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Added OdometryFLOAM (Odom/Strategy=11)

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matlabbe
2021-09-09 17:38:54 -04:00
parent 263e0170f1
commit 3ba02d2ef6
14 changed files with 337 additions and 19 deletions
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16
guilib/src/PreferencesDialog.cpp
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@@ -1246,9 +1246,9 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
//Odometry
_ui->odom_strategy->setObjectName(Parameters::kOdomStrategy().c_str());
connect(_ui->odom_strategy, SIGNAL(currentIndexChanged(int)), _ui->stackedWidget_odometryType, SLOT(setCurrentIndex(int)));
connect(_ui->odom_strategy, SIGNAL(currentIndexChanged(int)), this, SLOT(updateOdometryStackedIndex(int)));
_ui->odom_strategy->setCurrentIndex(Parameters::defaultOdomStrategy());
_ui->stackedWidget_odometryType->setCurrentIndex(Parameters::defaultOdomStrategy());
updateOdometryStackedIndex(Parameters::defaultOdomStrategy());
_ui->odom_countdown->setObjectName(Parameters::kOdomResetCountdown().c_str());
_ui->odom_holonomic->setObjectName(Parameters::kOdomHolonomic().c_str());
_ui->odom_fillInfoData->setObjectName(Parameters::kOdomFillInfoData().c_str());
@@ -4913,6 +4913,18 @@ void PreferencesDialog::updateFeatureMatchingVisibility()
_ui->groupBox_gms->setVisible(_ui->reextract_nn->currentIndex() == 7);
}
void PreferencesDialog::updateOdometryStackedIndex(int index)
{
if(index == 11) // FLOAM -> LOAM
{
_ui->stackedWidget_odometryType->setCurrentIndex(7);
}
else
{
_ui->stackedWidget_odometryType->setCurrentIndex(index);
}
}
void PreferencesDialog::useOdomFeatures()
{
if(this->isVisible() && _ui->checkBox_useOdomFeatures->isChecked())