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Optimizer: fixed bad g2o optimizations on 2d slam when there are 3D landmarks (#384). DBViewer: landmarks can be now visualized.

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matlabbe
2019-04-26 14:03:25 -04:00
parent f9b7b54454
commit a5350c4891
11 changed files with 289 additions and 285 deletions
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8
guilib/src/PreferencesDialog.cpp
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@@ -502,6 +502,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->checkBox_showGraphs, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->checkBox_showLabels, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->checkBox_showLandmarks, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->doubleSpinBox_landmarkSize, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->radioButton_noFiltering, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->radioButton_nodeFiltering, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteCloudRenderingPanel()));
@@ -1611,6 +1612,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->checkBox_showGraphs->setChecked(true);
_ui->checkBox_showLabels->setChecked(false);
_ui->checkBox_showLandmarks->setChecked(true);
_ui->doubleSpinBox_landmarkSize->setValue(0);
_ui->doubleSpinBox_mesh_angleTolerance->setValue(15.0);
_ui->groupBox_organized->setChecked(false);
@@ -2028,6 +2030,7 @@ void PreferencesDialog::readGuiSettings(const QString & filePath)
_ui->checkBox_showGraphs->setChecked(settings.value("showGraphs", _ui->checkBox_showGraphs->isChecked()).toBool());
_ui->checkBox_showLabels->setChecked(settings.value("showLabels", _ui->checkBox_showLabels->isChecked()).toBool());
_ui->checkBox_showLandmarks->setChecked(settings.value("showLandmarks", _ui->checkBox_showLandmarks->isChecked()).toBool());
_ui->doubleSpinBox_landmarkSize->setValue(settings.value("landmarkSize", _ui->doubleSpinBox_landmarkSize->value()).toDouble());
_ui->radioButton_noFiltering->setChecked(settings.value("noFiltering", _ui->radioButton_noFiltering->isChecked()).toBool());
_ui->radioButton_nodeFiltering->setChecked(settings.value("cloudFiltering", _ui->radioButton_nodeFiltering->isChecked()).toBool());
@@ -2449,6 +2452,7 @@ void PreferencesDialog::writeGuiSettings(const QString & filePath) const
settings.setValue("showGraphs", _ui->checkBox_showGraphs->isChecked());
settings.setValue("showLabels", _ui->checkBox_showLabels->isChecked());
settings.setValue("showLandmarks", _ui->checkBox_showLandmarks->isChecked());
settings.setValue("landmarkSize", _ui->doubleSpinBox_landmarkSize->value());
settings.setValue("noFiltering", _ui->radioButton_noFiltering->isChecked());
@@ -4687,6 +4691,10 @@ bool PreferencesDialog::isLandmarksShown() const
{
return _ui->checkBox_showLandmarks->isChecked();
}
double PreferencesDialog::landmarkVisSize() const
{
return _ui->doubleSpinBox_landmarkSize->value();
}
bool PreferencesDialog::isMarkerDetection() const
{
return _ui->RGBDMarkerDetection->isChecked();