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Parameters: Added "Reg/VarianceNormalized". Registration: Transforms are now only normalized in Registration. Added rgbd_dataset tool. MainWindow: odom inliers-only shown option. ExportCloudsDialog: ignoring intermediate nodes for texturing (if they don't have data). DatabaseViewer: "optimized" checkbox enabled in Constraints view for non-neighbor links too.

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This commit is contained in:
matlabbe
2017-05-22 11:48:01 -04:00
parent 58e6424bf7
commit 385b7e3389
20 changed files with 758 additions and 155 deletions
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9
guilib/src/PreferencesDialog.cpp
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@@ -306,6 +306,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->checkBox_cacheStatistics, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
connect(_ui->checkBox_notifyWhenNewGlobalPathIsReceived, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
connect(_ui->spinBox_odomQualityWarnThr, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
connect(_ui->checkBox_odom_onlyInliersShown, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
connect(_ui->checkBox_posteriorGraphView, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
connect(_ui->checkbox_odomDisabled, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
connect(_ui->odom_registration, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
@@ -785,6 +786,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
// Registration
_ui->loopClosure_bowVarianceFromInliersCount->setObjectName(Parameters::kRegVarianceFromInliersCount().c_str());
_ui->reg_varianceNormalized->setObjectName(Parameters::kRegVarianceNormalized().c_str());
_ui->comboBox_registrationStrategy->setObjectName(Parameters::kRegStrategy().c_str());
_ui->loopClosure_bowForce2D->setObjectName(Parameters::kRegForce3DoF().c_str());
@@ -1255,6 +1257,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->checkBox_imageRejectedShown->setChecked(true);
_ui->checkBox_imageHighestHypShown->setChecked(false);
_ui->spinBox_odomQualityWarnThr->setValue(50);
_ui->checkBox_odom_onlyInliersShown->setChecked(false);
_ui->checkBox_posteriorGraphView->setChecked(true);
_ui->checkbox_odomDisabled->setChecked(false);
_ui->checkbox_groundTruthAlign->setChecked(true);
@@ -1651,6 +1654,7 @@ void PreferencesDialog::readGuiSettings(const QString & filePath)
_ui->checkBox_cacheStatistics->setChecked(settings.value("figure_cache", _ui->checkBox_cacheStatistics->isChecked()).toBool());
_ui->checkBox_notifyWhenNewGlobalPathIsReceived->setChecked(settings.value("notifyNewGlobalPath", _ui->checkBox_notifyWhenNewGlobalPathIsReceived->isChecked()).toBool());
_ui->spinBox_odomQualityWarnThr->setValue(settings.value("odomQualityThr", _ui->spinBox_odomQualityWarnThr->value()).toInt());
_ui->checkBox_odom_onlyInliersShown->setChecked(settings.value("odomOnlyInliersShown", _ui->checkBox_odom_onlyInliersShown->isChecked()).toBool());
_ui->checkBox_posteriorGraphView->setChecked(settings.value("posteriorGraphView", _ui->checkBox_posteriorGraphView->isChecked()).toBool());
_ui->checkbox_odomDisabled->setChecked(settings.value("odomDisabled", _ui->checkbox_odomDisabled->isChecked()).toBool());
_ui->odom_registration->setCurrentIndex(settings.value("odomRegistration", _ui->odom_registration->currentIndex()).toInt());
@@ -2037,6 +2041,7 @@ void PreferencesDialog::writeGuiSettings(const QString & filePath) const
settings.setValue("figure_cache", _ui->checkBox_cacheStatistics->isChecked());
settings.setValue("notifyNewGlobalPath", _ui->checkBox_notifyWhenNewGlobalPathIsReceived->isChecked());
settings.setValue("odomQualityThr", _ui->spinBox_odomQualityWarnThr->value());
settings.setValue("odomOnlyInliersShown", _ui->checkBox_odom_onlyInliersShown->isChecked());
settings.setValue("posteriorGraphView", _ui->checkBox_posteriorGraphView->isChecked());
settings.setValue("odomDisabled", _ui->checkbox_odomDisabled->isChecked());
settings.setValue("odomRegistration", _ui->odom_registration->currentIndex());
@@ -4026,6 +4031,10 @@ int PreferencesDialog::getOdomQualityWarnThr() const
{
return _ui->spinBox_odomQualityWarnThr->value();
}
bool PreferencesDialog::isOdomOnlyInliersShown() const
{
return _ui->checkBox_odom_onlyInliersShown->isChecked();
}
bool PreferencesDialog::isPosteriorGraphView() const
{
return _ui->checkBox_posteriorGraphView->isChecked();