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Merged pcl_integration branch to trunk

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1014 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2013-12-11 00:12:44 +00:00
parent 97c70d394e
commit 8b8511e154
124 changed files with 21692 additions and 4458 deletions
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90
guilib/include/rtabmap/gui/PreferencesDialog.h
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@@ -20,12 +20,14 @@
#ifndef PREFERENCESDIALOG_H_
#define PREFERENCESDIALOG_H_
#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
#include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
#include <QtGui/QDialog>
#include <QtCore/QModelIndex>
#include <QtCore/QVector>
#include <set>
#include "rtabmap/core/Transform.h"
#include "rtabmap/core/Parameters.h"
class Ui_preferencesDialog;
@@ -40,22 +42,30 @@ class QLineEdit;
class QSlider;
class QProgressDialog;
class UPlotCurve;
class QStackedWidget;
class QCheckBox;
class QSpinBox;
class QDoubleSpinBox;
namespace rtabmap {
class RTABMAP_EXP PreferencesDialog : public QDialog
class CameraOpenni;
class OdometryThread;
class Signature;
class LoopClosureViewer;
class RTABMAPGUI_EXP PreferencesDialog : public QDialog
{
Q_OBJECT
public:
enum PanelFlag {
kPanelDummy = 0,
kPanelGeneralStrategy = 1,
kPanelGeneral = 2,
kPanelFourier = 4,
kPanelSurf = 8,
kPanelSource = 16,
kPanelAll = 31
kPanelGeneral = 1,
kPanelCloudRendering = 2,
kPanelLogging = 4,
kPanelSource = 8,
kPanelAll = 15
};
// TODO, tried to change the name of PANEL_FLAGS to PanelFlags... but signals/slots errors appeared...
Q_DECLARE_FLAGS(PANEL_FLAGS, PanelFlag);
@@ -67,11 +77,17 @@ public:
kSrcVideo
};
enum OdomTest {
kOdomBIN,
kOdomBOW,
kOdomICP
};
public:
PreferencesDialog(QWidget * parent = 0);
virtual ~PreferencesDialog();
virtual QString getIniFilePath();
virtual QString getIniFilePath() const;
void init();
void saveWindowGeometry(const QString & windowName, const QWidget * window);
@@ -96,12 +112,28 @@ public:
bool imageHighestHypShown() const;
bool beepOnPause() const;
int getKeypointsOpacity() const;
QString getWorkingDirectory();
bool isCloudMeshing(int index) const; // 0=map
bool isCloudsShown(int index) const; // 0=map, 1=odom, 2=save
double getCloudVoxelSize(int index) const; // 0=map, 1=odom, 2=save
int getCloudDecimation(int index) const; // 0=map, 1=odom, 2=save
double getCloudMaxDepth(int index) const; // 0=map, 1=odom, 2=save
double getCloudOpacity(int index) const; // 0=map, 1=odom, 2=save
int getCloudPointSize(int index) const; // 0=map, 1=odom, 2=save
bool isScansShown(int index) const; // 0=map, 1=odom, 2=save
double getScanOpacity(int index) const; // 0=map, 1=odom, 2=save
int getScanPointSize(int index) const; // 0=map, 1=odom, 2=save
QString getWorkingDirectory() const;
// source panel
double getGeneralInputRate() const;
bool isSourceImageUsed() const;
bool isSourceDatabaseUsed() const;
bool isSourceOpenniUsed() const;
bool isSourceOpenniOdometryBIN() const;
bool isSourceOpenniOdometryBOW() const;
bool getGeneralAutoRestart() const;
bool getGeneralCameraKeypoints() const;
int getSourceImageType() const;
@@ -117,13 +149,18 @@ public:
QString getSourceVideoPath() const; //Video group
int getSourceUsbDeviceId() const; //UsbDevice group
QString getSourceDatabasePath() const; //Database group
bool getSourceDatabaseOdometryIgnored() const; //Database group
int getSourceDatabaseStartPos() const; //Database group
QString getSourceOpenniDevice() const; //Openni group
Transform getSourceOpenniLocalTransform() const; //Openni group
int getIgnoredDCComponents() const;
//
bool isImagesKept() const;
float getTimeLimit() const;
float getDetectionRate() const;
bool isSLAMMode() const;
//specific
bool isStatisticsPublished() const;
@@ -132,7 +169,7 @@ public:
double getExpThr() const;
//
void disableGeneralCameraKeypoints();
void setMonitoringState(bool monitoringState) {_monitoringState = monitoringState;}
signals:
void settingsChanged(PreferencesDialog::PANEL_FLAGS);
@@ -140,11 +177,14 @@ signals:
public slots:
void setInputRate(double value);
void setDetectionRate(double value);
void setHardThr(int value);
void setAutoRestart(bool value);
void setTimeLimit(float value);
void setSLAMMode(bool enabled);
void selectSourceImage(Src src = kSrcUndef);
void selectSourceDatabase(bool user = false);
void selectSourceOpenni(bool user = false);
private slots:
void closeDialog ( QAbstractButton * button );
@@ -153,22 +193,29 @@ private slots:
void loadConfigFrom();
void saveConfigTo();
void makeObsoleteGeneralPanel();
void makeObsoleteCloudRenderingPanel();
void makeObsoleteLoggingPanel();
void makeObsoleteSourcePanel();
void clicked(const QModelIndex &index);
void addParameter(int value);
void addParameter(bool value);
void addParameter(double value);
void addParameter(const QString & value);
void updatePredictionPlot();
void updateKpROI();
void changeDatabasePath();
void changeWorkingDirectory();
void changeDictionaryPath();
void readSettingsEnd();
void setupTreeView();
void updateBasicParameter();
void openDatabaseViewer();
void cleanOdometryTest();
void testSourceOdometry();
protected:
virtual void showEvent ( QShowEvent * event );
virtual void closeEvent(QCloseEvent *event);
void setParameter(const std::string & key, const std::string & value);
@@ -189,12 +236,17 @@ private:
void setupSignals();
void setupKpRoiPanel();
bool parseModel(QList<QGroupBox*> & boxes, QStandardItem * parentItem, int currentLevel, int & absoluteIndex);
void resetSettings(QGroupBox * groupBox);
void addParameter(const QObject * object, int value);
void addParameter(const QObject * object, bool value);
void addParameter(const QObject * object, double value);
void addParameter(const QObject * object, const QString & value);
void addParameters(const QObjectList & children);
void addParameters(const QStackedWidget * stackedWidget);
void addParameters(const QGroupBox * box);
QList<QGroupBox*> getGroupBoxes();
void readSettingsBegin();
void testOdometry(OdomTest test);
protected:
rtabmap::ParametersMap _parameters;
@@ -204,8 +256,24 @@ private:
Ui_preferencesDialog * _ui;
QStandardItemModel * _indexModel;
bool _initialized;
bool _monitoringState;
QProgressDialog * _progressDialog;
//Odometry test
CameraOpenni * _odomCamera;
OdometryThread * _odomThread;
QVector<QCheckBox*> _3dRenderingShowClouds;
QVector<QDoubleSpinBox*> _3dRenderingVoxelSize;
QVector<QSpinBox*> _3dRenderingDecimation;
QVector<QDoubleSpinBox*> _3dRenderingMaxDepth;
QVector<QDoubleSpinBox*> _3dRenderingOpacity;
QVector<QSpinBox*> _3dRenderingPtSize;
QVector<QCheckBox*> _3dRenderingShowScans;
QVector<QDoubleSpinBox*> _3dRenderingOpacityScan;
QVector<QSpinBox*> _3dRenderingPtSizeScan;
QVector<QCheckBox*> _3dRenderingMeshing;
};
Q_DECLARE_OPERATORS_FOR_FLAGS(PreferencesDialog::PANEL_FLAGS)