i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 17:40:23 +08:00
Code Issues Packages Projects Releases Wiki Activity

Standalone version: -fixed ICP odometry selection, -install of rtabmap-databaseViewer

Browse Source 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1286 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-04-02 15:51:02 +00:00
parent d3b3c6ca3f
commit 8286919750
5 changed files with 47 additions and 27 deletions
Download Patch File Download Diff File Expand all files Collapse all files

29
guilib/src/PreferencesDialog.cpp
View File

@@ -88,7 +88,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->pushButton_saveConfig, SIGNAL(clicked()), this, SLOT(saveConfigTo()));
connect(_ui->pushButton_resetConfig, SIGNAL(clicked()), this, SLOT(resetConfig()));
connect(_ui->radioButton_basic, SIGNAL(toggled(bool)), this, SLOT(setupTreeView()));
connect(_ui->pushButton_testSourceOdometry, SIGNAL(clicked()), this, SLOT(testSourceOdometry()));
connect(_ui->pushButton_testOdometry, SIGNAL(clicked()), this, SLOT(testOdometry()));
// General panel
connect(_ui->general_checkBox_imagesKept, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
@@ -2367,13 +2367,18 @@ bool PreferencesDialog::isSourceOpenniUsed() const
{
return _ui->groupBox_sourceOpenni->isChecked();
}
bool PreferencesDialog::isSourceOpenniOdometryBOW() const
PreferencesDialog::OdomType PreferencesDialog::getOdometryType() const
{
return _ui->odom_type->currentIndex() == 0;
}
bool PreferencesDialog::isSourceOpenniOdometryBIN() const
{
return _ui->odom_type->currentIndex() == 1;
if(_ui->odom_type->currentIndex() == 0)
{
return kOdomBOW;
}
else if(_ui->odom_type->currentIndex() == 1)
{
return kOdomBIN;
}
return kOdomICP;
}
bool PreferencesDialog::getGeneralAutoRestart() const
@@ -2606,7 +2611,7 @@ void PreferencesDialog::setSLAMMode(bool enabled)
}
}
void PreferencesDialog::testSourceOdometry()
void PreferencesDialog::testOdometry()
{
if(_ui->odom_type->currentIndex() == 0)
{
@@ -2622,7 +2627,7 @@ void PreferencesDialog::testSourceOdometry()
}
}
void PreferencesDialog::testOdometry(OdomTest test)
void PreferencesDialog::testOdometry(OdomType type)
{
UASSERT(_odomCamera == 0 && _odomThread == 0);
@@ -2635,11 +2640,11 @@ void PreferencesDialog::testOdometry(OdomTest test)
{
Odometry * odometry;
ParametersMap parameters = this->getAllParameters();
if(test == kOdomBIN)
if(type == kOdomBIN)
{
odometry = new OdometryBinary(parameters);
}
else if(test == kOdomICP)
else if(type == kOdomICP)
{
odometry = new OdometryICP(parameters);
}
@@ -2653,7 +2658,7 @@ void PreferencesDialog::testOdometry(OdomTest test)
QWidget * window = new QWidget(this, Qt::Popup);
window->setAttribute(Qt::WA_DeleteOnClose);
window->setWindowFlags(Qt::Dialog);
window->setWindowTitle(tr("%1 Odometry viewer").arg(test==kOdomBIN?"Binary":"Bag-of-words"));
window->setWindowTitle(tr("%1 Odometry viewer").arg(type==kOdomBIN?"Binary":"Bag-of-words"));
window->setMinimumWidth(800);
window->setMinimumHeight(600);
connect( window, SIGNAL(destroyed(QObject*)), this, SLOT(cleanOdometryTest()) );