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Saving ExportCloudsDialog and PostProcessing parameters to config file.

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This commit is contained in:
Mathieu Labbe
2015-01-14 11:02:17 -05:00
parent fb0b23ae06
commit 645d2c4973
11 changed files with 279 additions and 108 deletions
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234
guilib/src/PreferencesDialog.cpp
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@@ -59,6 +59,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/gui/DataRecorder.h"
#include "rtabmap/gui/CloudViewer.h"
#include "rtabmap/gui/ImageView.h"
#include "ExportCloudsDialog.h"
#include "PostProcessingDialog.h"
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UConversion.h>
@@ -1690,120 +1692,178 @@ void PreferencesDialog::loadMainWindowState(QMainWindow * mainWindow)
loadWindowGeometry("MainWindow", mainWindow);
}
void PreferencesDialog::saveCloudViewerState(const QString & name, const CloudViewer * viewer)
void PreferencesDialog::saveWidgetState(const QString & name, const QWidget * widget)
{
QSettings settings(getIniFilePath(), QSettings::IniFormat);
settings.beginGroup("Gui");
settings.beginGroup(name);
float poseX, poseY, poseZ, focalX, focalY, focalZ, upX, upY, upZ;
viewer->getCameraPosition(poseX, poseY, poseZ, focalX, focalY, focalZ, upX, upY, upZ);
QVector3D pose(poseX, poseY, poseZ);
QVector3D focal(focalX, focalY, focalZ);
if(!viewer->isCameraFree())
const CloudViewer * cloudViewer = qobject_cast<const CloudViewer*>(widget);
const ImageView * imageView = qobject_cast<const ImageView*>(widget);
const ExportCloudsDialog * exportCloudsDialog = qobject_cast<const ExportCloudsDialog*>(widget);
const PostProcessingDialog * postProcessingDialog = qobject_cast<const PostProcessingDialog *>(widget);
if(cloudViewer)
{
// make camera position relative to target
Transform T = viewer->getTargetPose();
if(viewer->isCameraTargetLocked())
float poseX, poseY, poseZ, focalX, focalY, focalZ, upX, upY, upZ;
cloudViewer->getCameraPosition(poseX, poseY, poseZ, focalX, focalY, focalZ, upX, upY, upZ);
QVector3D pose(poseX, poseY, poseZ);
QVector3D focal(focalX, focalY, focalZ);
if(!cloudViewer->isCameraFree())
{
T = Transform(T.x(), T.y(), T.z(), 0,0,0);
// make camera position relative to target
Transform T = cloudViewer->getTargetPose();
if(cloudViewer->isCameraTargetLocked())
{
T = Transform(T.x(), T.y(), T.z(), 0,0,0);
}
Transform F(focalX, focalY, focalZ, 0,0,0);
Transform P(poseX, poseY, poseZ, 0,0,0);
Transform newFocal = T.inverse() * F;
Transform newPose = newFocal * F.inverse() * P;
pose = QVector3D(newPose.x(), newPose.y(), newPose.z());
focal = QVector3D(newFocal.x(), newFocal.y(), newFocal.z());
}
Transform F(focalX, focalY, focalZ, 0,0,0);
Transform P(poseX, poseY, poseZ, 0,0,0);
Transform newFocal = T.inverse() * F;
Transform newPose = newFocal * F.inverse() * P;
pose = QVector3D(newPose.x(), newPose.y(), newPose.z());
focal = QVector3D(newFocal.x(), newFocal.y(), newFocal.z());
settings.setValue("camera_pose", pose);
settings.setValue("camera_focal", focal);
settings.setValue("camera_up", QVector3D(upX, upY, upZ));
settings.setValue("grid", cloudViewer->isGridShown());
settings.setValue("grid_cell_count", cloudViewer->getGridCellCount());
settings.setValue("grid_cell_size", cloudViewer->getGridCellSize());
settings.setValue("trajectory_shown", cloudViewer->isTrajectoryShown());
settings.setValue("trajectory_size", cloudViewer->getTrajectorySize());
settings.setValue("camera_target_locked", cloudViewer->isCameraTargetLocked());
settings.setValue("camera_target_follow", cloudViewer->isCameraTargetFollow());
settings.setValue("camera_free", cloudViewer->isCameraFree());
settings.setValue("camera_lockZ", cloudViewer->isCameraLockZ());
settings.setValue("bg_color", cloudViewer->getBackgroundColor());
}
settings.setValue("camera_pose", pose);
settings.setValue("camera_focal", focal);
settings.setValue("camera_up", QVector3D(upX, upY, upZ));
settings.setValue("grid", viewer->isGridShown());
settings.setValue("grid_cell_count", viewer->getGridCellCount());
settings.setValue("grid_cell_size", viewer->getGridCellSize());
settings.setValue("trajectory_shown", viewer->isTrajectoryShown());
settings.setValue("trajectory_size", viewer->getTrajectorySize());
settings.setValue("camera_target_locked", viewer->isCameraTargetLocked());
settings.setValue("camera_target_follow", viewer->isCameraTargetFollow());
settings.setValue("camera_free", viewer->isCameraFree());
settings.setValue("camera_lockZ", viewer->isCameraLockZ());
settings.setValue("bg_color", viewer->getBackgroundColor());
settings.endGroup(); // "name"
settings.endGroup(); // Gui
}
void PreferencesDialog::loadCloudViewerState(const QString & name, CloudViewer * viewer)
{
QByteArray bytes;
QSettings settings(getIniFilePath(), QSettings::IniFormat);
settings.beginGroup("Gui");
settings.beginGroup(name);
float poseX, poseY, poseZ, focalX, focalY, focalZ, upX, upY, upZ;
viewer->getCameraPosition(poseX, poseY, poseZ, focalX, focalY, focalZ, upX, upY, upZ);
QVector3D pose(poseX, poseY, poseZ), focal(focalX, focalY, focalZ), up(upX, upY, upZ);
pose = settings.value("camera_pose", pose).value<QVector3D>();
focal = settings.value("camera_focal", focal).value<QVector3D>();
up = settings.value("camera_up", up).value<QVector3D>();
viewer->setCameraPosition(pose.x(),pose.y(),pose.z(), focal.x(),focal.y(),focal.z(), up.x(),up.y(),up.z());
viewer->setGridShown(settings.value("grid", viewer->isGridShown()).toBool());
viewer->setGridCellCount(settings.value("grid_cell_count", viewer->getGridCellCount()).toInt());
viewer->setGridCellSize(settings.value("grid_cell_size", viewer->getGridCellSize()).toFloat());
viewer->setTrajectoryShown(settings.value("trajectory_shown", viewer->isTrajectoryShown()).toBool());
viewer->setTrajectorySize(settings.value("trajectory_size", viewer->getTrajectorySize()).toInt());
viewer->setCameraTargetLocked(settings.value("camera_target_locked", viewer->isCameraTargetLocked()).toBool());
viewer->setCameraTargetFollow(settings.value("camera_target_follow", viewer->isCameraTargetFollow()).toBool());
if(settings.value("camera_free", viewer->isCameraFree()).toBool())
else if(imageView)
{
viewer->setCameraFree();
settings.setValue("image_shown", imageView->isImageShown());
settings.setValue("depth_shown", imageView->isImageDepthShown());
settings.setValue("features_shown", imageView->isFeaturesShown());
settings.setValue("lines_shown", imageView->isLinesShown());
}
else if(exportCloudsDialog)
{
settings.setValue("assemble", exportCloudsDialog->getAssemble());
settings.setValue("assemble_voxel", exportCloudsDialog->getAssembleVoxel());
settings.setValue("regenerate", exportCloudsDialog->getGenerate());
settings.setValue("regenerate_decimation", exportCloudsDialog->getGenerateDecimation());
settings.setValue("regenerate_voxel", exportCloudsDialog->getGenerateVoxel());
settings.setValue("regenerate_max_depth", exportCloudsDialog->getGenerateMaxDepth());
settings.setValue("binary", exportCloudsDialog->getBinaryFile());
settings.setValue("mls", exportCloudsDialog->getMLS());
settings.setValue("mls_radius", exportCloudsDialog->getMLSRadius());
settings.setValue("mesh", exportCloudsDialog->getMesh());
settings.setValue("mesh_k", exportCloudsDialog->getMeshNormalKSearch());
settings.setValue("mesh_radius", exportCloudsDialog->getMeshGp3Radius());
}
else if(postProcessingDialog)
{
settings.setValue("detect_more_lc", postProcessingDialog->isDetectMoreLoopClosures());
settings.setValue("cluster_radius", postProcessingDialog->clusterRadius());
settings.setValue("cluster_angle", postProcessingDialog->clusterAngle());
settings.setValue("iterations", postProcessingDialog->iterations());
settings.setValue("reextract_features", postProcessingDialog->isReextractFeatures());
settings.setValue("refine_neigbors", postProcessingDialog->isRefineNeighborLinks());
settings.setValue("refine_lc", postProcessingDialog->isRefineLoopClosureLinks());
}
else
{
UERROR("Widget \"%s\" cannot be exported in config file.", widget->objectName().toStdString().c_str());
}
viewer->setCameraLockZ(settings.value("camera_lockZ", viewer->isCameraLockZ()).toBool());
viewer->setBackgroundColor(settings.value("bg_color", viewer->getBackgroundColor()).value<QColor>());
settings.endGroup(); //"name"
settings.endGroup(); // Gui
}
void PreferencesDialog::saveImageViewState(const QString & name, const ImageView * view)
{
QSettings settings(getIniFilePath(), QSettings::IniFormat);
settings.beginGroup("Gui");
settings.beginGroup(name);
settings.setValue("image_shown", view->isImageShown());
settings.setValue("depth_shown", view->isImageDepthShown());
settings.setValue("features_shown", view->isFeaturesShown());
settings.setValue("lines_shown", view->isLinesShown());
settings.endGroup(); // "name"
settings.endGroup(); // Gui
}
void PreferencesDialog::loadImageViewState(const QString & name, ImageView * view)
void PreferencesDialog::loadWidgetState(const QString & name, QWidget * widget)
{
QByteArray bytes;
QSettings settings(getIniFilePath(), QSettings::IniFormat);
settings.beginGroup("Gui");
settings.beginGroup(name);
view->setImageShown(settings.value("image_shown", view->isImageShown()).toBool());
view->setImageDepthShown(settings.value("depth_shown", view->isImageDepthShown()).toBool());
view->setFeaturesShown(settings.value("features_shown", view->isFeaturesShown()).toBool());
view->setLinesShown(settings.value("lines_shown", view->isLinesShown()).toBool());
CloudViewer * cloudViewer = qobject_cast<CloudViewer*>(widget);
ImageView * imageView = qobject_cast<ImageView*>(widget);
ExportCloudsDialog * exportCloudsDialog = qobject_cast<ExportCloudsDialog*>(widget);
PostProcessingDialog * postProcessingDialog = qobject_cast<PostProcessingDialog *>(widget);
if(cloudViewer)
{
float poseX, poseY, poseZ, focalX, focalY, focalZ, upX, upY, upZ;
cloudViewer->getCameraPosition(poseX, poseY, poseZ, focalX, focalY, focalZ, upX, upY, upZ);
QVector3D pose(poseX, poseY, poseZ), focal(focalX, focalY, focalZ), up(upX, upY, upZ);
pose = settings.value("camera_pose", pose).value<QVector3D>();
focal = settings.value("camera_focal", focal).value<QVector3D>();
up = settings.value("camera_up", up).value<QVector3D>();
cloudViewer->setCameraPosition(pose.x(),pose.y(),pose.z(), focal.x(),focal.y(),focal.z(), up.x(),up.y(),up.z());
cloudViewer->setGridShown(settings.value("grid", cloudViewer->isGridShown()).toBool());
cloudViewer->setGridCellCount(settings.value("grid_cell_count", cloudViewer->getGridCellCount()).toUInt());
cloudViewer->setGridCellSize(settings.value("grid_cell_size", cloudViewer->getGridCellSize()).toFloat());
cloudViewer->setTrajectoryShown(settings.value("trajectory_shown", cloudViewer->isTrajectoryShown()).toBool());
cloudViewer->setTrajectorySize(settings.value("trajectory_size", cloudViewer->getTrajectorySize()).toUInt());
cloudViewer->setCameraTargetLocked(settings.value("camera_target_locked", cloudViewer->isCameraTargetLocked()).toBool());
cloudViewer->setCameraTargetFollow(settings.value("camera_target_follow", cloudViewer->isCameraTargetFollow()).toBool());
if(settings.value("camera_free", cloudViewer->isCameraFree()).toBool())
{
cloudViewer->setCameraFree();
}
cloudViewer->setCameraLockZ(settings.value("camera_lockZ", cloudViewer->isCameraLockZ()).toBool());
cloudViewer->setBackgroundColor(settings.value("bg_color", cloudViewer->getBackgroundColor()).value<QColor>());
}
else if(imageView)
{
imageView->setImageShown(settings.value("image_shown", imageView->isImageShown()).toBool());
imageView->setImageDepthShown(settings.value("depth_shown", imageView->isImageDepthShown()).toBool());
imageView->setFeaturesShown(settings.value("features_shown", imageView->isFeaturesShown()).toBool());
imageView->setLinesShown(settings.value("lines_shown", imageView->isLinesShown()).toBool());
}
else if(exportCloudsDialog)
{
exportCloudsDialog->setAssemble(settings.value("assemble", exportCloudsDialog->getAssemble()).toBool());
exportCloudsDialog->setAssembleVoxel(settings.value("assemble_voxel", exportCloudsDialog->getAssembleVoxel()).toDouble());
exportCloudsDialog->setGenerate(settings.value("regenerate", exportCloudsDialog->getGenerate()).toBool());
exportCloudsDialog->setGenerateDecimation(settings.value("regenerate_decimation", exportCloudsDialog->getGenerateDecimation()).toInt());
exportCloudsDialog->setGenerateVoxel(settings.value("regenerate_voxel", exportCloudsDialog->getGenerateVoxel()).toDouble());
exportCloudsDialog->setGenerateMaxDepth(settings.value("regenerate_max_depth", exportCloudsDialog->getGenerateMaxDepth()).toDouble());
exportCloudsDialog->setBinaryFile(settings.value("binary", exportCloudsDialog->getBinaryFile()).toBool());
exportCloudsDialog->setMLS(settings.value("mls", exportCloudsDialog->getMLS()).toBool());
exportCloudsDialog->setMLSRadius(settings.value("mls_radius", exportCloudsDialog->getMLSRadius()).toDouble());
exportCloudsDialog->setMesh(settings.value("mesh", exportCloudsDialog->getMesh()).toBool());
exportCloudsDialog->setMeshNormalKSearch(settings.value("mesh_k", exportCloudsDialog->getMeshNormalKSearch()).toInt());
exportCloudsDialog->setMeshGp3Radius(settings.value("mesh_radius", exportCloudsDialog->getMeshGp3Radius()).toDouble());
}
else if(postProcessingDialog)
{
postProcessingDialog->setDetectMoreLoopClosures(settings.value("detect_more_lc", postProcessingDialog->isDetectMoreLoopClosures()).toBool());
postProcessingDialog->setClusterRadius(settings.value("cluster_radius", postProcessingDialog->clusterRadius()).toDouble());
postProcessingDialog->setClusterAngle(settings.value("cluster_angle", postProcessingDialog->clusterAngle()).toDouble());
postProcessingDialog->setIterations(settings.value("iterations", postProcessingDialog->iterations()).toInt());
postProcessingDialog->setReextractFeatures(settings.value("reextract_features", postProcessingDialog->isReextractFeatures()).toBool());
postProcessingDialog->setRefineNeighborLinks(settings.value("refine_neigbors", postProcessingDialog->isRefineNeighborLinks()).toBool());
postProcessingDialog->setRefineLoopClosureLinks(settings.value("refine_lc", postProcessingDialog->isRefineLoopClosureLinks()).toBool());
}
else
{
UERROR("Widget \"%s\" cannot be loaded from config file.", widget->objectName().toStdString().c_str());
}
settings.endGroup(); //"name"
settings.endGroup(); // Gui
}
void PreferencesDialog::saveCustomConfig(const QString & section, const QString & key, const QString & value)
{
QSettings settings(getIniFilePath(), QSettings::IniFormat);