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GUI: ask for MLS when saving or viewing high res clouds (added parameter values in progress dialog)

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Source: added focalLength parameter for RGBD camera (if not null, it will override the value from the camera)

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1557 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-07-14 01:25:28 +00:00
parent bcc9469c91
commit 7cfb985478
7 changed files with 277 additions and 124 deletions
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35
guilib/src/PreferencesDialog.cpp
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@@ -174,7 +174,6 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_3dRenderingSmoothing.resize(2);
_3dRenderingSmoothing[0] = _ui->checkBox_mls;
_3dRenderingSmoothing[1] = _ui->checkBox_mls_save;
_3dRenderingSmoothingRadius.resize(2);
_3dRenderingSmoothingRadius[0] = _ui->doubleSpinBox_mlsRadius;
@@ -197,13 +196,13 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_3dRenderingNormalKSearch[i], SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_3dRenderingGP3Radius[i], SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_3dRenderingSmoothing[i], SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_3dRenderingSmoothingRadius[i], SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
}
if(i<1)
{
connect(_3dRenderingMeshing[i], SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_3dRenderingSmoothing[i], SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
}
}
@@ -257,6 +256,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->radioButton_openni2->setEnabled(CameraOpenNI2::available());
connect(_ui->lineEdit_openniDevice, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->lineEdit_openniLocalTransform, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->doubleSpinBox_openniFocal, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
//Rtabmap basic
connect(_ui->general_doubleSpinBox_timeThr, SIGNAL(valueChanged(double)), _ui->general_doubleSpinBox_timeThr_2, SLOT(setValue(double)));
@@ -762,13 +763,13 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_3dRenderingNormalKSearch[i]->setValue(20);
_3dRenderingGP3Radius[i]->setValue(0.04);
_3dRenderingSmoothing[i]->setChecked(i==0?false:true);
_3dRenderingSmoothingRadius[i]->setValue(0.04);
}
if(i<1)
{
_3dRenderingMeshing[i]->setChecked(false);
_3dRenderingSmoothing[i]->setChecked(false);
}
}
@@ -806,6 +807,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->radioButton_opennicvasus->setChecked(false);
_ui->lineEdit_openniDevice->setText("");
_ui->lineEdit_openniLocalTransform->setText("0 0 0 -PI_2 0 -PI_2");
_ui->doubleSpinBox_openniFocal->setValue(0.0);
}
else if(groupBox->objectName() == _ui->groupBox_rtabmap_basic0->objectName())
{
@@ -995,13 +997,13 @@ void PreferencesDialog::readGuiSettings(const QString & filePath)
_3dRenderingNormalKSearch[i]->setValue(settings.value(tr("meshNormalKSearch%1").arg(i), _3dRenderingNormalKSearch[i]->value()).toInt());
_3dRenderingGP3Radius[i]->setValue(settings.value(tr("meshGP3Radius%1").arg(i), _3dRenderingGP3Radius[i]->value()).toDouble());
_3dRenderingSmoothing[i]->setChecked(settings.value(tr("meshSmoothing%1").arg(i), _3dRenderingSmoothing[i]->isChecked()).toBool());
_3dRenderingSmoothingRadius[i]->setValue(settings.value(tr("meshSmoothingRadius%1").arg(i), _3dRenderingSmoothingRadius[i]->value()).toDouble());
}
if(i<1)
{
_3dRenderingMeshing[i]->setChecked(settings.value(tr("meshing%1").arg(i), _3dRenderingMeshing[i]->isChecked()).toBool());
_3dRenderingSmoothing[i]->setChecked(settings.value(tr("meshSmoothing%1").arg(i), _3dRenderingSmoothing[i]->isChecked()).toBool());
}
}
@@ -1061,6 +1063,7 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
_ui->radioButton_opennicvasus->setChecked(settings.value("openniCvAsusType", _ui->radioButton_opennicvasus->isChecked()).toBool());
_ui->lineEdit_openniDevice->setText(settings.value("device",_ui->lineEdit_openniDevice->text()).toString());
_ui->lineEdit_openniLocalTransform->setText(settings.value("localTransform",_ui->lineEdit_openniLocalTransform->text()).toString());
_ui->doubleSpinBox_openniFocal->setValue(settings.value("focalLength", _ui->doubleSpinBox_openniFocal->value()).toDouble());
settings.endGroup(); // Openni
}
@@ -1205,13 +1208,13 @@ void PreferencesDialog::writeGuiSettings(const QString & filePath)
settings.setValue(tr("meshNormalKSearch%1").arg(i), _3dRenderingNormalKSearch[i]->value());
settings.setValue(tr("meshGP3Radius%1").arg(i), _3dRenderingGP3Radius[i]->value());
settings.setValue(tr("meshSmoothing%1").arg(i), _3dRenderingSmoothing[i]->isChecked());
settings.setValue(tr("meshSmoothingRadius%1").arg(i), _3dRenderingSmoothingRadius[i]->value());
}
if(i<1)
{
settings.setValue(tr("meshing%1").arg(i), _3dRenderingMeshing[i]->isChecked());
settings.setValue(tr("meshSmoothing%1").arg(i), _3dRenderingSmoothing[i]->isChecked());
}
}
settings.setValue("cloudFiltering", _ui->groupBox_poseFiltering->isChecked());
@@ -1270,6 +1273,7 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath)
settings.setValue("openniCvAsusType", _ui->radioButton_opennicvasus->isChecked());
settings.setValue("device", _ui->lineEdit_openniDevice->text());
settings.setValue("localTransform", _ui->lineEdit_openniLocalTransform->text());
settings.setValue("focalLength", _ui->doubleSpinBox_openniFocal->value());
settings.endGroup();
}
@@ -2432,7 +2436,7 @@ bool PreferencesDialog::isCloudsShown(int index) const
}
bool PreferencesDialog::isCloudMeshing(int index) const
{
UASSERT(index >= 0 && index <= 1);
UASSERT(index == 0);
return _3dRenderingMeshing[index]->isChecked();
}
double PreferencesDialog::getCloudVoxelSize(int index) const
@@ -2488,7 +2492,7 @@ double PreferencesDialog::getMeshGP3Radius(int index) const
}
bool PreferencesDialog::getMeshSmoothing(int index) const
{
UASSERT(index >= 0 && index <= 1);
UASSERT(index == 0);
return _3dRenderingSmoothing[index]->isChecked();
}
double PreferencesDialog::getMeshSmoothingRadius(int index) const
@@ -2636,6 +2640,11 @@ Transform PreferencesDialog::getSourceOpenniLocalTransform() const
return t;
}
float PreferencesDialog::getSourceOpenniFocalLength() const
{
return _ui->doubleSpinBox_openniFocal->value();
}
bool PreferencesDialog::isStatisticsPublished() const
{
return _ui->general_checkBox_publishStats->isChecked();
@@ -2768,13 +2777,15 @@ void PreferencesDialog::testOdometry(int type)
camera = new CameraOpenni(
this->getSourceOpenniDevice().toStdString(),
this->getGeneralInputRate(),
this->getSourceOpenniLocalTransform());
this->getSourceOpenniLocalTransform(),
this->getSourceOpenniFocalLength());
}
else if(this->getSourceRGBD() == kSrcOpenNI2)
{
camera = new CameraOpenNI2(
this->getGeneralInputRate(),
this->getSourceOpenniLocalTransform());
this->getSourceOpenniLocalTransform(),
this->getSourceOpenniFocalLength());
}
else if(this->getSourceRGBD() == kSrcFreenect)
@@ -2782,14 +2793,16 @@ void PreferencesDialog::testOdometry(int type)
camera = new CameraFreenect(
this->getSourceOpenniDevice().isEmpty()?0:atoi(this->getSourceOpenniDevice().toStdString().c_str()),
this->getGeneralInputRate(),
this->getSourceOpenniLocalTransform());
this->getSourceOpenniLocalTransform(),
this->getSourceOpenniFocalLength());
}
else if(this->getSourceRGBD() == kSrcOpenNI_CV || this->getSourceRGBD() == kSrcOpenNI_CV_ASUS)
{
camera = new CameraOpenNICV(
this->getSourceRGBD() == kSrcOpenNI_CV_ASUS,
this->getGeneralInputRate(),
this->getSourceOpenniLocalTransform());
this->getSourceOpenniLocalTransform(),
this->getSourceOpenniFocalLength());
}
else
{