mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-03 10:00:23 +08:00
0.11.2: First Google Tango release
This commit is contained in:
matlabbe
@@ -58,6 +58,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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#include "rtabmap/core/Memory.h"
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#include "rtabmap/core/VWDictionary.h"
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#include "rtabmap/core/Optimizer.h"
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#include "rtabmap/core/OptimizerG2O.h"
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#include "rtabmap/core/DBReader.h"
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#include "rtabmap/gui/LoopClosureViewer.h"
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@@ -175,6 +176,14 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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{
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_ui->graphOptimization_type->setItemData(1, 0, Qt::UserRole - 1);
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}
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if(!OptimizerG2O::isCSparseAvailable())
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{
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_ui->comboBox_g2o_solver->setItemData(0, 0, Qt::UserRole - 1);
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}
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if(!OptimizerG2O::isCholmodAvailable())
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{
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_ui->comboBox_g2o_solver->setItemData(2, 0, Qt::UserRole - 1);
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}
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if(!Optimizer::isAvailable(Optimizer::kTypeGTSAM))
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{
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_ui->graphOptimization_type->setItemData(2, 0, Qt::UserRole - 1);
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@@ -253,10 +262,6 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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_3dRenderingShowClouds[0] = _ui->checkBox_showClouds;
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_3dRenderingShowClouds[1] = _ui->checkBox_showOdomClouds;
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_3dRenderingVoxelSize.resize(2);
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_3dRenderingVoxelSize[0] = _ui->doubleSpinBox_voxelSize;
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_3dRenderingVoxelSize[1] = _ui->doubleSpinBox_voxelSize_odom;
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_3dRenderingDecimation.resize(2);
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_3dRenderingDecimation[0] = _ui->spinBox_decimation;
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_3dRenderingDecimation[1] = _ui->spinBox_decimation_odom;
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@@ -296,7 +301,6 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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for(int i=0; i<2; ++i)
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{
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connect(_3dRenderingShowClouds[i], SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
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connect(_3dRenderingVoxelSize[i], SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
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connect(_3dRenderingDecimation[i], SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
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connect(_3dRenderingMaxDepth[i], SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
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connect(_3dRenderingShowScans[i], SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
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@@ -312,18 +316,14 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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connect(_ui->checkBox_showGraphs, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
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connect(_ui->checkBox_showLabels, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
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connect(_ui->checkBox_meshing, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
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connect(_ui->doubleSpinBox_gp3Radius, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
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connect(_ui->doubleSpinBox_gp3Mu, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
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connect(_ui->spinBox_normalKSearch, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
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connect(_ui->checkBox_mls, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
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connect(_ui->doubleSpinBox_mlsRadius, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
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connect(_ui->checkBox_nodeFiltering, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
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connect(_ui->checkBox_subtractFiltering, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
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connect(_ui->radioButton_noFiltering, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteCloudRenderingPanel()));
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connect(_ui->radioButton_nodeFiltering, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteCloudRenderingPanel()));
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connect(_ui->radioButton_subtractFiltering, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteCloudRenderingPanel()));
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connect(_ui->doubleSpinBox_cloudFilterRadius, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
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connect(_ui->doubleSpinBox_cloudFilterAngle, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
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connect(_ui->spinBox_substractFilteringMinPts, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
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connect(_ui->spinBox_subtractFilteringMinPts, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
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connect(_ui->doubleSpinBox_subtractFilteringRadius, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
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connect(_ui->doubleSpinBox_subtractFilteringAngle, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
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connect(_ui->checkBox_map_shown, SIGNAL(clicked(bool)), this, SLOT(makeObsoleteCloudRenderingPanel()));
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connect(_ui->doubleSpinBox_map_resolution, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
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@@ -331,6 +331,11 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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connect(_ui->checkBox_map_occupancyFrom3DCloud, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
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connect(_ui->checkBox_map_erode, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
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connect(_ui->groupBox_organized, SIGNAL(clicked(bool)), this, SLOT(makeObsoleteCloudRenderingPanel()));
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connect(_ui->doubleSpinBox_mesh_angleTolerance, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
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connect(_ui->checkBox_mesh_quad, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
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connect(_ui->spinBox_mesh_triangleSize, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
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//Logging panel
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connect(_ui->comboBox_loggerLevel, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteLoggingPanel()));
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connect(_ui->comboBox_loggerEventLevel, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteLoggingPanel()));
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@@ -487,6 +492,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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// Memory
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_ui->general_checkBox_keepRawData->setObjectName(Parameters::kMemImageKept().c_str());
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_ui->general_checkBox_keepBinaryData->setObjectName(Parameters::kMemBinDataKept().c_str());
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_ui->general_checkBox_keepDescriptors->setObjectName(Parameters::kMemRawDescriptorsKept().c_str());
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_ui->general_checkBox_saveDepth16bits->setObjectName(Parameters::kMemSaveDepth16Format().c_str());
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_ui->general_checkBox_reduceGraph->setObjectName(Parameters::kMemReduceGraph().c_str());
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_ui->general_checkBox_keepNotLinkedNodes->setObjectName(Parameters::kMemNotLinkedNodesKept().c_str());
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@@ -627,6 +633,9 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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_ui->graphOptimization_stopEpsilon->setObjectName(Parameters::kOptimizerEpsilon().c_str());
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_ui->graphOptimization_robust->setObjectName(Parameters::kOptimizerRobust().c_str());
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_ui->comboBox_g2o_solver->setObjectName(Parameters::kg2oSolver().c_str());
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_ui->comboBox_g2o_optimizer->setObjectName(Parameters::kg2oOptimizer().c_str());
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_ui->graphPlan_goalReachedRadius->setObjectName(Parameters::kRGBDGoalReachedRadius().c_str());
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_ui->graphPlan_goalsSavedInUserData->setObjectName(Parameters::kRGBDGoalsSavedInUserData().c_str());
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_ui->graphPlan_stuckIterations->setObjectName(Parameters::kRGBDPlanStuckIterations().c_str());
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@@ -753,7 +762,11 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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_ui->stereobm_tetureThreshold->setObjectName(Parameters::kStereoBMTextureThreshold().c_str());
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_ui->stereobm_uniquessRatio->setObjectName(Parameters::kStereoBMUniquenessRatio().c_str());
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// reset default settings for the gui
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resetSettings(_ui->groupBox_generalSettingsGui0);
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resetSettings(_ui->groupBox_cloudRendering1);
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resetSettings(_ui->groupBox_logging1);
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resetSettings(_ui->groupBox_source0);
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setupSignals();
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// custom signals
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@@ -761,6 +774,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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connect(_ui->doubleSpinBox_kp_roi1, SIGNAL(valueChanged(double)), this, SLOT(updateKpROI()));
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connect(_ui->doubleSpinBox_kp_roi2, SIGNAL(valueChanged(double)), this, SLOT(updateKpROI()));
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connect(_ui->doubleSpinBox_kp_roi3, SIGNAL(valueChanged(double)), this, SLOT(updateKpROI()));
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connect(_ui->graphOptimization_type, SIGNAL(currentIndexChanged(int)), this, SLOT(updateG2oVisibility()));
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//Create a model from the stacked widgets
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// This will add all parameters to the parameters Map
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@@ -1092,40 +1106,40 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
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for(int i=0; i<2; ++i)
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{
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_3dRenderingShowClouds[i]->setChecked(true);
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_3dRenderingVoxelSize[i]->setValue(i==0?0.01:0.0); // voxel of 1 cm for cloud substracting
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_3dRenderingDecimation[i]->setValue(i==0?4:2);
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_3dRenderingDecimation[i]->setValue(8);
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_3dRenderingMaxDepth[i]->setValue(0.0);
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_3dRenderingShowScans[i]->setChecked(true);
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_3dRenderingDownsamplingScan[i]->setValue(1);
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_3dRenderingVoxelSizeScan[i]->setValue(0.0);
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_3dRenderingOpacity[i]->setValue(i==0?1.0:0.5);
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_3dRenderingOpacity[i]->setValue(i==0?1.0:0.75);
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_3dRenderingPtSize[i]->setValue(2);
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_3dRenderingOpacityScan[i]->setValue(i==0?1.0:0.5);
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_3dRenderingPtSizeScan[i]->setValue(2);
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}
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_ui->checkBox_showGraphs->setChecked(true);
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_ui->checkBox_showLabels->setChecked(true);
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_ui->checkBox_showLabels->setChecked(false);
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_ui->checkBox_meshing->setChecked(false);
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_ui->doubleSpinBox_gp3Radius->setValue(0.04);
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_ui->doubleSpinBox_gp3Mu->setValue(2.5);
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_ui->spinBox_normalKSearch->setValue(20);
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_ui->checkBox_mls->setChecked(false);
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_ui->doubleSpinBox_mlsRadius->setValue(0.04);
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_ui->checkBox_nodeFiltering->setChecked(false);
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_ui->checkBox_subtractFiltering->setChecked(true);
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_ui->radioButton_noFiltering->setChecked(true);
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_ui->radioButton_nodeFiltering->setChecked(false);
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_ui->radioButton_subtractFiltering->setChecked(false);
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_ui->doubleSpinBox_cloudFilterRadius->setValue(0.1);
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_ui->doubleSpinBox_cloudFilterAngle->setValue(30);
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_ui->spinBox_substractFilteringMinPts->setValue(1);
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_ui->spinBox_subtractFilteringMinPts->setValue(5);
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_ui->doubleSpinBox_subtractFilteringRadius->setValue(0.02);
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_ui->doubleSpinBox_subtractFilteringAngle->setValue(45.0);
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_ui->checkBox_map_shown->setChecked(false);
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_ui->doubleSpinBox_map_resolution->setValue(0.05);
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_ui->checkBox_map_occupancyFrom3DCloud->setChecked(false);
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_ui->checkBox_map_erode->setChecked(false);
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_ui->doubleSpinBox_map_opacity->setValue(0.75);
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_ui->groupBox_organized->setChecked(true);
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_ui->doubleSpinBox_mesh_angleTolerance->setValue(15.0);
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_ui->checkBox_mesh_quad->setChecked(true);
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_ui->spinBox_mesh_triangleSize->setValue(2);
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}
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else if(groupBox->objectName() == _ui->groupBox_logging1->objectName())
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{
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@@ -1265,7 +1279,14 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
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key = children.at(i)->objectName().toStdString();
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if(uContains(defaults, key))
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{
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this->setParameter(key, defaults.at(key));
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if(key.compare(Parameters::kRtabmapWorkingDirectory().c_str()) == 0)
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{
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this->setParameter(key, Parameters::createDefaultWorkingDirectory());
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}
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else
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{
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this->setParameter(key, defaults.at(key));
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}
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if(qobject_cast<const QGroupBox*>(children.at(i)))
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{
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this->resetSettings((QGroupBox*)children.at(i));
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@@ -1415,7 +1436,6 @@ void PreferencesDialog::readGuiSettings(const QString & filePath)
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for(int i=0; i<2; ++i)
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{
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_3dRenderingShowClouds[i]->setChecked(settings.value(QString("showClouds%1").arg(i), _3dRenderingShowClouds[i]->isChecked()).toBool());
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_3dRenderingVoxelSize[i]->setValue(settings.value(QString("voxelSize%1").arg(i), _3dRenderingVoxelSize[i]->value()).toDouble());
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_3dRenderingDecimation[i]->setValue(settings.value(QString("decimation%1").arg(i), _3dRenderingDecimation[i]->value()).toInt());
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_3dRenderingMaxDepth[i]->setValue(settings.value(QString("maxDepth%1").arg(i), _3dRenderingMaxDepth[i]->value()).toDouble());
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_3dRenderingShowScans[i]->setChecked(settings.value(QString("showScans%1").arg(i), _3dRenderingShowScans[i]->isChecked()).toBool());
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@@ -1430,18 +1450,14 @@ void PreferencesDialog::readGuiSettings(const QString & filePath)
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_ui->checkBox_showGraphs->setChecked(settings.value("showGraphs", _ui->checkBox_showGraphs->isChecked()).toBool());
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_ui->checkBox_showLabels->setChecked(settings.value("showLabels", _ui->checkBox_showLabels->isChecked()).toBool());
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_ui->checkBox_meshing->setChecked(settings.value("meshing", _ui->checkBox_meshing->isChecked()).toBool());
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_ui->doubleSpinBox_gp3Radius->setValue(settings.value("meshGP3Radius", _ui->doubleSpinBox_gp3Radius->value()).toDouble());
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_ui->doubleSpinBox_gp3Mu->setValue(settings.value("meshGP3Mu", _ui->doubleSpinBox_gp3Mu->value()).toDouble());
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_ui->spinBox_normalKSearch->setValue(settings.value("meshNormalKSearch", _ui->spinBox_normalKSearch->value()).toInt());
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_ui->checkBox_mls->setChecked(settings.value("meshSmoothing", _ui->checkBox_mls->isChecked()).toBool());
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_ui->doubleSpinBox_mlsRadius->setValue(settings.value("meshSmoothingRadius", _ui->doubleSpinBox_mlsRadius->value()).toDouble());
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_ui->checkBox_nodeFiltering->setChecked(settings.value("cloudFiltering", _ui->checkBox_nodeFiltering->isChecked()).toBool());
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_ui->checkBox_subtractFiltering->setChecked(settings.value("subtractFiltering", _ui->checkBox_subtractFiltering->isChecked()).toBool());
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_ui->radioButton_noFiltering->setChecked(settings.value("noFiltering", _ui->radioButton_noFiltering->isChecked()).toBool());
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_ui->radioButton_nodeFiltering->setChecked(settings.value("cloudFiltering", _ui->radioButton_nodeFiltering->isChecked()).toBool());
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_ui->doubleSpinBox_cloudFilterRadius->setValue(settings.value("cloudFilteringRadius", _ui->doubleSpinBox_cloudFilterRadius->value()).toDouble());
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_ui->doubleSpinBox_cloudFilterAngle->setValue(settings.value("cloudFilteringAngle", _ui->doubleSpinBox_cloudFilterAngle->value()).toDouble());
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_ui->spinBox_substractFilteringMinPts->setValue(settings.value("cloudFilteringAngleMinPts", _ui->spinBox_substractFilteringMinPts->value()).toDouble());
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_ui->radioButton_subtractFiltering->setChecked(settings.value("subtractFiltering", _ui->radioButton_subtractFiltering->isChecked()).toBool());
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_ui->spinBox_subtractFilteringMinPts->setValue(settings.value("subtractFilteringMinPts", _ui->spinBox_subtractFilteringMinPts->value()).toInt());
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_ui->doubleSpinBox_subtractFilteringRadius->setValue(settings.value("subtractFilteringRadius", _ui->doubleSpinBox_subtractFilteringRadius->value()).toDouble());
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_ui->doubleSpinBox_subtractFilteringAngle->setValue(settings.value("subtractFilteringAngle", _ui->doubleSpinBox_subtractFilteringAngle->value()).toDouble());
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_ui->checkBox_map_shown->setChecked(settings.value("gridMapShown", _ui->checkBox_map_shown->isChecked()).toBool());
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_ui->doubleSpinBox_map_resolution->setValue(settings.value("gridMapResolution", _ui->doubleSpinBox_map_resolution->value()).toDouble());
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@@ -1449,6 +1465,11 @@ void PreferencesDialog::readGuiSettings(const QString & filePath)
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_ui->checkBox_map_erode->setChecked(settings.value("gridMapEroded", _ui->checkBox_map_erode->isChecked()).toBool());
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_ui->doubleSpinBox_map_opacity->setValue(settings.value("gridMapOpacity", _ui->doubleSpinBox_map_opacity->value()).toDouble());
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_ui->groupBox_organized->setChecked(settings.value("meshing", _ui->groupBox_organized->isChecked()).toBool());
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_ui->doubleSpinBox_mesh_angleTolerance->setValue(settings.value("meshing_angle", _ui->doubleSpinBox_mesh_angleTolerance->value()).toDouble());
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_ui->checkBox_mesh_quad->setChecked(settings.value("meshing_quad", _ui->checkBox_mesh_quad->isChecked()).toBool());
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_ui->spinBox_mesh_triangleSize->setValue(settings.value("meshing_triangle_size", _ui->spinBox_mesh_triangleSize->value()).toInt());
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settings.endGroup(); // General
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settings.endGroup(); // rtabmap
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@@ -1653,7 +1674,7 @@ bool PreferencesDialog::readCoreSettings(const QString & filePath)
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if(key.toStdString().compare(Parameters::kRtabmapWorkingDirectory()) == 0)
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{
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// The directory should exist if not the default one
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if(!QDir(value).exists() && value.compare(Parameters::defaultRtabmapWorkingDirectory().c_str()) != 0)
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if(!QDir(value).exists() && value.compare(Parameters::createDefaultWorkingDirectory().c_str()) != 0)
|
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{
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if(QDir(this->getWorkingDirectory().toStdString().c_str()).exists())
|
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{
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@@ -1675,11 +1696,6 @@ bool PreferencesDialog::readCoreSettings(const QString & filePath)
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}
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else
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{
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UDEBUG("key.toStdString()=%s", key.toStdString().c_str());
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// Use the default value if the key doesn't exist yet
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this->setParameter(key.toStdString(), (*iter).second);
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// Add information about the working directory if not in the config file
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if(key.toStdString().compare(Parameters::kRtabmapWorkingDirectory()) == 0)
|
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{
|
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@@ -1691,8 +1707,16 @@ bool PreferencesDialog::readCoreSettings(const QString & filePath)
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"By default, the directory \"%1\" is used.\n\n"
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"The working directory can be changed any time in the "
|
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"preferences menu.").arg(
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Parameters::defaultRtabmapWorkingDirectory().c_str()));
|
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Parameters::createDefaultWorkingDirectory().c_str()));
|
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}
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this->setParameter(key.toStdString(), Parameters::createDefaultWorkingDirectory());
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UDEBUG("key.toStdString()=%s", Parameters::createDefaultWorkingDirectory().c_str());
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}
|
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else
|
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{
|
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// Use the default value if the key doesn't exist yet
|
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this->setParameter(key.toStdString(), (*iter).second);
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UDEBUG("key.toStdString()=%s", key.toStdString().c_str());
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}
|
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}
|
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}
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@@ -1788,7 +1812,6 @@ void PreferencesDialog::writeGuiSettings(const QString & filePath) const
|
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for(int i=0; i<2; ++i)
|
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{
|
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settings.setValue(QString("showClouds%1").arg(i), _3dRenderingShowClouds[i]->isChecked());
|
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settings.setValue(QString("voxelSize%1").arg(i), _3dRenderingVoxelSize[i]->value());
|
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settings.setValue(QString("decimation%1").arg(i), _3dRenderingDecimation[i]->value());
|
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settings.setValue(QString("maxDepth%1").arg(i), _3dRenderingMaxDepth[i]->value());
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settings.setValue(QString("showScans%1").arg(i), _3dRenderingShowScans[i]->isChecked());
|
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@@ -1803,24 +1826,26 @@ void PreferencesDialog::writeGuiSettings(const QString & filePath) const
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settings.setValue("showGraphs", _ui->checkBox_showGraphs->isChecked());
|
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settings.setValue("showLabels", _ui->checkBox_showLabels->isChecked());
|
||||
|
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settings.setValue("meshing", _ui->checkBox_meshing->isChecked());
|
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settings.setValue("meshGP3Radius", _ui->doubleSpinBox_gp3Radius->value());
|
||||
settings.setValue("meshGP3Mu", _ui->doubleSpinBox_gp3Mu->value());
|
||||
settings.setValue("meshNormalKSearch", _ui->spinBox_normalKSearch->value());
|
||||
settings.setValue("meshSmoothing", _ui->checkBox_mls->isChecked());
|
||||
settings.setValue("meshSmoothingRadius", _ui->doubleSpinBox_mlsRadius->value());
|
||||
|
||||
settings.setValue("cloudFiltering", _ui->checkBox_nodeFiltering->isChecked());
|
||||
settings.setValue("subtractFiltering", _ui->checkBox_subtractFiltering->isChecked());
|
||||
settings.setValue("noFiltering", _ui->radioButton_noFiltering->isChecked());
|
||||
settings.setValue("cloudFiltering", _ui->radioButton_nodeFiltering->isChecked());
|
||||
settings.setValue("cloudFilteringRadius", _ui->doubleSpinBox_cloudFilterRadius->value());
|
||||
settings.setValue("cloudFilteringAngle", _ui->doubleSpinBox_cloudFilterAngle->value());
|
||||
settings.setValue("subtractFilteringMinPts", _ui->spinBox_substractFilteringMinPts->value());
|
||||
settings.setValue("subtractFiltering", _ui->radioButton_subtractFiltering->isChecked());
|
||||
settings.setValue("subtractFilteringMinPts", _ui->spinBox_subtractFilteringMinPts->value());
|
||||
settings.setValue("subtractFilteringRadius", _ui->doubleSpinBox_subtractFilteringRadius->value());
|
||||
settings.setValue("subtractFilteringAngle", _ui->doubleSpinBox_subtractFilteringAngle->value());
|
||||
|
||||
settings.setValue("gridMapShown", _ui->checkBox_map_shown->isChecked());
|
||||
settings.setValue("gridMapResolution", _ui->doubleSpinBox_map_resolution->value());
|
||||
settings.setValue("gridMapOccupancyFrom3DCloud", _ui->checkBox_map_occupancyFrom3DCloud->isChecked());
|
||||
settings.setValue("gridMapEroded", _ui->checkBox_map_erode->isChecked());
|
||||
settings.setValue("gridMapOpacity", _ui->doubleSpinBox_map_opacity->value());
|
||||
|
||||
settings.setValue("meshing", _ui->groupBox_organized->isChecked());
|
||||
settings.setValue("meshing_angle", _ui->doubleSpinBox_mesh_angleTolerance->value());
|
||||
settings.setValue("meshing_quad", _ui->checkBox_mesh_quad->isChecked());
|
||||
settings.setValue("meshing_triangle_size", _ui->spinBox_mesh_triangleSize->value());
|
||||
|
||||
settings.endGroup(); // General
|
||||
|
||||
settings.endGroup(); // rtabmap
|
||||
@@ -2073,13 +2098,6 @@ bool PreferencesDialog::validateForm()
|
||||
"cannot be LSH (used for binary descriptor). KD-tree is set instead for the bag-of-words dictionary."));
|
||||
_ui->comboBox_dictionary_strategy->setCurrentIndex(VWDictionary::kNNFlannKdTree);
|
||||
}
|
||||
else if(_ui->comboBox_dictionary_strategy->currentIndex() == VWDictionary::kNNFlannKdTree && _ui->comboBox_detector_strategy->currentIndex() >1)
|
||||
{
|
||||
QMessageBox::warning(this, tr("Parameter warning"),
|
||||
tr("With the selected feature type (ORB, FAST, FREAK or BRIEF), parameter \"Visual word->Nearest Neighbor\" "
|
||||
"cannot be KD-Tree (used for float descriptor). BruteForce matching is set instead for the bag-of-words dictionary."));
|
||||
_ui->comboBox_dictionary_strategy->setCurrentIndex(VWDictionary::kNNBruteForce);
|
||||
}
|
||||
|
||||
// BOW Reextract features type
|
||||
if(_ui->reextract_nn->currentIndex() == VWDictionary::kNNFlannLSH && _ui->reextract_type->currentIndex() <= 1)
|
||||
@@ -2090,14 +2108,6 @@ bool PreferencesDialog::validateForm()
|
||||
"of features on loop closure."));
|
||||
_ui->reextract_nn->setCurrentIndex(VWDictionary::kNNFlannKdTree);
|
||||
}
|
||||
else if(_ui->reextract_nn->currentIndex() == VWDictionary::kNNFlannKdTree && _ui->reextract_type->currentIndex() >1)
|
||||
{
|
||||
QMessageBox::warning(this, tr("Parameter warning"),
|
||||
tr("With the selected feature type (ORB, FAST, FREAK or BRIEF), parameter \"Visual word->Nearest Neighbor\" "
|
||||
"cannot be KD-Tree (used for float descriptor). BruteForce matching is set instead for the re-extraction "
|
||||
"of features on loop closure."));
|
||||
_ui->reextract_nn->setCurrentIndex(VWDictionary::kNNBruteForce);
|
||||
}
|
||||
|
||||
if(_ui->doubleSpinBox_freenect2MinDepth->value() >= _ui->doubleSpinBox_freenect2MaxDepth->value())
|
||||
{
|
||||
@@ -3237,6 +3247,11 @@ void PreferencesDialog::updateKpROI()
|
||||
_ui->lineEdit_kp_roi->setText(strings.join(" "));
|
||||
}
|
||||
|
||||
void PreferencesDialog::updateG2oVisibility()
|
||||
{
|
||||
_ui->groupBox_g2o->setVisible(_ui->graphOptimization_type->currentIndex() == 1);
|
||||
}
|
||||
|
||||
void PreferencesDialog::changeWorkingDirectory()
|
||||
{
|
||||
QString directory = QFileDialog::getExistingDirectory(this, tr("Working directory"), _ui->lineEdit_workingDirectory->text());
|
||||
@@ -3387,12 +3402,19 @@ bool PreferencesDialog::isLabelsShown() const
|
||||
}
|
||||
bool PreferencesDialog::isCloudMeshing() const
|
||||
{
|
||||
return _ui->checkBox_meshing->isChecked();
|
||||
return _ui->groupBox_organized->isChecked();
|
||||
}
|
||||
double PreferencesDialog::getCloudVoxelSize(int index) const
|
||||
double PreferencesDialog::getCloudMeshingAngle() const
|
||||
{
|
||||
UASSERT(index >= 0 && index <= 1);
|
||||
return _3dRenderingVoxelSize[index]->value();
|
||||
return _ui->doubleSpinBox_mesh_angleTolerance->value()*M_PI/180.0f;
|
||||
}
|
||||
bool PreferencesDialog::isCloudMeshingQuad() const
|
||||
{
|
||||
return _ui->checkBox_mesh_quad->isChecked();
|
||||
}
|
||||
int PreferencesDialog::getCloudMeshingTriangleSize()
|
||||
{
|
||||
return _ui->spinBox_mesh_triangleSize->value();
|
||||
}
|
||||
int PreferencesDialog::getCloudDecimation(int index) const
|
||||
{
|
||||
@@ -3440,33 +3462,13 @@ int PreferencesDialog::getScanPointSize(int index) const
|
||||
UASSERT(index >= 0 && index <= 1);
|
||||
return _3dRenderingPtSizeScan[index]->value();
|
||||
}
|
||||
int PreferencesDialog::getMeshNormalKSearch() const
|
||||
{
|
||||
return _ui->spinBox_normalKSearch->value();
|
||||
}
|
||||
double PreferencesDialog::getMeshGP3Radius() const
|
||||
{
|
||||
return _ui->doubleSpinBox_gp3Radius->value();
|
||||
}
|
||||
double PreferencesDialog::getMeshGP3Mu() const
|
||||
{
|
||||
return _ui->doubleSpinBox_gp3Mu->value();
|
||||
}
|
||||
bool PreferencesDialog::getMeshSmoothing() const
|
||||
{
|
||||
return _ui->checkBox_mls->isChecked();
|
||||
}
|
||||
double PreferencesDialog::getMeshSmoothingRadius() const
|
||||
{
|
||||
return _ui->doubleSpinBox_mlsRadius->value();
|
||||
}
|
||||
bool PreferencesDialog::isCloudFiltering() const
|
||||
{
|
||||
return _ui->checkBox_nodeFiltering->isChecked();
|
||||
return _ui->radioButton_nodeFiltering->isChecked();
|
||||
}
|
||||
bool PreferencesDialog::isSubtractFiltering() const
|
||||
{
|
||||
return _ui->checkBox_subtractFiltering->isChecked();
|
||||
return _ui->radioButton_subtractFiltering->isChecked();
|
||||
}
|
||||
double PreferencesDialog::getCloudFilteringRadius() const
|
||||
{
|
||||
@@ -3476,9 +3478,17 @@ double PreferencesDialog::getCloudFilteringAngle() const
|
||||
{
|
||||
return _ui->doubleSpinBox_cloudFilterAngle->value();
|
||||
}
|
||||
int PreferencesDialog::getSubstractFilteringMinPts() const
|
||||
int PreferencesDialog::getSubtractFilteringMinPts() const
|
||||
{
|
||||
return _ui->spinBox_substractFilteringMinPts->value();
|
||||
return _ui->spinBox_subtractFilteringMinPts->value();
|
||||
}
|
||||
double PreferencesDialog::getSubtractFilteringRadius() const
|
||||
{
|
||||
return _ui->doubleSpinBox_subtractFilteringRadius->value();
|
||||
}
|
||||
double PreferencesDialog::getSubtractFilteringAngle() const
|
||||
{
|
||||
return _ui->doubleSpinBox_subtractFilteringAngle->value()*M_PI/180.0;
|
||||
}
|
||||
bool PreferencesDialog::getGridMapShown() const
|
||||
{
|
||||
@@ -4077,7 +4087,7 @@ void PreferencesDialog::testOdometry()
|
||||
|
||||
OdometryViewer * odomViewer = new OdometryViewer(10,
|
||||
_ui->spinBox_decimation_odom->value(),
|
||||
_ui->doubleSpinBox_voxelSize_odom->value(),
|
||||
0.0f,
|
||||
_ui->doubleSpinBox_maxDepth_odom->value(),
|
||||
this->getOdomQualityWarnThr(),
|
||||
this);
|
||||
|
||||
Reference in New Issue
Block a user