Enabled Source menu on Idle. Fixed calibration file with only the name not found. DBViewer: added max stereo features parameter under Stereo tab.

corelib/include/rtabmap/core/Parameters.h

@@ -254,7 +254,7 @@ class RTABMAP_EXP Parameters
 	RTABMAP_PARAM(FAST, GridRows,           int, 4,         "Grid rows (0 to disable). Adapts the detector to partition the source image into a grid and detect points in each cell.");
 	RTABMAP_PARAM(FAST, GridCols,           int, 4,         "Grid cols (0 to disable). Adapts the detector to partition the source image into a grid and detect points in each cell.");
 
-	RTABMAP_PARAM(GFTT, QualityLevel, double, 0.01, "");
+	RTABMAP_PARAM(GFTT, QualityLevel, double, 0.002, "");
 	RTABMAP_PARAM(GFTT, MinDistance, double, 10, "");
 	RTABMAP_PARAM(GFTT, BlockSize, int, 3, "");
 	RTABMAP_PARAM(GFTT, UseHarrisDetector, bool, false, "");

guilib/src/DatabaseViewer.cpp

@@ -258,6 +258,7 @@ DatabaseViewer::DatabaseViewer(QWidget * parent) :
 	connect(ui_->spinBox_stereo_gfttBlockSize, SIGNAL(valueChanged(int)), this, SLOT(updateStereo()));
 	connect(ui_->doubleSpinBox_stereo_flowEps, SIGNAL(valueChanged(double)), this, SLOT(updateStereo()));
 	connect(ui_->doubleSpinBox_stereo_gfttMinDistance, SIGNAL(valueChanged(double)), this, SLOT(updateStereo()));
+	connect(ui_->spinBox_stereo_gfttMaxFeatures, SIGNAL(valueChanged(int)), this, SLOT(updateStereo()));
 	connect(ui_->doubleSpinBox_stereo_gfttQuality, SIGNAL(valueChanged(double)), this, SLOT(updateStereo()));
 	connect(ui_->doubleSpinBox_stereo_maxSlope, SIGNAL(valueChanged(double)), this, SLOT(updateStereo()));
 	connect(ui_->checkBox_stereo_subpix, SIGNAL(stateChanged(int)), this, SLOT(updateStereo()));
@@ -329,6 +330,7 @@ DatabaseViewer::DatabaseViewer(QWidget * parent) :
 	connect(ui_->spinBox_stereo_gfttBlockSize, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
 	connect(ui_->doubleSpinBox_stereo_flowEps, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
 	connect(ui_->doubleSpinBox_stereo_gfttMinDistance, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
+	connect(ui_->spinBox_stereo_gfttMaxFeatures, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
 	connect(ui_->doubleSpinBox_stereo_gfttQuality, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
 	connect(ui_->doubleSpinBox_stereo_maxSlope, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
 	connect(ui_->checkBox_stereo_subpix, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
@@ -476,6 +478,7 @@ void DatabaseViewer::readSettings()
 	ui_->spinBox_stereo_gfttBlockSize->setValue(settings.value("gfttBlockSize", ui_->spinBox_stereo_gfttBlockSize->value()).toInt());
 	ui_->doubleSpinBox_stereo_flowEps->setValue(settings.value("flowEps", ui_->doubleSpinBox_stereo_flowEps->value()).toDouble());
 	ui_->doubleSpinBox_stereo_gfttMinDistance->setValue(settings.value("gfttMinDistance", ui_->doubleSpinBox_stereo_gfttMinDistance->value()).toDouble());
+	ui_->spinBox_stereo_gfttMaxFeatures->setValue(settings.value("gfttMaxFeatures", ui_->spinBox_stereo_gfttMaxFeatures->value()).toInt());
 	ui_->doubleSpinBox_stereo_gfttQuality->setValue(settings.value("gfttQuality", ui_->doubleSpinBox_stereo_gfttQuality->value()).toDouble());
 	ui_->doubleSpinBox_stereo_maxSlope->setValue(settings.value("maxSlope", ui_->doubleSpinBox_stereo_maxSlope->value()).toDouble());
 	ui_->checkBox_stereo_subpix->setChecked(settings.value("subpix", ui_->checkBox_stereo_subpix->isChecked()).toBool());
@@ -581,6 +584,7 @@ void DatabaseViewer::writeSettings()
 	settings.setValue("gfttBlockSize", ui_->spinBox_stereo_gfttBlockSize->value());
 	settings.setValue("flowEps", ui_->doubleSpinBox_stereo_flowEps->value());
 	settings.setValue("gfttMinDistance", ui_->doubleSpinBox_stereo_gfttMinDistance->value());
+	settings.setValue("gfttMaxFeatures", ui_->spinBox_stereo_gfttMaxFeatures->value());
 	settings.setValue("gfttQuality", ui_->doubleSpinBox_stereo_gfttQuality->value());
 	settings.setValue("maxSlope", ui_->doubleSpinBox_stereo_maxSlope->value());
 	settings.setValue("subpix", ui_->checkBox_stereo_subpix->isChecked());
@@ -2452,7 +2456,7 @@ void DatabaseViewer::updateStereo(const SensorData * data)
 		std::vector<cv::KeyPoint> kpts;
 		cv::Rect roi = Feature2D::computeRoi(leftMono, "0.03 0.03 0.04 0.04");
 		ParametersMap parameters;
-		parameters.insert(ParametersPair(Parameters::kKpWordsPerImage(), "0"));
+		parameters.insert(ParametersPair(Parameters::kKpWordsPerImage(), uNumber2Str(ui_->spinBox_stereo_gfttMaxFeatures->value())));
 		parameters.insert(ParametersPair(Parameters::kGFTTMinDistance(), uNumber2Str(ui_->doubleSpinBox_stereo_gfttMinDistance->value())));
 		parameters.insert(ParametersPair(Parameters::kGFTTQualityLevel(), uNumber2Str(ui_->doubleSpinBox_stereo_gfttQuality->value())));
 		parameters.insert(ParametersPair(Parameters::kGFTTBlockSize(), uNumber2Str(ui_->spinBox_stereo_gfttBlockSize->value())));

guilib/src/MainWindow.cpp

@@ -5981,11 +5981,11 @@ void MainWindow::changeState(MainWindow::State newState)
 		_ui->actionExport_cameras_in_Bundle_format_out->setEnabled(!_cachedSignatures.empty() && !_currentPosesMap.empty());
 		_ui->actionDownload_all_clouds->setEnabled(false);
 		_ui->actionDownload_graph->setEnabled(false);
-		_ui->menuSelect_source->setEnabled(false);
+		_ui->menuSelect_source->setEnabled(true);
 		_ui->actionLabel_current_location->setEnabled(false);
 		_ui->actionSend_goal->setEnabled(false);
 		_ui->actionCancel_goal->setEnabled(false);
-		_ui->toolBar->findChild<QAction*>("toolbar_source")->setEnabled(false);
+		_ui->toolBar->findChild<QAction*>("toolbar_source")->setEnabled(true);
 		_ui->actionTrigger_a_new_map->setEnabled(false);
 		_ui->doubleSpinBox_stats_imgRate->setEnabled(true);
 		_ui->statusbar->clearMessage();

guilib/src/PreferencesDialog.cpp

@@ -3788,11 +3788,12 @@ Camera * PreferencesDialog::createCamera(bool useRawImages)
 		QString name = QFileInfo(_ui->lineEdit_calibrationFile->text()
 				.remove("_left.yaml")
 				.remove("_right.yaml")
-				.remove("_pose.yaml")).baseName();
+				.remove("_pose.yaml")
+				.remove(".yaml")).baseName();
 		if(!_ui->lineEdit_calibrationFile->text().isEmpty())
 		{
 			QDir d = QFileInfo(_ui->lineEdit_calibrationFile->text()).dir();
-			if(!d.path().isEmpty())
+			if(!_ui->lineEdit_calibrationFile->text().remove(QFileInfo(_ui->lineEdit_calibrationFile->text()).baseName()).isEmpty())
 			{
 				dir = d.absolutePath();
 			}

guilib/src/ui/DatabaseViewer.ui

@@ -50,7 +50,7 @@
             <rect>
              <x>0</x>
              <y>0</y>
-             <width>181</width>
+             <width>196</width>
              <height>184</height>
             </rect>
            </property>
@@ -236,7 +236,7 @@
             <rect>
              <x>0</x>
              <y>0</y>
-             <width>181</width>
+             <width>195</width>
              <height>184</height>
             </rect>
            </property>
@@ -869,7 +869,7 @@
      <item>
       <widget class="QToolBox" name="toolBox">
        <property name="currentIndex">
-        <number>0</number>
+        <number>5</number>
        </property>
        <widget class="QWidget" name="page">
         <property name="geometry">
@@ -2061,9 +2061,9 @@
         <property name="geometry">
          <rect>
           <x>0</x>
-          <y>0</y>
+          <y>-57</y>
           <width>283</width>
-          <height>322</height>
+          <height>356</height>
          </rect>
         </property>
         <attribute name="label">
@@ -2086,10 +2086,10 @@
          <item row="1" column="0">
           <widget class="QDoubleSpinBox" name="doubleSpinBox_stereo_gfttQuality">
            <property name="decimals">
-            <number>3</number>
+            <number>4</number>
            </property>
            <property name="minimum">
-            <double>0.001000000000000</double>
+            <double>0.000100000000000</double>
            </property>
            <property name="maximum">
             <double>1.000000000000000</double>
@@ -2102,7 +2102,7 @@
            </property>
           </widget>
          </item>
-         <item row="6" column="1">
+         <item row="7" column="1">
           <widget class="QLabel" name="label_59">
            <property name="text">
             <string>Optical Flow eps</string>
@@ -2116,7 +2116,7 @@
            </property>
           </widget>
          </item>
-         <item row="3" column="0">
+         <item row="4" column="0">
           <widget class="QSpinBox" name="spinBox_stereo_flowWinSize">
            <property name="suffix">
             <string> pixels</string>
@@ -2129,14 +2129,14 @@
            </property>
           </widget>
          </item>
-         <item row="3" column="1">
+         <item row="4" column="1">
           <widget class="QLabel" name="label_56">
            <property name="text">
             <string>Optical Flow win size</string>
            </property>
           </widget>
          </item>
-         <item row="4" column="0">
+         <item row="5" column="0">
           <widget class="QSpinBox" name="spinBox_stereo_flowMaxLevel">
            <property name="minimum">
             <number>1</number>
@@ -2153,7 +2153,7 @@
            </property>
           </widget>
          </item>
-         <item row="6" column="0">
+         <item row="7" column="0">
           <widget class="QDoubleSpinBox" name="doubleSpinBox_stereo_flowEps">
            <property name="decimals">
             <number>4</number>
@@ -2169,14 +2169,14 @@
            </property>
           </widget>
          </item>
-         <item row="4" column="1">
+         <item row="5" column="1">
           <widget class="QLabel" name="label_57">
            <property name="text">
             <string>Optical Flow max level</string>
            </property>
           </widget>
          </item>
-         <item row="5" column="1">
+         <item row="6" column="1">
           <widget class="QLabel" name="label_58">
            <property name="text">
             <string>Optical Flow iterations</string>
@@ -2190,7 +2190,7 @@
            </property>
           </widget>
          </item>
-         <item row="5" column="0">
+         <item row="6" column="0">
           <widget class="QSpinBox" name="spinBox_stereo_flowIterations">
            <property name="minimum">
             <number>1</number>
@@ -2203,7 +2203,7 @@
            </property>
           </widget>
          </item>
-         <item row="7" column="0">
+         <item row="8" column="0">
           <widget class="QDoubleSpinBox" name="doubleSpinBox_stereo_maxSlope">
            <property name="decimals">
             <number>2</number>
@@ -2232,21 +2232,21 @@
            </property>
           </widget>
          </item>
-         <item row="8" column="1">
+         <item row="9" column="1">
           <widget class="QLabel" name="label_62">
            <property name="text">
             <string>Sub pixel</string>
            </property>
           </widget>
          </item>
-         <item row="7" column="1">
+         <item row="8" column="1">
           <widget class="QLabel" name="label_60">
            <property name="text">
             <string>Matches max slope</string>
            </property>
           </widget>
          </item>
-         <item row="9" column="1">
+         <item row="10" column="1">
           <spacer name="verticalSpacer_6">
            <property name="orientation">
             <enum>Qt::Vertical</enum>
@@ -2259,13 +2259,39 @@
            </property>
           </spacer>
          </item>
-         <item row="8" column="0">
+         <item row="9" column="0">
           <widget class="QCheckBox" name="checkBox_stereo_subpix">
            <property name="text">
             <string/>
            </property>
           </widget>
          </item>
+         <item row="3" column="1">
+          <widget class="QLabel" name="label_70">
+           <property name="text">
+            <string>GFTT max features</string>
+           </property>
+          </widget>
+         </item>
+         <item row="3" column="0">
+          <widget class="QSpinBox" name="spinBox_stereo_gfttMaxFeatures">
+           <property name="suffix">
+            <string/>
+           </property>
+           <property name="minimum">
+            <number>0</number>
+           </property>
+           <property name="maximum">
+            <number>99999</number>
+           </property>
+           <property name="singleStep">
+            <number>100</number>
+           </property>
+           <property name="value">
+            <number>0</number>
+           </property>
+          </widget>
+         </item>
         </layout>
        </widget>
       </widget>