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Updated detect more loop closures with optimization check to accept (like in dbviewer). DBViewer: added Depth image edition dialog. GainCompensator: now doing it on 3 channels separatly. Export: removed gain's alpha option, added max polygons option, added brightness/contrast auto balance option

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This commit is contained in:
matlabbe
2017-03-30 15:33:48 -04:00
parent a928a0b404
commit 767b29d5a3
20 changed files with 1695 additions and 551 deletions
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95
guilib/src/PreferencesDialog.cpp
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@@ -2571,6 +2571,13 @@ void PreferencesDialog::saveWindowGeometry(const QWidget * window)
settings.setValue("geometry", window->saveGeometry());
settings.endGroup(); // "windowName"
settings.endGroup(); // rtabmap
QSettings settingsTmp(getTmpIniFilePath(), QSettings::IniFormat);
settingsTmp.beginGroup("Gui");
settingsTmp.beginGroup(window->objectName());
settingsTmp.setValue("geometry", window->saveGeometry());
settingsTmp.endGroup(); // "windowName"
settingsTmp.endGroup(); // rtabmap
}
}
@@ -2589,6 +2596,13 @@ void PreferencesDialog::loadWindowGeometry(QWidget * window)
}
settings.endGroup(); // "windowName"
settings.endGroup(); // rtabmap
QSettings settingsTmp(getTmpIniFilePath(), QSettings::IniFormat);
settingsTmp.beginGroup("Gui");
settingsTmp.beginGroup(window->objectName());
settingsTmp.setValue("geometry", window->saveGeometry());
settingsTmp.endGroup(); // "windowName"
settingsTmp.endGroup(); // rtabmap
}
}
@@ -2606,6 +2620,15 @@ void PreferencesDialog::saveMainWindowState(const QMainWindow * mainWindow)
settings.setValue("status_bar", mainWindow->statusBar()->isVisible());
settings.endGroup(); // "MainWindow"
settings.endGroup(); // rtabmap
QSettings settingsTmp(getTmpIniFilePath(), QSettings::IniFormat);
settingsTmp.beginGroup("Gui");
settingsTmp.beginGroup(mainWindow->objectName());
settingsTmp.setValue("state", mainWindow->saveState());
settingsTmp.setValue("maximized", mainWindow->isMaximized());
settingsTmp.setValue("status_bar", mainWindow->statusBar()->isVisible());
settingsTmp.endGroup(); // "MainWindow"
settingsTmp.endGroup(); // rtabmap
}
}
@@ -2629,6 +2652,15 @@ void PreferencesDialog::loadMainWindowState(QMainWindow * mainWindow, bool & ma
mainWindow->statusBar()->setVisible(statusBarShown);
settings.endGroup(); // "MainWindow"
settings.endGroup(); // rtabmap
QSettings settingsTmp(getTmpIniFilePath(), QSettings::IniFormat);
settingsTmp.beginGroup("Gui");
settingsTmp.beginGroup(mainWindow->objectName());
settingsTmp.setValue("state", mainWindow->saveState());
settingsTmp.setValue("maximized", maximized);
settingsTmp.setValue("status_bar", statusBarShown);
settingsTmp.endGroup(); // "MainWindow"
settingsTmp.endGroup(); // rtabmap
}
}
@@ -2640,6 +2672,10 @@ void PreferencesDialog::saveWidgetState(const QWidget * widget)
settings.beginGroup("Gui");
settings.beginGroup(widget->objectName());
QSettings settingsTmp(getTmpIniFilePath(), QSettings::IniFormat);
settingsTmp.beginGroup("Gui");
settingsTmp.beginGroup(widget->objectName());
const CloudViewer * cloudViewer = qobject_cast<const CloudViewer*>(widget);
const ImageView * imageView = qobject_cast<const ImageView*>(widget);
const ExportCloudsDialog * exportCloudsDialog = qobject_cast<const ExportCloudsDialog*>(widget);
@@ -2652,34 +2688,42 @@ void PreferencesDialog::saveWidgetState(const QWidget * widget)
if(cloudViewer)
{
cloudViewer->saveSettings(settings);
cloudViewer->saveSettings(settingsTmp);
}
else if(imageView)
{
imageView->saveSettings(settings);
imageView->saveSettings(settingsTmp);
}
else if(exportCloudsDialog)
{
exportCloudsDialog->saveSettings(settings);
exportCloudsDialog->saveSettings(settingsTmp);
}
else if(exportScansDialog)
{
exportScansDialog->saveSettings(settings);
exportScansDialog->saveSettings(settingsTmp);
}
else if(postProcessingDialog)
{
postProcessingDialog->saveSettings(settings);
postProcessingDialog->saveSettings(settingsTmp);
}
else if(graphViewer)
{
graphViewer->saveSettings(settings);
graphViewer->saveSettings(settingsTmp);
}
else if(calibrationDialog)
{
calibrationDialog->saveSettings(settings);
calibrationDialog->saveSettings(settingsTmp);
}
else if(depthCalibrationDialog)
{
depthCalibrationDialog->saveSettings(settings);
depthCalibrationDialog->saveSettings(settingsTmp);
}
else
{
@@ -2688,6 +2732,8 @@ void PreferencesDialog::saveWidgetState(const QWidget * widget)
settings.endGroup(); // "name"
settings.endGroup(); // Gui
settingsTmp.endGroup();
settingsTmp.endGroup();
}
}
@@ -2700,6 +2746,10 @@ void PreferencesDialog::loadWidgetState(QWidget * widget)
settings.beginGroup("Gui");
settings.beginGroup(widget->objectName());
QSettings settingsTmp(getTmpIniFilePath(), QSettings::IniFormat);
settingsTmp.beginGroup("Gui");
settingsTmp.beginGroup(widget->objectName());
CloudViewer * cloudViewer = qobject_cast<CloudViewer*>(widget);
ImageView * imageView = qobject_cast<ImageView*>(widget);
ExportCloudsDialog * exportCloudsDialog = qobject_cast<ExportCloudsDialog*>(widget);
@@ -2712,34 +2762,42 @@ void PreferencesDialog::loadWidgetState(QWidget * widget)
if(cloudViewer)
{
cloudViewer->loadSettings(settings);
cloudViewer->saveSettings(settingsTmp);
}
else if(imageView)
{
imageView->loadSettings(settings);
imageView->saveSettings(settingsTmp);
}
else if(exportCloudsDialog)
{
exportCloudsDialog->loadSettings(settings);
exportCloudsDialog->saveSettings(settingsTmp);
}
else if(exportScansDialog)
{
exportScansDialog->loadSettings(settings);
exportScansDialog->saveSettings(settingsTmp);
}
else if(postProcessingDialog)
{
postProcessingDialog->loadSettings(settings);
postProcessingDialog->saveSettings(settingsTmp);
}
else if(graphViewer)
{
graphViewer->loadSettings(settings);
graphViewer->saveSettings(settingsTmp);
}
else if(calibrationDialog)
{
calibrationDialog->loadSettings(settings);
calibrationDialog->saveSettings(settingsTmp);
}
else if(depthCalibrationDialog)
{
depthCalibrationDialog->loadSettings(settings);
depthCalibrationDialog->saveSettings(settingsTmp);
}
else
{
@@ -2748,6 +2806,8 @@ void PreferencesDialog::loadWidgetState(QWidget * widget)
settings.endGroup(); //"name"
settings.endGroup(); // Gui
settingsTmp.endGroup(); //"name"
settingsTmp.endGroup(); // Gui
}
}
@@ -2760,6 +2820,13 @@ void PreferencesDialog::saveCustomConfig(const QString & section, const QString
settings.setValue(key, value);
settings.endGroup(); // "section"
settings.endGroup(); // rtabmap
QSettings settingsTmp(getTmpIniFilePath(), QSettings::IniFormat);
settingsTmp.beginGroup("Gui");
settingsTmp.beginGroup(section);
settingsTmp.setValue(key, value);
settingsTmp.endGroup(); // "section"
settingsTmp.endGroup(); // rtabmap
}
QString PreferencesDialog::loadCustomConfig(const QString & section, const QString & key)
@@ -2771,6 +2838,14 @@ QString PreferencesDialog::loadCustomConfig(const QString & section, const QStri
value = settings.value(key, QString()).toString();
settings.endGroup(); // "section"
settings.endGroup(); // rtabmap
QSettings settingsTmp(getTmpIniFilePath(), QSettings::IniFormat);
settingsTmp.beginGroup("Gui");
settingsTmp.beginGroup(section);
settingsTmp.setValue(key, value);
settingsTmp.endGroup(); // "section"
settingsTmp.endGroup(); // rtabmap
return value;
}
@@ -2855,6 +2930,11 @@ void PreferencesDialog::selectSourceDriver(Src src)
}
}
bool sortCallback(const std::string & a, const std::string & b)
{
return uStrNumCmp(a,b) < 0;
}
void PreferencesDialog::selectSourceDatabase()
{
QString dir = _ui->source_database_lineEdit_path->text();
@@ -2883,6 +2963,21 @@ void PreferencesDialog::selectSourceDatabase()
_ui->general_spinBox_imagesBufferSize->setValue(0);
}
}
if(paths.size() > 1)
{
std::vector<std::string> vFileNames(paths.size());
for(int i=0; i<paths.size(); ++i)
{
vFileNames[i] = paths[i].toStdString();
}
std::sort(vFileNames.begin(), vFileNames.end(), sortCallback);
for(int i=0; i<paths.size(); ++i)
{
paths[i] = vFileNames[i].c_str();
}
}
_ui->source_database_lineEdit_path->setText(paths.size()==1?paths.front():paths.join(";"));
_ui->source_spinBox_databaseStartPos->setValue(0);
_ui->source_spinBox_database_cameraIndex->setValue(-1);