mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-03 01:50:24 +08:00
0.15.1: CameraImages: added ground truth time diff, fixed memory leak when loading binary scans. CameraRGBDImages and CameraStereoImages: fixed start id. Feature2D: added grid rows and cols parameters (Kp/GridRows, Kp/GridCols, Vis/GridRows, Vis/GridCols). OdomInfo: publish bundle frames. OdometryORBSLAM2: added OdomORBSLAM2/Fps and OdomORBSLAM2/MaxFeatures parameters. Registration: added Reg/RepeatOnce parameter and removed variance normalization. For util2d::getDepth() and util3d::projectDepthTo3D(), maxZError parameter is now depthErrorRatio to be dependent of the sensor range. Database: save image width and height from stereo calibration. OptimizerG2O: fixed SBA optimization when using g2o built from ORBSLAM2 library. OptimizerGTSAM: to increase optimization stability, all rotations in information matrix are divided by 100000. Added rtabmap-report tool.
This commit is contained in:
matlabbe
@@ -295,6 +295,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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#if PCL_VERSION_COMPARE(<, 1, 7, 2)
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_ui->checkBox_showFrustums->setEnabled(false);
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_ui->checkBox_showFrustums->setChecked(false);
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_ui->checkBox_showOdomFrustums->setEnabled(false);
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_ui->checkBox_showOdomFrustums->setChecked(false);
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#endif
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// in case we change the ui, we should not forget to change stuff related to this parameter
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@@ -393,6 +395,10 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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_3dRenderingShowFeatures[0] = _ui->checkBox_showFeatures;
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_3dRenderingShowFeatures[1] = _ui->checkBox_showOdomFeatures;
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_3dRenderingShowFrustums.resize(2);
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_3dRenderingShowFrustums[0] = _ui->checkBox_showFrustums;
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_3dRenderingShowFrustums[1] = _ui->checkBox_showOdomFrustums;
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_3dRenderingPtSizeFeatures.resize(2);
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_3dRenderingPtSizeFeatures[0] = _ui->spinBox_ptsize_features;
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_3dRenderingPtSizeFeatures[1] = _ui->spinBox_ptsize_odom_features;
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@@ -406,6 +412,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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connect(_3dRenderingRoiRatios[i], SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteCloudRenderingPanel()));
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connect(_3dRenderingShowScans[i], SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
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connect(_3dRenderingShowFeatures[i], SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
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connect(_3dRenderingShowFrustums[i], SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
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connect(_3dRenderingDownsamplingScan[i], SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
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connect(_3dRenderingVoxelSizeScan[i], SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
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@@ -428,7 +435,6 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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connect(_ui->doubleSpinBox_normalRadiusSearch_scan, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
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connect(_ui->checkBox_showGraphs, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
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connect(_ui->checkBox_showFrustums, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
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connect(_ui->checkBox_showLabels, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
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connect(_ui->radioButton_noFiltering, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteCloudRenderingPanel()));
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@@ -470,6 +476,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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//Source panel
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connect(_ui->general_doubleSpinBox_imgRate, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->general_doubleSpinBox_imgRate, SIGNAL(valueChanged(double)), _ui->doubleSpinBox_OdomORBSLAM2Fps, SLOT(setValue(double)));
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connect(_ui->source_mirroring, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->toolButton_source_path_calibration, SIGNAL(clicked()), this, SLOT(selectCalibrationPath()));
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connect(_ui->lineEdit_calibrationFile, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
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@@ -488,7 +495,6 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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connect(_ui->source_images_toolButton_selectSource, SIGNAL(clicked()), this, SLOT(selectSourceImagesPath()));
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connect(_ui->source_images_lineEdit_path, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->source_images_spinBox_startPos, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->source_images_refreshDir, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->comboBox_cameraImages_bayerMode, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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//video group
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connect(_ui->source_video_toolButton_selectSource, SIGNAL(clicked()), this, SLOT(selectSourceVideoPath()));
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@@ -544,6 +550,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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connect(_ui->checkBox_cameraImages_timestamps, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->checkBox_cameraImages_syncTimeStamps, 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->spinBox_cameraRGBDImages_startIndex, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->lineEdit_cameraImages_path_scans, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->lineEdit_cameraImages_laser_transform, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->spinBox_cameraImages_max_scan_pts, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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@@ -553,6 +560,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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connect(_ui->comboBox_cameraImages_odomFormat, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->lineEdit_cameraImages_gt, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->comboBox_cameraImages_gtFormat, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->doubleSpinBox_maxPoseTimeDiff, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->groupBox_depthFromScan, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->groupBox_depthFromScan_fillHoles, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->radioButton_depthFromScan_vertical, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteSourcePanel()));
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@@ -564,6 +572,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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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->checkBox_stereo_rectify, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->spinBox_cameraStereoImages_startIndex, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->toolButton_cameraStereoVideo_path, SIGNAL(clicked()), this, SLOT(selectSourceStereoVideoPath()));
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connect(_ui->toolButton_cameraStereoVideo_path_2, SIGNAL(clicked()), this, SLOT(selectSourceStereoVideoPath2()));
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@@ -699,6 +708,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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_ui->surf_doubleSpinBox_maxDepth->setObjectName(Parameters::kKpMaxDepth().c_str());
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_ui->surf_doubleSpinBox_minDepth->setObjectName(Parameters::kKpMinDepth().c_str());
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_ui->surf_spinBox_wordsPerImageTarget->setObjectName(Parameters::kKpMaxFeatures().c_str());
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_ui->spinBox_KPGridRows->setObjectName(Parameters::kKpGridRows().c_str());
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_ui->spinBox_KPGridCols->setObjectName(Parameters::kKpGridCols().c_str());
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_ui->surf_doubleSpinBox_ratioBadSign->setObjectName(Parameters::kKpBadSignRatio().c_str());
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_ui->checkBox_kp_tfIdfLikelihoodUsed->setObjectName(Parameters::kKpTfIdfLikelihoodUsed().c_str());
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_ui->checkBox_kp_parallelized->setObjectName(Parameters::kKpParallelized().c_str());
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@@ -833,8 +844,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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_ui->checkbox_rgbd_createOccupancyGrid->setObjectName(Parameters::kRGBDCreateOccupancyGrid().c_str());
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// Registration
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_ui->loopClosure_bowVarianceFromInliersCount->setObjectName(Parameters::kRegVarianceFromInliersCount().c_str());
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_ui->reg_varianceNormalized->setObjectName(Parameters::kRegVarianceNormalized().c_str());
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_ui->reg_repeatOnce->setObjectName(Parameters::kRegRepeatOnce().c_str());
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_ui->comboBox_registrationStrategy->setObjectName(Parameters::kRegStrategy().c_str());
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_ui->loopClosure_bowForce2D->setObjectName(Parameters::kRegForce3DoF().c_str());
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@@ -859,6 +869,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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_ui->spinBox_visCorGuessWinSize->setObjectName(Parameters::kVisCorGuessWinSize().c_str());
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_ui->reextract_type->setObjectName(Parameters::kVisFeatureType().c_str());
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_ui->reextract_maxFeatures->setObjectName(Parameters::kVisMaxFeatures().c_str());
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_ui->reextract_gridrows->setObjectName(Parameters::kVisGridRows().c_str());
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_ui->reextract_gridcols->setObjectName(Parameters::kVisGridCols().c_str());
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_ui->loopClosure_bowMaxDepth->setObjectName(Parameters::kVisMaxDepth().c_str());
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_ui->loopClosure_bowMinDepth->setObjectName(Parameters::kVisMinDepth().c_str());
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_ui->loopClosure_roi->setObjectName(Parameters::kVisRoiRatios().c_str());
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@@ -929,6 +941,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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_ui->odom_strategy->setObjectName(Parameters::kOdomStrategy().c_str());
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connect(_ui->odom_strategy, SIGNAL(currentIndexChanged(int)), _ui->stackedWidget_odometryType, SLOT(setCurrentIndex(int)));
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_ui->odom_strategy->setCurrentIndex(Parameters::defaultOdomStrategy());
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_ui->stackedWidget_odometryType->setCurrentIndex(Parameters::defaultOdomStrategy());
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_ui->odom_countdown->setObjectName(Parameters::kOdomResetCountdown().c_str());
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_ui->odom_holonomic->setObjectName(Parameters::kOdomHolonomic().c_str());
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_ui->odom_fillInfoData->setObjectName(Parameters::kOdomFillInfoData().c_str());
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@@ -1023,6 +1036,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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connect(_ui->toolButton_OdomORBSLAM2VocPath, SIGNAL(clicked()), this, SLOT(changeOdometryORBSLAM2Vocabulary()));
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_ui->doubleSpinBox_OdomORBSLAM2Bf->setObjectName(Parameters::kOdomORBSLAM2Bf().c_str());
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_ui->doubleSpinBox_OdomORBSLAM2ThDepth->setObjectName(Parameters::kOdomORBSLAM2ThDepth().c_str());
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_ui->doubleSpinBox_OdomORBSLAM2Fps->setObjectName(Parameters::kOdomORBSLAM2Fps().c_str());
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_ui->spinBox_OdomORBSLAM2MaxFeatures->setObjectName(Parameters::kOdomORBSLAM2MaxFeatures().c_str());
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//Stereo
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_ui->stereo_winWidth->setObjectName(Parameters::kStereoWinWidth().c_str());
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@@ -1384,6 +1399,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
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_3dRenderingRoiRatios[i]->setText("0.0 0.0 0.0 0.0");
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_3dRenderingShowScans[i]->setChecked(true);
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_3dRenderingShowFeatures[i]->setChecked(i==0?false:true);
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_3dRenderingShowFrustums[i]->setChecked(false);
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_3dRenderingDownsamplingScan[i]->setValue(1);
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_3dRenderingVoxelSizeScan[i]->setValue(0.0);
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@@ -1408,7 +1424,6 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
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_ui->doubleSpinBox_normalRadiusSearch_scan->setValue(0.0);
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_ui->checkBox_showGraphs->setChecked(true);
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_ui->checkBox_showFrustums->setChecked(false);
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_ui->checkBox_showLabels->setChecked(false);
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_ui->doubleSpinBox_mesh_angleTolerance->setValue(15.0);
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@@ -1470,7 +1485,6 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
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_ui->source_comboBox_image_type->setCurrentIndex(kSrcUsbDevice-kSrcUsbDevice);
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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_rgb_rectify->setChecked(false);
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_ui->comboBox_cameraImages_bayerMode->setCurrentIndex(0);
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@@ -1537,6 +1551,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
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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->doubleSpinBox_cameraRGBDImages_scale->setValue(1.0);
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_ui->spinBox_cameraRGBDImages_startIndex->setValue(0);
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_ui->lineEdit_source_distortionModel->setText("");
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_ui->groupBox_bilateral->setChecked(false);
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_ui->doubleSpinBox_bilateral_sigmaS->setValue(10.0);
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@@ -1546,6 +1561,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
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_ui->lineEdit_cameraStereoImages_path_left->setText("");
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_ui->lineEdit_cameraStereoImages_path_right->setText("");
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_ui->checkBox_stereo_rectify->setChecked(false);
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_ui->spinBox_cameraStereoImages_startIndex->setValue(0);
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_ui->lineEdit_cameraStereoVideo_path->setText("");
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_ui->lineEdit_cameraStereoVideo_path_2->setText("");
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_ui->comboBox_stereoZed_resolution->setCurrentIndex(2);
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@@ -1568,6 +1584,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
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_ui->comboBox_cameraImages_odomFormat->setCurrentIndex(0);
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_ui->lineEdit_cameraImages_gt->setText("");
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_ui->comboBox_cameraImages_gtFormat->setCurrentIndex(0);
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_ui->doubleSpinBox_maxPoseTimeDiff->setValue(0.02);
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_ui->groupBox_scanFromDepth->setChecked(false);
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_ui->spinBox_cameraScanFromDepth_decimation->setValue(8);
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@@ -1786,6 +1803,7 @@ void PreferencesDialog::readGuiSettings(const QString & filePath)
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_3dRenderingRoiRatios[i]->setText(settings.value(QString("roiRatios%1").arg(i), _3dRenderingRoiRatios[i]->text()).toString());
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_3dRenderingShowScans[i]->setChecked(settings.value(QString("showScans%1").arg(i), _3dRenderingShowScans[i]->isChecked()).toBool());
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_3dRenderingShowFeatures[i]->setChecked(settings.value(QString("showFeatures%1").arg(i), _3dRenderingShowFeatures[i]->isChecked()).toBool());
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_3dRenderingShowFrustums[i]->setChecked(settings.value(QString("showFrustums%1").arg(i), _3dRenderingShowFrustums[i]->isChecked()).toBool());
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_3dRenderingDownsamplingScan[i]->setValue(settings.value(QString("downsamplingScan%1").arg(i), _3dRenderingDownsamplingScan[i]->value()).toInt());
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_3dRenderingVoxelSizeScan[i]->setValue(settings.value(QString("voxelSizeScan%1").arg(i), _3dRenderingVoxelSizeScan[i]->value()).toDouble());
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@@ -1808,7 +1826,6 @@ void PreferencesDialog::readGuiSettings(const QString & filePath)
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_ui->doubleSpinBox_normalRadiusSearch_scan->setValue(settings.value("scanNormalRadiusSearch", _ui->doubleSpinBox_normalRadiusSearch_scan->value()).toDouble());
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_ui->checkBox_showGraphs->setChecked(settings.value("showGraphs", _ui->checkBox_showGraphs->isChecked()).toBool());
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_ui->checkBox_showFrustums->setChecked(settings.value("showFrustums", _ui->checkBox_showFrustums->isChecked()).toBool());
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_ui->checkBox_showLabels->setChecked(settings.value("showLabels", _ui->checkBox_showLabels->isChecked()).toBool());
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_ui->radioButton_noFiltering->setChecked(settings.value("noFiltering", _ui->radioButton_noFiltering->isChecked()).toBool());
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@@ -1920,12 +1937,14 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
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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->doubleSpinBox_cameraRGBDImages_scale->setValue(settings.value("scale", _ui->doubleSpinBox_cameraRGBDImages_scale->value()).toDouble());
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_ui->spinBox_cameraRGBDImages_startIndex->setValue(settings.value("start_index", _ui->spinBox_cameraRGBDImages_startIndex->value()).toInt());
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settings.endGroup(); // RGBDImages
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settings.beginGroup("StereoImages");
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_ui->lineEdit_cameraStereoImages_path_left->setText(settings.value("path_left", _ui->lineEdit_cameraStereoImages_path_left->text()).toString());
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_ui->lineEdit_cameraStereoImages_path_right->setText(settings.value("path_right", _ui->lineEdit_cameraStereoImages_path_right->text()).toString());
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_ui->checkBox_stereo_rectify->setChecked(settings.value("rectify",_ui->checkBox_stereo_rectify->isChecked()).toBool());
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_ui->spinBox_cameraStereoImages_startIndex->setValue(settings.value("start_index",_ui->spinBox_cameraStereoImages_startIndex->value()).toInt());
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settings.endGroup(); // StereoImages
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settings.beginGroup("StereoVideo");
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@@ -1947,7 +1966,6 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
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settings.beginGroup("Images");
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_ui->source_images_lineEdit_path->setText(settings.value("path", _ui->source_images_lineEdit_path->text()).toString());
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_ui->source_images_spinBox_startPos->setValue(settings.value("startPos",_ui->source_images_spinBox_startPos->value()).toInt());
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_ui->source_images_refreshDir->setChecked(settings.value("refreshDir",_ui->source_images_refreshDir->isChecked()).toBool());
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_ui->comboBox_cameraImages_bayerMode->setCurrentIndex(settings.value("bayerMode",_ui->comboBox_cameraImages_bayerMode->currentIndex()).toInt());
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_ui->checkBox_cameraImages_timestamps->setChecked(settings.value("filenames_as_stamps",_ui->checkBox_cameraImages_timestamps->isChecked()).toBool());
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@@ -1962,6 +1980,7 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
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_ui->comboBox_cameraImages_odomFormat->setCurrentIndex(settings.value("odom_format", _ui->comboBox_cameraImages_odomFormat->currentIndex()).toInt());
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_ui->lineEdit_cameraImages_gt->setText(settings.value("gt_path", _ui->lineEdit_cameraImages_gt->text()).toString());
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_ui->comboBox_cameraImages_gtFormat->setCurrentIndex(settings.value("gt_format", _ui->comboBox_cameraImages_gtFormat->currentIndex()).toInt());
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_ui->doubleSpinBox_maxPoseTimeDiff->setValue(settings.value("max_pose_time_diff", _ui->doubleSpinBox_maxPoseTimeDiff->value()).toDouble());
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settings.endGroup(); // images
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settings.beginGroup("Video");
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@@ -2186,6 +2205,7 @@ void PreferencesDialog::writeGuiSettings(const QString & filePath) const
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settings.setValue(QString("roiRatios%1").arg(i), _3dRenderingRoiRatios[i]->text());
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settings.setValue(QString("showScans%1").arg(i), _3dRenderingShowScans[i]->isChecked());
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settings.setValue(QString("showFeatures%1").arg(i), _3dRenderingShowFeatures[i]->isChecked());
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settings.setValue(QString("showFrustums%1").arg(i), _3dRenderingShowFrustums[i]->isChecked());
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settings.setValue(QString("downsamplingScan%1").arg(i), _3dRenderingDownsamplingScan[i]->value());
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settings.setValue(QString("voxelSizeScan%1").arg(i), _3dRenderingVoxelSizeScan[i]->value());
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@@ -2208,7 +2228,6 @@ void PreferencesDialog::writeGuiSettings(const QString & filePath) const
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settings.setValue("scanNormalRadiusSearch", _ui->doubleSpinBox_normalRadiusSearch_scan->value());
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settings.setValue("showGraphs", _ui->checkBox_showGraphs->isChecked());
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settings.setValue("showFrustums", _ui->checkBox_showFrustums->isChecked());
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settings.setValue("showLabels", _ui->checkBox_showLabels->isChecked());
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settings.setValue("noFiltering", _ui->radioButton_noFiltering->isChecked());
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@@ -2322,12 +2341,14 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
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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("scale", _ui->doubleSpinBox_cameraRGBDImages_scale->value());
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settings.setValue("start_index", _ui->spinBox_cameraRGBDImages_startIndex->value());
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settings.endGroup(); // RGBDImages
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settings.beginGroup("StereoImages");
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settings.setValue("path_left", _ui->lineEdit_cameraStereoImages_path_left->text());
|
||||
settings.setValue("path_right", _ui->lineEdit_cameraStereoImages_path_right->text());
|
||||
settings.setValue("rectify", _ui->checkBox_stereo_rectify->isChecked());
|
||||
settings.setValue("start_index", _ui->spinBox_cameraStereoImages_startIndex->value());
|
||||
settings.endGroup(); // StereoImages
|
||||
|
||||
settings.beginGroup("StereoVideo");
|
||||
@@ -2350,7 +2371,6 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
|
||||
settings.beginGroup("Images");
|
||||
settings.setValue("path", _ui->source_images_lineEdit_path->text());
|
||||
settings.setValue("startPos", _ui->source_images_spinBox_startPos->value());
|
||||
settings.setValue("refreshDir", _ui->source_images_refreshDir->isChecked());
|
||||
settings.setValue("bayerMode", _ui->comboBox_cameraImages_bayerMode->currentIndex());
|
||||
settings.setValue("filenames_as_stamps", _ui->checkBox_cameraImages_timestamps->isChecked());
|
||||
settings.setValue("sync_stamps", _ui->checkBox_cameraImages_syncTimeStamps->isChecked());
|
||||
@@ -2364,6 +2384,7 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
|
||||
settings.setValue("odom_format", _ui->comboBox_cameraImages_odomFormat->currentIndex());
|
||||
settings.setValue("gt_path", _ui->lineEdit_cameraImages_gt->text());
|
||||
settings.setValue("gt_format", _ui->comboBox_cameraImages_gtFormat->currentIndex());
|
||||
settings.setValue("max_pose_time_diff", _ui->doubleSpinBox_maxPoseTimeDiff->value());
|
||||
settings.endGroup(); // images
|
||||
|
||||
settings.beginGroup("Video");
|
||||
@@ -4046,6 +4067,8 @@ void PreferencesDialog::useOdomFeatures()
|
||||
_ui->surf_doubleSpinBox_maxDepth->setValue(_ui->loopClosure_bowMaxDepth->value());
|
||||
_ui->surf_doubleSpinBox_minDepth->setValue(_ui->loopClosure_bowMinDepth->value());
|
||||
_ui->surf_spinBox_wordsPerImageTarget->setValue(_ui->reextract_maxFeatures->value());
|
||||
_ui->spinBox_KPGridRows->setValue(_ui->reextract_gridrows->value());
|
||||
_ui->spinBox_KPGridCols->setValue(_ui->reextract_gridcols->value());
|
||||
_ui->lineEdit_kp_roi->setText(_ui->loopClosure_roi->text());
|
||||
_ui->subpix_winSize_kp->setValue(_ui->subpix_winSize->value());
|
||||
_ui->subpix_iterations_kp->setValue(_ui->subpix_iterations->value());
|
||||
@@ -4368,10 +4391,6 @@ bool PreferencesDialog::isGraphsShown() const
|
||||
{
|
||||
return _ui->checkBox_showGraphs->isChecked();
|
||||
}
|
||||
bool PreferencesDialog::isFrustumsShown() const
|
||||
{
|
||||
return _ui->checkBox_showFrustums->isEnabled() && _ui->checkBox_showFrustums->isChecked();
|
||||
}
|
||||
bool PreferencesDialog::isLabelsShown() const
|
||||
{
|
||||
return _ui->checkBox_showLabels->isChecked();
|
||||
@@ -4471,6 +4490,11 @@ bool PreferencesDialog::isFeaturesShown(int index) const
|
||||
UASSERT(index >= 0 && index <= 1);
|
||||
return _3dRenderingShowFeatures[index]->isChecked();
|
||||
}
|
||||
bool PreferencesDialog::isFrustumsShown(int index) const
|
||||
{
|
||||
UASSERT(index >= 0 && index <= 1);
|
||||
return _3dRenderingShowFrustums[index]->isEnabled() && _3dRenderingShowFrustums[index]->isChecked();
|
||||
}
|
||||
int PreferencesDialog::getFeaturesPointSize(int index) const
|
||||
{
|
||||
UASSERT(index >= 0 && index <= 1);
|
||||
@@ -4812,9 +4836,11 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
|
||||
_ui->doubleSpinBox_cameraRGBDImages_scale->value(),
|
||||
this->getGeneralInputRate(),
|
||||
this->getSourceLocalTransform());
|
||||
((CameraRGBDImages*)camera)->setStartIndex(_ui->spinBox_cameraRGBDImages_startIndex->value());
|
||||
((CameraRGBDImages*)camera)->setBayerMode(_ui->comboBox_cameraImages_bayerMode->currentIndex()-1);
|
||||
((CameraRGBDImages*)camera)->setOdometryPath(_ui->lineEdit_cameraImages_odom->text().toStdString(), _ui->comboBox_cameraImages_odomFormat->currentIndex());
|
||||
((CameraRGBDImages*)camera)->setGroundTruthPath(_ui->lineEdit_cameraImages_gt->text().toStdString(), _ui->comboBox_cameraImages_gtFormat->currentIndex());
|
||||
((CameraRGBDImages*)camera)->setMaxPoseTimeDiff(_ui->doubleSpinBox_maxPoseTimeDiff->value());
|
||||
((CameraRGBDImages*)camera)->setScanPath(
|
||||
_ui->lineEdit_cameraImages_path_scans->text().isEmpty()?"":_ui->lineEdit_cameraImages_path_scans->text().append(QDir::separator()).toStdString(),
|
||||
_ui->spinBox_cameraImages_max_scan_pts->value(),
|
||||
@@ -4858,9 +4884,11 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
|
||||
_ui->checkBox_stereo_rectify->isChecked() && !useRawImages,
|
||||
this->getGeneralInputRate(),
|
||||
this->getSourceLocalTransform());
|
||||
((CameraStereoImages*)camera)->setStartIndex(_ui->spinBox_cameraStereoImages_startIndex->value());
|
||||
((CameraStereoImages*)camera)->setBayerMode(_ui->comboBox_cameraImages_bayerMode->currentIndex()-1);
|
||||
((CameraStereoImages*)camera)->setOdometryPath(_ui->lineEdit_cameraImages_odom->text().toStdString(), _ui->comboBox_cameraImages_odomFormat->currentIndex());
|
||||
((CameraStereoImages*)camera)->setGroundTruthPath(_ui->lineEdit_cameraImages_gt->text().toStdString(), _ui->comboBox_cameraImages_gtFormat->currentIndex());
|
||||
((CameraStereoImages*)camera)->setMaxPoseTimeDiff(_ui->doubleSpinBox_maxPoseTimeDiff->value());
|
||||
((CameraStereoImages*)camera)->setScanPath(
|
||||
_ui->lineEdit_cameraImages_path_scans->text().isEmpty()?"":_ui->lineEdit_cameraImages_path_scans->text().append(QDir::separator()).toStdString(),
|
||||
_ui->spinBox_cameraImages_max_scan_pts->value(),
|
||||
@@ -4957,7 +4985,6 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
|
||||
this->getSourceLocalTransform());
|
||||
|
||||
((CameraImages*)camera)->setStartIndex(_ui->source_images_spinBox_startPos->value());
|
||||
((CameraImages*)camera)->setDirRefreshed(_ui->source_images_refreshDir->isChecked());
|
||||
((CameraImages*)camera)->setImagesRectified(_ui->checkBox_rgb_rectify->isChecked() && !useRawImages);
|
||||
|
||||
((CameraImages*)camera)->setBayerMode(_ui->comboBox_cameraImages_bayerMode->currentIndex()-1);
|
||||
@@ -4967,6 +4994,7 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
|
||||
((CameraImages*)camera)->setGroundTruthPath(
|
||||
_ui->lineEdit_cameraImages_gt->text().toStdString(),
|
||||
_ui->comboBox_cameraImages_gtFormat->currentIndex());
|
||||
((CameraImages*)camera)->setMaxPoseTimeDiff(_ui->doubleSpinBox_maxPoseTimeDiff->value());
|
||||
((CameraImages*)camera)->setScanPath(
|
||||
_ui->lineEdit_cameraImages_path_scans->text().isEmpty()?"":_ui->lineEdit_cameraImages_path_scans->text().append(QDir::separator()).toStdString(),
|
||||
_ui->spinBox_cameraImages_max_scan_pts->value(),
|
||||
@@ -5076,10 +5104,6 @@ int PreferencesDialog::getOdomBufferSize() const
|
||||
{
|
||||
return _ui->odom_dataBufferSize->value();
|
||||
}
|
||||
bool PreferencesDialog::getRegVarianceFromInliersCount() const
|
||||
{
|
||||
return _ui->loopClosure_bowVarianceFromInliersCount->isChecked();
|
||||
}
|
||||
|
||||
QString PreferencesDialog::getCameraInfoDir() const
|
||||
{
|
||||
|
||||
Reference in New Issue
Block a user