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libpointmatcher integration

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This commit is contained in:
matlabbe
2017-08-22 16:20:49 -04:00
parent d0d387a42f
commit f7872d346b
11 changed files with 625 additions and 165 deletions
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24
guilib/src/PreferencesDialog.cpp
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@@ -238,6 +238,9 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
{
_ui->graphOptimization_robust->setEnabled(false);
}
#ifndef RTABMAP_POINTMATCHER
_ui->groupBox_libpointmatcher->setEnabled(false);
#endif
if(!CameraOpenni::available())
{
_ui->comboBox_cameraRGBD->setItemData(0, 0, Qt::UserRole - 1);
@@ -856,6 +859,10 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->loopClosure_icpPointToPlane->setObjectName(Parameters::kIcpPointToPlane().c_str());
_ui->loopClosure_icpPointToPlaneNormals->setObjectName(Parameters::kIcpPointToPlaneNormalNeighbors().c_str());
_ui->groupBox_libpointmatcher->setObjectName(Parameters::kIcpPM().c_str());
_ui->lineEdit_IcpPMConfigPath->setObjectName(Parameters::kIcpPMConfig().c_str());
connect(_ui->toolButton_IcpConfigPath, SIGNAL(clicked()), this, SLOT(changeIcpPMConfigPath()));
// Occupancy grid
_ui->groupBox_grid_3d->setObjectName(Parameters::kGrid3D().c_str());
_ui->checkBox_grid_groundObstacle->setObjectName(Parameters::kGridGroundIsObstacle().c_str());
@@ -4051,6 +4058,23 @@ void PreferencesDialog::changeOdometryORBSLAM2Vocabulary()
}
}
void PreferencesDialog::changeIcpPMConfigPath()
{
QString path;
if(_ui->lineEdit_IcpPMConfigPath->text().isEmpty())
{
path = QFileDialog::getOpenFileName(this, tr("Select file"), this->getWorkingDirectory(), tr("libpointmatcher (*.yaml)"));
}
else
{
path = QFileDialog::getOpenFileName(this, tr("Select file"), _ui->lineEdit_IcpPMConfigPath->text(), tr("libpointmatcher (*.yaml)"));
}
if(!path.isEmpty())
{
_ui->lineEdit_IcpPMConfigPath->setText(path);
}
}
void PreferencesDialog::updateSourceGrpVisibility()
{
_ui->groupBox_sourceRGBD->setVisible(_ui->comboBox_sourceType->currentIndex() == 0);