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MERGE branch STM 325:449 into trunk

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@450 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2012-03-03 01:46:30 +00:00
parent c4aff5f20a
commit a2eb8bcab6
100 changed files with 76652 additions and 5164 deletions
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27
guilib/ExamplePlot/MainWindow.h
View File

@@ -3,6 +3,8 @@
#define MAINWINDOW_H_
#include <QtGui/QMainWindow>
#include <QtGui/QSlider>
#include <QtGui/QHBoxLayout>
#include <QtCore/QTimer>
#include "Plot.h"
@@ -13,10 +15,11 @@ class MainWindow : public QMainWindow
Q_OBJECT
public:
MainWindow() {
//Plot
Plot * plot = new Plot(this);
plot->setObjectName("Figure 1");
plot->setMaxVisibleItems(25);
this->setCentralWidget(plot); // ownership transferred
plot->setMaxVisibleItems(50);
plot->showRefreshRate(true);
PlotCurve * curveA = new PlotCurve("Curve A", this);
PlotCurve * curveB = new PlotCurve("Curve B", this);
curveA->setPen(QPen(Qt::red));
@@ -25,8 +28,23 @@ public:
plot->addCurve(curveB); // ownership transferred
connect(this, SIGNAL(valueUpdatedA(float)), curveA, SLOT(addValue(float)));
connect(this, SIGNAL(valueUpdatedB(float)), curveB, SLOT(addValue(float)));
//Control
QSlider * slider = new QSlider(Qt::Vertical, this);
slider->setMinimum(1); // Hz
slider->setMaximum(100); // Hz
slider->setValue(10);
connect(slider, SIGNAL(valueChanged(int)), this, SLOT(setRate(int)));
// layout
QWidget * placeHolder = new QWidget(this);
this->setCentralWidget(placeHolder);
QHBoxLayout * hlayout = new QHBoxLayout(placeHolder);
hlayout->addWidget(plot, 1);
hlayout->addWidget(slider);
connect(&timer_, SIGNAL(timeout()), this, SLOT(updateCounter()));
timer_.start(100);
setRate(slider->value());
qsrand(1);
}
~MainWindow() {}
@@ -35,6 +53,9 @@ public slots:
emit valueUpdatedA(qrand() % 100);
emit valueUpdatedB(qrand() % 50);
}
void setRate(int rate) {
timer_.start(1000/rate);
}
signals:
void valueUpdatedA(float);
void valueUpdatedB(float);

7
guilib/include/rtabmap/gui/MainWindow.h
View File

@@ -44,6 +44,7 @@ class Plot;
class PdfPlotCurve;
class StatsToolBox;
class DetailedProgressDialog;
class TwistGridWidget;
class RTABMAP_EXP MainWindow : public QMainWindow, public UEventsHandler
{
@@ -71,7 +72,7 @@ public:
* dialog is automatically destroyed with the MainWindow.
*/
MainWindow(PreferencesDialog * prefDialog = 0, QWidget * parent = 0);
~MainWindow();
virtual ~MainWindow();
QString getWorkingDirectory() const;
@@ -118,10 +119,11 @@ signals:
void stateChanged(MainWindow::State);
void rtabmapEventInitReceived(int status, const QString & info);
void imgRateChanged(double);
void timeLimitChanged(double);
void timeLimitChanged(float);
void noMoreImagesReceived();
void loopClosureThrChanged(float);
void retrievalThrChanged(float);
void twistReceived(float x, float y, float z, float roll, float pitch, float yaw, int row, int col);
private:
void drawKeypoints(const std::multimap<int, cv::KeyPoint> & refWords, const std::multimap<int, cv::KeyPoint> & loopWords);
@@ -143,6 +145,7 @@ private:
QSet<int> _lastIds;
int _lastId;
bool _processingStatistics;
QMap<int, QByteArray> _imagesMap;

16
guilib/include/rtabmap/gui/PreferencesDialog.h
View File

@@ -104,6 +104,7 @@ public:
// source panel
double getGeneralImageRate() const;
bool getGeneralAutoRestart() const;
bool getGeneralCameraKeypoints() const;
int getSourceType() const;
QString getSourceTypeStr() const;
int getSourceWidth() const;
@@ -117,10 +118,11 @@ public:
int getSourceUsbDeviceId() const; //UsbDevice group
QString getSourceDatabasePath() const; //Database group
bool getSourceDatabaseIgnoreChildren() const; //Database group
bool getSourceDatabaseLoadActions() const; //Database group
//
bool isImagesKept() const;
double getTimeLimit() const;
float getTimeLimit() const;
//specific
double getLoopThr() const;
@@ -137,7 +139,7 @@ public slots:
void setRetrievalThr(int value);
void setImgRate(double value);
void setAutoRestart(bool value);
void setTimeLimit(double value);
void setTimeLimit(float value);
void selectSource(Src src = kSrcUndef);
private slots:
@@ -152,12 +154,12 @@ private slots:
void addParameter(int value);
void addParameter(double value);
void addParameter(const QString & value);
void updatePredictionLCSliders();
void updatePredictionLC();
void updatePredictionPlot();
void updateKpROI();
void changeWorkingDirectory();
void changeDictionaryPath();
void readSettingsEnd();
void setupTreeView();
protected:
virtual void showEvent ( QShowEvent * event );
@@ -178,9 +180,7 @@ protected:
private:
bool validateForm();
void setupTreeView();
void setupSignals();
void setupPredictionPanel();
void setupKpRoiPanel();
bool parseModel(QList<QGroupBox*> & boxes, QStandardItem * parentItem, int currentLevel, int & absoluteIndex);
void addParameter(const QObject * object, int value);
@@ -199,10 +199,6 @@ private:
QStandardItemModel * _indexModel;
bool _initialized;
//For Bayes filter prediction parameters
QList<QSlider*> _predictionLCSliders; // Sliders used to setup the prediction
bool _predictionPanelInitialized;
QProgressDialog * _progressDialog;
};

11
guilib/src/AboutDialog.cpp
View File

@@ -19,14 +19,21 @@
#include "AboutDialog.h"
#include "rtabmap/core/Rtabmap.h"
#include "ui_aboutDialog.h"
namespace rtabmap {
AboutDialog::AboutDialog(QWidget * parent) :
QDialog(parent)
{
_ui.setupUi(this);
_ui.label_version->setText(Rtabmap::getVersion().c_str());
_ui = new Ui_aboutDialog();
_ui->setupUi(this);
_ui->label_version->setText(Rtabmap::getVersion().c_str());
}
AboutDialog::~AboutDialog()
{
delete _ui;
}
}

7
guilib/src/AboutDialog.h
View File

@@ -22,7 +22,8 @@
#include <QtGui/QDialog>
#include <QtCore/QUrl>
#include "ui_aboutDialog.h"
class Ui_aboutDialog;
namespace rtabmap {
@@ -33,10 +34,10 @@ class AboutDialog : public QDialog
public:
AboutDialog(QWidget * parent = 0);
virtual ~AboutDialog() {}
virtual ~AboutDialog();
private:
Ui_aboutDialog _ui;
Ui_aboutDialog * _ui;
};
}

6
guilib/src/CMakeLists.txt
View File

@@ -11,6 +11,7 @@ SET(headers_ui
./PdfPlot.h
./StatsToolBox.h
./DetailedProgressDialog.h
./TwistWidget.h
)
SET(uis
@@ -49,6 +50,7 @@ SET(SRC_FILES
./DetailedProgressDialog.cpp
./AboutDialog.cpp
./ConsoleWidget.cpp
./TwistWidget.cpp
${moc_srcs}
${moc_uis}
${srcs_qrc}
@@ -57,7 +59,7 @@ SET(SRC_FILES
SET(INCLUDE_DIRS
${CMAKE_CURRENT_SOURCE_DIR}/../include
${CMAKE_CURRENT_SOURCE_DIR}
${UTILITE_INCLUDE_DIR}
${UTILITE_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
${CMAKE_CURRENT_BINARY_DIR} # for qt ui generated in binary dir
)
@@ -65,7 +67,7 @@ SET(INCLUDE_DIRS
INCLUDE(${QT_USE_FILE})
SET(LIBRARIES
${UTILITE_LIBRARY}
${UTILITE_LIBRARIES}
${QT_LIBRARIES}
${OpenCV_LIBS}
)

93
guilib/src/ConsoleWidget.cpp
View File

@@ -18,24 +18,42 @@
*/
#include "ConsoleWidget.h"
#include "ui_consoleWidget.h"
#include <utilite/ULogger.h>
#include <utilite/UEventsManager.h>
#include <QtGui/QMessageBox>
#include <QtGui/QTextCursor>
#include <QtCore/QTimer>
#define OLD_TIME 1000 //ms
#define MAXIMUM_ITEMS 100
namespace rtabmap {
ConsoleWidget::ConsoleWidget(QWidget * parent) :
QWidget(parent)
{
_ui.setupUi(this);
_ui = new Ui_consoleWidget();
_ui->setupUi(this);
UEventsManager::addHandler(this);
_ui->textEdit->document()->setMaximumBlockCount(MAXIMUM_ITEMS);
_textCursor = new QTextCursor(_ui->textEdit->document());
_ui->textEdit->setFontPointSize(10);
QPalette p(_ui->textEdit->palette());
p.setColor(QPalette::Base, Qt::black);
_ui->textEdit->setPalette(p);
_errorMessage = new QMessageBox(QMessageBox::Critical, tr("Fatal error occurred"), "", QMessageBox::Ok, this);
_errorMessageMutex.lock();
_time.start();
_timer.setSingleShot(true);
connect(_ui->pushButton_clear, SIGNAL(clicked()), _ui->textEdit, SLOT(clear()));
connect(this, SIGNAL(msgReceived(const QString &, int)), this, SLOT(appendMsg(const QString &, int)));
_ui.textEdit->document()->setMaximumBlockCount(100);
_ui.textEdit->setFontPointSize(10);
connect(&_timer, SIGNAL(timeout()), this, SLOT(flushConsole()));
}
ConsoleWidget::~ConsoleWidget()
{
delete _ui;
}
void ConsoleWidget::handleEvent(UEvent * anEvent)
@@ -44,12 +62,37 @@ void ConsoleWidget::handleEvent(UEvent * anEvent)
if(anEvent->getClassName().compare("ULogEvent") == 0)
{
ULogEvent * logEvent = (ULogEvent*)anEvent;
emit msgReceived(logEvent->getMsg().c_str(), logEvent->getCode());
_msgListMutex.lock();
_msgList.append(QPair<QString, int>(logEvent->getMsg().c_str(), logEvent->getCode()));
if(_msgList.size()>MAXIMUM_ITEMS)
{
_msgList.pop_front();
}
_msgListMutex.unlock();
if(_time.restart() < OLD_TIME)
{
if(logEvent->getCode() == ULogger::kFatal)
{
_timer.start(0);
}
else
{
_timer.start(OLD_TIME);
}
}
else
{
_timer.start(0);
}
if(logEvent->getCode() == ULogger::kFatal)
{
//The application will exit, so warn the user.
QMessageBox::critical(this, tr("Fatal error occurred"), tr("Error! :\n \"%1\"\nThe application will now exit...").arg(logEvent->getMsg().c_str()), QMessageBox::Ok);
//This thread will wait until the message box is closed...
// Assuming that error messages come from a different thread.
_errorMessageMutex.lock();
}
}
}
@@ -58,20 +101,48 @@ void ConsoleWidget::appendMsg(const QString & msg, int level)
switch(level)
{
case 0:
_ui.textEdit->setTextColor(Qt::darkGreen);
_ui->textEdit->setTextColor(Qt::darkGreen);
break;
case 2:
_ui.textEdit->setTextColor(Qt::darkYellow);
_ui->textEdit->setTextColor(Qt::yellow);
break;
case 3:
case 4:
_ui.textEdit->setTextColor(Qt::darkRed);
_ui->textEdit->setTextColor(Qt::red);
break;
default:
_ui.textEdit->setTextColor(Qt::black);
_ui->textEdit->setTextColor(Qt::white);
break;
}
_ui.textEdit->append(msg);
_ui->textEdit->append(msg);
if(level == ULogger::kFatal)
{
_textCursor->endEditBlock();
QTextCursor cursor = _ui->textEdit->textCursor();
cursor.movePosition(QTextCursor::End, QTextCursor::MoveAnchor);
_ui->textEdit->setTextCursor(cursor);
//The application will exit, so warn the user.
_errorMessage->setText(tr("Description:\n\n%1\n\nThe application will now exit...").arg(msg));
_errorMessage->exec();
_errorMessageMutex.unlock();
}
}
void ConsoleWidget::flushConsole()
{
_msgListMutex.lock();
_textCursor->beginEditBlock();
for(int i=0; i<_msgList.size(); ++i)
{
appendMsg(_msgList[i].first, _msgList[i].second);
}
_textCursor->endEditBlock();
_msgList.clear();
_msgListMutex.unlock();
QTextCursor cursor = _ui->textEdit->textCursor();
cursor.movePosition(QTextCursor::End, QTextCursor::MoveAnchor);
_ui->textEdit->setTextCursor(cursor);
}
}

22
guilib/src/ConsoleWidget.h
View File

@@ -20,8 +20,15 @@
#ifndef CONSOLEWIDGET_H_
#define CONSOLEWIDGET_H_
#include "ui_consoleWidget.h"
#include <utilite/UEventsHandler.h>
#include <QtGui/QWidget>
#include <QtCore/QMutex>
#include <QtCore/QTimer>
#include <QtCore/QTime>
class Ui_consoleWidget;
class QMessageBox;
class QTextCursor;
namespace rtabmap {
@@ -39,12 +46,21 @@ public slots:
signals:
void msgReceived(const QString &, int);
private slots:
void flushConsole();
protected:
virtual void handleEvent(UEvent * anEvent);
private:
Ui_consoleWidget _ui;
Ui_consoleWidget * _ui;
QMessageBox * _errorMessage;
QMutex _errorMessageMutex;
QMutex _msgListMutex;
QTimer _timer;
QTime _time;
QTextCursor * _textCursor;
QList<QPair<QString, int> > _msgList;
};
}

1
guilib/src/GuiLib.qrc
View File

@@ -16,6 +16,5 @@
<file>images/IntRoLabSmall.png</file>
<file>images/metal_7280826_512.jpg</file>
<file>images/crosshatch_metal_grille_9280154_150.JPG</file>
<file>resources/PreferencesModel.txt</file>
</qresource>
</RCC>

187
guilib/src/MainWindow.cpp
View File

@@ -31,6 +31,8 @@
#include "PdfPlot.h"
#include "StatsToolBox.h"
#include "DetailedProgressDialog.h"
#include "TwistWidget.h"
#include "rtabmap/core/SMState.h"
#include <QtGui/QCloseEvent>
@@ -73,6 +75,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_preferencesDialog(0),
_aboutDialog(0),
_lastId(0),
_processingStatistics(false),
_oneSecondTimer(0),
_elapsedTime(0),
_posteriorCurve(0),
@@ -105,6 +108,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_ui->dockWidget_likelihood->setVisible(false);
_ui->dockWidget_statsV2->setVisible(false);
_ui->dockWidget_console->setVisible(false);
_ui->dockWidget_twist->setVisible(false);
}
if(prefDialog)
@@ -143,7 +147,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
tc = _ui->posteriorPlot->addThreshold("Loop closure thr", float(_preferencesDialog->getLoopThr()));
connect(this, SIGNAL(loopClosureThrChanged(float)), tc, SLOT(setThreshold(float)));
tc = _ui->posteriorPlot->addThreshold("Retrieval thr", float(_preferencesDialog->getRetrievalThr()));
connect(this, SIGNAL(loopClosureThrChanged(float)), tc, SLOT(setThreshold(float)));
connect(this, SIGNAL(retrievalThrChanged(float)), tc, SLOT(setThreshold(float)));
_likelihoodCurve = new PdfPlotCurve("Likelihood", &_imagesMap, this);
_ui->likelihoodPlot->addCurve(_likelihoodCurve);
@@ -168,13 +172,13 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_ui->menuShow_view->addAction(_ui->dockWidget_likelihood->toggleViewAction());
_ui->menuShow_view->addAction(_ui->dockWidget_statsV2->toggleViewAction());
_ui->menuShow_view->addAction(_ui->dockWidget_console->toggleViewAction());
_ui->menuShow_view->addAction(_ui->dockWidget_twist->toggleViewAction());
_ui->menuShow_view->addAction(_ui->toolBar->toggleViewAction());
_ui->toolBar->setWindowTitle(tr("Control toolbar"));
QAction * a = _ui->menuShow_view->addAction("Status");
a->setCheckable(false);
connect(a, SIGNAL(triggered(bool)), _initProgressDialog, SLOT(show()));
// connect actions with custom slots
connect(_ui->actionStart, SIGNAL(triggered()), this, SLOT(startDetection()));
connect(_ui->actionPause, SIGNAL(triggered()), this, SLOT(pauseDetection()));
@@ -189,6 +193,8 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
connect(_ui->menuEdit, SIGNAL(aboutToShow()), this, SLOT(updateEditMenu()));
connect(_ui->actionAuto_screen_capture, SIGNAL(triggered(bool)), this, SLOT(selectScreenCaptureFormat(bool)));
_ui->actionPause->setShortcut(Qt::Key_Space);
#if defined(Q_WS_MAC) or defined(Q_WS_WIN)
connect(_ui->actionOpen_working_directory, SIGNAL(triggered()), SLOT(openWorkingDirectory()));
#else
@@ -223,7 +229,9 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
connect(_ui->doubleSpinBox_stats_imgRate, SIGNAL(editingFinished()), this, SLOT(changeImgRateSetting()));
connect(_ui->doubleSpinBox_stats_timeLimit, SIGNAL(editingFinished()), this, SLOT(changeTimeLimitSetting()));
connect(this, SIGNAL(imgRateChanged(double)), _preferencesDialog, SLOT(setImgRate(double)));
connect(this, SIGNAL(timeLimitChanged(double)), _preferencesDialog, SLOT(setTimeLimit(double)));
connect(this, SIGNAL(timeLimitChanged(float)), _preferencesDialog, SLOT(setTimeLimit(float)));
connect(this, SIGNAL(twistReceived(float, float, float, float, float, float, int, int)), _ui->twistWidget, SLOT(addTwist(float, float, float, float, float, float, int, int)));
// Statistics from the detector
qRegisterMetaType<rtabmap::Statistics>("rtabmap::Statistics");
@@ -313,7 +321,7 @@ void MainWindow::handleEvent(UEvent* anEvent)
if(anEvent->getClassName().compare("RtabmapEvent") == 0)
{
RtabmapEvent * rtabmapEvent = (RtabmapEvent*)anEvent;
const Statistics & stats = rtabmapEvent->getStats();
Statistics stats = rtabmapEvent->getStats();
int highestHypothesisId = int(uValue(stats.data(), Statistics::kLoopHighest_hypothesis_id(), 0.0f));
bool rejectedHyp = bool(uValue(stats.data(), Statistics::kLoopRejectedHypothesis(), 0.0f));
if((stats.loopClosureId() > 0 && _ui->actionPause_on_match->isChecked()) ||
@@ -328,8 +336,23 @@ void MainWindow::handleEvent(UEvent* anEvent)
this->pauseDetection();
}
}
Statistics statsCp = stats;
emit statsReceived(statsCp);
// Performance issue: don't process the pdf and likelihood if the last event is
// not yet completely processed, to avoid an unresponsive GUI when events accumulate.
if(_processingStatistics || !_ui->dockWidget_posterior->isVisible())
{
stats.setPosterior(std::map<int, float>());
}
if(_processingStatistics || !_ui->dockWidget_likelihood->isVisible())
{
stats.setLikelihood(std::map<int, float>());
}
if(_processingStatistics || (!_ui->dockWidget_posterior->isVisible() && !_ui->dockWidget_likelihood->isVisible()))
{
stats.setWeights(std::map<int,int>());
}
emit statsReceived(stats);
}
else if(anEvent->getClassName().compare("RtabmapEventInit") == 0)
{
@@ -368,10 +391,45 @@ void MainWindow::handleEvent(UEvent* anEvent)
}
}
}
else if(anEvent->getClassName().compare("SMStateEvent") == 0)
{
SMStateEvent * smEvent = (SMStateEvent*)anEvent;
if(smEvent->getSMState() != 0)
{
const SMState * sm = smEvent->getSMState();
if(sm->getActuators().size())
{
const std::list<std::vector<float> > & actions = sm->getActuators();
int col = 0;
for(std::list<std::vector<float> >::const_iterator iter=actions.begin(); iter!=actions.end(); ++iter)
{
const std::vector<float> & a = *iter;
if(a.size() == 6)
{
//Assume its a twist
emit twistReceived(a[0], a[1], a[2], a[3], a[4], a[5], 0, col++);
}
}
if(col != 2)
{
UWARN("col (%d) != 2", col);
}
}
else
{
UDEBUG("Actions null");
}
}
else
{
UDEBUG("SMState is null...");
}
}
}
void MainWindow::processStats(const rtabmap::Statistics & stat)
{
_processingStatistics = true;
ULOGGER_DEBUG("");
QTime time;
time.start();
@@ -414,6 +472,23 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
_ui->imageView_source->scene()->addPixmap(refPixmap)->setVisible(this->_ui->imageView_source->isImageShown());
_ui->imageView_source->setSceneRect(sceneRect);
_ui->imageView_loopClosure->setSceneRect(sceneRect);
UDEBUG("Adding mask = %d", stat.refMotionMask().size());
if(stat.refMotionMask().size() == (unsigned int)img.width()*img.height())
{
UDEBUG("Adding mask");
const std::vector<unsigned char> & maskData = stat.refMotionMask();
QImage mask(img.size(), QImage::Format_ARGB32);
int i=0;
for(int y=0; y<mask.height(); ++y)
{
for(int x=0; x<mask.width(); ++x)
{
mask.setPixel(x,y,qRgba(255,0,255,!maskData[i++]*_preferencesDialog->getKeypointsOpacity()));
}
}
_ui->imageView_source->scene()->addPixmap(QPixmap::fromImage(mask));
}
}
ULOGGER_DEBUG("");
QImage lcImg;
@@ -463,9 +538,6 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
_ui->imageView_loopClosure->setBackgroundBrush(QBrush(color));
_ui->label_stats_loopClosuresRejected->setText(QString::number(_ui->label_stats_loopClosuresRejected->text().toInt() + 1));
_ui->label_matchId->setText(QString("Loop hypothesis (%1) rejected!").arg(highestHypothesisId));
QGraphicsTextItem * textItem = _ui->imageView_loopClosure->scene()->addText(tr("Rejected hypothesis"));
textItem->setDefaultTextColor(QColor(255-color.red(), 255-color.green(), 255-color.blue())); // color inverted
textItem->setZValue(2);
}
}
else
@@ -496,10 +568,22 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
if(!lcImg.isNull())
{
_ui->imageView_loopClosure->scene()->addPixmap(QPixmap::fromImage(lcImg))->setVisible(this->_ui->imageView_loopClosure->isImageShown());
}
if(highestHypothesisIsSaved)
{
_ui->label_matchId->setText(QString("[Retrieved!] ").append(_ui->label_matchId->text()));
UDEBUG("Adding mask = %d", stat.loopMotionMask().size());
if(stat.loopMotionMask().size() == (unsigned int)lcImg.width()*lcImg.height())
{
UDEBUG("Adding mask");
const std::vector<unsigned char> & maskData = stat.loopMotionMask();
QImage mask(lcImg.size(), QImage::Format_ARGB32);
int i=0;
for(int y=0; y<mask.height(); ++y)
{
for(int x=0; x<mask.width(); ++x)
{
mask.setPixel(x,y,qRgba(255,0,255,!maskData[i++]*_preferencesDialog->getKeypointsOpacity()));
}
}
_ui->imageView_loopClosure->scene()->addPixmap(QPixmap::fromImage(mask));
}
}
}
}
@@ -534,6 +618,8 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
_ui->statsToolBox->updateStat("Keypoint/Keypoints count in the last signature/", stat.refImageId(), stat.refWords().size());
_ui->statsToolBox->updateStat("Keypoint/Keypoints count in the loop signature/", stat.refImageId(), stat.loopWords().size());
ULOGGER_DEBUG("");
// PDF AND LIKELIHOOD
if(!stat.posterior().empty() && _ui->dockWidget_posterior->isVisible())
{
ULOGGER_DEBUG("");
@@ -570,6 +656,30 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
ULOGGER_DEBUG("");
}
// ACTIONS
if(stat.getActions().size())
{
const std::list<std::vector<float> > & actions = stat.getActions();
int col = 0;
for(std::list<std::vector<float> >::const_iterator iter=actions.begin(); iter!=actions.end(); ++iter)
{
const std::vector<float> & a = *iter;
if(a.size() == 6)
{
//Assume its a twist
emit twistReceived(a[0], a[1], a[2], a[3], a[4], a[5], 1, col++);
}
}
if(col != 2)
{
UERROR("col (%d) != 2", col);
}
}
else
{
UDEBUG("Actions are empty...");
}
ULOGGER_DEBUG("");
// Update statistics tool box
const std::map<std::string, float> & statistics = stat.data();
@@ -591,6 +701,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
_ui->statsToolBox->updateStat("/Gui refresh stats/ms", stat.refImageId(), elapsedTime);
this->captureScreen();
_processingStatistics = false;
}
void MainWindow::processRtabmapEventInit(int status, const QString & info)
@@ -607,10 +718,6 @@ void MainWindow::processRtabmapEventInit(int status, const QString & info)
else if((RtabmapEventInit::Status)status == RtabmapEventInit::kInitialized)
{
_initProgressDialog->setValue(_initProgressDialog->maximumSteps());
if(_state == kPaused)
{
this->pauseDetection();
}
}
else
{
@@ -653,7 +760,11 @@ void MainWindow::applyPrefSettings(PreferencesDialog::PANEL_FLAGS flags)
this->updateSelectSourceMenu(_preferencesDialog->getSourceType());
_ui->label_stats_source->setText(_selectSourceGrp->checkedAction()->text().replace('.', ""));
this->post(new CameraEvent(CameraEvent::kCmdChangeParam, _preferencesDialog->getGeneralImageRate(), _preferencesDialog->getGeneralAutoRestart()));
if(_camera)
{
_camera->setImageRate(_preferencesDialog->getGeneralImageRate());
_camera->setAutoRestart(_preferencesDialog->getGeneralAutoRestart());
}
}
if(flags & PreferencesDialog::kPanelGeneral)
@@ -676,6 +787,7 @@ void MainWindow::applyPrefSettings(const rtabmap::ParametersMap & parameters)
rtabmap::ParametersMap parametersModified = parameters;
if(parametersModified.erase(Parameters::kRtabmapWorkingDirectory()))
{
_ui->statsToolBox->setWorkingDirectory(_preferencesDialog->getWorkingDirectory());
if(_state == kMonitoring)
{
QMessageBox::information(this, tr("Working memory changed"), tr("The remote working directory can't be changed while the interface is in monitoring mode."));
@@ -843,7 +955,7 @@ void MainWindow::changeImgRateSetting()
void MainWindow::changeTimeLimitSetting()
{
emit timeLimitChanged(_ui->doubleSpinBox_stats_timeLimit->value());
emit timeLimitChanged((float)_ui->doubleSpinBox_stats_timeLimit->value());
}
void MainWindow::captureScreen()
@@ -916,7 +1028,7 @@ void MainWindow::startDetection()
{
_camera = new CameraDatabase(
_preferencesDialog->getSourceDatabasePath().toStdString(),
_preferencesDialog->getSourceDatabaseIgnoreChildren(),
_preferencesDialog->getSourceDatabaseLoadActions(),
_preferencesDialog->getGeneralImageRate(),
_preferencesDialog->getGeneralAutoRestart(),
_preferencesDialog->getSourceWidth(),
@@ -941,7 +1053,10 @@ void MainWindow::startDetection()
return;
}
_camera->setPostThreatement(new CamKeypointTreatment(_preferencesDialog->getAllParameters()));
if(_preferencesDialog->getGeneralCameraKeypoints())
{
_camera->setPostThreatement(new CamKeypointTreatment(_preferencesDialog->getAllParameters()));
}
if(!_camera->init())
{
@@ -966,14 +1081,23 @@ void MainWindow::startDetection()
void MainWindow::pauseDetection()
{
ULOGGER_DEBUG("");
this->post(new CameraEvent(CameraEvent::kCmdPause));
emit stateChanged(kPaused);
if(_camera)
{
if(_state == kPaused)
{
// On Ctrl-click, start the camera and pause it automatically
if(QApplication::keyboardModifiers() & Qt::ShiftModifier)
{
emit stateChanged(kPaused);
}
}
emit stateChanged(kPaused);
}
}
void MainWindow::stopDetection()
{
if(_state == kIdle)
if(_state == kIdle || !_camera)
{
return;
}
@@ -991,8 +1115,7 @@ void MainWindow::stopDetection()
if(_camera)
{
UEventsManager::removeHandler(_camera);
//_camera->killSafely();
_camera->join(true);
delete _camera;
_camera = 0;
emit stateChanged(kIdle);
@@ -1268,6 +1391,7 @@ void MainWindow::changeState(MainWindow::State newState)
_ui->actionOpen_working_directory->setEnabled(true);
_ui->actionApply_settings_to_the_detector->setEnabled(true);
_ui->menuSelect_source->setEnabled(true);
_ui->doubleSpinBox_stats_imgRate->setEnabled(true);
_ui->statusbar->clearMessage();
_state = newState;
_oneSecondTimer->stop();
@@ -1313,6 +1437,10 @@ void MainWindow::changeState(MainWindow::State newState)
_state = kDetecting;
_elapsedTime->start();
_oneSecondTimer->start();
if(_camera)
{
_camera->start();
}
}
else if(_state == kDetecting)
{
@@ -1325,6 +1453,10 @@ void MainWindow::changeState(MainWindow::State newState)
_ui->actionGenerate_map->setEnabled(true);
_state = kPaused;
_oneSecondTimer->stop();
if(_camera)
{
_camera->join(true);
}
}
break;
case kMonitoring:
@@ -1342,6 +1474,7 @@ void MainWindow::changeState(MainWindow::State newState)
_ui->actionOpen_working_directory->setEnabled(false);
_ui->actionApply_settings_to_the_detector->setEnabled(false);
_ui->menuSelect_source->setEnabled(false);
_ui->doubleSpinBox_stats_imgRate->setEnabled(false);
_ui->statusbar->showMessage(tr("Monitoring..."));
_state = newState;
_ui->label_elapsedTime->setText("00:00:00");

2
guilib/src/PdfPlot.cpp
View File

@@ -119,7 +119,7 @@ void PdfPlotCurve::setData(const QMap<int, float> & dataMap, const QMap<int, int
UDEBUG("margin=%d", margin);
while(margin < 0)
{
PdfPlotItem * newItem = new PdfPlotItem(0, 0, -1);
PdfPlotItem * newItem = new PdfPlotItem(0, 0, 2, 0);
newItem->setImagesRef(_imagesMapRef);
this->_addValue(newItem);
++margin;

420
guilib/src/Plot.cpp
View File

@@ -138,7 +138,6 @@ void PlotItem::setPreviousItem(PlotItem * previousItem)
void PlotItem::showDescription(bool shown)
{
ULOGGER_DEBUG("");
if(shown)
{
this->setPen(QPen(Qt::black, 2));
@@ -313,7 +312,7 @@ void PlotCurve::attach(Plot * plot)
_plot = plot;
for(int i=0; i<_items.size(); ++i)
{
_plot->scene()->addItem(_items.at(i));
_plot->addItem(_items.at(i));
}
}
@@ -385,14 +384,13 @@ void PlotCurve::_addValue(PlotItem * data)
{
data->setPreviousItem((PlotItem *)_items.last());
//apply scale
QGraphicsLineItem * line = new QGraphicsLineItem();
line->setPen(_pen);
line->setVisible(false);
_items.append(line);
if(_plot)
{
_plot->scene()->addItem(line);
_plot->addItem(line);
}
//Update min/max
@@ -413,7 +411,7 @@ void PlotCurve::_addValue(PlotItem * data)
//data->showDescription(_valuesShown);
if(_plot)
{
_plot->scene()->addItem(_items.last());
_plot->addItem(_items.last());
}
}
else
@@ -604,7 +602,7 @@ void PlotCurve::setBrush(const QBrush & brush)
ULOGGER_WARN("Not used...");
}
void PlotCurve::update(float scaleX, float scaleY, float offsetX, float offsetY, int xDir, int yDir, bool allDataKept)
void PlotCurve::update(float scaleX, float scaleY, float offsetX, float offsetY, float xDir, float yDir, bool allDataKept)
{
//ULOGGER_DEBUG("scaleX=%f, scaleY=%f, offsetX=%f, offsetY=%f, xDir=%d, yDir=%d, _plot->scene()->width()=%f, _plot->scene()->height=%f", scaleX, scaleY, offsetX, offsetY, xDir, yDir,_plot->scene()->width(),_plot->scene()->height());
//make sure direction values are 1 or -1
@@ -636,14 +634,14 @@ void PlotCurve::update(float scaleX, float scaleY, float offsetX, float offsetY,
}
else
{
item->setPos(((xDir*item->data().x()+offsetX)*scaleX-item->rect().width()/2),
((yDir*item->data().y()+offsetY)*scaleY-item->rect().width()/2));
QPointF newPos(((xDir*item->data().x()+offsetX)*scaleX-item->rect().width()/2.0f),
((yDir*item->data().y()+offsetY)*scaleY-item->rect().width()/2.0f));
if(!item->isVisible())
{
item->setVisible(true);
}
item->setPos(newPos);
}
}
else
{
@@ -679,7 +677,44 @@ void PlotCurve::update(float scaleX, float scaleY, float offsetX, float offsetY,
}
int PlotCurve::itemsSize()
void PlotCurve::draw(QPainter * painter)
{
if(painter)
{
for(int i=_items.size()-1; i>=0 && _items.at(i)->isVisible(); i-=2)
{
//plotItem
const PlotItem * item = (const PlotItem *)_items.at(i);
int x = (int)item->x();
if(x<0)
{
break;
}
// draw line in first
if(i-1>=0)
{
painter->save();
painter->setPen(this->pen());
painter->setBrush(this->brush());
//lineItem
const QGraphicsLineItem * item = (const QGraphicsLineItem *)_items.at(i-1);
QLineF line = item->line();
int x = (int)line.p1().x();
if(x<0)
{
line.setP1(QPoint(0, line.p1().y()));
}
painter->drawLine(line);
painter->restore();
}
painter->drawEllipse(item->pos()+QPointF(item->rect().width()/2, item->rect().height()/2), (int)item->rect().width()/2, (int)item->rect().height()/2);
}
}
}
int PlotCurve::itemsSize() const
{
return _items.size();
}
@@ -822,7 +857,7 @@ void ThresholdCurve::setOrientation(Qt::Orientation orientation)
}
}
void ThresholdCurve::update(float scaleX, float scaleY, float offsetX, float offsetY, int xDir, int yDir, bool allDataKept)
void ThresholdCurve::update(float scaleX, float scaleY, float offsetX, float offsetY, float xDir, float yDir, bool allDataKept)
{
if(_items.size() == 3)
{
@@ -835,14 +870,14 @@ void ThresholdCurve::update(float scaleX, float scaleY, float offsetX, float off
item = (PlotItem*)_items.at(0);
item->setData(QPointF(-offsetX/xDir, item->data().y()));
item = (PlotItem*)_items.at(2);
item->setData(QPointF( (_plot->scene()->width()/scaleX-offsetX)/xDir, item->data().y()));
item->setData(QPointF( (_plot->sceneRect().width()/scaleX-offsetX)/xDir, item->data().y()));
}
else
{
item = (PlotItem*)_items.at(0);
item->setData(QPointF(item->data().x(), -offsetY/yDir));
item = (PlotItem*)_items.at(2);
item->setData(QPointF(item->data().x(), (_plot->scene()->height()/scaleY-offsetY)/yDir));
item->setData(QPointF(item->data().x(), (_plot->sceneRect().height()/scaleY-offsetY)/yDir));
}
this->updateMinMax();
}
@@ -954,23 +989,23 @@ void PlotAxis::setAxis(float & min, float & max)
if(min != max)
{
float mul = 1;
float rangef = fabsf(max - min);
float rangef = max - min;
int countStep = _count/5;
float val;
for(int i=0; i<6; ++i)
{
val = (rangef/countStep) * mul;
if( val >= 1 && val < 10)
val = (rangef/float(countStep)) * mul;
if( val >= 1.0f && val < 10.0f)
{
break;
}
else if(val<1)
{
mul *= 10;
mul *= 10.0f;
}
else
{
mul /= 10;
mul /= 10.0f;
}
}
//ULOGGER_DEBUG("min=%f, max=%f", min, max);
@@ -1187,6 +1222,7 @@ void PlotLegend::addItem(const PlotCurve * curve)
if(curve)
{
PlotLegendItem * legendItem = new PlotLegendItem(curve, this);
legendItem->setAutoDefault(false);
legendItem->setFlat(_flat);
legendItem->setCheckable(true);
legendItem->setChecked(false);
@@ -1194,7 +1230,7 @@ void PlotLegend::addItem(const PlotCurve * curve)
legendItem->setIconSize(QSize(25,20));
connect(legendItem, SIGNAL(toggled(bool)), this, SLOT(redirectToggled(bool)));
connect(legendItem, SIGNAL(legendItemRemoved(const PlotCurve *)), this, SLOT(removeLegendItem(const PlotCurve *)));
// layout
QHBoxLayout * hLayout = new QHBoxLayout();
hLayout->addWidget(legendItem);
@@ -1218,7 +1254,7 @@ QPixmap PlotLegend::createSymbol(const QPen & pen, const QBrush & brush)
return pixmap;
}
void PlotLegend::removeLegendItem(const PlotCurve * curve)
bool PlotLegend::remove(const PlotCurve * curve)
{
QList<PlotLegendItem *> items = this->findChildren<PlotLegendItem*>();
for(int i=0; i<items.size(); ++i)
@@ -1226,9 +1262,18 @@ void PlotLegend::removeLegendItem(const PlotCurve * curve)
if(items.at(i)->curve() == curve)
{
delete items.at(i);
emit legendItemRemoved(curve);
return true;
}
}
return false;
}
void PlotLegend::removeLegendItem(const PlotCurve * curve)
{
if(this->remove(curve))
{
emit legendItemRemoved(curve);
}
}
void PlotLegend::contextMenuEvent(QContextMenuEvent * event)
@@ -1342,6 +1387,7 @@ Plot::Plot(QWidget *parent) :
// This will update actions
this->showLegend(true);
this->setGraphicsView(false);
this->setMaxVisibleItems(0);
this->showGrid(false);
this->showRefreshRate(false);
@@ -1367,12 +1413,9 @@ Plot::Plot(QWidget *parent) :
Plot::~Plot()
{
_aAutoScreenCapture->setChecked(false);
ULOGGER_DEBUG("%s", this->title().toStdString().c_str());
QList<PlotCurve*> curves = _curves.values();
for(int i=0; i<curves.size(); ++i)
{
this->removeCurve(curves.at(i));
}
this->removeCurves();
}
void Plot::setupUi()
@@ -1382,6 +1425,11 @@ void Plot::setupUi()
_view->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
_view->setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
_view->setScene(new QGraphicsScene(0,0,0,0,this));
_view->setStyleSheet( "QGraphicsView { border-style: none; }" );
_sceneRoot = _view->scene()->addText("");
_sceneRoot->translate(0,0);
_graphicsViewHolder = new QWidget(this);
_graphicsViewHolder->setMinimumSize(100,100);
_verticalAxis = new PlotAxis(Qt::Vertical, 0, 1, this);
_horizontalAxis = new PlotAxis(Qt::Horizontal, 0, 1, this);
_title = new QLabel("");
@@ -1402,18 +1450,23 @@ void Plot::setupUi()
_refreshRate->setVisible(false);
//layouts
QGridLayout * grid = new QGridLayout();
QVBoxLayout * vLayout = new QVBoxLayout(_graphicsViewHolder);
vLayout->setContentsMargins(0,0,0,0);
vLayout->addWidget(_view);
QGridLayout * grid = new QGridLayout(this);
grid->setContentsMargins(0,0,0,0);
this->setLayout(grid);
grid->addWidget(_title, 0, 2);
grid->addWidget(_yLabel, 1, 0);
grid->addWidget(_verticalAxis, 1, 1);
grid->addWidget(_refreshRate, 2, 1);
grid->addWidget(_view, 1, 2);
grid->addWidget(_graphicsViewHolder, 1, 2);
grid->setColumnStretch(2, 1);
grid->setRowStretch(1, 1);
grid->addWidget(_horizontalAxis, 2, 2);
grid->addWidget(_xLabel, 3, 2);
grid->addWidget(_legend, 1, 3);
connect(_legend, SIGNAL(legendItemToggled(const PlotCurve *, bool)), this, SLOT(showCurve(const PlotCurve *, bool)));
connect(_legend, SIGNAL(legendItemRemoved(const PlotCurve *)), this, SLOT(removeCurve(const PlotCurve *)));
}
@@ -1426,6 +1479,8 @@ void Plot::createActions()
_aShowGrid->setCheckable(true);
_aShowRefreshRate = new QAction(tr("Show refresh rate"), this);
_aShowRefreshRate->setCheckable(true);
_aGraphicsView = new QAction(tr("Graphics view"), this);
_aGraphicsView->setCheckable(true);
_aKeepAllData = new QAction(tr("Keep all data"), this);
_aKeepAllData->setCheckable(true);
_aLimit0 = new QAction(tr("No maximum items shown"), this);
@@ -1473,6 +1528,7 @@ void Plot::createMenus()
_menu->addAction(_aShowLegend);
_menu->addAction(_aShowGrid);
_menu->addAction(_aShowRefreshRate);
_menu->addAction(_aGraphicsView);
_menu->addAction(_aKeepAllData);
_menu->addSeparator()->setStatusTip(tr("Maximum items shown"));
_menu->addAction(_aLimit0);
@@ -1516,18 +1572,31 @@ bool Plot::addCurve(PlotCurve * curve)
{
if(curve)
{
// only last curve can trigger an update, so disable previous connections
if(!qobject_cast<ThresholdCurve*>(curve))
{
for(int i=_curves.size()-1; i>=0; --i)
{
if(!qobject_cast<ThresholdCurve*>(_curves.at(i)))
{
disconnect(_curves.at(i), SIGNAL(dataChanged(const PlotCurve *)), this, SLOT(updateAxis()));
break;
}
}
}
// add curve
_curves.insert(curve, curve);
_curves.append(curve);
curve->attach(this); // ownership is transferred
this->updateAxis(curve);
curve->setStartX(_axisMaximums[1]);
connect(curve, SIGNAL(dataChanged(const PlotCurve *)), this, SLOT(updateAxis()));
_legend->addItem(curve);
ULOGGER_DEBUG("Curve \"%s\" added to plot \"%s\"", curve->name().toStdString().c_str(), this->title().toStdString().c_str());
this->update();
return true;
}
else
@@ -1540,7 +1609,7 @@ bool Plot::addCurve(PlotCurve * curve)
QStringList Plot::curveNames()
{
QStringList names;
for(QMap<const PlotCurve*, PlotCurve*>::iterator iter = _curves.begin(); iter!=_curves.end(); ++iter)
for(QList<PlotCurve*>::iterator iter = _curves.begin(); iter!=_curves.end(); ++iter)
{
if(*iter)
{
@@ -1552,7 +1621,7 @@ QStringList Plot::curveNames()
bool Plot::contains(const QString & curveName)
{
for(QMap<const PlotCurve*, PlotCurve*>::iterator iter = _curves.begin(); iter!=_curves.end(); ++iter)
for(QList<PlotCurve*>::iterator iter = _curves.begin(); iter!=_curves.end(); ++iter)
{
if(*iter && (*iter)->name().compare(curveName) == 0)
{
@@ -1567,15 +1636,14 @@ QPen Plot::getRandomPenColored()
return QPen((Qt::GlobalColor)(_penStyleCount++ % 12 + 7 ));
}
void Plot::replot()
void Plot::replot(QPainter * painter)
{
QList<PlotCurve *> curves = _curves.values();
if(_maxVisibleItems>0)
{
PlotCurve * c = 0;
int maxItem = 0;
// find the curve with the most items
for(QList<PlotCurve *>::iterator i=curves.begin(); i!=curves.end(); ++i)
for(QList<PlotCurve *>::iterator i=_curves.begin(); i!=_curves.end(); ++i)
{
if((*i)->isVisible() && ((PlotCurve *)(*i))->itemsSize() > maxItem)
{
@@ -1597,43 +1665,18 @@ void Plot::replot()
_verticalAxis->setAxis(axis[2], axis[3]);
_horizontalAxis->setAxis(axis[0], axis[1]);
if(_aGraphicsView->isChecked() && !painter)
{
_verticalAxis->update();
_horizontalAxis->update();
}
//ULOGGER_DEBUG("x1=%f, x2=%f, y1=%f, y2=%f", _axisMaximums[0], _axisMaximums[1], _axisMaximums[2], _axisMaximums[3]);
QRectF newRect(0,0, _view->size().width(), _view->size().height());
QRectF newRect(0,0, _graphicsViewHolder->size().width(), _graphicsViewHolder->size().height());
_view->scene()->setSceneRect(newRect);
int borderHor = _horizontalAxis->border();
int borderVer = _verticalAxis->border();
float scaleX = 1;
float scaleY = 1;
float den = 0;
den = axis[1] - axis[0];
if(den != 0)
{
scaleX = (_view->sceneRect().width()-(borderHor*2)) / den;
}
den = axis[3] - axis[2];
if(den != 0)
{
scaleY = (_view->sceneRect().height()-(borderVer*2)) / den;
}
for(QList<PlotCurve *>::iterator i=curves.begin(); i!=curves.end(); ++i)
{
if((*i)->isVisible())
{
int xDir = 1;
int yDir = -1;
(*i)->update(scaleX,
scaleY,
xDir<0?axis[1]+float(borderHor-2)/scaleX:-(axis[0]-float(borderHor-2)/scaleX),
yDir<0?axis[3]+float(borderVer-2)/scaleY:-(axis[2]-float(borderVer-2)/scaleY),
xDir,
yDir,
_aKeepAllData->isChecked());
}
}
float borderHor = (float)_horizontalAxis->border();
float borderVer = (float)_verticalAxis->border();
//grid
qDeleteAll(hGridLines);
@@ -1642,27 +1685,91 @@ void Plot::replot()
vGridLines.clear();
if(_aShowGrid->isChecked())
{
borderHor-=2;
borderVer-=2;
// TODO make a PlotGrid class ?
int w = _view->sceneRect().width()-(borderHor*2);
int h = _view->sceneRect().height()-(borderVer*2);
float stepH = w / _horizontalAxis->count();
float stepV = h / _verticalAxis->count();
float w = newRect.width()-(borderHor*2);
float h = newRect.height()-(borderVer*2);
float stepH = w / float(_horizontalAxis->count());
float stepV = h / float(_verticalAxis->count());
QPen pen(Qt::DashLine);
for(int i=0; i*stepV < h+stepV; i+=5)
for(float i=0.0f; i*stepV <= h+stepV; i+=5.0f)
{
//horizontal lines
hGridLines.append(_view->scene()->addLine(0, stepV*i+borderVer, borderHor, stepV*i+borderVer));
hGridLines.append(_view->scene()->addLine(borderHor, stepV*i+borderVer, w+borderHor, stepV*i+borderVer, pen));
hGridLines.append(_view->scene()->addLine(w+borderHor, stepV*i+borderVer, w+borderHor*2, stepV*i+borderVer));
if(!_aGraphicsView->isChecked())
{
if(painter)
{
painter->drawLine(0, stepV*i+borderVer+0.5f, borderHor, stepV*i+borderVer+0.5f);
painter->save();
painter->setPen(pen);
painter->drawLine(borderHor, stepV*i+borderVer+0.5f, w+borderHor, stepV*i+borderVer+0.5f);
painter->restore();
painter->drawLine(w+borderHor, stepV*i+borderVer+0.5f, w+borderHor*2, stepV*i+borderVer+0.5f);
}
}
else
{
hGridLines.append(new QGraphicsLineItem(0, stepV*i+borderVer, borderHor, stepV*i+borderVer, _sceneRoot));
hGridLines.append(new QGraphicsLineItem(borderHor, stepV*i+borderVer, w+borderHor, stepV*i+borderVer, _sceneRoot));
hGridLines.last()->setPen(pen);
hGridLines.append(new QGraphicsLineItem(w+borderHor, stepV*i+borderVer, w+borderHor*2, stepV*i+borderVer, _sceneRoot));
}
}
for(int i=0; i*stepH < w+stepH; i+=5)
for(float i=0; i*stepH < w+stepH; i+=5.0f)
{
//vertical lines
vGridLines.append(_view->scene()->addLine(stepH*i+borderHor, 0, stepH*i+borderHor, borderVer));
vGridLines.append(_view->scene()->addLine(stepH*i+borderHor, borderVer, stepH*i+borderHor, h+borderVer, pen));
vGridLines.append(_view->scene()->addLine(stepH*i+borderHor, h+borderVer, stepH*i+borderHor, h+borderVer*2));
if(!_aGraphicsView->isChecked())
{
if(painter)
{
painter->drawLine(stepH*i+borderHor+0.5f, 0, stepH*i+borderHor+0.5f, borderVer);
painter->save();
painter->setPen(pen);
painter->drawLine(stepH*i+borderHor+0.5f, borderVer, stepH*i+borderHor+0.5f, h+borderVer);
painter->restore();
painter->drawLine(stepH*i+borderHor+0.5f, h+borderVer, stepH*i+borderHor+0.5f, h+borderVer*2);
}
}
else
{
vGridLines.append(new QGraphicsLineItem(stepH*i+borderHor, 0, stepH*i+borderHor, borderVer, _sceneRoot));
vGridLines.append(new QGraphicsLineItem(stepH*i+borderHor, borderVer, stepH*i+borderHor, h+borderVer, _sceneRoot));
vGridLines.last()->setPen(pen);
vGridLines.append(new QGraphicsLineItem(stepH*i+borderHor, h+borderVer, stepH*i+borderHor, h+borderVer*2, _sceneRoot));
}
}
}
// curves
float scaleX = 1;
float scaleY = 1;
float den = 0;
den = axis[1] - axis[0];
if(den != 0)
{
scaleX = (newRect.width()-(borderHor*2)) / den;
}
den = axis[3] - axis[2];
if(den != 0)
{
scaleY = (newRect.height()-(borderVer*2)) / den;
}
for(QList<PlotCurve *>::iterator i=_curves.begin(); i!=_curves.end(); ++i)
{
if((*i)->isVisible())
{
float xDir = 1.0f;
float yDir = -1.0f;
(*i)->update(scaleX,
scaleY,
xDir<0?axis[1]+borderHor/scaleX:-(axis[0]-borderHor/scaleX),
yDir<0?axis[3]+borderVer/scaleY:-(axis[2]-borderVer/scaleY),
xDir,
yDir,
_aKeepAllData->isChecked());
if(painter)
{
(*i)->draw(painter);
}
}
}
@@ -1674,8 +1781,8 @@ void Plot::replot()
{
_lowestRefreshRate = refreshRate;
}
// Refresh the label only after each 100 ms
if(_refreshStartTime.elapsed() > 100)
// Refresh the label only after each 1000 ms
if(_refreshStartTime.elapsed() > 1000)
{
_refreshRate->setText(QString::number(_lowestRefreshRate));
_lowestRefreshRate = 99;
@@ -1700,10 +1807,9 @@ void Plot::setFixedYAxis(float y1, float y2)
void Plot::updateAxis(const PlotCurve * curve)
{
PlotCurve * value = _curves.value(curve, 0);
if(value && value->isVisible() && value->itemsSize() && value->isMinMaxValid())
if(curve && curve->isVisible() && curve->itemsSize() && curve->isMinMaxValid())
{
const QVector<float> & minMax = value->getMinMax();
const QVector<float> & minMax = curve->getMinMax();
//ULOGGER_DEBUG("x1=%f, x2=%f, y1=%f, y2=%f", minMax[0], minMax[1], minMax[2], minMax[3]);
if(minMax.size() != 4)
{
@@ -1711,7 +1817,7 @@ void Plot::updateAxis(const PlotCurve * curve)
return;
}
this->updateAxis(minMax[0], minMax[1], minMax[2], minMax[3]);
this->update();
_aGraphicsView->isChecked()?this->replot(0):this->update();
}
}
@@ -1777,25 +1883,48 @@ void Plot::updateAxis()
}
}
QList<PlotCurve*> curves = _curves.values();
for(int i=0; i<curves.size(); ++i)
for(int i=0; i<_curves.size(); ++i)
{
if(curves.at(i)->isVisible() && curves.at(i)->isMinMaxValid())
if(_curves.at(i)->isVisible() && _curves.at(i)->isMinMaxValid())
{
const QVector<float> & minMax = curves.at(i)->getMinMax();
const QVector<float> & minMax = _curves.at(i)->getMinMax();
this->updateAxis(minMax[0], minMax[1], minMax[2], minMax[3]);
}
}
this->update();
_aGraphicsView->isChecked()?this->replot(0):this->update();
this->captureScreen();
}
void Plot::paintEvent(QPaintEvent * event)
{
this->replot();
QWidget::paintEvent(event);
UDEBUG("");
if(!_aGraphicsView->isChecked())
{
QPainter painter(this);
painter.translate(_graphicsViewHolder->pos());
painter.save();
painter.setBrush(Qt::white);
painter.setPen(QPen(Qt::NoPen));
painter.drawRect(_graphicsViewHolder->rect());
painter.restore();
this->replot(&painter);
}
else
{
QWidget::paintEvent(event);
}
}
void Plot::resizeEvent(QResizeEvent * event)
{
if(_aGraphicsView->isChecked())
{
this->replot(0);
}
QWidget::resizeEvent(event);
}
void Plot::contextMenuEvent(QContextMenuEvent * event)
@@ -1818,6 +1947,10 @@ void Plot::contextMenuEvent(QContextMenuEvent * event)
{
this->showRefreshRate(_aShowRefreshRate->isChecked());
}
else if(action == _aGraphicsView)
{
this->setGraphicsView(_aGraphicsView->isChecked());
}
else if(action == _aKeepAllData)
{
this->keepAllData(_aKeepAllData->isChecked());
@@ -1831,7 +1964,6 @@ void Plot::contextMenuEvent(QContextMenuEvent * event)
action == _aLimitCustom)
{
this->setMaxVisibleItems(action->text().toInt());
this->updateAxis();
}
else if(action == _aAddVerticalLine || action == _aAddHorizontalLine)
{
@@ -1982,16 +2114,7 @@ void Plot::contextMenuEvent(QContextMenuEvent * event)
}
else if(action == _aClearData)
{
QList<PlotCurve *> curves = _curves.values();
for(int i=0; i<curves.size(); ++i)
{
// Don't clear threshold curves
if(qobject_cast<ThresholdCurve*>(curves.at(i)) == 0)
{
curves.at(i)->clear();
}
}
this->update();
this->clearData();
}
else
{
@@ -2048,6 +2171,19 @@ void Plot::selectScreenCaptureFormat()
this->captureScreen();
}
void Plot::clearData()
{
for(int i=0; i<_curves.size(); ++i)
{
// Don't clear threshold curves
if(qobject_cast<ThresholdCurve*>(_curves.at(i)) == 0)
{
_curves.at(i)->clear();
}
}
_aGraphicsView->isChecked()?this->replot(0):this->update();
}
// for convenience...
ThresholdCurve * Plot::addThreshold(const QString & name, float value, Qt::Orientation orientation)
{
@@ -2064,7 +2200,7 @@ ThresholdCurve * Plot::addThreshold(const QString & name, float value, Qt::Orien
}
else
{
this->update();
_aGraphicsView->isChecked()?this->replot(0):this->update();
}
return curve;
}
@@ -2074,6 +2210,10 @@ void Plot::setTitle(const QString & text)
_title->setText(text);
_title->setVisible(!text.isEmpty());
this->update();
if(_aGraphicsView->isChecked())
{
QTimer::singleShot(10, this, SLOT(updateAxis()));
}
}
void Plot::setXLabel(const QString & text)
@@ -2081,6 +2221,10 @@ void Plot::setXLabel(const QString & text)
_xLabel->setText(text);
_xLabel->setVisible(!text.isEmpty());
this->update();
if(_aGraphicsView->isChecked())
{
QTimer::singleShot(10, this, SLOT(updateAxis()));
}
}
void Plot::setYLabel(const QString & text, Qt::Orientation orientation)
@@ -2090,11 +2234,15 @@ void Plot::setYLabel(const QString & text, Qt::Orientation orientation)
_yLabel->setVisible(!text.isEmpty());
_aYLabelVertical->setChecked(orientation==Qt::Vertical);
this->update();
if(_aGraphicsView->isChecked())
{
QTimer::singleShot(10, this, SLOT(updateAxis()));
}
}
QGraphicsScene * Plot::scene() const
void Plot::addItem(QGraphicsItem * item)
{
return _view->scene();
item->setParentItem(_sceneRoot);
}
void Plot::showLegend(bool shown)
@@ -2102,12 +2250,16 @@ void Plot::showLegend(bool shown)
_legend->setVisible(shown);
_aShowLegend->setChecked(shown);
this->update();
if(_aGraphicsView->isChecked())
{
QTimer::singleShot(10, this, SLOT(updateAxis()));
}
}
void Plot::showGrid(bool shown)
{
_aShowGrid->setChecked(shown);
this->update();
_aGraphicsView->isChecked()?this->replot(0):this->update();
}
void Plot::showRefreshRate(bool shown)
@@ -2115,6 +2267,17 @@ void Plot::showRefreshRate(bool shown)
_aShowRefreshRate->setChecked(shown);
_refreshRate->setVisible(shown);
this->update();
if(_aGraphicsView->isChecked())
{
QTimer::singleShot(10, this, SLOT(updateAxis()));
}
}
void Plot::setGraphicsView(bool on)
{
_aGraphicsView->setChecked(on);
_view->setVisible(on);
_aGraphicsView->isChecked()?this->replot(0):this->update();
}
void Plot::keepAllData(bool kept)
@@ -2155,11 +2318,17 @@ void Plot::setMaxVisibleItems(int maxVisibleItems)
_aLimitCustom->setText(QString::number(maxVisibleItems));
}
_maxVisibleItems = maxVisibleItems;
updateAxis();
}
QRectF Plot::sceneRect() const
{
return _view->sceneRect();
}
void Plot::removeCurves()
{
QList<PlotCurve*> tmp = _curves.values();
QList<PlotCurve*> tmp = _curves;
for(QList<PlotCurve*>::iterator iter=tmp.begin(); iter!=tmp.end(); ++iter)
{
this->removeCurve(*iter);
@@ -2169,13 +2338,27 @@ void Plot::removeCurves()
void Plot::removeCurve(const PlotCurve * curve)
{
PlotCurve * c = _curves.value(curve, 0);
QList<PlotCurve *>::iterator iter = qFind(_curves.begin(), _curves.end(), curve);
ULOGGER_DEBUG("Plot=\"%s\" removing curve=\"%s\"", this->objectName().toStdString().c_str(), curve?curve->name().toStdString().c_str():"");
if(c)
if(iter!=_curves.end())
{
PlotCurve * c = *iter;
c->detach(this);
_curves.remove(c);
_legend->removeLegendItem(c);
_curves.erase(iter);
_legend->remove(c);
if(!qobject_cast<ThresholdCurve*>(c))
{
// transfer update connection to next curve
for(int i=_curves.size()-1; i>=0; --i)
{
if(!qobject_cast<ThresholdCurve*>(_curves.at(i)))
{
connect(_curves.at(i), SIGNAL(dataChanged(const PlotCurve *)), this, SLOT(updateAxis()));
break;
}
}
}
if(c->parent() == this)
{
delete c;
@@ -2187,9 +2370,10 @@ void Plot::removeCurve(const PlotCurve * curve)
void Plot::showCurve(const PlotCurve * curve, bool shown)
{
PlotCurve * value = _curves.value(curve, 0);
if(value)
QList<PlotCurve *>::iterator iter = qFind(_curves.begin(), _curves.end(), curve);
if(iter!=_curves.end())
{
PlotCurve * value = *iter;
if(value->isVisible() != shown)
{
value->setVisible(shown);

30
guilib/src/Plot.h
View File

@@ -94,13 +94,14 @@ public:
void setDefaultStepX(float stepX) {_defaultStepX = stepX;}
QString name() const {return _name;}
int itemsSize();
int itemsSize() const;
QPointF getItemData(int index);
void setStartX(float startX) {_startX = startX;}
bool isVisible() const {return _visible;}
void setData(QVector<PlotItem*> & data); // take the ownership
void setData(const QVector<float> & x, const QVector<float> & y);
void getData(QVector<float> & x, QVector<float> & y) const; // only call in Qt MainThread
void draw(QPainter * painter);
public slots:
virtual void clear();
@@ -125,7 +126,7 @@ protected:
int removeItem(int index);
void _addValue(PlotItem * data);;
virtual bool isMinMaxValid() const {return _minMax.size();}
virtual void update(float scaleX, float scaleY, float offsetX, float offsetY, int xDir, int yDir, bool allDataKept);
virtual void update(float scaleX, float scaleY, float offsetX, float offsetY, float xDir, float yDir, bool allDataKept);
QList<QGraphicsItem *> _items;
Plot * _plot;
@@ -150,7 +151,7 @@ class ThresholdCurve : public PlotCurve
public:
ThresholdCurve(const QString & name, float thesholdValue, Qt::Orientation orientation = Qt::Horizontal, QObject * parent = 0);
~ThresholdCurve();
virtual ~ThresholdCurve();
public slots:
void setThreshold(float threshold);
@@ -158,7 +159,7 @@ public slots:
protected:
friend class Plot;
virtual void update(float scaleX, float scaleY, float offsetX, float offsetY, int xDir, int yDir, bool allDataKept);
virtual void update(float scaleX, float scaleY, float offsetX, float offsetY, float xDir, float yDir, bool allDataKept);
virtual bool isMinMaxValid() const {return false;}
private:
@@ -231,6 +232,7 @@ public:
bool isFlat() const {return _flat;}
void addItem(const PlotCurve * curve);
QPixmap createSymbol(const QPen & pen, const QBrush & brush);
bool remove(const PlotCurve * curve);
public slots:
void removeLegendItem(const PlotCurve * curve);
@@ -282,7 +284,7 @@ public:
virtual ~Plot();
PlotCurve * addCurve(const QString & curveName);
bool addCurve(PlotCurve * curve);
bool addCurve(PlotCurve * curves);
QStringList curveNames();
bool contains(const QString & curveName);
void removeCurves();
@@ -303,24 +305,31 @@ public:
void setTitle(const QString & text);
void setXLabel(const QString & text);
void setYLabel(const QString & text, Qt::Orientation orientation = Qt::Vertical);
QGraphicsScene * scene() const;
void setWorkingDirectory(const QString & workingDirectory);
void setGraphicsView(bool on);
QRectF sceneRect() const;
public slots:
void removeCurve(const PlotCurve * curve);
void showCurve(const PlotCurve * curve, bool shown);
void updateAxis(); //reset axis and recompute it with all curves minMax
void clearData();
private slots:
void captureScreen();
void updateAxis(const PlotCurve * curve);
void updateAxis(); //reset axis and recompute it with all curves minMax
protected:
virtual void contextMenuEvent(QContextMenuEvent * event);
virtual void paintEvent(QPaintEvent * event);
virtual void resizeEvent(QResizeEvent * event);
private:
void replot();
friend class PlotCurve;
void addItem(QGraphicsItem * item);
private:
void replot(QPainter * painter);
bool updateAxis(float x, float y);
bool updateAxis(float x1, float x2, float y1, float y2);
void setupUi();
@@ -331,6 +340,8 @@ private:
private:
PlotLegend * _legend;
QGraphicsView * _view;
QGraphicsItem * _sceneRoot;
QWidget * _graphicsViewHolder;
float _axisMaximums[4]; // {x1->x2, y1->y2}
bool _axisMaximumsSet[4]; // {x1->x2, y1->y2}
bool _fixedAxis[2];
@@ -340,7 +351,7 @@ private:
int _maxVisibleItems;
QList<QGraphicsLineItem *> hGridLines;
QList<QGraphicsLineItem *> vGridLines;
QMap<const PlotCurve*, PlotCurve*> _curves;
QList<PlotCurve*> _curves;
QLabel * _title;
QLabel * _xLabel;
OrientableLabel * _yLabel;
@@ -372,6 +383,7 @@ private:
QAction * _aSaveFigure;
QAction * _aAutoScreenCapture;
QAction * _aClearData;
QAction * _aGraphicsView;
};
#ifndef PLOT_WIDGET_OUT_OF_LIB

443
guilib/src/PreferencesDialog.cpp
View File

@@ -49,8 +49,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_obsoletePanels(kPanelDummy),
_ui(0),
_indexModel(0),
_initialized(false),
_predictionPanelInitialized(false)
_initialized(false)
{
ULOGGER_DEBUG("");
@@ -64,6 +63,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->buttonBox_local, SIGNAL(clicked(QAbstractButton *)), this, SLOT(resetApply(QAbstractButton *)));
connect(_ui->pushButton_loadConfig, SIGNAL(clicked()), this, SLOT(loadConfigFrom()));
connect(_ui->pushButton_saveConfig, SIGNAL(clicked()), this, SLOT(saveConfigTo()));
connect(_ui->radioButton_basic, SIGNAL(toggled(bool)), this, SLOT(setupTreeView()));
// General panel
connect(_ui->general_checkBox_imagesKept, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
@@ -75,6 +75,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->checkBox_imageFlipped, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
connect(_ui->comboBox_loggerType, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
connect(_ui->checkBox_imageRejectedShown, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
connect(_ui->checkBox_imageHighestHypShown, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
connect(_ui->checkBox_beep, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
connect(_ui->horizontalSlider_keypointsOpacity, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
@@ -84,6 +85,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->source_comboBox_type, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->general_doubleSpinBox_imgRate, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->general_checkBox_autoRestart, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->general_checkBox_cameraKeypoints, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
//usbDevice group
connect(_ui->source_usbDevice_spinBox_id, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->source_spinBox_imgWidth, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
@@ -99,18 +101,38 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
//database group
connect(_ui->source_database_toolButton_selectSource, SIGNAL(clicked()), this, SLOT(selectSource()));
connect(_ui->source_database_lineEdit_path, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->source_database_checkBox_ignoreChildren, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->source_database_checkBox_loadActions, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
//Rtabmap basic
connect(_ui->general_doubleSpinBox_timeThr, SIGNAL(valueChanged(double)), _ui->general_doubleSpinBox_timeThr_2, SLOT(setValue(double)));
connect(_ui->general_doubleSpinBox_hardThr, SIGNAL(valueChanged(double)), _ui->general_doubleSpinBox_hardThr_2, SLOT(setValue(double)));
connect(_ui->surf_doubleSpinBox_hessianThr, SIGNAL(valueChanged(double)), _ui->surf_doubleSpinBox_hessianThr_2, SLOT(setValue(double)));
connect(_ui->general_spinBox_imagesBufferSize, SIGNAL(valueChanged(int)), _ui->general_spinBox_imagesBufferSize_2, SLOT(setValue(int)));
connect(_ui->general_checkBox_publishStats, SIGNAL(clicked(bool)), _ui->general_checkBox_publishStats_2, SLOT(setChecked(bool)));
connect(_ui->lineEdit_workingDirectory, SIGNAL(textChanged(const QString &)), _ui->lineEdit_workingDirectory_2, SLOT(setText(const QString &)));
connect(_ui->general_doubleSpinBox_timeThr_2, SIGNAL(valueChanged(double)), _ui->general_doubleSpinBox_timeThr, SLOT(setValue(double)));
connect(_ui->general_doubleSpinBox_hardThr_2, SIGNAL(valueChanged(double)), _ui->general_doubleSpinBox_hardThr, SLOT(setValue(double)));
connect(_ui->surf_doubleSpinBox_hessianThr_2, SIGNAL(valueChanged(double)), _ui->surf_doubleSpinBox_hessianThr, SLOT(setValue(double)));
connect(_ui->general_spinBox_imagesBufferSize_2, SIGNAL(valueChanged(int)), _ui->general_spinBox_imagesBufferSize, SLOT(setValue(int)));
connect(_ui->general_checkBox_publishStats_2, SIGNAL(clicked(bool)), _ui->general_checkBox_publishStats, SLOT(setChecked(bool)));
connect(_ui->lineEdit_workingDirectory_2, SIGNAL(textChanged(const QString &)), _ui->lineEdit_workingDirectory, SLOT(setText(const QString &)));
connect(_ui->toolButton_workingDirectory_2, SIGNAL(clicked()), this, SLOT(changeWorkingDirectory()));
// Map objects name with the corresponding parameter key, needed for the addParameter() slots
//Rtabmap
_ui->general_doubleSpinBox_retrievalThr->setObjectName(Parameters::kRtabmapRetrievalThr().c_str());
_ui->general_checkBox_publishStats->setObjectName(Parameters::kRtabmapPublishStats().c_str());
_ui->general_checkBox_publishImages->setObjectName(Parameters::kRtabmapPublishImages().c_str());
_ui->general_checkBox_publishPdf->setObjectName(Parameters::kRtabmapPublishPdf().c_str());
_ui->general_checkBox_publishLikelihood->setObjectName(Parameters::kRtabmapPublishLikelihood().c_str());
_ui->general_doubleSpinBox_timeThr->setObjectName(Parameters::kRtabmapTimeThr().c_str());
_ui->general_spinBox_memoryThr->setObjectName(Parameters::kRtabmapMemoryThr().c_str());
_ui->general_spinBox_imagesBufferSize->setObjectName(Parameters::kRtabmapSMStateBufferSize().c_str());
_ui->general_spinBox_minMemorySizeForLoopDetection->setObjectName(Parameters::kRtabmapMinMemorySizeForLoopDetection().c_str());
_ui->general_spinBox_maxRetrieved->setObjectName(Parameters::kRtabmapMaxRetrieved().c_str());
_ui->general_checkBox_actionsByTime->setObjectName(Parameters::kRtabmapActionsByTime().c_str());
_ui->general_checkBox_neighborhoodSummation->setObjectName(Parameters::kRtabmapSelectionNeighborhoodSummationUsed().c_str());
_ui->general_checkBox_likelihoodUsed->setObjectName(Parameters::kRtabmapSelectionLikelihoodUsed().c_str());
_ui->general_checkBox_likelihoodStdDevRemoved->setObjectName(Parameters::kRtabmapLikelihoodStdDevRemoved().c_str());
_ui->general_checkBox_actionsSentRejectHyp->setObjectName(Parameters::kRtabmapActionsSentRejectHyp().c_str());
_ui->general_doubleSpinBox_confidenceThr->setObjectName(Parameters::kRtabmapConfidenceThr().c_str());
_ui->lineEdit_workingDirectory->setObjectName(Parameters::kRtabmapWorkingDirectory().c_str());
@@ -123,17 +145,19 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->general_doubleSpinBox_similarityThr->setObjectName(Parameters::kMemSimilarityThr().c_str());
_ui->general_checkBox_incrementalMemory->setObjectName(Parameters::kMemIncrementalMemory().c_str());
_ui->general_checkBox_commonSignatureUsed->setObjectName(Parameters::kMemCommonSignatureUsed().c_str());
_ui->general_checkBox_databaseCleaned->setObjectName(Parameters::kMemDatabaseCleaned().c_str());
_ui->mem_spinBox_delayRequired->setObjectName(Parameters::kMemDelayRequired().c_str());
_ui->general_checkBox_localGraphCleaned->setObjectName(Parameters::kRtabmapLocalGraphCleaned().c_str());
_ui->general_doubleSpinBox_recentWmRatio->setObjectName(Parameters::kMemRecentWmRatio().c_str());
_ui->general_checkBox_dataMergedOnRehearsal->setObjectName(Parameters::kMemDataMergedOnRehearsal().c_str());
_ui->comboBox_signatureType->setObjectName(Parameters::kMemSignatureType().c_str());
// Database
_ui->spinBox_dbMinSignToSave->setObjectName(Parameters::kDbMinSignaturesToSave().c_str());
_ui->spinBox_dbMinWordsToSave->setObjectName(Parameters::kDbMinWordsToSave().c_str());
_ui->general_checkBox_imagesCompressed->setObjectName(Parameters::kDbImagesCompressed().c_str());
_ui->checkBox_dbInMemory->setObjectName(Parameters::kDbSqlite3InMemory().c_str());
_ui->spinBox_dbCacheSize->setObjectName(Parameters::kDbSqlite3CacheSize().c_str());
_ui->comboBox_dbJournalMode->setObjectName(Parameters::kDbSqlite3JournalMode().c_str());
_ui->comboBox_dbSynchronous->setObjectName(Parameters::kDbSqlite3Synchronous().c_str());
_ui->comboBox_dbTempStore->setObjectName(Parameters::kDbSqlite3TempStore().c_str());
// Create hypotheses
_ui->general_doubleSpinBox_hardThr->setObjectName(Parameters::kRtabmapLoopThr().c_str());
@@ -142,8 +166,11 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
//Bayes
_ui->general_doubleSpinBox_vp->setObjectName(Parameters::kBayesVirtualPlacePriorThr().c_str());
_ui->lineEdit_bayes_predictionLC->setObjectName(Parameters::kBayesPredictionLC().c_str());
_ui->checkBox_bayes_predictionNonNullActionsOnly->setObjectName(Parameters::kBayesPredictionOnNonNullActionsOnly().c_str());
connect(_ui->lineEdit_bayes_predictionLC, SIGNAL(textChanged(const QString &)), this, SLOT(updatePredictionPlot()));
//Keypoint-based
_ui->checkBox_kp_publishKeypoints->setObjectName(Parameters::kKpPublishKeypoints().c_str());
_ui->comboBox_dictionary_strategy->setObjectName(Parameters::kKpNNStrategy().c_str());
_ui->checkBox_dictionary_incremental->setObjectName(Parameters::kKpIncrementalDictionary().c_str());
_ui->comboBox_detector_strategy->setObjectName(Parameters::kKpDetectorStrategy().c_str());
@@ -160,7 +187,6 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->checkBox_kp_tfIdfLikelihoodUsed->setObjectName(Parameters::kKpTfIdfLikelihoodUsed().c_str());
_ui->checkBox_kp_tfIdfNormalized->setObjectName(Parameters::kKpTfIdfNormalized().c_str());
_ui->checkBox_kp_parallelized->setObjectName(Parameters::kKpParallelized().c_str());
_ui->checkBox_kp_sensorStateOnly->setObjectName(Parameters::kKpSensorStateOnly().c_str());
_ui->lineEdit_kp_roi->setObjectName(Parameters::kKpRoiRatios().c_str());
_ui->lineEdit_dictionaryPath->setObjectName(Parameters::kKpDictionaryPath().c_str());
connect(_ui->toolButton_dictionaryPath, SIGNAL(clicked()), this, SLOT(changeDictionaryPath()));
@@ -184,6 +210,20 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->sift_doubleSpinBox_Thr->setObjectName(Parameters::kSIFTThreshold().c_str());
_ui->sift_doubleSpinBox_edgeThr->setObjectName(Parameters::kSIFTEdgeThreshold().c_str());
//FAST detector
_ui->fast_spinBox_Threshold->setObjectName(Parameters::kFASTThreshold().c_str());
_ui->fast_checkBox_nonmaxSuppression->setObjectName(Parameters::kFASTNonmaxSuppression().c_str());
//BRIEF descriptor
_ui->brief_spinBox_size->setObjectName(Parameters::kBRIEFSize().c_str());
// Sensorimotor
_ui->checkBox_publishMasks->setObjectName(Parameters::kSMPublishMasks().c_str());
_ui->checkBox_motionMaskUsed->setObjectName(Parameters::kSMMotionMaskUsed().c_str());
_ui->checkBox_logpolar->setObjectName(Parameters::kSMLogPolarUsed().c_str());
_ui->checkBox_votingScheme->setObjectName(Parameters::kSMVotingSchemeUsed().c_str());
_ui->sm_colorTable_comboBox->setObjectName(Parameters::kSMColorTable().c_str());
// verifyHypotheses
_ui->comboBox_vh_strategy->setObjectName(Parameters::kRtabmapVhStrategy().c_str());
_ui->vh_doubleSpinBox_similarity->setObjectName(Parameters::kVhSimilarity().c_str());
@@ -203,7 +243,6 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->stackedWidget->setCurrentIndex(0);
this->setupTreeView();
connect(_ui->treeView, SIGNAL(clicked(QModelIndex)), this, SLOT(clicked(QModelIndex)));
_ui->treeView->expandToDepth(1);
_obsoletePanels = kPanelAll;
@@ -230,25 +269,50 @@ void PreferencesDialog::init()
void PreferencesDialog::setupTreeView()
{
QFile modelFile(":/resources/PreferencesModel.txt");
if(modelFile.open(QIODevice::ReadOnly | QIODevice::Text))
int currentIndex = 0;
if(_indexModel)
{
_indexModel = new QStandardItemModel(this);
// Parse the model
QList<QGroupBox*> boxes = this->getGroupBoxes();
QStandardItem * parentItem = _indexModel->invisibleRootItem();
int index = 0;
this->parseModel(boxes, parentItem, 0, index); // recursive method
if(index != _ui->stackedWidget->count())
currentIndex = _indexModel->itemFromIndex(_ui->treeView->currentIndex())->data().toInt();
_ui->treeView->setModel(0);
delete _indexModel;
}
_indexModel = new QStandardItemModel(this);
// Parse the model
QList<QGroupBox*> boxes = this->getGroupBoxes();
if(_ui->radioButton_basic->isChecked())
{
boxes = boxes.mid(0,3);
}
else // Advanced
{
boxes.removeAt(2);
}
QStandardItem * parentItem = _indexModel->invisibleRootItem();
int index = 0;
this->parseModel(boxes, parentItem, 0, index); // recursive method
if(_ui->radioButton_advanced->isChecked() && index != _ui->stackedWidget->count()-1)
{
ULOGGER_ERROR("The tree model is not the same size of the stacked widgets...%d vs %d advanced stacks", index, _ui->stackedWidget->count()-1);
}
if(_ui->radioButton_basic->isChecked())
{
if(currentIndex >= 2)
{
ULOGGER_ERROR("The tree model is not the same size of the stacked widgets...%d vs %d stacks", index, _ui->stackedWidget->count());
_ui->stackedWidget->setCurrentIndex(2);
currentIndex = 2;
}
_ui->treeView->setModel(_indexModel);
}
else
else // Advanced
{
ULOGGER_ERROR("Can't open resource file \"PreferencesModel.txt\"");
if(currentIndex == 2)
{
_ui->stackedWidget->setCurrentIndex(3);
}
}
_ui->treeView->setModel(_indexModel);
_ui->treeView->setCurrentIndex(_indexModel->index(currentIndex, 0));
_ui->treeView->expandToDepth(1);
}
// recursive...
@@ -263,20 +327,19 @@ bool PreferencesDialog::parseModel(QList<QGroupBox*> & boxes, QStandardItem * pa
QStandardItem * currentItem = 0;
while(absoluteIndex < boxes.size())
{
QString objectName = boxes.at(absoluteIndex)->objectName();
QString title = boxes.at(absoluteIndex)->title();
bool ok = false;
int lvl = QString(title.at(0)).toInt(&ok);
int lvl = QString(objectName.at(objectName.size()-1)).toInt(&ok);
if(!ok)
{
ULOGGER_ERROR("Error while parsing the first number of the QGroupBox title, the first character must be the number in the hierarchy");
ULOGGER_ERROR("Error while parsing the first number of the QGroupBox title (%s), the first character must be the number in the hierarchy", title.toStdString().c_str());
return false;
}
if(lvl == currentLevel)
{
title.remove(0, 1);
boxes.at(absoluteIndex)->setTitle(title);
QStandardItem * item = new QStandardItem(title);
item->setData(absoluteIndex);
currentItem = item;
@@ -354,7 +417,12 @@ void PreferencesDialog::clicked(const QModelIndex &index)
QStandardItem * item = _indexModel->itemFromIndex(index);
if(item)
{
_ui->stackedWidget->setCurrentIndex(item->data().toInt());
int index = item->data().toInt();
if(_ui->radioButton_advanced->isChecked() && index >= 2)
{
++index;
}
_ui->stackedWidget->setCurrentIndex(index);
}
}
@@ -370,7 +438,7 @@ void PreferencesDialog::closeDialog ( QAbstractButton * button )
break;
case QDialogButtonBox::AcceptRole:
if(_obsoletePanels & kPanelAll || _parameters.size())
if((_obsoletePanels & kPanelAll) || _parameters.size())
{
if(validateForm())
{
@@ -415,7 +483,7 @@ void PreferencesDialog::resetSettings(int panelNumber)
QList<QGroupBox*> boxes = this->getGroupBoxes();
if(panelNumber >= 0 && panelNumber < boxes.size())
{
if(boxes.at(panelNumber)->objectName() == "groupBox_generalSettingsGui")
if(boxes.at(panelNumber)->objectName() == "groupBox_generalSettingsGui0")
{
_ui->general_checkBox_imagesKept->setChecked(DEFAULT_GUI_IMAGES_KEPT);
_ui->comboBox_loggerLevel->setCurrentIndex(DEFAULT_LOGGER_LEVEL);
@@ -423,12 +491,22 @@ void PreferencesDialog::resetSettings(int panelNumber)
_ui->comboBox_loggerPauseLevel->setCurrentIndex(DEFAULT_LOGGER_PAUSE_LEVEL);
_ui->checkBox_logger_printTime->setChecked(DEFAULT_LOGGER_PRINT_TIME);
}
else if(boxes.at(panelNumber)->objectName() == "groupBox_source")
else if(boxes.at(panelNumber)->objectName() == "groupBox_source0")
{
_ui->general_doubleSpinBox_imgRate->setValue(1.0);
_ui->source_spinBox_imgWidth->setValue(0);
_ui->source_spinBox_imgheight->setValue(0);
_ui->general_checkBox_autoRestart->setChecked(false);
_ui->general_checkBox_cameraKeypoints->setChecked(false);
}
else if(boxes.at(panelNumber)->objectName() == "groupBox_rtabmap_basic0")
{
_ui->general_doubleSpinBox_timeThr_2->setValue(Parameters::defaultRtabmapTimeThr());
_ui->general_doubleSpinBox_hardThr_2->setValue(Parameters::defaultRtabmapLoopThr());
_ui->surf_doubleSpinBox_hessianThr_2->setValue(Parameters::defaultSURFHessianThreshold());
_ui->general_spinBox_imagesBufferSize_2->setValue(Parameters::defaultRtabmapSMStateBufferSize());
_ui->general_checkBox_publishStats_2->setChecked(Parameters::defaultRtabmapPublishStats());
_ui->lineEdit_workingDirectory_2->setText(Parameters::defaultRtabmapWorkingDirectory().c_str());
}
else
{
@@ -444,11 +522,6 @@ void PreferencesDialog::resetSettings(int panelNumber)
}
}
if(boxes.at(panelNumber)->findChild<QLineEdit*>(_ui->lineEdit_bayes_predictionLC->objectName()))
{
this->setupPredictionPanel();
}
if(boxes.at(panelNumber)->findChild<QLineEdit*>(_ui->lineEdit_kp_roi->objectName()))
{
this->setupKpRoiPanel();
@@ -529,6 +602,7 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
settings.beginGroup("Camera");
_ui->general_doubleSpinBox_imgRate->setValue(settings.value("imgRate", _ui->general_doubleSpinBox_imgRate->value()).toDouble());
_ui->general_checkBox_autoRestart->setChecked(settings.value("autoRestart", _ui->general_checkBox_autoRestart->isChecked()).toBool());
_ui->general_checkBox_cameraKeypoints->setChecked(settings.value("cameraKeypoints", _ui->general_checkBox_cameraKeypoints->isChecked()).toBool());
_ui->source_comboBox_type->setCurrentIndex(settings.value("type", _ui->source_comboBox_type->currentIndex()).toInt());
_ui->source_spinBox_imgWidth->setValue(settings.value("imgWidth",_ui->source_spinBox_imgWidth->value()).toInt());
_ui->source_spinBox_imgheight->setValue(settings.value("imgHeight",_ui->source_spinBox_imgheight->value()).toInt());
@@ -549,7 +623,7 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
//database group
settings.beginGroup("database");
_ui->source_database_lineEdit_path->setText(settings.value("path",_ui->source_database_lineEdit_path->text()).toString());
_ui->source_database_checkBox_ignoreChildren->setChecked(settings.value("ignoreChildren",_ui->source_database_checkBox_ignoreChildren->isChecked()).toBool());
_ui->source_database_checkBox_loadActions->setChecked(settings.value("loadActions",_ui->source_database_checkBox_loadActions->isChecked()).toBool());
settings.endGroup(); // usbDevice
settings.endGroup(); // Camera
}
@@ -669,6 +743,7 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath)
settings.setValue("imgRate", _ui->general_doubleSpinBox_imgRate->value());
settings.setValue("autoRestart", _ui->general_checkBox_autoRestart->isChecked());
settings.setValue("cameraKeypoints", _ui->general_checkBox_cameraKeypoints->isChecked());
settings.setValue("type", _ui->source_comboBox_type->currentIndex());
settings.setValue("imgWidth", _ui->source_spinBox_imgWidth->value());
settings.setValue("imgHeight", _ui->source_spinBox_imgheight->value());
@@ -689,7 +764,7 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath)
//database group
settings.beginGroup("database");
settings.setValue("path", _ui->source_database_lineEdit_path->text());
settings.setValue("ignoreChildren", _ui->source_database_checkBox_ignoreChildren->isChecked());
settings.setValue("loadActions", _ui->source_database_checkBox_loadActions->isChecked());
settings.endGroup(); //usbDevice
settings.endGroup(); // Camera
@@ -730,7 +805,7 @@ void PreferencesDialog::writeCoreSettings(const QString & filePath)
}
else if(check)
{
settings.setValue(obj->objectName(), uBool2str(check->isChecked()).c_str());
settings.setValue(obj->objectName(), uBool2Str(check->isChecked()).c_str());
}
else if(lineEdit)
{
@@ -783,7 +858,7 @@ void PreferencesDialog::readSettingsEnd()
_progressDialog->setValue(1);
_progressDialog->setLabelText(tr("Reading GUI settings..."));
this->setupPredictionPanel();
this->updatePredictionPlot();
this->setupKpRoiPanel();
_progressDialog->setValue(2); // this will make closing...
@@ -1038,53 +1113,95 @@ void PreferencesDialog::addParameter(const QObject * object, int value)
{
if(object)
{
const QComboBox * comboBox = qobject_cast<const QComboBox*>(object);
if(comboBox)
{
// Add related panels to parameters
if(comboBox == _ui->comboBox_vh_strategy)
{
if(value == 0) // 0 none
{
// No panel related...
}
else if(value == 1) // 1 similarity
{
this->addParameters(_ui->groupBox_vh_similarity);
}
else if(value == 2) // 2 epipolar
{
this->addParameters(_ui->groupBox_vh_epipolar);
}
}
else if(comboBox == _ui->comboBox_detector_strategy)
{
if(value == 0) // 0 surf
{
this->addParameters(_ui->groupBox_detector_surf);
}
else if(value == 1) // 1 star
{
this->addParameters(_ui->groupBox_detector_star);
}
else if(value == 2) // 2 sift
{
this->addParameters(_ui->groupBox_detector_sift);
}
}
else if(comboBox == _ui->comboBox_descriptor_strategy)
{
this->addParameters(_ui->groupBox_surfDescriptor);
}
}
// Make sure the value is inserted, check if the same key already exists
rtabmap::ParametersMap::iterator iter = _parameters.find(object->objectName().toStdString());
if(iter != _parameters.end())
{
_parameters.erase(iter);
}
_parameters.insert(rtabmap::ParametersPair(object->objectName().toStdString(), QString::number(value).toStdString()));
//ULOGGER_DEBUG("PreferencesDialog::addParameter(object, int) Added [\"%s\",\"%s\"]", object->objectName().toStdString().c_str(), QString::number(value).toStdString().c_str());
const QComboBox * comboBox = qobject_cast<const QComboBox*>(object);
const QSpinBox * spinbox = qobject_cast<const QSpinBox*>(object);
const QCheckBox * checkbox = qobject_cast<const QCheckBox*>(object);
if(comboBox || spinbox)
{
if(comboBox)
{
// Add related panels to parameters
if(comboBox == _ui->comboBox_vh_strategy)
{
if(value == 0) // 0 none
{
// No panel related...
}
else if(value == 1) // 1 similarity
{
this->addParameters(_ui->groupBox_vh_similarity2);
}
else if(value == 2) // 2 epipolar
{
this->addParameters(_ui->groupBox_vh_epipolar2);
}
}
else if(comboBox == _ui->comboBox_detector_strategy)
{
if(value == 0) // 0 surf
{
this->addParameters(_ui->groupBox_detector_surf2);
}
else if(value == 1) // 1 star
{
this->addParameters(_ui->groupBox_detector_star2);
}
else if(value == 2) // 2 sift
{
this->addParameters(_ui->groupBox_detector_sift2);
}
else if(value == 3) // 3 fast
{
this->addParameters(_ui->groupBox_detector_fast2);
}
}
else if(comboBox == _ui->comboBox_descriptor_strategy)
{
if(value == 0) // 0 surf
{
this->addParameters(_ui->groupBox_descriptor_surf2);
}
else if(value == 3) // 1 sift
{
// no panel
}
else if(value == 5) // 2 brief
{
this->addParameters(_ui->groupBox_descriptor_brief2);
}
}
else if(comboBox == _ui->comboBox_signatureType)
{
if(value == 0) // 0 keypoint
{
this->addParameters(_ui->groupBox_signature_keypoint1);
}
else if(value == 1) // 1 sensorimotor
{
this->addParameters(_ui->groupBox_signature_sensorimotor1);
}
}
}
// Add parameter
_parameters.insert(rtabmap::ParametersPair(object->objectName().toStdString(), QString::number(value).toStdString()));
}
else if(checkbox)
{
// Add parameter
_parameters.insert(rtabmap::ParametersPair(object->objectName().toStdString(), uBool2Str(value)));
}
else
{
UWARN("Undefined object \"%s\"", object->objectName().toStdString().c_str());
}
}
else
{
@@ -1214,7 +1331,6 @@ QList<QGroupBox*> PreferencesDialog::getGroupBoxes()
if(gb)
{
boxes.append(gb);
this->addParameters(gb);
}
else
{
@@ -1224,133 +1340,26 @@ QList<QGroupBox*> PreferencesDialog::getGroupBoxes()
return boxes;
}
void PreferencesDialog::setupPredictionPanel()
void PreferencesDialog::updatePredictionPlot()
{
QString prediction = _ui->lineEdit_bayes_predictionLC->text();
QStringList values = prediction.split(' ');
if(values.size() < 2)
{
ULOGGER_ERROR("The prediction string is not valid (prediction=\"%s\",size=%d)", prediction.toStdString().c_str(), values.size());
return;
}
QStringList values = _ui->lineEdit_bayes_predictionLC->text().split(' ');
//Signals
connect(_ui->spinBox_bayes_neighbors, SIGNAL(valueChanged(int)), this, SLOT(updatePredictionLCSliders()));
//Set values
_ui->spinBox_bayes_neighbors->setValue(values.size()-2);
this->updatePredictionLCSliders();
if(_predictionLCSliders.size() != values.size())
QVector<float> dataX((values.size()-2)*2 + 1);
QVector<float> dataY((values.size()-2)*2 + 1);
double value;
double sum = 0;
int lvl = 1;
bool ok = false;
bool error = false;
int loopClosureIndex = (dataX.size()-1)/2;
for(int i=0; i<values.size(); ++i)
{
ULOGGER_ERROR("The sliders list were not updated");
return;
}
for(int i=0; i<_predictionLCSliders.size(); ++i)
{
bool ok;
_predictionLCSliders.at(i)->setValue(int(QString(values.at(i)).toFloat(&ok) * 100));
value = values.at(i).toDouble(&ok);
if(!ok)
{
ULOGGER_WARN("conversion failed to float with string \"%s\"", values.at(i).toStdString().c_str());
UERROR("Error parsing prediction : %s", values.at(i).toStdString().c_str());
error = true;
}
}
_predictionPanelInitialized = true;
this->updatePredictionLC();
}
void PreferencesDialog::updatePredictionLCSliders()
{
int neighborsCount = _ui->spinBox_bayes_neighbors->value();
if(neighborsCount < 0 || neighborsCount>9)
{
ULOGGER_ERROR("neighborsCount not valid (=%d)", neighborsCount);
return;
}
if(_predictionLCSliders.size() == 1)
{
_predictionLCSliders.clear(); // must be pair...
ULOGGER_WARN("The list of sliders is supposed to be pair");
}
if(_predictionLCSliders.size() == 0)
{
_predictionLCSliders.append(_ui->verticalSlider_prediction_vp);
_predictionLCSliders.append(_ui->verticalSlider_prediction_lp);
connect(_ui->verticalSlider_prediction_vp, SIGNAL(valueChanged(int)), this, SLOT(updatePredictionLC()));
connect(_ui->verticalSlider_prediction_lp, SIGNAL(valueChanged(int)), this, SLOT(updatePredictionLC()));
}
// If we don't have enough sliders
while((_predictionLCSliders.size()-2) < neighborsCount)
{
int neighbor = _predictionLCSliders.size();
QVBoxLayout * vLayout = 0;
QHBoxLayout * hLayout = 0;
QSlider * slider = 0;
QLabel * value = 0;
QLabel * title = 0;
slider = new QSlider(Qt::Vertical, this);
title = new QLabel(QString("l%1").arg(neighbor-1), slider);
title->setAlignment(Qt::AlignCenter);
value = new QLabel(slider);
value->setAlignment(Qt::AlignCenter);
//layout
vLayout = new QVBoxLayout();
vLayout->addWidget(title);
hLayout = new QHBoxLayout();
hLayout->addWidget(slider);
vLayout->addLayout(hLayout);
vLayout->addWidget(value);
_ui->horizontalLayout_prior_NP->insertLayout(-1, vLayout);
_predictionLCSliders.push_back(slider);
connect(slider, SIGNAL(valueChanged(int)), this, SLOT(updatePredictionLC()));
connect(slider, SIGNAL(valueChanged(int)), value, SLOT(setNum(int)));
}
// If we have too much sliders
while((_predictionLCSliders.size()-2) > neighborsCount)
{
// delete layouts and items
delete _ui->horizontalLayout_prior_NP->itemAt(_ui->horizontalLayout_prior_NP->count()-1)->layout()->takeAt(0)->widget(); //label
delete _ui->horizontalLayout_prior_NP->itemAt(_ui->horizontalLayout_prior_NP->count()-1)->layout()->itemAt(0)->layout()->takeAt(0)->widget(); //slider
delete _ui->horizontalLayout_prior_NP->itemAt(_ui->horizontalLayout_prior_NP->count()-1)->layout()->takeAt(0)->layout(); //slider hlayout
delete _ui->horizontalLayout_prior_NP->itemAt(_ui->horizontalLayout_prior_NP->count()-1)->layout()->takeAt(0)->widget(); //spinbox
delete _ui->horizontalLayout_prior_NP->takeAt(_ui->horizontalLayout_prior_NP->count()-1);
// remove the last slider
_predictionLCSliders.removeLast();
}
this->updatePredictionLC();
}
void PreferencesDialog::updatePredictionLC()
{
if(!_predictionPanelInitialized)
{
return;
}
if(_predictionLCSliders.size() < 2)
{
ULOGGER_ERROR("Not enough slider in the list (%d)", _predictionLCSliders.size());
return;
}
QString values;
QVector<float> dataX((_predictionLCSliders.size()-2)*2 + 1);
QVector<float> dataY((_predictionLCSliders.size()-2)*2 + 1);
float value;
float sum = 0;
int lvl = 1;
int loopClosureIndex = (dataX.size()-1)/2;
for(int i=0; i<_predictionLCSliders.size(); ++i)
{
value = (float(_predictionLCSliders.at(i)->value()))/100;
sum+=value;
if(i==0)
{
@@ -1368,22 +1377,19 @@ void PreferencesDialog::updatePredictionLC()
dataY[loopClosureIndex+lvl] = value;
dataX[loopClosureIndex+lvl] = lvl;
++lvl;
sum+=value; // double sum
}
values.append(QString::number(value));
if(i+1 < _predictionLCSliders.size())
{
values.append(' ');
}
}
_ui->label_prediction_sum->setNum(sum);
if(sum<=0 || sum>1.001)
if(error)
{
_ui->label_prediction_sum->setText(QString("<font color=#FF0000>") + _ui->label_prediction_sum->text() + "</font>");
ULOGGER_WARN("The prediction is not valid (the sum must be between >0 && <=1) (sum=%f)", sum);
}
else if(sum == 1)
else if(sum == 1.0)
{
_ui->label_prediction_sum->setText(QString("<font color=#00FF00>") + _ui->label_prediction_sum->text() + "</font>");
}
else if(sum > 1.0)
{
_ui->label_prediction_sum->setText(QString("<font color=#FFa500>") + _ui->label_prediction_sum->text() + "</font>");
}
@@ -1394,7 +1400,6 @@ void PreferencesDialog::updatePredictionLC()
_ui->predictionPlot->removeCurves();
_ui->predictionPlot->addCurve(new PlotCurve("Prediction", dataX, dataY, _ui->predictionPlot));
_ui->lineEdit_bayes_predictionLC->setText(values);
}
void PreferencesDialog::setupKpRoiPanel()
@@ -1504,6 +1509,10 @@ bool PreferencesDialog::getGeneralAutoRestart() const
{
return _ui->general_checkBox_autoRestart->isChecked();
}
bool PreferencesDialog::getGeneralCameraKeypoints() const
{
return _ui->general_checkBox_cameraKeypoints->isChecked();
}
int PreferencesDialog::getSourceType() const
{
return _ui->source_comboBox_type->currentIndex();
@@ -1544,9 +1553,9 @@ QString PreferencesDialog::getSourceDatabasePath() const
{
return _ui->source_database_lineEdit_path->text();
}
bool PreferencesDialog::getSourceDatabaseIgnoreChildren() const
bool PreferencesDialog::getSourceDatabaseLoadActions() const
{
return _ui->source_database_checkBox_ignoreChildren->isChecked();
return _ui->source_database_checkBox_loadActions->isChecked();
}
double PreferencesDialog::getLoopThr() const
@@ -1566,7 +1575,7 @@ bool PreferencesDialog::isImagesKept() const
{
return _ui->general_checkBox_imagesKept->isChecked();
}
double PreferencesDialog::getTimeLimit() const
float PreferencesDialog::getTimeLimit() const
{
return _ui->general_doubleSpinBox_timeThr->value();
}
@@ -1642,7 +1651,7 @@ void PreferencesDialog::setAutoRestart(bool value)
}
}
void PreferencesDialog::setTimeLimit(double value)
void PreferencesDialog::setTimeLimit(float value)
{
ULOGGER_DEBUG("timeLimit=%fs", value);
if(_ui->general_doubleSpinBox_timeThr->value() != value)

52
guilib/src/StatsToolBox.cpp
View File

@@ -29,6 +29,7 @@
#include <QtCore/QDir>
#include <QtGui/QContextMenuEvent>
#include <QtGui/QToolBox>
#include <QtGui/QDialog>
#include "Plot.h"
#include "utilite/ULogger.h"
@@ -281,19 +282,20 @@ void StatsToolBox::plot(const StatItem * stat, const QString & plotName)
id.replace(tr("Figure "), "");
QString newPlotName = QString(tr("Figure %1")).arg(id.toInt()+1);
//Dock
QWidget * figure = new QWidget(0, Qt::Window);
QDialog * figure = new QDialog(0, Qt::Window);
_figures.insert(newPlotName, figure);
figure->setLayout(new QHBoxLayout());
QHBoxLayout * hLayout = new QHBoxLayout(figure);
figure->setWindowTitle(newPlotName);
figure->setAttribute(Qt::WA_DeleteOnClose, true);
connect(figure, SIGNAL(destroyed(QObject*)), this, SLOT(figureDeleted(QObject*)));
//Plot
Plot * newPlot = new Plot(figure);
newPlot->setWorkingDirectory(_workingDirectory);
newPlot->setMaxVisibleItems(10);
newPlot->setMaxVisibleItems(50);
newPlot->setObjectName(newPlotName);
figure->layout()->addWidget(newPlot);
hLayout->addWidget(newPlot);
_plotMenu->addAction(newPlotName);
figure->setSizeGripEnabled(true);
//Add a new curve linked to the statBox
PlotCurve * curve = new PlotCurve(stat->objectName(), newPlot);
@@ -347,16 +349,36 @@ void StatsToolBox::contextMenuEvent(QContextMenuEvent * event)
QMenu * menu = topMenu.addMenu(tr("Add all statistics from tab \"%1\" to...").arg(_statBox->itemText(_statBox->currentIndex())));
QList<QAction* > actions = _plotMenu->actions();
menu->addActions(actions);
QAction * aClearFigures = topMenu.addAction(tr("Clear all figures"));
QAction * action = topMenu.exec(event->globalPos());
QString plotName;
if(action)
{
for(int i=0; i<actions.size(); ++i)
if(action == aClearFigures)
{
if(actions.at(i) == action)
for(QMap<QString, QWidget*>::iterator i=_figures.begin(); i!=_figures.end(); ++i)
{
QList<Plot *> plots = i.value()->findChildren<Plot *>();
if(plots.size() == 1)
{
QStringList names = plots[0]->curveNames();
plots[0]->clearData();
}
else
{
UERROR("");
}
}
}
else
{
for(int i=0; i<actions.size(); ++i)
{
plotName = actions.at(i)->text();
break;
if(actions.at(i) == action)
{
plotName = actions.at(i)->text();
break;
}
}
}
}
@@ -422,9 +444,21 @@ void StatsToolBox::addCurve(const QString & name, bool newFigure)
void StatsToolBox::setWorkingDirectory(const QString & workingDirectory)
{
if(QDir(_workingDirectory).exists())
if(QDir(workingDirectory).exists())
{
_workingDirectory = workingDirectory;
for(QMap<QString, QWidget*>::iterator i=_figures.begin(); i!=_figures.end(); ++i)
{
QList<Plot *> plots = i.value()->findChildren<Plot *>();
if(plots.size() == 1)
{
plots[0]->setWorkingDirectory(_workingDirectory);
}
else
{
UERROR("");
}
}
}
else
{

110
guilib/src/TwistWidget.cpp Normal file
View File

@@ -0,0 +1,110 @@
/*
* TwistWidget.cpp
*
* Created on: Dec 11, 2011
* Author: MatLab
*/
#include "TwistWidget.h"
#include <utilite/ULogger.h>
#include <QtGui/QPainter>
#include <QtCore/qmath.h>
#include <QtGui/QGridLayout>
#include <QtGui/QLabel>
#define SIZE 50
namespace rtabmap {
TwistGridWidget::TwistGridWidget(QWidget * parent, Qt::WindowFlags f) :
QWidget(parent, f)
{
_grid = new QGridLayout(this);
_grid->setContentsMargins(0,0,0,0);
_grid->addWidget(new QLabel(tr("Current"), this), 0, 0);
_grid->addWidget(new QLabel(tr("Prediction"), this), 1, 0);
}
void TwistGridWidget::addTwist(float x, float y, float z, float roll, float pitch, float yaw, int row, int col)
{
if(_grid->itemAtPosition(row, col+1))
{
QLayoutItem * item = _grid->itemAtPosition(row, col+1);
if(item)
{
QWidget * w = item->widget();
if(w)
{
_grid->removeItem(item);
w->deleteLater();
}
}
}
_grid->addWidget(new TwistWidget(x, y, z, roll, pitch, yaw, this), row, col+1);
}
TwistWidget::TwistWidget(float x, float y, float z, float roll, float pitch, float yaw, QWidget * parent, Qt::WindowFlags f) :
QWidget(parent, f)
{
if(qAbs(z) > 0.00001)
{
UWARN("%f,%f,%f %f,%f,%f", x,y,z, roll,pitch,yaw);
}
//linear
_x = x;
_y = y;
_z = z;
//angular
_roll = roll;
_pitch = pitch;
_yaw = yaw;
this->setFixedSize(SIZE,SIZE);
this->setMinimumSize(SIZE,SIZE);
}
void TwistWidget::paintEvent(QPaintEvent * event)
{
QPainter painter(this);
painter.setPen(QPen(QBrush(Qt::black), 1, Qt::DashLine));
painter.drawEllipse(0,0,SIZE,SIZE);
painter.translate(SIZE/2,SIZE/2);
painter.rotate(-90);
const float pi = 3.14159f;
painter.save();
if(qAbs(_x) < 0.0001 && qAbs(_y) < 0.0001)
{
painter.setBrush(Qt::red);
painter.setPen(Qt::NoPen);
painter.drawEllipse(-5,-5,10,10);
}
else
{
painter.setPen(QPen(QBrush(Qt::red), 3));
painter.rotate(-qAtan2(_y, _x)*180.0f/pi);
painter.drawLine(0,0,SIZE/2,0);
}
painter.restore();
painter.save();
if(qAbs(_yaw) < 0.0001)
{
painter.setBrush(Qt::green);
painter.setPen(Qt::NoPen);
painter.drawEllipse(-3,-3,6,6);
}
else
{
painter.setPen(QPen(QBrush(Qt::green), 3));
painter.rotate(-_yaw*180.0f/pi);
painter.drawLine(0,0,50,0);
}
painter.restore();
}
}

53
guilib/src/TwistWidget.h Normal file
View File

@@ -0,0 +1,53 @@
/*
* TwistWidget.h
*
* Created on: Dec 11, 2011
* Author: MatLab
*/
#ifndef TWISTWIDGET_H_
#define TWISTWIDGET_H_
#include <QtGui/QWidget>
class QGridLayout;
namespace rtabmap {
class TwistGridWidget : public QWidget
{
Q_OBJECT
public:
TwistGridWidget(QWidget * parent = 0, Qt::WindowFlags f = 0);
virtual ~TwistGridWidget() {}
public slots:
void addTwist(float x, float y, float z, float roll, float pitch, float yaw, int row=0, int col=0);
private:
QGridLayout * _grid;
};
class TwistWidget : public QWidget
{
Q_OBJECT
public:
TwistWidget(float x, float y, float z, float roll, float pitch, float yaw, QWidget * parent, Qt::WindowFlags f = 0);
virtual ~TwistWidget() {}
protected:
virtual void paintEvent(QPaintEvent * event);
private:
float _x;
float _y;
float _z;
float _roll;
float _pitch;
float _yaw;
};
}
#endif /* TWISTWIDGET_H_ */

22
guilib/src/resources/PreferencesModel.txt
View File

@@ -1,22 +0,0 @@
0General
1Bayes filter
1Similarity
1Memory strategy
0Source
1Images
1Video
1Usb device
0Signature type
1Keypoint-based
2Detectors
3SURF detector
3Star detector
2Descriptor
2Dictionary
1FFT-based
0Hypotheses creation
1Simple
1Std dev
0Hypotheses verification
1Sequence
1Epipolar constraints

10
guilib/src/ui/consoleWidget.ui
View File

@@ -14,9 +14,6 @@
<string>consoleWidget</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
<property name="margin">
<number>0</number>
</property>
<item>
<widget class="QTextEdit" name="textEdit">
<property name="lineWrapMode">
@@ -27,6 +24,13 @@
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="pushButton_clear">
<property name="text">
<string>Clear</string>
</property>
</widget>
</item>
</layout>
</widget>
<resources/>

70
guilib/src/ui/mainWindow.ui
View File

@@ -132,7 +132,7 @@
<x>0</x>
<y>0</y>
<width>842</width>
<height>25</height>
<height>22</height>
</rect>
</property>
<widget class="QMenu" name="menuFile">
@@ -228,7 +228,7 @@
<number>8</number>
</attribute>
<widget class="QWidget" name="dockWidgetContents">
<layout class="QVBoxLayout" name="verticalLayout_4">
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="rtabmap::Plot" name="posteriorPlot" native="true"/>
</item>
@@ -268,7 +268,7 @@
<number>2</number>
</property>
<item>
<layout class="QGridLayout" name="gridLayout">
<layout class="QGridLayout" name="gridLayout" columnstretch="10,0">
<property name="sizeConstraint">
<enum>QLayout::SetMinimumSize</enum>
</property>
@@ -297,6 +297,9 @@
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="suffix">
<string> Hz</string>
</property>
<property name="decimals">
<number>1</number>
</property>
@@ -407,13 +410,6 @@
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QLabel" name="label_17">
<property name="text">
<string>Hz</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_2">
<property name="text">
@@ -424,26 +420,25 @@
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QLabel" name="label_21">
<property name="text">
<string>s</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_stats_timeLimit">
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<property name="suffix">
<string> ms</string>
</property>
<property name="decimals">
<number>2</number>
<number>0</number>
</property>
<property name="maximum">
<double>10.000000000000000</double>
<double>99999.000000000000000</double>
</property>
<property name="singleStep">
<double>50.000000000000000</double>
</property>
<property name="value">
<double>0.450000000000000</double>
<double>450.000000000000000</double>
</property>
</widget>
</item>
@@ -494,16 +489,9 @@
<number>8</number>
</attribute>
<widget class="QWidget" name="dockWidgetContents_4">
<layout class="QHBoxLayout" name="horizontalLayout_2">
<layout class="QVBoxLayout" name="verticalLayout_6">
<item>
<widget class="rtabmap::Plot" name="likelihoodPlot" native="true">
<property name="minimumSize">
<size>
<width>20</width>
<height>20</height>
</size>
</property>
</widget>
<widget class="rtabmap::Plot" name="likelihoodPlot" native="true"/>
</item>
</layout>
</widget>
@@ -523,6 +511,24 @@
</layout>
</widget>
</widget>
<widget class="QDockWidget" name="dockWidget_twist">
<property name="floating">
<bool>false</bool>
</property>
<property name="windowTitle">
<string>Actions</string>
</property>
<attribute name="dockWidgetArea">
<number>1</number>
</attribute>
<widget class="QWidget" name="dockWidgetContents_5">
<layout class="QHBoxLayout" name="horizontalLayout_2">
<item>
<widget class="rtabmap::TwistGridWidget" name="twistWidget" native="true"/>
</item>
</layout>
</widget>
</widget>
<action name="actionExit">
<property name="text">
<string>Exit</string>
@@ -735,6 +741,12 @@
<header>ConsoleWidget.h</header>
<container>1</container>
</customwidget>
<customwidget>
<class>rtabmap::TwistGridWidget</class>
<extends>QWidget</extends>
<header>TwistWidget.h</header>
<container>1</container>
</customwidget>
</customwidgets>
<resources>
<include location="../GuiLib.qrc"/>

1763
guilib/src/ui/preferencesDialog.ui
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