mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 17:40:23 +08:00
Moved some util3d methods to Transform.h, Graph.h and Compression.h
Added computePath() method implementating A star on graph GUI: SetWindowModified() and user should explicitly save the GUI config to keep them Calibration: added mirror checkbox, added device id argument
This commit is contained in:
Mathieu Labbe
@@ -543,7 +543,6 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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}
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PreferencesDialog::~PreferencesDialog() {
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this->saveWindowGeometry("PreferencesDialog", this);
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delete _ui;
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}
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@@ -559,8 +558,6 @@ void PreferencesDialog::init()
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this->readSettings();
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this->writeSettings();// This will create the ini file if not exist
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this->loadWindowGeometry("PreferencesDialog", this);
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_initialized = true;
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}
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@@ -1638,229 +1635,250 @@ void PreferencesDialog::readSettingsEnd()
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_progressDialog->setValue(2); // this will make closing...
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}
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void PreferencesDialog::saveWindowGeometry(const QString & windowName, const QWidget * window)
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void PreferencesDialog::saveWindowGeometry(const QWidget * window)
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{
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QSettings settings(getIniFilePath(), QSettings::IniFormat);
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settings.beginGroup("Gui");
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settings.beginGroup(windowName);
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settings.setValue("geometry", window->saveGeometry());
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settings.endGroup(); // "windowName"
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settings.endGroup(); // rtabmap
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if(!window->objectName().isNull())
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{
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if(!window->isMaximized())
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{
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QSettings settings(getIniFilePath(), QSettings::IniFormat);
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settings.beginGroup("Gui");
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settings.beginGroup(window->objectName());
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settings.setValue("geometry", window->saveGeometry());
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settings.endGroup(); // "windowName"
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settings.endGroup(); // rtabmap
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}
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}
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}
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void PreferencesDialog::loadWindowGeometry(const QString & windowName, QWidget * window)
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void PreferencesDialog::loadWindowGeometry(QWidget * window)
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{
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QByteArray bytes;
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QSettings settings(getIniFilePath(), QSettings::IniFormat);
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settings.beginGroup("Gui");
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settings.beginGroup(windowName);
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bytes = settings.value("geometry", QByteArray()).toByteArray();
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if(!bytes.isEmpty())
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if(!window->objectName().isNull())
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{
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window->restoreGeometry(bytes);
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QByteArray bytes;
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QSettings settings(getIniFilePath(), QSettings::IniFormat);
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settings.beginGroup("Gui");
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settings.beginGroup(window->objectName());
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bytes = settings.value("geometry", QByteArray()).toByteArray();
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if(!bytes.isEmpty())
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{
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window->restoreGeometry(bytes);
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}
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settings.endGroup(); // "windowName"
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settings.endGroup(); // rtabmap
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}
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settings.endGroup(); // "windowName"
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settings.endGroup(); // rtabmap
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}
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void PreferencesDialog::saveMainWindowState(const QMainWindow * mainWindow)
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{
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QSettings settings(getIniFilePath(), QSettings::IniFormat);
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settings.beginGroup("Gui");
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settings.beginGroup("MainWindow");
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settings.setValue("state", mainWindow->saveState());
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settings.endGroup(); // "MainWindow"
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settings.endGroup(); // rtabmap
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if(!mainWindow->objectName().isNull())
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{
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saveWindowGeometry(mainWindow);
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saveWindowGeometry("MainWindow", mainWindow);
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QSettings settings(getIniFilePath(), QSettings::IniFormat);
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settings.beginGroup("Gui");
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settings.beginGroup(mainWindow->objectName());
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settings.setValue("state", mainWindow->saveState());
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settings.endGroup(); // "MainWindow"
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settings.endGroup(); // rtabmap
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}
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}
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void PreferencesDialog::loadMainWindowState(QMainWindow * mainWindow)
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{
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QByteArray bytes;
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QSettings settings(getIniFilePath(), QSettings::IniFormat);
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settings.beginGroup("Gui");
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settings.beginGroup("MainWindow");
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bytes = settings.value("state", QByteArray()).toByteArray();
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if(!bytes.isEmpty())
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if(!mainWindow->objectName().isNull())
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{
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mainWindow->restoreState(bytes);
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}
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settings.endGroup(); // "MainWindow"
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settings.endGroup(); // rtabmap
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loadWindowGeometry(mainWindow);
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loadWindowGeometry("MainWindow", mainWindow);
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QByteArray bytes;
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QSettings settings(getIniFilePath(), QSettings::IniFormat);
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settings.beginGroup("Gui");
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settings.beginGroup(mainWindow->objectName());
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bytes = settings.value("state", QByteArray()).toByteArray();
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if(!bytes.isEmpty())
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{
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mainWindow->restoreState(bytes);
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}
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settings.endGroup(); // "MainWindow"
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settings.endGroup(); // rtabmap
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}
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}
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void PreferencesDialog::saveWidgetState(const QString & name, const QWidget * widget)
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void PreferencesDialog::saveWidgetState(const QWidget * widget)
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{
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QSettings settings(getIniFilePath(), QSettings::IniFormat);
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settings.beginGroup("Gui");
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settings.beginGroup(name);
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const CloudViewer * cloudViewer = qobject_cast<const CloudViewer*>(widget);
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const ImageView * imageView = qobject_cast<const ImageView*>(widget);
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const ExportCloudsDialog * exportCloudsDialog = qobject_cast<const ExportCloudsDialog*>(widget);
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const PostProcessingDialog * postProcessingDialog = qobject_cast<const PostProcessingDialog *>(widget);
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if(cloudViewer)
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if(!widget->objectName().isNull())
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{
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float poseX, poseY, poseZ, focalX, focalY, focalZ, upX, upY, upZ;
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cloudViewer->getCameraPosition(poseX, poseY, poseZ, focalX, focalY, focalZ, upX, upY, upZ);
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QVector3D pose(poseX, poseY, poseZ);
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QVector3D focal(focalX, focalY, focalZ);
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if(!cloudViewer->isCameraFree())
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QSettings settings(getIniFilePath(), QSettings::IniFormat);
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settings.beginGroup("Gui");
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settings.beginGroup(widget->objectName());
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const CloudViewer * cloudViewer = qobject_cast<const CloudViewer*>(widget);
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const ImageView * imageView = qobject_cast<const ImageView*>(widget);
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const ExportCloudsDialog * exportCloudsDialog = qobject_cast<const ExportCloudsDialog*>(widget);
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const PostProcessingDialog * postProcessingDialog = qobject_cast<const PostProcessingDialog *>(widget);
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if(cloudViewer)
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{
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// make camera position relative to target
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Transform T = cloudViewer->getTargetPose();
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if(cloudViewer->isCameraTargetLocked())
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float poseX, poseY, poseZ, focalX, focalY, focalZ, upX, upY, upZ;
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cloudViewer->getCameraPosition(poseX, poseY, poseZ, focalX, focalY, focalZ, upX, upY, upZ);
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QVector3D pose(poseX, poseY, poseZ);
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QVector3D focal(focalX, focalY, focalZ);
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if(!cloudViewer->isCameraFree())
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{
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T = Transform(T.x(), T.y(), T.z(), 0,0,0);
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// make camera position relative to target
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Transform T = cloudViewer->getTargetPose();
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if(cloudViewer->isCameraTargetLocked())
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{
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T = Transform(T.x(), T.y(), T.z(), 0,0,0);
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}
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Transform F(focalX, focalY, focalZ, 0,0,0);
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Transform P(poseX, poseY, poseZ, 0,0,0);
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Transform newFocal = T.inverse() * F;
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Transform newPose = newFocal * F.inverse() * P;
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pose = QVector3D(newPose.x(), newPose.y(), newPose.z());
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focal = QVector3D(newFocal.x(), newFocal.y(), newFocal.z());
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}
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Transform F(focalX, focalY, focalZ, 0,0,0);
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Transform P(poseX, poseY, poseZ, 0,0,0);
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Transform newFocal = T.inverse() * F;
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Transform newPose = newFocal * F.inverse() * P;
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pose = QVector3D(newPose.x(), newPose.y(), newPose.z());
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focal = QVector3D(newFocal.x(), newFocal.y(), newFocal.z());
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settings.setValue("camera_pose", pose);
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settings.setValue("camera_focal", focal);
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settings.setValue("camera_up", QVector3D(upX, upY, upZ));
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settings.setValue("grid", cloudViewer->isGridShown());
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settings.setValue("grid_cell_count", cloudViewer->getGridCellCount());
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settings.setValue("grid_cell_size", cloudViewer->getGridCellSize());
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settings.setValue("trajectory_shown", cloudViewer->isTrajectoryShown());
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settings.setValue("trajectory_size", cloudViewer->getTrajectorySize());
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settings.setValue("camera_target_locked", cloudViewer->isCameraTargetLocked());
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settings.setValue("camera_target_follow", cloudViewer->isCameraTargetFollow());
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settings.setValue("camera_free", cloudViewer->isCameraFree());
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settings.setValue("camera_lockZ", cloudViewer->isCameraLockZ());
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settings.setValue("bg_color", cloudViewer->getBackgroundColor());
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}
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else if(imageView)
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{
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settings.setValue("image_shown", imageView->isImageShown());
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settings.setValue("depth_shown", imageView->isImageDepthShown());
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settings.setValue("features_shown", imageView->isFeaturesShown());
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settings.setValue("lines_shown", imageView->isLinesShown());
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}
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else if(exportCloudsDialog)
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{
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settings.setValue("assemble", exportCloudsDialog->getAssemble());
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settings.setValue("assemble_voxel", exportCloudsDialog->getAssembleVoxel());
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settings.setValue("regenerate", exportCloudsDialog->getGenerate());
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settings.setValue("regenerate_decimation", exportCloudsDialog->getGenerateDecimation());
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settings.setValue("regenerate_voxel", exportCloudsDialog->getGenerateVoxel());
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settings.setValue("regenerate_max_depth", exportCloudsDialog->getGenerateMaxDepth());
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settings.setValue("binary", exportCloudsDialog->getBinaryFile());
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settings.setValue("mls", exportCloudsDialog->getMLS());
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settings.setValue("mls_radius", exportCloudsDialog->getMLSRadius());
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settings.setValue("mesh", exportCloudsDialog->getMesh());
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settings.setValue("mesh_k", exportCloudsDialog->getMeshNormalKSearch());
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settings.setValue("mesh_radius", exportCloudsDialog->getMeshGp3Radius());
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}
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else if(postProcessingDialog)
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{
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settings.setValue("detect_more_lc", postProcessingDialog->isDetectMoreLoopClosures());
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settings.setValue("cluster_radius", postProcessingDialog->clusterRadius());
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settings.setValue("cluster_angle", postProcessingDialog->clusterAngle());
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settings.setValue("iterations", postProcessingDialog->iterations());
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settings.setValue("reextract_features", postProcessingDialog->isReextractFeatures());
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settings.setValue("refine_neigbors", postProcessingDialog->isRefineNeighborLinks());
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settings.setValue("refine_lc", postProcessingDialog->isRefineLoopClosureLinks());
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}
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else
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{
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UERROR("Widget \"%s\" cannot be exported in config file.", widget->objectName().toStdString().c_str());
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}
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settings.setValue("camera_pose", pose);
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settings.setValue("camera_focal", focal);
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settings.setValue("camera_up", QVector3D(upX, upY, upZ));
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settings.setValue("grid", cloudViewer->isGridShown());
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settings.setValue("grid_cell_count", cloudViewer->getGridCellCount());
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settings.setValue("grid_cell_size", cloudViewer->getGridCellSize());
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settings.setValue("trajectory_shown", cloudViewer->isTrajectoryShown());
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settings.setValue("trajectory_size", cloudViewer->getTrajectorySize());
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settings.setValue("camera_target_locked", cloudViewer->isCameraTargetLocked());
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settings.setValue("camera_target_follow", cloudViewer->isCameraTargetFollow());
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settings.setValue("camera_free", cloudViewer->isCameraFree());
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settings.setValue("camera_lockZ", cloudViewer->isCameraLockZ());
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settings.setValue("bg_color", cloudViewer->getBackgroundColor());
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settings.endGroup(); // "name"
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settings.endGroup(); // Gui
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}
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else if(imageView)
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{
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settings.setValue("image_shown", imageView->isImageShown());
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settings.setValue("depth_shown", imageView->isImageDepthShown());
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settings.setValue("features_shown", imageView->isFeaturesShown());
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settings.setValue("lines_shown", imageView->isLinesShown());
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}
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else if(exportCloudsDialog)
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{
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settings.setValue("assemble", exportCloudsDialog->getAssemble());
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settings.setValue("assemble_voxel", exportCloudsDialog->getAssembleVoxel());
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settings.setValue("regenerate", exportCloudsDialog->getGenerate());
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settings.setValue("regenerate_decimation", exportCloudsDialog->getGenerateDecimation());
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settings.setValue("regenerate_voxel", exportCloudsDialog->getGenerateVoxel());
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settings.setValue("regenerate_max_depth", exportCloudsDialog->getGenerateMaxDepth());
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settings.setValue("binary", exportCloudsDialog->getBinaryFile());
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settings.setValue("mls", exportCloudsDialog->getMLS());
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settings.setValue("mls_radius", exportCloudsDialog->getMLSRadius());
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settings.setValue("mesh", exportCloudsDialog->getMesh());
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settings.setValue("mesh_k", exportCloudsDialog->getMeshNormalKSearch());
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settings.setValue("mesh_radius", exportCloudsDialog->getMeshGp3Radius());
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}
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else if(postProcessingDialog)
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{
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settings.setValue("detect_more_lc", postProcessingDialog->isDetectMoreLoopClosures());
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settings.setValue("cluster_radius", postProcessingDialog->clusterRadius());
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settings.setValue("cluster_angle", postProcessingDialog->clusterAngle());
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settings.setValue("iterations", postProcessingDialog->iterations());
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settings.setValue("reextract_features", postProcessingDialog->isReextractFeatures());
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settings.setValue("refine_neigbors", postProcessingDialog->isRefineNeighborLinks());
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settings.setValue("refine_lc", postProcessingDialog->isRefineLoopClosureLinks());
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}
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else
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{
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UERROR("Widget \"%s\" cannot be exported in config file.", widget->objectName().toStdString().c_str());
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}
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settings.endGroup(); // "name"
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settings.endGroup(); // Gui
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}
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void PreferencesDialog::loadWidgetState(const QString & name, QWidget * widget)
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void PreferencesDialog::loadWidgetState(QWidget * widget)
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{
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QByteArray bytes;
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QSettings settings(getIniFilePath(), QSettings::IniFormat);
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settings.beginGroup("Gui");
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settings.beginGroup(name);
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CloudViewer * cloudViewer = qobject_cast<CloudViewer*>(widget);
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ImageView * imageView = qobject_cast<ImageView*>(widget);
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ExportCloudsDialog * exportCloudsDialog = qobject_cast<ExportCloudsDialog*>(widget);
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PostProcessingDialog * postProcessingDialog = qobject_cast<PostProcessingDialog *>(widget);
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if(cloudViewer)
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if(!widget->objectName().isNull())
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{
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float poseX, poseY, poseZ, focalX, focalY, focalZ, upX, upY, upZ;
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cloudViewer->getCameraPosition(poseX, poseY, poseZ, focalX, focalY, focalZ, upX, upY, upZ);
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QVector3D pose(poseX, poseY, poseZ), focal(focalX, focalY, focalZ), up(upX, upY, upZ);
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pose = settings.value("camera_pose", pose).value<QVector3D>();
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focal = settings.value("camera_focal", focal).value<QVector3D>();
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up = settings.value("camera_up", up).value<QVector3D>();
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cloudViewer->setCameraPosition(pose.x(),pose.y(),pose.z(), focal.x(),focal.y(),focal.z(), up.x(),up.y(),up.z());
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QByteArray bytes;
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QSettings settings(getIniFilePath(), QSettings::IniFormat);
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settings.beginGroup("Gui");
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settings.beginGroup(widget->objectName());
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cloudViewer->setGridShown(settings.value("grid", cloudViewer->isGridShown()).toBool());
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cloudViewer->setGridCellCount(settings.value("grid_cell_count", cloudViewer->getGridCellCount()).toUInt());
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cloudViewer->setGridCellSize(settings.value("grid_cell_size", cloudViewer->getGridCellSize()).toFloat());
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CloudViewer * cloudViewer = qobject_cast<CloudViewer*>(widget);
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ImageView * imageView = qobject_cast<ImageView*>(widget);
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ExportCloudsDialog * exportCloudsDialog = qobject_cast<ExportCloudsDialog*>(widget);
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PostProcessingDialog * postProcessingDialog = qobject_cast<PostProcessingDialog *>(widget);
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cloudViewer->setTrajectoryShown(settings.value("trajectory_shown", cloudViewer->isTrajectoryShown()).toBool());
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cloudViewer->setTrajectorySize(settings.value("trajectory_size", cloudViewer->getTrajectorySize()).toUInt());
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cloudViewer->setCameraTargetLocked(settings.value("camera_target_locked", cloudViewer->isCameraTargetLocked()).toBool());
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cloudViewer->setCameraTargetFollow(settings.value("camera_target_follow", cloudViewer->isCameraTargetFollow()).toBool());
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if(settings.value("camera_free", cloudViewer->isCameraFree()).toBool())
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if(cloudViewer)
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{
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cloudViewer->setCameraFree();
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float poseX, poseY, poseZ, focalX, focalY, focalZ, upX, upY, upZ;
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cloudViewer->getCameraPosition(poseX, poseY, poseZ, focalX, focalY, focalZ, upX, upY, upZ);
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QVector3D pose(poseX, poseY, poseZ), focal(focalX, focalY, focalZ), up(upX, upY, upZ);
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pose = settings.value("camera_pose", pose).value<QVector3D>();
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focal = settings.value("camera_focal", focal).value<QVector3D>();
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up = settings.value("camera_up", up).value<QVector3D>();
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cloudViewer->setCameraPosition(pose.x(),pose.y(),pose.z(), focal.x(),focal.y(),focal.z(), up.x(),up.y(),up.z());
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cloudViewer->setGridShown(settings.value("grid", cloudViewer->isGridShown()).toBool());
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cloudViewer->setGridCellCount(settings.value("grid_cell_count", cloudViewer->getGridCellCount()).toUInt());
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cloudViewer->setGridCellSize(settings.value("grid_cell_size", cloudViewer->getGridCellSize()).toFloat());
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cloudViewer->setTrajectoryShown(settings.value("trajectory_shown", cloudViewer->isTrajectoryShown()).toBool());
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cloudViewer->setTrajectorySize(settings.value("trajectory_size", cloudViewer->getTrajectorySize()).toUInt());
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cloudViewer->setCameraTargetLocked(settings.value("camera_target_locked", cloudViewer->isCameraTargetLocked()).toBool());
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cloudViewer->setCameraTargetFollow(settings.value("camera_target_follow", cloudViewer->isCameraTargetFollow()).toBool());
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if(settings.value("camera_free", cloudViewer->isCameraFree()).toBool())
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{
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cloudViewer->setCameraFree();
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}
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cloudViewer->setCameraLockZ(settings.value("camera_lockZ", cloudViewer->isCameraLockZ()).toBool());
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cloudViewer->setBackgroundColor(settings.value("bg_color", cloudViewer->getBackgroundColor()).value<QColor>());
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}
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else if(imageView)
|
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{
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imageView->setImageShown(settings.value("image_shown", imageView->isImageShown()).toBool());
|
||||
imageView->setImageDepthShown(settings.value("depth_shown", imageView->isImageDepthShown()).toBool());
|
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imageView->setFeaturesShown(settings.value("features_shown", imageView->isFeaturesShown()).toBool());
|
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imageView->setLinesShown(settings.value("lines_shown", imageView->isLinesShown()).toBool());
|
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}
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else if(exportCloudsDialog)
|
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{
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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());
|
||||
}
|
||||
cloudViewer->setCameraLockZ(settings.value("camera_lockZ", cloudViewer->isCameraLockZ()).toBool());
|
||||
|
||||
cloudViewer->setBackgroundColor(settings.value("bg_color", cloudViewer->getBackgroundColor()).value<QColor>());
|
||||
settings.endGroup(); //"name"
|
||||
settings.endGroup(); // Gui
|
||||
}
|
||||
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
|
||||
}
|
||||
|
||||
|
||||
|
||||
Reference in New Issue
Block a user