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

Added visualization cloud filtering

Browse Source 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1077 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-02-13 21:32:46 +00:00
parent ea570abb8c
commit 8d863b21d5
10 changed files with 745 additions and 647 deletions
Download Patch File Download Diff File Expand all files Collapse all files

88
guilib/src/PreferencesDialog.cpp
View File

@@ -69,63 +69,12 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui = new Ui_preferencesDialog();
_ui->setupUi(this);
#ifdef DEMO_BUILD
_ui->groupBox_sourceImage->setEnabled(false);
_ui->general_checkBox_activateRGBD->setEnabled(false);
_ui->general_checkBox_activateRGBD_2->setEnabled(false);
_ui->label_activateRGBD->setEnabled(false);
_ui->label_activateRGBD_2->setEnabled(false);
_ui->general_doubleSpinBox_timeThr->setEnabled(false);
_ui->general_doubleSpinBox_timeThr_2->setEnabled(false);
_ui->label_timeLimit->setEnabled(false);
_ui->label_timeLimit_2->setEnabled(false);
_ui->doubleSpinBox_similarityThreshold->setEnabled(false);
_ui->doubleSpinBox_similarityThreshold_2->setEnabled(false);
_ui->label_similarity->setEnabled(false);
_ui->label_similarity_2->setEnabled(false);
_ui->general_checkBox_publishStats->setEnabled(false);
_ui->general_checkBox_publishStats_2->setEnabled(false);
_ui->label_publishStat->setEnabled(false);
_ui->general_spinBox_memoryThr->setEnabled(false);
_ui->label_maxWmSize->setEnabled(false);
_ui->groupBox_publishing->setEnabled(false);
_ui->groupBox_statistics->setEnabled(false);
_ui->general_doubleSpinBox_recentWmRatio->setEnabled(false);
_ui->label_ratioRecent->setEnabled(false);
_ui->general_spinBox_maxRetrieved->setEnabled(false);
_ui->label_retrieved->setEnabled(false);
_ui->general_checkBox_RehearsalIdUpdatedToNewOne->setEnabled(false);
_ui->label_rehearsalIdUpdate->setEnabled(false);
_ui->general_checkBox_keepRawData->setEnabled(false);
_ui->label_keepRawData->setEnabled(false);
_ui->general_checkBox_keepRehearsedNodes->setEnabled(false);
_ui->label_keepRehearsed->setEnabled(false);
_ui->checkBox_kp_publishKeypoints->setEnabled(false);
_ui->label_publishWords->setEnabled(false);
_ui->checkBox_dictionary_incremental->setEnabled(false);
_ui->label_incrementalDict->setEnabled(false);
_ui->label_dictionaryPath->setEnabled(false);
_ui->lineEdit_dictionaryPath->setEnabled(false);
_ui->toolButton_dictionaryPath->setEnabled(false);
_ui->groupBox_vh_strategy1->setEnabled(false);
_ui->odomScanHistory->setEnabled(false);
_ui->label_scanMatching->setEnabled(false);
_ui->localDetection_maxNeighbors->setEnabled(false);
_ui->localDetection_space->setEnabled(false);
_ui->localDetection_radius->setEnabled(false);
_ui->label_space1->setEnabled(false);
_ui->label_space2->setEnabled(false);
_ui->label_space3->setEnabled(false);
_ui->loopClosure_icpType->setEnabled(false);
_ui->surf_checkBox_gpuVersion->setEnabled(false);
_ui->label_surf_checkBox_gpuVersion->setEnabled(false);
#else
if(cv::gpu::getCudaEnabledDeviceCount() == 0)
{
_ui->surf_checkBox_gpuVersion->setEnabled(false);
_ui->label_surf_checkBox_gpuVersion->setEnabled(false);
}
#endif
_ui->predictionPlot->showLegend(false);
QButtonGroup * buttonGroup = new QButtonGroup(this);
@@ -217,6 +166,10 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
}
}
connect(_ui->groupBox_poseFiltering, SIGNAL(clicked(bool)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->doubleSpinBox_cloudFilterRadius, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->doubleSpinBox_cloudFilterAngle, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
//Logging panel
connect(_ui->comboBox_loggerLevel, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteLoggingPanel()));
connect(_ui->comboBox_loggerEventLevel, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteLoggingPanel()));
@@ -748,6 +701,10 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_3dRenderingMeshing[i]->setChecked(false);
}
}
_ui->groupBox_poseFiltering->setChecked(false);
_ui->doubleSpinBox_cloudFilterRadius->setValue(0.5);
_ui->doubleSpinBox_cloudFilterAngle->setValue(30);
}
else if(groupBox->objectName() == _ui->groupBox_logging1->objectName())
{
@@ -857,15 +814,11 @@ QString PreferencesDialog::getDatabasePath() const
QString PreferencesDialog::getIniFilePath() const
{
#ifdef DEMO_BUILD
QString privatePath = ".";
#else
QString privatePath = QDir::homePath() + "/.rtabmap";
if(!QDir(privatePath).exists())
{
QDir::home().mkdir(".rtabmap");
}
#endif
return privatePath + "/rtabmap.ini";
}
@@ -961,6 +914,10 @@ void PreferencesDialog::readGuiSettings(const QString & filePath)
}
}
_ui->groupBox_poseFiltering->setChecked(settings.value("cloudFiltering", _ui->groupBox_poseFiltering->isChecked()).toBool());
_ui->doubleSpinBox_cloudFilterRadius->setValue(settings.value("cloudFilteringRadius", _ui->doubleSpinBox_cloudFilterRadius->value()).toDouble());
_ui->doubleSpinBox_cloudFilterAngle->setValue(settings.value("cloudFilteringAngle", _ui->doubleSpinBox_cloudFilterAngle->value()).toDouble());
settings.endGroup(); // General
settings.endGroup(); // rtabmap
@@ -1159,6 +1116,9 @@ void PreferencesDialog::writeGuiSettings(const QString & filePath)
settings.setValue(tr("meshing%1").arg(i), _3dRenderingMeshing[i]->isChecked());
}
}
settings.setValue("cloudFiltering", _ui->groupBox_poseFiltering->isChecked());
settings.setValue("cloudFilteringRadius", _ui->doubleSpinBox_cloudFilterRadius->value());
settings.setValue("cloudFilteringAngle", _ui->doubleSpinBox_cloudFilterAngle->value());
settings.endGroup(); // General
@@ -1325,11 +1285,11 @@ void PreferencesDialog::showEvent ( QShowEvent * event )
_ui->lineEdit_workingDirectory->setEnabled(true);
_ui->toolButton_workingDirectory->setEnabled(true);
_ui->label_workingDirectory->setEnabled(true);
#ifndef DEMO_BUILD
_ui->lineEdit_dictionaryPath->setEnabled(true);
_ui->toolButton_dictionaryPath->setEnabled(true);
_ui->label_dictionaryPath->setEnabled(true);
#endif
_ui->groupBox_source0->setEnabled(true);
_ui->groupBox_odometry2->setEnabled(true);
@@ -2375,6 +2335,18 @@ int PreferencesDialog::getScanPointSize(int index) const
UASSERT(index >= 0 && index <= 1);
return _3dRenderingPtSizeScan[index]->value();
}
bool PreferencesDialog::isCloudFiltering() const
{
return _ui->groupBox_poseFiltering->isChecked();
}
double PreferencesDialog::getCloudFilteringRadius() const
{
return _ui->doubleSpinBox_cloudFilterRadius->value();
}
double PreferencesDialog::getCloudFilteringAngle() const
{
return _ui->doubleSpinBox_cloudFilterAngle->value();
}
// Source
double PreferencesDialog::getGeneralInputRate() const