From af9e11311275a9cf0ac9a9294d3a167808fb0e72 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Wed, 11 Dec 2019 17:17:29 -0500
Subject: [PATCH] Gui: added missing OdomF2M/ScanRange parameter

---
 corelib/src/odometry/OdometryF2M.cpp |  4 +-
 guilib/src/PreferencesDialog.cpp     |  1 +
 guilib/src/ui/preferencesDialog.ui   | 71 ++++++++++++++++++++--------
 3 files changed, 53 insertions(+), 23 deletions(-)

diff --git a/corelib/src/odometry/OdometryF2M.cpp b/corelib/src/odometry/OdometryF2M.cpp
index 3c1ac601..6058ab40 100644
--- a/corelib/src/odometry/OdometryF2M.cpp
+++ b/corelib/src/odometry/OdometryF2M.cpp
@@ -94,8 +94,8 @@ OdometryF2M::OdometryF2M(const ParametersMap & parameters) :
 	Parameters::parse(parameters, Parameters::kOdomF2MBundleAdjustmentMaxFrames(), bundleMaxFrames_);
 	Parameters::parse(parameters, Parameters::kOdomF2MValidDepthRatio(), validDepthRatio_);
 
-	Parameters::parse(parameters_, Parameters::kIcpPointToPlaneK(), pointToPlaneK_);
-	Parameters::parse(parameters_, Parameters::kIcpPointToPlaneRadius(), pointToPlaneRadius_);
+	Parameters::parse(parameters, Parameters::kIcpPointToPlaneK(), pointToPlaneK_);
+	Parameters::parse(parameters, Parameters::kIcpPointToPlaneRadius(), pointToPlaneRadius_);
 
 	UASSERT(bundleMaxFrames_ >= 0);
 	ParametersMap bundleParameters = parameters;
diff --git a/guilib/src/PreferencesDialog.cpp b/guilib/src/PreferencesDialog.cpp
index 1999ca2a..da7dab69 100644
--- a/guilib/src/PreferencesDialog.cpp
+++ b/guilib/src/PreferencesDialog.cpp
@@ -1107,6 +1107,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	_ui->spinBox_odom_f2m_scanMaxSize->setObjectName(Parameters::kOdomF2MScanMaxSize().c_str());
 	_ui->doubleSpinBox_odom_f2m_scanRadius->setObjectName(Parameters::kOdomF2MScanSubtractRadius().c_str());
 	_ui->doubleSpinBox_odom_f2m_scanAngle->setObjectName(Parameters::kOdomF2MScanSubtractAngle().c_str());
+	_ui->doubleSpinBox_odom_f2m_scanRange->setObjectName(Parameters::kOdomF2MScanRange().c_str());
 	_ui->odom_f2m_validDepthRatio->setObjectName(Parameters::kOdomF2MValidDepthRatio().c_str());
 	_ui->odom_f2m_bundleStrategy->setObjectName(Parameters::kOdomF2MBundleAdjustment().c_str());
 	_ui->odom_f2m_bundleMaxFrames->setObjectName(Parameters::kOdomF2MBundleAdjustmentMaxFrames().c_str());
diff --git a/guilib/src/ui/preferencesDialog.ui b/guilib/src/ui/preferencesDialog.ui
index e2e21db3..315daf63 100644
--- a/guilib/src/ui/preferencesDialog.ui
+++ b/guilib/src/ui/preferencesDialog.ui
@@ -63,7 +63,7 @@
           <property name="geometry">
            <rect>
             <x>0</x>
-            <y>0</y>
+            <y>-585</y>
             <width>680</width>
             <height>3083</height>
            </rect>
@@ -95,7 +95,7 @@
                 <enum>QFrame::Raised</enum>
                </property>
                <property name="currentIndex">
-                <number>21</number>
+                <number>19</number>
                </property>
                <widget class="QWidget" name="page_22">
                 <layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -12832,6 +12832,19 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
                                </property>
                               </widget>
                              </item>
+                             <item row="3" column="0">
+                              <widget class="QDoubleSpinBox" name="doubleSpinBox_odom_f2m_scanRadius">
+                               <property name="suffix">
+                                <string> m</string>
+                               </property>
+                               <property name="decimals">
+                                <number>3</number>
+                               </property>
+                               <property name="value">
+                                <double>0.025000000000000</double>
+                               </property>
+                              </widget>
+                             </item>
                              <item row="3" column="1">
                               <widget class="QLabel" name="label_215">
                                <property name="text">
@@ -12907,20 +12920,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
                                </property>
                               </widget>
                              </item>
-                             <item row="3" column="0">
-                              <widget class="QDoubleSpinBox" name="doubleSpinBox_odom_f2m_scanRadius">
-                               <property name="suffix">
-                                <string> m</string>
-                               </property>
-                               <property name="decimals">
-                                <number>3</number>
-                               </property>
-                               <property name="value">
-                                <double>0.025000000000000</double>
-                               </property>
-                              </widget>
-                             </item>
-                             <item row="6" column="1">
+                             <item row="7" column="1">
                               <widget class="QLabel" name="label_357">
                                <property name="text">
                                 <string>[Visual] Local bundle adjustment. See Optimizer panel. This will not work if Optical Flow correspondences strategy is selected in Visual Registration panel.</string>
@@ -12933,14 +12933,14 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
                                </property>
                               </widget>
                              </item>
-                             <item row="7" column="0">
+                             <item row="8" column="0">
                               <widget class="QSpinBox" name="odom_f2m_bundleMaxFrames">
                                <property name="maximum">
                                 <number>999999</number>
                                </property>
                               </widget>
                              </item>
-                             <item row="7" column="1">
+                             <item row="8" column="1">
                               <widget class="QLabel" name="label_358">
                                <property name="text">
                                 <string>[Visual] Maximum frames used for bundle adjustment (0=inf or all current frames in the local map).</string>
@@ -12953,7 +12953,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
                                </property>
                               </widget>
                              </item>
-                             <item row="6" column="0">
+                             <item row="7" column="0">
                               <widget class="QComboBox" name="odom_f2m_bundleStrategy">
                                <property name="sizeAdjustPolicy">
                                 <enum>QComboBox::AdjustToContents</enum>
@@ -13009,7 +13009,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
                                </property>
                               </widget>
                              </item>
-                             <item row="5" column="1">
+                             <item row="6" column="1">
                               <widget class="QLabel" name="label_524">
                                <property name="text">
                                 <string>[Visual] If a new frame has points without valid depth, they are added to local feature map only if points with valid depth on total points is over this ratio. Setting to 1 means no points without valid depth are added to local feature map.</string>
@@ -13022,7 +13022,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
                                </property>
                               </widget>
                              </item>
-                             <item row="5" column="0">
+                             <item row="6" column="0">
                               <widget class="QDoubleSpinBox" name="odom_f2m_validDepthRatio">
                                <property name="suffix">
                                 <string/>
@@ -13041,6 +13041,35 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
                                </property>
                               </widget>
                              </item>
+                             <item row="5" column="1">
+                              <widget class="QLabel" name="label_564">
+                               <property name="text">
+                                <string>[Geometry] Distance Range used to filter points of local map (when &gt; 0). 0 means local map is updated using time and not range.</string>
+                               </property>
+                               <property name="wordWrap">
+                                <bool>true</bool>
+                               </property>
+                               <property name="textInteractionFlags">
+                                <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                               </property>
+                              </widget>
+                             </item>
+                             <item row="5" column="0">
+                              <widget class="QDoubleSpinBox" name="doubleSpinBox_odom_f2m_scanRange">
+                               <property name="suffix">
+                                <string> m</string>
+                               </property>
+                               <property name="decimals">
+                                <number>0</number>
+                               </property>
+                               <property name="maximum">
+                                <double>9999.000000000000000</double>
+                               </property>
+                               <property name="value">
+                                <double>0.000000000000000</double>
+                               </property>
+                              </widget>
+                             </item>
                             </layout>
                            </item>
                            <item>