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Code Issues Packages Projects Releases Wiki Activity

DBReader: added ignore priors option (added to gui and reprocess), Statistics: added info about distance/angle of the localization, RegVis: fixed inliers mean distance on multicam setup, About: added MRPT info

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This commit is contained in:
matlabbe
2023-02-10 17:29:10 -08:00
parent 59d220c54f
commit 437ed09335
11 changed files with 1250 additions and 1158 deletions
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8
guilib/src/AboutDialog.cpp
View File

@@ -160,6 +160,14 @@ AboutDialog::AboutDialog(QWidget * parent) :
_ui->label_ceres->setText(Optimizer::isAvailable(Optimizer::kTypeCeres)?"Yes":"No");
_ui->label_ceres_license->setEnabled(Optimizer::isAvailable(Optimizer::kTypeCeres)?true:false);
#ifdef RTABMAP_MRPT
_ui->label_mrpt->setText("Yes");
_ui->label_mrpt_license->setEnabled(true);
#else
_ui->label_mrpt->setText("No");
_ui->label_mrpt_license->setEnabled(false);
#endif
#ifdef RTABMAP_POINTMATCHER
_ui->label_libpointmatcher->setText("Yes");
_ui->label_libpointmatcher_license->setEnabled(true);

9
guilib/src/PreferencesDialog.cpp
View File

@@ -676,6 +676,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->source_checkBox_ignoreGoals, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->source_checkBox_ignoreLandmarks, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->source_checkBox_ignoreFeatures, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->source_checkBox_ignorePriors, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->source_spinBox_databaseStartId, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->source_spinBox_databaseStopId, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->source_checkBox_useDbStamps, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
@@ -1930,6 +1931,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->source_checkBox_ignoreGoals->setChecked(true);
_ui->source_checkBox_ignoreLandmarks->setChecked(true);
_ui->source_checkBox_ignoreFeatures->setChecked(true);
_ui->source_checkBox_ignorePriors->setChecked(false);
_ui->source_spinBox_databaseStartId->setValue(0);
_ui->source_spinBox_databaseStopId->setValue(0);
_ui->source_spinBox_database_cameraIndex->setValue(-1);
@@ -2617,6 +2619,7 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
_ui->source_checkBox_ignoreGoals->setChecked(settings.value("ignoreGoals", _ui->source_checkBox_ignoreGoals->isChecked()).toBool());
_ui->source_checkBox_ignoreLandmarks->setChecked(settings.value("ignoreLandmarks", _ui->source_checkBox_ignoreLandmarks->isChecked()).toBool());
_ui->source_checkBox_ignoreFeatures->setChecked(settings.value("ignoreFeatures", _ui->source_checkBox_ignoreFeatures->isChecked()).toBool());
_ui->source_checkBox_ignorePriors->setChecked(settings.value("ignorePriors", _ui->source_checkBox_ignorePriors->isChecked()).toBool());
_ui->source_spinBox_databaseStartId->setValue(settings.value("startId", _ui->source_spinBox_databaseStartId->value()).toInt());
_ui->source_spinBox_databaseStopId->setValue(settings.value("stopId", _ui->source_spinBox_databaseStopId->value()).toInt());
_ui->source_spinBox_database_cameraIndex->setValue(settings.value("cameraIndex", _ui->source_spinBox_database_cameraIndex->value()).toInt());
@@ -3141,6 +3144,7 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.setValue("ignoreGoals", _ui->source_checkBox_ignoreGoals->isChecked());
settings.setValue("ignoreLandmarks", _ui->source_checkBox_ignoreLandmarks->isChecked());
settings.setValue("ignoreFeatures", _ui->source_checkBox_ignoreFeatures->isChecked());
settings.setValue("ignorePriors", _ui->source_checkBox_ignorePriors->isChecked());
settings.setValue("startId", _ui->source_spinBox_databaseStartId->value());
settings.setValue("stopId", _ui->source_spinBox_databaseStopId->value());
settings.setValue("cameraIndex", _ui->source_spinBox_database_cameraIndex->value());
@@ -6365,7 +6369,10 @@ Camera * PreferencesDialog::createCamera(
_ui->source_spinBox_databaseStopId->value(),
!_ui->general_checkBox_createIntermediateNodes->isChecked(),
_ui->source_checkBox_ignoreLandmarks->isChecked(),
_ui->source_checkBox_ignoreFeatures->isChecked());
_ui->source_checkBox_ignoreFeatures->isChecked(),
0,
-1,
_ui->source_checkBox_ignorePriors->isChecked());
}
else
{

1875
guilib/src/ui/aboutDialog.ui
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File diff suppressed because it is too large Load Diff

338
guilib/src/ui/preferencesDialog.ui
View File

@@ -63,7 +63,7 @@
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<y>-314</y>
<width>756</width>
<height>3657</height>
</rect>
@@ -95,7 +95,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>0</number>
<number>5</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,0">
@@ -3188,7 +3188,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<item>
<widget class="QStackedWidget" name="stackedWidget_src">
<property name="currentIndex">
<number>1</number>
<number>3</number>
</property>
<widget class="QWidget" name="page_41">
<layout class="QVBoxLayout" name="verticalLayout_64">
@@ -6245,6 +6245,29 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<bool>false</bool>
</property>
<layout class="QGridLayout" name="gridLayout_9" columnstretch="0,0,0">
<item row="8" column="0">
<widget class="QSpinBox" name="source_spinBox_databaseStartId">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>99999</number>
</property>
</widget>
</item>
<item row="9" column="0">
<widget class="QSpinBox" name="source_spinBox_databaseStopId">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>99999</number>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLineEdit" name="source_database_lineEdit_path"/>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_72">
<property name="text">
@@ -6258,37 +6281,17 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QToolButton" name="source_database_toolButton_selectSource">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_90">
<property name="text">
<string>Use database stamps as input rate.</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="0">
<widget class="QCheckBox" name="source_checkBox_ignoreGoals">
<item row="2" column="0">
<widget class="QCheckBox" name="source_checkBox_useDbStamps">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="9" column="1">
<widget class="QLabel" name="label_315">
<item row="3" column="1">
<widget class="QLabel" name="label_263">
<property name="text">
<string>Camera index. If the database contains multi-camera data, you can choose which camera to use. -1 means that all cameras are streamed.</string>
<string>Ignore goals saved in the database.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -6298,6 +6301,19 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="12" column="1">
<spacer name="verticalSpacer_35">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="source_checkBox_ignoreOdometry">
<property name="text">
@@ -6305,43 +6321,6 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QCheckBox" name="source_checkBox_ignoreGoalDelay">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_58">
<property name="text">
<string>Start position (node ID).</string>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLineEdit" name="source_database_lineEdit_path"/>
</item>
<item row="10" column="0">
<widget class="QCheckBox" name="source_checkBox_stereoToDepthDB">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QSpinBox" name="source_spinBox_databaseStopId">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>99999</number>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QToolButton" name="toolButton_dbViewer">
<property name="toolTip">
@@ -6356,61 +6335,8 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QCheckBox" name="source_checkBox_useDbStamps">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QSpinBox" name="source_spinBox_databaseStartId">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>99999</number>
</property>
</widget>
</item>
<item row="9" column="0">
<widget class="QSpinBox" name="source_spinBox_database_cameraIndex">
<property name="minimum">
<number>-1</number>
</property>
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QLabel" name="label_529">
<property name="text">
<string>Stop position (node ID) is the last node to process. If 0, all nodes after start position are published.</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="QLabel" name="label_546">
<property name="text">
<string>Ignore landmarks.</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="0">
<widget class="QCheckBox" name="source_checkBox_ignoreLandmarks">
<item row="4" column="0">
<widget class="QCheckBox" name="source_checkBox_ignoreGoalDelay">
<property name="text">
<string/>
</property>
@@ -6429,45 +6355,6 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_263">
<property name="text">
<string>Ignore goals saved in the database.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="10" column="1">
<widget class="QLabel" name="label_557">
<property name="text">
<string>If the database contains stereo data, generate disparity image and convert it to depth. The resulting output is a RGB-D image instead of stereo images. Dense disparity parameters can be found under StereoBM tab.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="11" column="1">
<spacer name="verticalSpacer_35">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_644">
<property name="text">
@@ -6481,6 +6368,106 @@ 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="QLabel" name="label_90">
<property name="text">
<string>Use database stamps as input rate.</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="QLabel" name="label_529">
<property name="text">
<string>Stop position (node ID) is the last node to process. If 0, all nodes after start position are published.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="10" column="1">
<widget class="QLabel" name="label_315">
<property name="text">
<string>Camera index. If the database contains multi-camera data, you can choose which camera to use. -1 means that all cameras are streamed.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="11" column="0">
<widget class="QCheckBox" name="source_checkBox_stereoToDepthDB">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QToolButton" name="source_database_toolButton_selectSource">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QCheckBox" name="source_checkBox_ignoreGoals">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QCheckBox" name="source_checkBox_ignoreLandmarks">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_546">
<property name="text">
<string>Ignore landmarks.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="10" column="0">
<widget class="QSpinBox" name="source_spinBox_database_cameraIndex">
<property name="minimum">
<number>-1</number>
</property>
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QLabel" name="label_58">
<property name="text">
<string>Start position (node ID).</string>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QCheckBox" name="source_checkBox_ignoreFeatures">
<property name="text">
@@ -6488,6 +6475,39 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="11" column="1">
<widget class="QLabel" name="label_557">
<property name="text">
<string>If the database contains stereo data, generate disparity image and convert it to depth. The resulting output is a RGB-D image instead of stereo images. Dense disparity parameters can be found under StereoBM tab.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_653">
<property name="text">
<string>Ignore priors.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QCheckBox" name="source_checkBox_ignorePriors">
<property name="text">
<string/>
</property>
</widget>
</item>
</layout>
</widget>
</item>