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DbViewer: do the max optimization error test when adding a new loop closure (rejecting it if it fails)

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This commit is contained in:
matlabbe
2016-11-24 15:09:16 -05:00
parent 2a43a95ddd
commit 5b183d9105
4 changed files with 221 additions and 103 deletions
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125
guilib/src/ParametersToolBox.cpp
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@@ -54,8 +54,7 @@ namespace rtabmap {
ParametersToolBox::ParametersToolBox(QWidget *parent) :
QWidget(parent),
comboBox_(new QComboBox(this)),
stackedWidget_(new QStackedWidget(this)),
parameters_(Parameters::getDefaultParameters())
stackedWidget_(new QStackedWidget(this))
{
QVBoxLayout * layout = new QVBoxLayout(this);
this->setLayout(layout);
@@ -86,7 +85,7 @@ QStringList ParametersToolBox::resetPage(int index)
QString key = children.at(j)->objectName();
// ignore working memory
QString group = key.split("/").first();
if(!ignoredGroups_.contains(group) && parameters_.find(key.toStdString())!=parameters_.end())
if(parameters_.find(key.toStdString())!=parameters_.end())
{
UASSERT_MSG(parameters_.find(key.toStdString()) != parameters_.end(), uFormat("key=%s", key.toStdString().c_str()).c_str());
std::string value = Parameters::getDefaultParameters().at(key.toStdString());
@@ -202,11 +201,10 @@ void ParametersToolBox::updateParametersVisibility()
}*/
}
void ParametersToolBox::setupUi(const QSet<QString> & ignoredGroups)
void ParametersToolBox::setupUi(const ParametersMap & parameters)
{
ignoredGroups_ = ignoredGroups;
parameters_ = parameters;
QWidget * currentItem = 0;
const ParametersMap & parameters = Parameters::getDefaultParameters();
QStringList groups;
for(ParametersMap::const_iterator iter=parameters.begin();
iter!=parameters.end();
@@ -214,28 +212,26 @@ void ParametersToolBox::setupUi(const QSet<QString> & ignoredGroups)
{
QStringList splitted = QString::fromStdString(iter->first).split('/');
QString group = splitted.first();
if(!ignoredGroups_.contains(group))
{
QString name = splitted.last();
if(currentItem == 0 || currentItem->objectName().compare(group) != 0)
{
groups.push_back(group);
QScrollArea * area = new QScrollArea(this);
stackedWidget_->addWidget(area);
currentItem = new QWidget();
currentItem->setObjectName(group);
QVBoxLayout * layout = new QVBoxLayout(currentItem);
layout->setSizeConstraint(QLayout::SetMinimumSize);
layout->setContentsMargins(0,0,0,0);
layout->setSpacing(0);
area->setWidget(currentItem);
addParameter(layout, iter->first, iter->second);
}
else
{
addParameter((QVBoxLayout*)currentItem->layout(), iter->first, iter->second);
}
QString name = splitted.last();
if(currentItem == 0 || currentItem->objectName().compare(group) != 0)
{
groups.push_back(group);
QScrollArea * area = new QScrollArea(this);
stackedWidget_->addWidget(area);
currentItem = new QWidget();
currentItem->setObjectName(group);
QVBoxLayout * layout = new QVBoxLayout(currentItem);
layout->setSizeConstraint(QLayout::SetMinimumSize);
layout->setContentsMargins(0,0,0,0);
layout->setSpacing(0);
area->setWidget(currentItem);
addParameter(layout, iter->first, iter->second);
}
else
{
addParameter((QVBoxLayout*)currentItem->layout(), iter->first, iter->second);
}
}
comboBox_->addItems(groups);
@@ -247,51 +243,44 @@ void ParametersToolBox::setupUi(const QSet<QString> & ignoredGroups)
void ParametersToolBox::updateParameter(const std::string & key, const std::string & value)
{
QString group = QString::fromStdString(key).split("/").first();
if(!ignoredGroups_.contains(group))
if(parameters_.find(key) != parameters_.end())
{
if(parameters_.find(key) == parameters_.end())
parameters_.at(key) = value;
QWidget * widget = this->findChild<QWidget*>(key.c_str());
QString type = QString::fromStdString(Parameters::getType(key));
if(type.compare("string") == 0)
{
UWARN("key=\"%s\" doesn't exist", key.c_str());
QString valueQt = QString::fromStdString(value);
if(valueQt.contains(';'))
{
// It's a list, just change the index
QStringList splitted = valueQt.split(':');
((QComboBox*)widget)->setCurrentIndex(splitted.first().toInt());
}
else
{
((QLineEdit*)widget)->setText(valueQt);
}
}
else
else if(type.compare("int") == 0)
{
parameters_.at(key) = value;
QWidget * widget = this->findChild<QWidget*>(key.c_str());
QString type = QString::fromStdString(Parameters::getType(key));
if(type.compare("string") == 0)
{
QString valueQt = QString::fromStdString(value);
if(valueQt.contains(';'))
{
// It's a list, just change the index
QStringList splitted = valueQt.split(':');
((QComboBox*)widget)->setCurrentIndex(splitted.first().toInt());
}
else
{
((QLineEdit*)widget)->setText(valueQt);
}
}
else if(type.compare("int") == 0)
{
((QSpinBox*)widget)->setValue(uStr2Int(value));
}
else if(type.compare("uint") == 0)
{
((QSpinBox*)widget)->setValue(uStr2Int(value));
}
else if(type.compare("double") == 0)
{
((QDoubleSpinBox*)widget)->setValue(uStr2Double(value));
}
else if(type.compare("float") == 0)
{
((QDoubleSpinBox*)widget)->setValue(uStr2Float(value));
}
else if(type.compare("bool") == 0)
{
((QCheckBox*)widget)->setChecked(uStr2Bool(value));
}
((QSpinBox*)widget)->setValue(uStr2Int(value));
}
else if(type.compare("uint") == 0)
{
((QSpinBox*)widget)->setValue(uStr2Int(value));
}
else if(type.compare("double") == 0)
{
((QDoubleSpinBox*)widget)->setValue(uStr2Double(value));
}
else if(type.compare("float") == 0)
{
((QDoubleSpinBox*)widget)->setValue(uStr2Float(value));
}
else if(type.compare("bool") == 0)
{
((QCheckBox*)widget)->setChecked(uStr2Bool(value));
}
}
}