget->setValue(0);
}
}
if(!Optimizer::isAvailable(Optimizer::kTypeG2O) && !Optimizer::isAvailable(Optimizer::kTypeGTSAM))
{
widget->setEnabled(false);
}
}
connect(widget, SIGNAL(editingFinished()), this, SLOT(changeParameter()));
addParameter(layout, key, widget);
}
void ParametersToolBox::addParameter(QVBoxLayout * layout,
const QString & key,
const bool & value)
{
QCheckBox * widget = new QCheckBox(this);
widget->setChecked(value);
widget->setObjectName(key);
connect(widget, SIGNAL(stateChanged(int)), this, SLOT(changeParameter(int)));
addParameter(layout, key, widget);
}
void ParametersToolBox::addParameter(QVBoxLayout * layout, const QString & key, QWidget * widget)
{
QHBoxLayout * hLayout = new QHBoxLayout();
layout->insertLayout(layout->count()-1, hLayout);
QString tmp = key.split('/').last();
if(tmp.at(0).isDigit())
{
tmp.remove(0,1);
}
QLabel * label = new QLabel(tmp, this);
label->setObjectName(key+"/label");
label->setToolTip(QString("<FONT>%1</FONT>").arg(Parameters::getDescription(key.toStdString()).c_str()));
label->setTextInteractionFlags(Qt::TextSelectableByMouse);
hLayout->addWidget(label);
hLayout->addWidget(widget);
}
void ParametersToolBox::changeParameter(const QString & value)
{
if(sender())
{
parameters_.at(sender()->objectName().toStdString()) = value.toStdString();
QStringList paramChanged;
paramChanged.append(sender()->objectName());
Q_EMIT parametersChanged(paramChanged);
}
}
void ParametersToolBox::changeParameter()
{
if(sender())
{
QDoubleSpinBox * doubleSpinBox = qobject_cast<QDoubleSpinBox*>(sender());
QSpinBox * spinBox = qobject_cast<QSpinBox*>(sender());
QLineEdit * lineEdit = qobject_cast<QLineEdit*>(sender());
if(doubleSpinBox)
{
parameters_.at(sender()->objectName().toStdString()) = uNumber2Str(doubleSpinBox->value());
}
else if(spinBox)
{
parameters_.at(sender()->objectName().toStdString()) = uNumber2Str(spinBox->value());
}
else if(lineEdit)
{
parameters_.at(sender()->objectName().toStdString()) = lineEdit->text().toStdString();
}
QStringList paramChanged;
paramChanged.append(sender()->objectName());
Q_EMIT parametersChanged(paramChanged);
}
}
void ParametersToolBox::changeParameter(const int & value)
{
if(sender())
{
QStringList paramChanged;
QComboBox * comboBox = qobject_cast<QComboBox*>(sender());
QCheckBox * checkBox = qobject_cast<QCheckBox*>(sender());
if(comboBox)
{
QStringList items;
for(int i=0; i<comboBox->count(); ++i)
{
items.append(comboBox->itemText(i));
}
QString merged = QString::number(value) + QString(":") + items.join(";");
parameters_.at(sender()->objectName().toStdString()) = merged.toStdString();
this->updateParametersVisibility();
}
else if(checkBox)
{
parameters_.at(sender()->objectName().toStdString()) = uBool2Str(value==Qt::Checked?true:false);
}
paramChanged.append(sender()->objectName());
Q_EMIT parametersChanged(paramChanged);
}
}
} // namespace find_object

86
guilib/src/ParametersToolBox.h Normal file
View File

@@ -0,0 +1,86 @@
/*
Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
//
// Original version from Find-Object: https://github.com/introlab/find-object
//
#ifndef PARAMETERSTOOLBOX_H_
#define PARAMETERSTOOLBOX_H_
#include <rtabmap/core/Parameters.h>
#include <QToolBox>
#include <QSet>
class QVBoxLayout;
class QAbstractButton;
namespace rtabmap {
class ParametersToolBox: public QToolBox
{
Q_OBJECT
public:
ParametersToolBox(QWidget *parent = 0);
virtual ~ParametersToolBox();
void setupUi(const QSet<QString> & ignoredGroups);
QWidget * getParameterWidget(const QString & key);
void updateParameter(const std::string & key, const std::string & value);
const ParametersMap & getParameters() const {return parameters_;}
private:
void addParameter(QVBoxLayout * layout, const std::string & key, const std::string & value);
void addParameter(QVBoxLayout * layout, const QString & key, const QString & value);
void addParameter(QVBoxLayout * layout, const QString & key, const int & value);
void addParameter(QVBoxLayout * layout, const QString & key, const double & value);
void addParameter(QVBoxLayout * layout, const QString & key, const bool & value);
void addParameter(QVBoxLayout * layout, const QString & name, QWidget * widget);
Q_SIGNALS:
void parametersChanged(const QStringList & name);
private Q_SLOTS:
void changeParameter();
void changeParameter(const QString & value);
void changeParameter(const int & value);
void resetCurrentPage();
void resetAllPages();
private:
QStringList resetPage(int index);
void updateParametersVisibility();
private:
ParametersMap parameters_;
QSet<QString> ignoredGroups_;
};
} // namespace find_object
#endif /* PARAMETERSTOOLBOX_H_ */

144
guilib/src/PreferencesDialog.cpp
View File

@@ -35,6 +35,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <QtCore/QTimer>
#include <QFileDialog>
#include <QInputDialog>
#include <QMessageBox>
#include <QtGui/QStandardItemModel>
#include <QMainWindow>
@@ -390,16 +391,24 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->lineEdit_cameraRGBDImages_timestamps, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->toolButton_cameraRGBDImages_path_rgb, SIGNAL(clicked()), this, SLOT(selectSourceRGBDImagesPathRGB()));
connect(_ui->toolButton_cameraRGBDImages_path_depth, SIGNAL(clicked()), this, SLOT(selectSourceRGBDImagesPathDepth()));
connect(_ui->toolButton_cameraRGBDImages_path_scans, SIGNAL(clicked()), this, SLOT(selectSourceRGBDImagesPathScans()));
connect(_ui->toolButton_cameraRGBDImages_gt, SIGNAL(clicked()), this, SLOT(selectSourceRGBDImagesPathGt()));
connect(_ui->lineEdit_cameraRGBDImages_path_rgb, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->lineEdit_cameraRGBDImages_path_depth, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkBox_RGBDImages_timestamps, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkBox_cameraRGBDImages_timestamps, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->doubleSpinBox_cameraRGBDImages_scale, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->lineEdit_cameraRGBDImages_path_scans, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->lineEdit_cameraRGBDImages_laser_transform, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->spinBox_cameraRGBDImages_max_scan_pts, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->lineEdit_cameraRGBDImages_gt, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->comboBox_cameraRGBDImages_gtFormat, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->toolButton_cameraStereoImages_timestamps, SIGNAL(clicked()), this, SLOT(selectSourceStereoImagesStamps()));
connect(_ui->lineEdit_cameraStereoImages_timestamps, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->toolButton_cameraStereoImages_path_left, SIGNAL(clicked()), this, SLOT(selectSourceStereoImagesPathLeft()));
connect(_ui->toolButton_cameraStereoImages_path_right, SIGNAL(clicked()), this, SLOT(selectSourceStereoImagesPathRight()));
connect(_ui->toolButton_cameraStereoImages_path_scans, SIGNAL(clicked()), this, SLOT(selectSourceStereoImagesPathScans()));
connect(_ui->toolButton_cameraStereoImages_gt, SIGNAL(clicked()), this, SLOT(selectSourceStereoImagesPathGt()));
connect(_ui->lineEdit_cameraStereoImages_path_left, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->lineEdit_cameraStereoImages_path_right, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->lineEdit_cameraStereoImages_path_scans, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
@@ -407,6 +416,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->spinBox_cameraStereoImages_max_scan_pts, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkBox_stereoImages_timestamps, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkBox_stereoImages_rectify, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->lineEdit_cameraStereoImages_gt, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->comboBox_cameraStereoImages_gtFormat, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->toolButton_cameraStereoVideo_path, SIGNAL(clicked()), this, SLOT(selectSourceStereoVideoPath()));
connect(_ui->lineEdit_cameraStereoVideo_path, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
@@ -1113,7 +1124,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->lineEdit_sourceLocalTransform->setText("0 0 1 -1 0 0 0 -1 0");
_ui->source_comboBox_image_type->setCurrentIndex(kSrcUsbDevice-kSrcUsbDevice);
_ui->source_images_spinBox_startPos->setValue(1);
_ui->source_images_spinBox_startPos->setValue(0);
_ui->source_images_refreshDir->setChecked(false);
_ui->checkBox_rgbImages_rectify->setChecked(false);
_ui->checkBox_rgbVideo_rectify->setChecked(false);
@@ -1171,9 +1182,14 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->lineEdit_openni2OniPath->clear();
_ui->lineEdit_cameraRGBDImages_path_rgb->setText("");
_ui->lineEdit_cameraRGBDImages_path_depth->setText("");
_ui->checkBox_RGBDImages_timestamps->setChecked(false);
_ui->checkBox_cameraRGBDImages_timestamps->setChecked(false);
_ui->doubleSpinBox_cameraRGBDImages_scale->setValue(1.0);
_ui->lineEdit_cameraRGBDImages_timestamps->setText("");
_ui->lineEdit_cameraRGBDImages_path_scans->setText("");
_ui->lineEdit_cameraRGBDImages_laser_transform->setText("0 0 0 0 0 0");
_ui->spinBox_cameraRGBDImages_max_scan_pts->setValue(0);
_ui->lineEdit_cameraRGBDImages_gt->setText("");
_ui->comboBox_cameraRGBDImages_gtFormat->setCurrentIndex(0);
_ui->source_comboBox_image_type->setCurrentIndex(kSrcDC1394-kSrcDC1394);
_ui->lineEdit_cameraStereoImages_timestamps->setText("");
@@ -1186,6 +1202,8 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->checkBox_stereoImages_rectify->setChecked(false);
_ui->lineEdit_cameraStereoVideo_path->setText("");
_ui->checkBox_stereoVideo_rectify->setChecked(false);
_ui->lineEdit_cameraStereoImages_gt->setText("");
_ui->comboBox_cameraStereoImages_gtFormat->setCurrentIndex(0);
}
else if(groupBox->objectName() == _ui->groupBox_rtabmap_basic0->objectName())
{
@@ -1461,9 +1479,14 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
settings.beginGroup("RGBDImages");
_ui->lineEdit_cameraRGBDImages_path_rgb->setText(settings.value("path_rgb", _ui->lineEdit_cameraRGBDImages_path_rgb->text()).toString());
_ui->lineEdit_cameraRGBDImages_path_depth->setText(settings.value("path_depth", _ui->lineEdit_cameraRGBDImages_path_depth->text()).toString());
_ui->checkBox_RGBDImages_timestamps->setChecked(settings.value("filenames_as_stamps",_ui->checkBox_RGBDImages_timestamps->isChecked()).toBool());
_ui->checkBox_cameraRGBDImages_timestamps->setChecked(settings.value("filenames_as_stamps",_ui->checkBox_cameraRGBDImages_timestamps->isChecked()).toBool());
_ui->lineEdit_cameraRGBDImages_timestamps->setText(settings.value("stamps", _ui->lineEdit_cameraRGBDImages_timestamps->text()).toString());
_ui->doubleSpinBox_cameraRGBDImages_scale->setValue(settings.value("scale", _ui->doubleSpinBox_cameraRGBDImages_scale->value()).toDouble());
_ui->lineEdit_cameraRGBDImages_path_scans->setText(settings.value("path_scans", _ui->lineEdit_cameraRGBDImages_path_scans->text()).toString());
_ui->lineEdit_cameraRGBDImages_laser_transform->setText(settings.value("scan_transform", _ui->lineEdit_cameraRGBDImages_laser_transform->text()).toString());
_ui->spinBox_cameraRGBDImages_max_scan_pts->setValue(settings.value("scan_max_pts", _ui->spinBox_cameraRGBDImages_max_scan_pts->value()).toInt());
_ui->lineEdit_cameraRGBDImages_gt->setText(settings.value("gt_path", _ui->lineEdit_cameraRGBDImages_gt->text()).toString());
_ui->comboBox_cameraRGBDImages_gtFormat->setCurrentIndex(settings.value("gt_format", _ui->comboBox_cameraRGBDImages_gtFormat->currentIndex()).toInt());
settings.endGroup(); // RGBDImages
settings.beginGroup("StereoImages");
@@ -1475,6 +1498,8 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
_ui->spinBox_cameraStereoImages_max_scan_pts->setValue(settings.value("scan_max_pts", _ui->spinBox_cameraStereoImages_max_scan_pts->value()).toInt());
_ui->checkBox_stereoImages_timestamps->setChecked(settings.value("filenames_as_stamps",_ui->checkBox_stereoImages_timestamps->isChecked()).toBool());
_ui->checkBox_stereoImages_rectify->setChecked(settings.value("rectify",_ui->checkBox_stereoImages_rectify->isChecked()).toBool());
_ui->lineEdit_cameraStereoImages_gt->setText(settings.value("gt_path", _ui->lineEdit_cameraStereoImages_gt->text()).toString());
_ui->comboBox_cameraStereoImages_gtFormat->setCurrentIndex(settings.value("gt_format", _ui->comboBox_cameraStereoImages_gtFormat->currentIndex()).toInt());
settings.endGroup(); // StereoImages
settings.beginGroup("StereoVideo");
@@ -1802,9 +1827,14 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.beginGroup("RGBDImages");
settings.setValue("path_rgb", _ui->lineEdit_cameraRGBDImages_path_rgb->text());
settings.setValue("path_depth", _ui->lineEdit_cameraRGBDImages_path_depth->text());
settings.setValue("filenames_as_stamps", _ui->checkBox_RGBDImages_timestamps->isChecked());
settings.setValue("filenames_as_stamps", _ui->checkBox_cameraRGBDImages_timestamps->isChecked());
settings.setValue("stamps", _ui->lineEdit_cameraRGBDImages_timestamps->text());
settings.setValue("scale", _ui->doubleSpinBox_cameraRGBDImages_scale->value());
settings.setValue("path_scans", _ui->lineEdit_cameraRGBDImages_path_scans->text());
settings.setValue("scan_transform", _ui->lineEdit_cameraRGBDImages_laser_transform->text());
settings.setValue("scan_max_pts", _ui->spinBox_cameraRGBDImages_max_scan_pts->value());
settings.setValue("gt_path", _ui->lineEdit_cameraRGBDImages_gt->text());
settings.setValue("gt_format", _ui->comboBox_cameraRGBDImages_gtFormat->currentIndex());
settings.endGroup(); // RGBDImages
settings.beginGroup("StereoImages");
@@ -1816,6 +1846,8 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.setValue("scan_max_pts", _ui->spinBox_cameraStereoImages_max_scan_pts->value());
settings.setValue("filenames_as_stamps", _ui->checkBox_stereoImages_timestamps->isChecked());
settings.setValue("rectify", _ui->checkBox_stereoImages_rectify->isChecked());
settings.setValue("gt_path", _ui->lineEdit_cameraStereoImages_gt->text());
settings.setValue("gt_format", _ui->comboBox_cameraStereoImages_gtFormat->currentIndex());
settings.endGroup(); // StereoImages
settings.beginGroup("StereoVideo");
@@ -2434,6 +2466,21 @@ void PreferencesDialog::selectSourceRGBDImagesPathRGB()
}
}
void PreferencesDialog::selectSourceRGBDImagesPathScans()
{
QString dir = _ui->lineEdit_cameraRGBDImages_path_scans->text();
if(dir.isEmpty())
{
dir = getWorkingDirectory();
}
QString path = QFileDialog::getExistingDirectory(this, tr("Select scans directory"), dir);
if(path.size())
{
_ui->lineEdit_cameraRGBDImages_path_scans->setText(path);
}
}
void PreferencesDialog::selectSourceRGBDImagesPathDepth()
{
QString dir = _ui->lineEdit_cameraRGBDImages_path_depth->text();
@@ -2448,6 +2495,30 @@ void PreferencesDialog::selectSourceRGBDImagesPathDepth()
}
}
void PreferencesDialog::selectSourceRGBDImagesPathGt()
{
QString dir = _ui->lineEdit_cameraRGBDImages_gt->text();
if(dir.isEmpty())
{
dir = getWorkingDirectory();
}
QString path = QFileDialog::getOpenFileName(this, tr("Select file"), dir, tr("Ground Truth (*.txt)"));
if(path.size())
{
QStringList list;
for(int i=0; i<_ui->comboBox_cameraRGBDImages_gtFormat->count(); ++i)
{
list.push_back(_ui->comboBox_cameraRGBDImages_gtFormat->itemText(i));
}
QString item = QInputDialog::getItem(this, tr("Ground Truth Format"), tr("Format:"), list);
if(!item.isEmpty())
{
_ui->lineEdit_cameraRGBDImages_gt->setText(path);
_ui->comboBox_cameraRGBDImages_gtFormat->setCurrentIndex(_ui->comboBox_cameraRGBDImages_gtFormat->findText(item));
}
}
}
void PreferencesDialog::selectSourceStereoImagesStamps()
{
QString dir = _ui->lineEdit_cameraStereoImages_timestamps->text();
@@ -2504,6 +2575,30 @@ void PreferencesDialog::selectSourceStereoImagesPathScans()
}
}
void PreferencesDialog::selectSourceStereoImagesPathGt()
{
QString dir = _ui->lineEdit_cameraStereoImages_gt->text();
if(dir.isEmpty())
{
dir = getWorkingDirectory();
}
QString path = QFileDialog::getOpenFileName(this, tr("Select file"), dir, tr("Ground Truth (*.txt)"));
if(path.size())
{
QStringList list;
for(int i=0; i<_ui->comboBox_cameraStereoImages_gtFormat->count(); ++i)
{
list.push_back(_ui->comboBox_cameraStereoImages_gtFormat->itemText(i));
}
QString item = QInputDialog::getItem(this, tr("Ground Truth Format"), tr("Format:"), list);
if(!item.isEmpty())
{
_ui->lineEdit_cameraStereoImages_gt->setText(path);
_ui->comboBox_cameraStereoImages_gtFormat->setCurrentIndex(_ui->comboBox_cameraStereoImages_gtFormat->findText(item));
}
}
}
void PreferencesDialog::selectSourceImagesPath()
{
QString dir = _ui->source_images_lineEdit_path->text();
@@ -2515,7 +2610,7 @@ void PreferencesDialog::selectSourceImagesPath()
if(!path.isEmpty())
{
_ui->source_images_lineEdit_path->setText(path);
_ui->source_images_spinBox_startPos->setValue(1);
_ui->source_images_spinBox_startPos->setValue(0);
}
}
@@ -3596,6 +3691,16 @@ Transform PreferencesDialog::getStereoLaserLocalTransform() const
return t;
}
Transform PreferencesDialog::getRGBDLaserLocalTransform() const
{
Transform t = Transform::fromString(_ui->lineEdit_cameraRGBDImages_laser_transform->text().replace("PI_2", QString::number(3.141592/2.0)).toStdString());
if(t.isNull())
{
return Transform::getIdentity();
}
return t;
}
QString PreferencesDialog::getSourceDatabasePath() const
{
return _ui->source_database_lineEdit_path->text();
@@ -3721,10 +3826,14 @@ Camera * PreferencesDialog::createCamera(bool useRawImages)
_ui->lineEdit_cameraRGBDImages_path_rgb->text().append(QDir::separator()).toStdString(),
_ui->lineEdit_cameraRGBDImages_path_depth->text().append(QDir::separator()).toStdString(),
_ui->doubleSpinBox_cameraRGBDImages_scale->value(),
_ui->checkBox_RGBDImages_timestamps->isChecked(),
_ui->lineEdit_cameraRGBDImages_timestamps->text().toStdString(),
this->getGeneralInputRate(),
this->getSourceLocalTransform());
((CameraRGBDImages*)camera)->setGroundTruthPath(_ui->lineEdit_cameraRGBDImages_gt->text().toStdString(), _ui->comboBox_cameraRGBDImages_gtFormat->currentIndex());
((CameraRGBDImages*)camera)->setScanPath(
_ui->lineEdit_cameraRGBDImages_path_scans->text().isEmpty()?"":_ui->lineEdit_cameraRGBDImages_path_scans->text().append(QDir::separator()).toStdString(),
_ui->spinBox_cameraRGBDImages_max_scan_pts->value(),
this->getRGBDLaserLocalTransform());
((CameraRGBDImages*)camera)->setTimestamps(_ui->checkBox_cameraRGBDImages_timestamps->isChecked(), _ui->lineEdit_cameraRGBDImages_timestamps->text().toStdString());
}
else if(driver == kSrcDC1394)
{
@@ -3751,16 +3860,17 @@ Camera * PreferencesDialog::createCamera(bool useRawImages)
else if(driver == kSrcStereoImages)
{
camera = new CameraStereoImages(
_ui->lineEdit_cameraStereoImages_path_scans->text().isEmpty()?"":_ui->lineEdit_cameraStereoImages_path_scans->text().append(QDir::separator()).toStdString(),
this->getStereoLaserLocalTransform(),
_ui->spinBox_cameraStereoImages_max_scan_pts->value(),
_ui->lineEdit_cameraStereoImages_path_left->text().append(QDir::separator()).toStdString(),
_ui->lineEdit_cameraStereoImages_path_right->text().append(QDir::separator()).toStdString(),
_ui->checkBox_stereoImages_timestamps->isChecked(),
_ui->lineEdit_cameraStereoImages_timestamps->text().toStdString(),
_ui->checkBox_stereoImages_rectify->isChecked(),
this->getGeneralInputRate(),
this->getSourceLocalTransform());
((CameraStereoImages*)camera)->setGroundTruthPath(_ui->lineEdit_cameraStereoImages_gt->text().toStdString(), _ui->comboBox_cameraStereoImages_gtFormat->currentIndex());
((CameraStereoImages*)camera)->setScanPath(
_ui->lineEdit_cameraStereoImages_path_scans->text().isEmpty()?"":_ui->lineEdit_cameraStereoImages_path_scans->text().append(QDir::separator()).toStdString(),
_ui->spinBox_cameraStereoImages_max_scan_pts->value(),
this->getStereoLaserLocalTransform());
((CameraStereoImages*)camera)->setTimestamps(_ui->checkBox_stereoImages_timestamps->isChecked(), _ui->lineEdit_cameraStereoImages_timestamps->text().toStdString());
}
else if(driver == kSrcStereoVideo)
{
@@ -3789,12 +3899,12 @@ Camera * PreferencesDialog::createCamera(bool useRawImages)
{
camera = new CameraImages(
_ui->source_images_lineEdit_path->text().toStdString(),
_ui->source_images_spinBox_startPos->value(),
_ui->source_images_refreshDir->isChecked(),
_ui->checkBox_rgbImages_rectify->isChecked(),
false,
this->getGeneralInputRate(),
this->getSourceLocalTransform());
((CameraImages*)camera)->setStartIndex(_ui->source_images_spinBox_startPos->value());
((CameraImages*)camera)->setDirRefreshed(_ui->source_images_refreshDir->isChecked());
((CameraImages*)camera)->setImagesRectified(_ui->checkBox_rgbImages_rectify->isChecked());
}
else if(driver == kSrcDatabase)
{

1078
guilib/src/ui/DatabaseViewer.ui
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File diff suppressed because it is too large Load Diff

416
guilib/src/ui/preferencesDialog.ui
View File

@@ -63,7 +63,7 @@
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<y>-762</y>
<width>633</width>
<height>2118</height>
</rect>
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>17</number>
<number>3</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -1673,6 +1673,9 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</item>
<item row="3" column="0">
<widget class="QLineEdit" name="lineEdit_sourceLocalTransform">
<property name="toolTip">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt; Format (3 values): x y z&lt;/p&gt;&lt;p&gt; Format (6 values): x y z roll pitch yaw&lt;/p&gt;&lt;p&gt; Format (7 values): x y z qx qy qz qw&lt;/p&gt;&lt;p&gt; Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33&lt;/p&gt;&lt;p&gt; Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="text">
<string>0 0 1 -1 0 0 0 -1 0</string>
</property>
@@ -1681,7 +1684,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<item row="3" column="1">
<widget class="QLabel" name="label_42">
<property name="text">
<string>Local transform from /base_link to /camera_link. Format (6 values): x y z roll pitch yaw. Format (9 [+3] values): r11 r12 r13 r21 r22 r23 r31 r32 r33 [tx ty tz].</string>
<string>Local transform from /base_link to /camera_link. Mouse over the box to show formats.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -1963,7 +1966,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<item>
<widget class="QStackedWidget" name="stackedWidget_rgbd">
<property name="currentIndex">
<number>2</number>
<number>6</number>
</property>
<widget class="QWidget" name="page_32">
<layout class="QVBoxLayout" name="verticalLayout_63">
@@ -2408,7 +2411,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<property name="title">
<string>RGB-D Images</string>
</property>
<layout class="QGridLayout" name="gridLayout_67" columnstretch="0,0,1">
<layout class="QGridLayout" name="gridLayout_35" columnstretch="0,0,1">
<item row="0" column="2">
<widget class="QLabel" name="label_252">
<property name="text">
@@ -2422,10 +2425,24 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="4" column="2">
<widget class="QLabel" name="label_251">
<item row="0" column="0">
<widget class="QToolButton" name="toolButton_cameraRGBDImages_path_rgb">
<property name="text">
<string>Optional timestamps file (*.txt). The file should contain one column. The number of rows should be the same than the number of images in the folder. Not used if &quot;Use RGB file names as timestamps&quot; above is checked. </string>
<string>...</string>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QToolButton" name="toolButton_cameraRGBDImages_timestamps">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QLabel" name="label_257">
<property name="text">
<string>Depth scale factor (depth = pixel value / factor).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -2442,40 +2459,6 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLineEdit" name="lineEdit_cameraRGBDImages_path_depth">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QCheckBox" name="checkBox_RGBDImages_timestamps">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QLabel" name="label_255">
<property name="text">
<string>Use RGB file names as timestamps. Format is epoch time. Example: &quot;1305031102.175304.png&quot;</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLineEdit" name="lineEdit_cameraRGBDImages_timestamps">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLineEdit" name="lineEdit_cameraRGBDImages_path_rgb">
<property name="text">
@@ -2483,30 +2466,24 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="5" column="0">
<spacer name="verticalSpacer_40">
<property name="orientation">
<enum>Qt::Vertical</enum>
<item row="1" column="1">
<widget class="QLineEdit" name="lineEdit_cameraRGBDImages_path_depth">
<property name="text">
<string/>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>0</height>
</size>
</property>
</spacer>
</widget>
</item>
<item row="0" column="0">
<widget class="QToolButton" name="toolButton_cameraRGBDImages_path_rgb">
<item row="7" column="0">
<widget class="QToolButton" name="toolButton_cameraRGBDImages_path_scans">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QToolButton" name="toolButton_cameraRGBDImages_timestamps">
<item row="3" column="1">
<widget class="QCheckBox" name="checkBox_cameraRGBDImages_timestamps">
<property name="text">
<string>...</string>
<string/>
</property>
</widget>
</item>
@@ -2523,19 +2500,6 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QLabel" name="label_257">
<property name="text">
<string>Depth scale factor (depth = pixel value / factor).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_cameraRGBDImages_scale">
<property name="decimals">
@@ -2549,6 +2513,179 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="4" column="2">
<widget class="QLabel" name="label_251">
<property name="text">
<string>Optional timestamps file (*.txt). The file should contain one column. The number of rows should be the same than the number of images in the folder. Not used if &quot;Use RGB file names as timestamps&quot; above is checked. </string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="5" column="2">
<widget class="QLabel" name="label_288">
<property name="text">
<string>Optional ground truth file. Select the correct format below.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QLabel" name="label_255">
<property name="text">
<string>Use RGB file names as timestamps. Format is epoch time. Example: &quot;1305031102.175304.png&quot;</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="6" column="2">
<widget class="QLabel" name="label_289">
<property name="text">
<string>Ground truth format.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLineEdit" name="lineEdit_cameraRGBDImages_gt">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLineEdit" name="lineEdit_cameraRGBDImages_timestamps">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLineEdit" name="lineEdit_cameraRGBDImages_path_scans">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QToolButton" name="toolButton_cameraRGBDImages_gt">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
<item row="7" column="2">
<widget class="QLabel" name="label_293">
<property name="text">
<string>Path to directory containing optional laser scans. The directory should have the same size has the left images directory. </string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QComboBox" name="comboBox_cameraRGBDImages_gtFormat">
<item>
<property name="text">
<string>Raw</string>
</property>
</item>
<item>
<property name="text">
<string>RGBD-SLAM</string>
</property>
</item>
<item>
<property name="text">
<string>KITTI</string>
</property>
</item>
<item>
<property name="text">
<string>TORO</string>
</property>
</item>
</widget>
</item>
<item row="9" column="2">
<widget class="QLabel" name="label_292">
<property name="text">
<string>Maximum laser scan points.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="9" column="1">
<widget class="QSpinBox" name="spinBox_cameraRGBDImages_max_scan_pts">
<property name="maximum">
<number>99999999</number>
</property>
</widget>
</item>
<item row="8" column="2">
<widget class="QLabel" name="label_294">
<property name="text">
<string>Local transform from /base_link to /scan_link. Mouse over the box to show formats.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QLineEdit" name="lineEdit_cameraRGBDImages_laser_transform">
<property name="toolTip">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt; Format (3 values): x y z&lt;/p&gt;&lt;p&gt; Format (6 values): x y z roll pitch yaw&lt;/p&gt;&lt;p&gt; Format (7 values): x y z qx qy qz qw&lt;/p&gt;&lt;p&gt; Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33&lt;/p&gt;&lt;p&gt; Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="text">
<string>0 0 0 0 0 0</string>
</property>
</widget>
</item>
<item row="10" column="1">
<spacer name="verticalSpacer_40">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
@@ -2646,7 +2783,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<item>
<widget class="QStackedWidget" name="stackedWidget_stereo">
<property name="currentIndex">
<number>3</number>
<number>2</number>
</property>
<widget class="QWidget" name="page_49"/>
<widget class="QWidget" name="page_48"/>
@@ -2671,7 +2808,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="8" column="0">
<item row="10" column="0">
<spacer name="verticalSpacer_38">
<property name="orientation">
<enum>Qt::Vertical</enum>
@@ -2684,7 +2821,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</spacer>
</item>
<item row="3" column="2">
<item row="4" column="2">
<widget class="QLabel" name="label_248">
<property name="text">
<string>Optional timestamps file (*.txt). The file should contain one column. The number of rows should be the same than the number of images in the folder. Not used if &quot;Use left file names as timestamps&quot; above is checked. </string>
@@ -2697,6 +2834,32 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="5" column="2">
<widget class="QLabel" name="label_290">
<property name="text">
<string>Optional ground truth file. Select the correct format below.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QLabel" name="label_250">
<property name="text">
<string>Rectify images. If checked, the images will be rectified using the calibration file (if its name is set above). If not checked, we assume that images are already rectified.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_249">
<property name="text">
@@ -2710,21 +2873,21 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="5" column="0">
<item row="7" column="0">
<widget class="QToolButton" name="toolButton_cameraStereoImages_path_scans">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
<item row="3" column="1">
<item row="4" column="1">
<widget class="QLineEdit" name="lineEdit_cameraStereoImages_timestamps">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="3" column="0">
<item row="4" column="0">
<widget class="QToolButton" name="toolButton_cameraStereoImages_timestamps">
<property name="text">
<string>...</string>
@@ -2738,26 +2901,6 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="4" column="2">
<widget class="QLabel" name="label_250">
<property name="text">
<string>Rectify images. If checked, the images will be rectified using the calibration file (if its name is set above). If not checked, we assume that images are already rectified.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QCheckBox" name="checkBox_stereoImages_rectify">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QLabel" name="label_253">
<property name="text">
@@ -2771,24 +2914,27 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="5" column="1">
<item row="7" column="1">
<widget class="QLineEdit" name="lineEdit_cameraStereoImages_path_scans">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="6" column="1">
<item row="8" column="1">
<widget class="QLineEdit" name="lineEdit_cameraStereoImages_laser_transform">
<property name="toolTip">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt; Format (3 values): x y z&lt;/p&gt;&lt;p&gt; Format (6 values): x y z roll pitch yaw&lt;/p&gt;&lt;p&gt; Format (7 values): x y z qx qy qz qw&lt;/p&gt;&lt;p&gt; Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33&lt;/p&gt;&lt;p&gt; Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="text">
<string>0 0 0 0 0 0</string>
</property>
</widget>
</item>
<item row="6" column="2">
<item row="8" column="2">
<widget class="QLabel" name="label_272">
<property name="text">
<string>Local transform from /base_link to /scan_link. Format (6 values): x y z roll pitch yaw. Format (9 [+3] values): r11 r12 r13 r21 r22 r23 r31 r32 r33 [tx ty tz].</string>
<string>Local transform from /base_link to /scan_link. Mouse over the box to show formats.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -2812,14 +2958,14 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="2" column="1">
<item row="3" column="1">
<widget class="QCheckBox" name="checkBox_stereoImages_timestamps">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="2" column="2">
<item row="3" column="2">
<widget class="QLabel" name="label_256">
<property name="text">
<string>Use left file names as timestamps. Format is epoch time. Example: &quot;1305031102.175304.png&quot;</string>
@@ -2832,7 +2978,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="5" column="2">
<item row="7" column="2">
<widget class="QLabel" name="label_265">
<property name="text">
<string>Path to directory containing optional laser scans. The directory should have the same size has the left images directory. </string>
@@ -2845,14 +2991,14 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="7" column="1">
<item row="9" column="1">
<widget class="QSpinBox" name="spinBox_cameraStereoImages_max_scan_pts">
<property name="maximum">
<number>99999999</number>
</property>
</widget>
</item>
<item row="7" column="2">
<item row="9" column="2">
<widget class="QLabel" name="label_274">
<property name="text">
<string>Maximum laser scan points.</string>
@@ -2865,6 +3011,64 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QCheckBox" name="checkBox_stereoImages_rectify">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="6" column="2">
<widget class="QLabel" name="label_291">
<property name="text">
<string>Ground truth format.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLineEdit" name="lineEdit_cameraStereoImages_gt">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QToolButton" name="toolButton_cameraStereoImages_gt">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QComboBox" name="comboBox_cameraStereoImages_gtFormat">
<item>
<property name="text">
<string>Raw</string>
</property>
</item>
<item>
<property name="text">
<string>RGBD-SLAM</string>
</property>
</item>
<item>
<property name="text">
<string>KITTI</string>
</property>
</item>
<item>
<property name="text">
<string>TORO</string>
</property>
</item>
</widget>
</item>
</layout>
</widget>
</item>

73
guilib/src/utilite/UPlot.cpp
View File

@@ -1016,6 +1016,18 @@ void UPlotCurve::getData(QVector<float> & x, QVector<float> & y) const
}
}
void UPlotCurve::getData(QMap<float,float> & data) const
{
data.clear();
if(_items.size())
{
for(int i=0; i<_items.size(); i+=2)
{
data.insert(((UPlotItem*)_items.at(i))->data().x(), ((UPlotItem*)_items.at(i))->data().y());
}
}
}
@@ -1352,7 +1364,7 @@ UPlotLegendItem::UPlotLegendItem(UPlotCurve * curve, QWidget * parent) :
_aChangeText = new QAction(tr("Change text..."), this);
_aResetText = new QAction(tr("Reset text..."), this);
_aChangeColor = new QAction(tr("Change color..."), this);
_aCopyToClipboard = new QAction(tr("Copy curve data to the clipboard"), this);
_aCopyToClipboard = new QAction(tr("Copy curve data to clipboard"), this);
_aShowStdDev = new QAction(tr("Show std deviation"), this);
_aShowStdDev->setCheckable(true);
_aMoveUp = new QAction(tr("Move up"), this);
@@ -1495,8 +1507,10 @@ UPlotLegend::UPlotLegend(QWidget * parent) :
_aUseFlatButtons = new QAction(tr("Use flat buttons"), this);
_aUseFlatButtons->setCheckable(true);
_aUseFlatButtons->setChecked(_flat);
_aCopyAllCurveToClipboard = new QAction(tr("Copy all curve data to clipboard"), this);
_menu = new QMenu(tr("Legend"), this);
_menu->addAction(_aUseFlatButtons);
_menu->addAction(_aCopyAllCurveToClipboard);
QVBoxLayout * vLayout = new QVBoxLayout(this);
vLayout->setContentsMargins(0,0,0,0);
@@ -1635,6 +1649,63 @@ void UPlotLegend::contextMenuEvent(QContextMenuEvent * event)
{
this->setFlat(_aUseFlatButtons->isChecked());
}
else if(action == _aCopyAllCurveToClipboard)
{
QList<UPlotLegendItem *> items = this->findChildren<UPlotLegendItem*>();
if(items.size())
{
QMap<float,float> firstData;
QVector<QVector<float> > axes;
for(int i=0; i<items.size(); ++i)
{
QMap<float, float> data;
items.at(i)->curve()->getData(data);
if(i==0)
{
firstData = data;
}
else
{
QVector<float> y(firstData.size(), 0.0f);
// ust to make usre that we have the same number of data on each curve, set 0 for unknowns
int j=0;
for(QMap<float,float>::iterator iter=firstData.begin(); iter!=firstData.end(); ++iter)
{
if(data.contains(iter.key()))
{
y[j] = data.value(iter.key());
}
++j;
}
axes.push_back(y);
}
}
if(firstData.size())
{
axes.push_front(firstData.values().toVector());
axes.push_front(firstData.keys().toVector());
QString text;
for(int i=0; i<axes.size(); ++i)
{
for(int j=0; j<axes[i].size(); ++j)
{
text.append(QString::number(axes[i][j]));
if(j+1<axes[i].size())
{
text.append(' ');
}
}
if(i+1<axes.size())
{
text.append("\n");
}
}
QClipboard * clipboard = QApplication::clipboard();
clipboard->setText(text);
}
}
}
}
void UPlotLegend::redirectToggled(bool toggled)