mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-03 10:00:23 +08:00
Refactoring of the cameraStereoImages and cameraRGBDImages classes (now inheriting from CameraImages) for easy setting of laser scan path, timestamps path and ground truth path.
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
@@ -35,6 +35,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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#include <QtCore/QTimer>
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#include <QFileDialog>
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#include <QInputDialog>
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#include <QMessageBox>
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#include <QtGui/QStandardItemModel>
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#include <QMainWindow>
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@@ -390,16 +391,24 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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connect(_ui->lineEdit_cameraRGBDImages_timestamps, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->toolButton_cameraRGBDImages_path_rgb, SIGNAL(clicked()), this, SLOT(selectSourceRGBDImagesPathRGB()));
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connect(_ui->toolButton_cameraRGBDImages_path_depth, SIGNAL(clicked()), this, SLOT(selectSourceRGBDImagesPathDepth()));
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connect(_ui->toolButton_cameraRGBDImages_path_scans, SIGNAL(clicked()), this, SLOT(selectSourceRGBDImagesPathScans()));
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connect(_ui->toolButton_cameraRGBDImages_gt, SIGNAL(clicked()), this, SLOT(selectSourceRGBDImagesPathGt()));
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connect(_ui->lineEdit_cameraRGBDImages_path_rgb, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->lineEdit_cameraRGBDImages_path_depth, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->checkBox_RGBDImages_timestamps, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->checkBox_cameraRGBDImages_timestamps, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->doubleSpinBox_cameraRGBDImages_scale, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->lineEdit_cameraRGBDImages_path_scans, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->lineEdit_cameraRGBDImages_laser_transform, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->spinBox_cameraRGBDImages_max_scan_pts, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->lineEdit_cameraRGBDImages_gt, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->comboBox_cameraRGBDImages_gtFormat, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->toolButton_cameraStereoImages_timestamps, SIGNAL(clicked()), this, SLOT(selectSourceStereoImagesStamps()));
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connect(_ui->lineEdit_cameraStereoImages_timestamps, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->toolButton_cameraStereoImages_path_left, SIGNAL(clicked()), this, SLOT(selectSourceStereoImagesPathLeft()));
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connect(_ui->toolButton_cameraStereoImages_path_right, SIGNAL(clicked()), this, SLOT(selectSourceStereoImagesPathRight()));
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connect(_ui->toolButton_cameraStereoImages_path_scans, SIGNAL(clicked()), this, SLOT(selectSourceStereoImagesPathScans()));
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connect(_ui->toolButton_cameraStereoImages_gt, SIGNAL(clicked()), this, SLOT(selectSourceStereoImagesPathGt()));
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connect(_ui->lineEdit_cameraStereoImages_path_left, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->lineEdit_cameraStereoImages_path_right, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->lineEdit_cameraStereoImages_path_scans, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
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@@ -407,6 +416,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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connect(_ui->spinBox_cameraStereoImages_max_scan_pts, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->checkBox_stereoImages_timestamps, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->checkBox_stereoImages_rectify, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->lineEdit_cameraStereoImages_gt, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->comboBox_cameraStereoImages_gtFormat, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->toolButton_cameraStereoVideo_path, SIGNAL(clicked()), this, SLOT(selectSourceStereoVideoPath()));
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connect(_ui->lineEdit_cameraStereoVideo_path, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
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@@ -1113,7 +1124,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
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_ui->lineEdit_sourceLocalTransform->setText("0 0 1 -1 0 0 0 -1 0");
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_ui->source_comboBox_image_type->setCurrentIndex(kSrcUsbDevice-kSrcUsbDevice);
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_ui->source_images_spinBox_startPos->setValue(1);
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_ui->source_images_spinBox_startPos->setValue(0);
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_ui->source_images_refreshDir->setChecked(false);
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_ui->checkBox_rgbImages_rectify->setChecked(false);
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_ui->checkBox_rgbVideo_rectify->setChecked(false);
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@@ -1171,9 +1182,14 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
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_ui->lineEdit_openni2OniPath->clear();
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_ui->lineEdit_cameraRGBDImages_path_rgb->setText("");
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_ui->lineEdit_cameraRGBDImages_path_depth->setText("");
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_ui->checkBox_RGBDImages_timestamps->setChecked(false);
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_ui->checkBox_cameraRGBDImages_timestamps->setChecked(false);
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_ui->doubleSpinBox_cameraRGBDImages_scale->setValue(1.0);
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_ui->lineEdit_cameraRGBDImages_timestamps->setText("");
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_ui->lineEdit_cameraRGBDImages_path_scans->setText("");
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_ui->lineEdit_cameraRGBDImages_laser_transform->setText("0 0 0 0 0 0");
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_ui->spinBox_cameraRGBDImages_max_scan_pts->setValue(0);
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_ui->lineEdit_cameraRGBDImages_gt->setText("");
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_ui->comboBox_cameraRGBDImages_gtFormat->setCurrentIndex(0);
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_ui->source_comboBox_image_type->setCurrentIndex(kSrcDC1394-kSrcDC1394);
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_ui->lineEdit_cameraStereoImages_timestamps->setText("");
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@@ -1186,6 +1202,8 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
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_ui->checkBox_stereoImages_rectify->setChecked(false);
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_ui->lineEdit_cameraStereoVideo_path->setText("");
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_ui->checkBox_stereoVideo_rectify->setChecked(false);
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_ui->lineEdit_cameraStereoImages_gt->setText("");
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_ui->comboBox_cameraStereoImages_gtFormat->setCurrentIndex(0);
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}
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else if(groupBox->objectName() == _ui->groupBox_rtabmap_basic0->objectName())
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{
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@@ -1461,9 +1479,14 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
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settings.beginGroup("RGBDImages");
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_ui->lineEdit_cameraRGBDImages_path_rgb->setText(settings.value("path_rgb", _ui->lineEdit_cameraRGBDImages_path_rgb->text()).toString());
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_ui->lineEdit_cameraRGBDImages_path_depth->setText(settings.value("path_depth", _ui->lineEdit_cameraRGBDImages_path_depth->text()).toString());
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_ui->checkBox_RGBDImages_timestamps->setChecked(settings.value("filenames_as_stamps",_ui->checkBox_RGBDImages_timestamps->isChecked()).toBool());
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_ui->checkBox_cameraRGBDImages_timestamps->setChecked(settings.value("filenames_as_stamps",_ui->checkBox_cameraRGBDImages_timestamps->isChecked()).toBool());
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_ui->lineEdit_cameraRGBDImages_timestamps->setText(settings.value("stamps", _ui->lineEdit_cameraRGBDImages_timestamps->text()).toString());
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_ui->doubleSpinBox_cameraRGBDImages_scale->setValue(settings.value("scale", _ui->doubleSpinBox_cameraRGBDImages_scale->value()).toDouble());
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_ui->lineEdit_cameraRGBDImages_path_scans->setText(settings.value("path_scans", _ui->lineEdit_cameraRGBDImages_path_scans->text()).toString());
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_ui->lineEdit_cameraRGBDImages_laser_transform->setText(settings.value("scan_transform", _ui->lineEdit_cameraRGBDImages_laser_transform->text()).toString());
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_ui->spinBox_cameraRGBDImages_max_scan_pts->setValue(settings.value("scan_max_pts", _ui->spinBox_cameraRGBDImages_max_scan_pts->value()).toInt());
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_ui->lineEdit_cameraRGBDImages_gt->setText(settings.value("gt_path", _ui->lineEdit_cameraRGBDImages_gt->text()).toString());
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_ui->comboBox_cameraRGBDImages_gtFormat->setCurrentIndex(settings.value("gt_format", _ui->comboBox_cameraRGBDImages_gtFormat->currentIndex()).toInt());
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settings.endGroup(); // RGBDImages
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settings.beginGroup("StereoImages");
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@@ -1475,6 +1498,8 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
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_ui->spinBox_cameraStereoImages_max_scan_pts->setValue(settings.value("scan_max_pts", _ui->spinBox_cameraStereoImages_max_scan_pts->value()).toInt());
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_ui->checkBox_stereoImages_timestamps->setChecked(settings.value("filenames_as_stamps",_ui->checkBox_stereoImages_timestamps->isChecked()).toBool());
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_ui->checkBox_stereoImages_rectify->setChecked(settings.value("rectify",_ui->checkBox_stereoImages_rectify->isChecked()).toBool());
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_ui->lineEdit_cameraStereoImages_gt->setText(settings.value("gt_path", _ui->lineEdit_cameraStereoImages_gt->text()).toString());
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_ui->comboBox_cameraStereoImages_gtFormat->setCurrentIndex(settings.value("gt_format", _ui->comboBox_cameraStereoImages_gtFormat->currentIndex()).toInt());
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settings.endGroup(); // StereoImages
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settings.beginGroup("StereoVideo");
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@@ -1802,9 +1827,14 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
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settings.beginGroup("RGBDImages");
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settings.setValue("path_rgb", _ui->lineEdit_cameraRGBDImages_path_rgb->text());
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settings.setValue("path_depth", _ui->lineEdit_cameraRGBDImages_path_depth->text());
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settings.setValue("filenames_as_stamps", _ui->checkBox_RGBDImages_timestamps->isChecked());
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settings.setValue("filenames_as_stamps", _ui->checkBox_cameraRGBDImages_timestamps->isChecked());
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settings.setValue("stamps", _ui->lineEdit_cameraRGBDImages_timestamps->text());
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settings.setValue("scale", _ui->doubleSpinBox_cameraRGBDImages_scale->value());
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settings.setValue("path_scans", _ui->lineEdit_cameraRGBDImages_path_scans->text());
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settings.setValue("scan_transform", _ui->lineEdit_cameraRGBDImages_laser_transform->text());
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settings.setValue("scan_max_pts", _ui->spinBox_cameraRGBDImages_max_scan_pts->value());
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settings.setValue("gt_path", _ui->lineEdit_cameraRGBDImages_gt->text());
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settings.setValue("gt_format", _ui->comboBox_cameraRGBDImages_gtFormat->currentIndex());
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settings.endGroup(); // RGBDImages
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settings.beginGroup("StereoImages");
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@@ -1816,6 +1846,8 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
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settings.setValue("scan_max_pts", _ui->spinBox_cameraStereoImages_max_scan_pts->value());
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settings.setValue("filenames_as_stamps", _ui->checkBox_stereoImages_timestamps->isChecked());
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settings.setValue("rectify", _ui->checkBox_stereoImages_rectify->isChecked());
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settings.setValue("gt_path", _ui->lineEdit_cameraStereoImages_gt->text());
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settings.setValue("gt_format", _ui->comboBox_cameraStereoImages_gtFormat->currentIndex());
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settings.endGroup(); // StereoImages
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settings.beginGroup("StereoVideo");
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@@ -2434,6 +2466,21 @@ void PreferencesDialog::selectSourceRGBDImagesPathRGB()
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}
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}
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void PreferencesDialog::selectSourceRGBDImagesPathScans()
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{
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QString dir = _ui->lineEdit_cameraRGBDImages_path_scans->text();
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if(dir.isEmpty())
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{
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dir = getWorkingDirectory();
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}
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QString path = QFileDialog::getExistingDirectory(this, tr("Select scans directory"), dir);
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if(path.size())
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{
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_ui->lineEdit_cameraRGBDImages_path_scans->setText(path);
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}
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}
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void PreferencesDialog::selectSourceRGBDImagesPathDepth()
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{
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QString dir = _ui->lineEdit_cameraRGBDImages_path_depth->text();
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@@ -2448,6 +2495,30 @@ void PreferencesDialog::selectSourceRGBDImagesPathDepth()
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}
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}
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void PreferencesDialog::selectSourceRGBDImagesPathGt()
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{
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QString dir = _ui->lineEdit_cameraRGBDImages_gt->text();
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if(dir.isEmpty())
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{
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dir = getWorkingDirectory();
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}
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QString path = QFileDialog::getOpenFileName(this, tr("Select file"), dir, tr("Ground Truth (*.txt)"));
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if(path.size())
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{
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QStringList list;
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for(int i=0; i<_ui->comboBox_cameraRGBDImages_gtFormat->count(); ++i)
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{
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list.push_back(_ui->comboBox_cameraRGBDImages_gtFormat->itemText(i));
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}
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QString item = QInputDialog::getItem(this, tr("Ground Truth Format"), tr("Format:"), list);
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if(!item.isEmpty())
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{
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_ui->lineEdit_cameraRGBDImages_gt->setText(path);
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_ui->comboBox_cameraRGBDImages_gtFormat->setCurrentIndex(_ui->comboBox_cameraRGBDImages_gtFormat->findText(item));
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}
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}
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}
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void PreferencesDialog::selectSourceStereoImagesStamps()
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{
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QString dir = _ui->lineEdit_cameraStereoImages_timestamps->text();
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@@ -2504,6 +2575,30 @@ void PreferencesDialog::selectSourceStereoImagesPathScans()
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}
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}
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void PreferencesDialog::selectSourceStereoImagesPathGt()
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{
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QString dir = _ui->lineEdit_cameraStereoImages_gt->text();
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if(dir.isEmpty())
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{
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dir = getWorkingDirectory();
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}
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QString path = QFileDialog::getOpenFileName(this, tr("Select file"), dir, tr("Ground Truth (*.txt)"));
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if(path.size())
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{
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QStringList list;
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for(int i=0; i<_ui->comboBox_cameraStereoImages_gtFormat->count(); ++i)
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{
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list.push_back(_ui->comboBox_cameraStereoImages_gtFormat->itemText(i));
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}
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QString item = QInputDialog::getItem(this, tr("Ground Truth Format"), tr("Format:"), list);
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if(!item.isEmpty())
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{
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_ui->lineEdit_cameraStereoImages_gt->setText(path);
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_ui->comboBox_cameraStereoImages_gtFormat->setCurrentIndex(_ui->comboBox_cameraStereoImages_gtFormat->findText(item));
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}
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}
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}
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void PreferencesDialog::selectSourceImagesPath()
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{
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QString dir = _ui->source_images_lineEdit_path->text();
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@@ -2515,7 +2610,7 @@ void PreferencesDialog::selectSourceImagesPath()
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if(!path.isEmpty())
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{
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_ui->source_images_lineEdit_path->setText(path);
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_ui->source_images_spinBox_startPos->setValue(1);
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_ui->source_images_spinBox_startPos->setValue(0);
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}
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}
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@@ -3596,6 +3691,16 @@ Transform PreferencesDialog::getStereoLaserLocalTransform() const
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return t;
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}
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Transform PreferencesDialog::getRGBDLaserLocalTransform() const
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{
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Transform t = Transform::fromString(_ui->lineEdit_cameraRGBDImages_laser_transform->text().replace("PI_2", QString::number(3.141592/2.0)).toStdString());
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if(t.isNull())
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{
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return Transform::getIdentity();
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}
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return t;
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}
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QString PreferencesDialog::getSourceDatabasePath() const
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{
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return _ui->source_database_lineEdit_path->text();
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@@ -3721,10 +3826,14 @@ Camera * PreferencesDialog::createCamera(bool useRawImages)
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_ui->lineEdit_cameraRGBDImages_path_rgb->text().append(QDir::separator()).toStdString(),
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_ui->lineEdit_cameraRGBDImages_path_depth->text().append(QDir::separator()).toStdString(),
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_ui->doubleSpinBox_cameraRGBDImages_scale->value(),
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_ui->checkBox_RGBDImages_timestamps->isChecked(),
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_ui->lineEdit_cameraRGBDImages_timestamps->text().toStdString(),
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this->getGeneralInputRate(),
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this->getSourceLocalTransform());
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((CameraRGBDImages*)camera)->setGroundTruthPath(_ui->lineEdit_cameraRGBDImages_gt->text().toStdString(), _ui->comboBox_cameraRGBDImages_gtFormat->currentIndex());
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((CameraRGBDImages*)camera)->setScanPath(
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_ui->lineEdit_cameraRGBDImages_path_scans->text().isEmpty()?"":_ui->lineEdit_cameraRGBDImages_path_scans->text().append(QDir::separator()).toStdString(),
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_ui->spinBox_cameraRGBDImages_max_scan_pts->value(),
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this->getRGBDLaserLocalTransform());
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((CameraRGBDImages*)camera)->setTimestamps(_ui->checkBox_cameraRGBDImages_timestamps->isChecked(), _ui->lineEdit_cameraRGBDImages_timestamps->text().toStdString());
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}
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else if(driver == kSrcDC1394)
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{
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@@ -3751,16 +3860,17 @@ Camera * PreferencesDialog::createCamera(bool useRawImages)
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else if(driver == kSrcStereoImages)
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{
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camera = new CameraStereoImages(
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_ui->lineEdit_cameraStereoImages_path_scans->text().isEmpty()?"":_ui->lineEdit_cameraStereoImages_path_scans->text().append(QDir::separator()).toStdString(),
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this->getStereoLaserLocalTransform(),
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_ui->spinBox_cameraStereoImages_max_scan_pts->value(),
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_ui->lineEdit_cameraStereoImages_path_left->text().append(QDir::separator()).toStdString(),
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_ui->lineEdit_cameraStereoImages_path_right->text().append(QDir::separator()).toStdString(),
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_ui->checkBox_stereoImages_timestamps->isChecked(),
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_ui->lineEdit_cameraStereoImages_timestamps->text().toStdString(),
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_ui->checkBox_stereoImages_rectify->isChecked(),
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this->getGeneralInputRate(),
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this->getSourceLocalTransform());
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((CameraStereoImages*)camera)->setGroundTruthPath(_ui->lineEdit_cameraStereoImages_gt->text().toStdString(), _ui->comboBox_cameraStereoImages_gtFormat->currentIndex());
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((CameraStereoImages*)camera)->setScanPath(
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_ui->lineEdit_cameraStereoImages_path_scans->text().isEmpty()?"":_ui->lineEdit_cameraStereoImages_path_scans->text().append(QDir::separator()).toStdString(),
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_ui->spinBox_cameraStereoImages_max_scan_pts->value(),
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this->getStereoLaserLocalTransform());
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((CameraStereoImages*)camera)->setTimestamps(_ui->checkBox_stereoImages_timestamps->isChecked(), _ui->lineEdit_cameraStereoImages_timestamps->text().toStdString());
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}
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else if(driver == kSrcStereoVideo)
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{
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@@ -3789,12 +3899,12 @@ Camera * PreferencesDialog::createCamera(bool useRawImages)
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{
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camera = new CameraImages(
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_ui->source_images_lineEdit_path->text().toStdString(),
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_ui->source_images_spinBox_startPos->value(),
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_ui->source_images_refreshDir->isChecked(),
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_ui->checkBox_rgbImages_rectify->isChecked(),
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false,
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this->getGeneralInputRate(),
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this->getSourceLocalTransform());
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((CameraImages*)camera)->setStartIndex(_ui->source_images_spinBox_startPos->value());
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((CameraImages*)camera)->setDirRefreshed(_ui->source_images_refreshDir->isChecked());
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((CameraImages*)camera)->setImagesRectified(_ui->checkBox_rgbImages_rectify->isChecked());
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}
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else if(driver == kSrcDatabase)
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{
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