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UI: Update preferences with the new imu filter parameters. Camera: added imu filtering option. Updated support for zedm, D435i and T265.

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This commit is contained in:
matlabbe
2019-05-13 18:42:46 -04:00
parent cbca362cc4
commit f8a8e55e7e
15 changed files with 762 additions and 262 deletions
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3
guilib/include/rtabmap/gui/PreferencesDialog.h
View File

@@ -102,7 +102,7 @@ public:
kSrcStereoZed = 104,
kSrcStereoUsb = 105,
kSrcStereoTara = 106,
kSrcRealSense2Stereo = 107,
kSrcStereoRealSense2 = 107,
kSrcRGB = 200,
kSrcUsbDevice = 200,
@@ -243,6 +243,7 @@ public:
bool isSourceDatabaseStampsUsed() const;
bool isSourceRGBDColorOnly() const;
int getIMUFilteringStrategy() const;
bool isDepthFilteringAvailable() const;
QString getSourceDistortionModel() const;
bool isBilateralFiltering() const;

8
guilib/src/MainWindow.cpp
View File

@@ -4454,7 +4454,7 @@ void MainWindow::updateSelectSourceMenu()
_ui->actionStereoZed->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcStereoZed);
_ui->actionStereoTara->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcStereoTara);
_ui->actionStereoUsb->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcStereoUsb);
_ui->actionRealSense2_T265->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcRealSense2Stereo);
_ui->actionRealSense2_T265->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcStereoRealSense2);
}
void MainWindow::changeImgRateSetting()
@@ -4973,6 +4973,10 @@ void MainWindow::startDetection()
_preferencesDialog->getSourceScanNormalsK(),
_preferencesDialog->getSourceScanNormalsRadius(),
_preferencesDialog->isSourceScanForceGroundNormalsUp());
if(_preferencesDialog->getIMUFilteringStrategy()>0)
{
_camera->enableIMUFiltering(_preferencesDialog->getIMUFilteringStrategy()-1, parameters);
}
if(_preferencesDialog->isDepthFilteringAvailable())
{
if(_preferencesDialog->isBilateralFiltering())
@@ -6192,7 +6196,7 @@ void MainWindow::selectRealSense2()
void MainWindow::selectRealSense2Stereo()
{
_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcRealSense2Stereo);
_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcStereoRealSense2);
}
void MainWindow::selectStereoDC1394()

77
guilib/src/PreferencesDialog.cpp
View File

@@ -303,7 +303,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
if (!CameraRealSense2::available())
{
_ui->comboBox_cameraRGBD->setItemData(kSrcRealSense2 - kSrcRGBD, 0, Qt::UserRole - 1);
_ui->comboBox_cameraRGBD->setItemData(kSrcRealSense2Stereo - kSrcStereo, 0, Qt::UserRole - 1);
_ui->comboBox_cameraRGBD->setItemData(kSrcStereoRealSense2 - kSrcStereo, 0, Qt::UserRole - 1);
}
if(!CameraStereoDC1394::available())
{
@@ -342,6 +342,10 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->label_markerDetection->setText(_ui->label_markerDetection->text()+" This option works only if OpenCV has been built with \"aruco\" module.");
#endif
#ifndef RTABMAP_MADGWICK
_ui->comboBox_imuFilter_strategy->setItemData(1, 0, Qt::UserRole - 1);
#endif
// in case we change the ui, we should not forget to change stuff related to this parameter
UASSERT(_ui->odom_registration->count() == 4);
@@ -350,6 +354,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->comboBox_cameraRGBD, SIGNAL(currentIndexChanged(int)), this, SLOT(updateSourceGrpVisibility()));
connect(_ui->source_comboBox_image_type, SIGNAL(currentIndexChanged(int)), this, SLOT(updateSourceGrpVisibility()));
connect(_ui->comboBox_cameraStereo, SIGNAL(currentIndexChanged(int)), this, SLOT(updateSourceGrpVisibility()));
connect(_ui->comboBox_imuFilter_strategy, SIGNAL(currentIndexChanged(int)), this, SLOT(updateSourceGrpVisibility()));
this->resetSettings(_ui->groupBox_source0);
_ui->predictionPlot->showLegend(false);
@@ -668,6 +673,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->toolButton_zedSvoPath, SIGNAL(clicked()), this, SLOT(selectSourceSvoPath()));
connect(_ui->lineEdit_zedSvoPath, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkbox_stereoRealSense2_odom, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkbox_rgbd_colorOnly, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->spinBox_source_imageDecimation, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkbox_stereo_depthGenerated, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
@@ -685,6 +692,10 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->doubleSpinBox_bilateral_sigmaS, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->doubleSpinBox_bilateral_sigmaR, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->comboBox_imuFilter_strategy, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->comboBox_imuFilter_strategy, SIGNAL(currentIndexChanged(int)), _ui->stackedWidget_imuFilter, SLOT(setCurrentIndex(int)));
_ui->stackedWidget_imuFilter->setCurrentIndex(_ui->comboBox_imuFilter_strategy->currentIndex());
connect(_ui->checkBox_source_scanFromDepth, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->spinBox_source_scanDownsampleStep, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->doubleSpinBox_source_scanRangeMin, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
@@ -1245,6 +1256,14 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->ArucoVarianceAngular->setObjectName(Parameters::kMarkerVarianceAngular().c_str());
_ui->ArucoCornerRefinementMethod->setObjectName(Parameters::kMarkerCornerRefinementMethod().c_str());
// IMU filter
_ui->doubleSpinBox_imuFilterMadgwickGain->setObjectName(Parameters::kImuFilterMadgwickGain().c_str());
_ui->doubleSpinBox_imuFilterMadgwickZeta->setObjectName(Parameters::kImuFilterMadgwickZeta().c_str());
_ui->doubleSpinBox_imuFilterComplementaryGainAcc->setObjectName(Parameters::kImuFilterComplementaryGainAcc().c_str());
_ui->doubleSpinBox_imuFilterComplementaryBiasAlpha->setObjectName(Parameters::kImuFilterComplementaryBiasAlpha().c_str());
_ui->checkBox_imuFilterComplementaryDoAdaptiveGain->setObjectName(Parameters::kImuFilterComplementaryDoAdpativeGain().c_str());
_ui->checkBox_imuFilterComplementaryDoBiasEstimation->setObjectName(Parameters::kImuFilterComplementaryDoBiasEstimation().c_str());
// reset default settings for the gui
resetSettings(_ui->groupBox_generalSettingsGui0);
resetSettings(_ui->groupBox_cloudRendering1);
@@ -1772,6 +1791,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->spinBox_stereoZed_confidenceThr->setValue(100);
_ui->checkbox_stereoZed_odom->setChecked(false);
_ui->lineEdit_zedSvoPath->clear();
_ui->checkbox_stereoRealSense2_odom->setChecked(false);
_ui->checkBox_cameraImages_timestamps->setChecked(false);
_ui->checkBox_cameraImages_syncTimeStamps->setChecked(true);
@@ -2184,6 +2204,9 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
_ui->lineEdit_zedSvoPath->setText(settings.value("svo_path", _ui->lineEdit_zedSvoPath->text()).toString());
settings.endGroup(); // StereoZed
settings.beginGroup("StereoRealSense2");
_ui->checkbox_stereoRealSense2_odom->setChecked(settings.value("odom", _ui->checkbox_stereoRealSense2_odom->isChecked()).toBool());
settings.endGroup(); // StereoRealSense2
settings.beginGroup("Images");
_ui->source_images_lineEdit_path->setText(settings.value("path", _ui->source_images_lineEdit_path->text()).toString());
@@ -2613,7 +2636,9 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.setValue("svo_path", _ui->lineEdit_zedSvoPath->text());
settings.endGroup(); // StereoZed
settings.beginGroup("StereoRealSense2");
settings.setValue("odom", _ui->checkbox_stereoRealSense2_odom->isChecked());
settings.endGroup(); // StereoRealSense2
settings.beginGroup("Images");
settings.setValue("path", _ui->source_images_lineEdit_path->text());
@@ -4336,7 +4361,7 @@ void PreferencesDialog::updateStereoDisparityVisibility()
_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoTara - kSrcStereo ||
_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoVideo - kSrcStereo ||
_ui->comboBox_cameraStereo->currentIndex() == kSrcDC1394 - kSrcStereo ||
_ui->comboBox_cameraStereo->currentIndex() == kSrcRealSense2Stereo - kSrcStereo);
_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoRealSense2 - kSrcStereo);
_ui->checkBox_stereo_rectify->setVisible(_ui->checkBox_stereo_rectify->isEnabled());
_ui->label_stereo_rectify->setVisible(_ui->checkBox_stereo_rectify->isEnabled());
}
@@ -4490,12 +4515,13 @@ void PreferencesDialog::updateSourceGrpVisibility()
(_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoVideo-kSrcStereo ||
_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoImages-kSrcStereo ||
_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoZed - kSrcStereo ||
_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoTara - kSrcStereo ||
_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoUsb - kSrcStereo));
_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoUsb - kSrcStereo ||
_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoRealSense2 - kSrcStereo));
_ui->groupBox_cameraStereoImages->setVisible(_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoImages-kSrcStereo);
_ui->groupBox_cameraStereoVideo->setVisible(_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoVideo - kSrcStereo);
_ui->groupBox_cameraStereoUsb->setVisible(_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoUsb - kSrcStereo);
_ui->groupBox_cameraStereoZed->setVisible(_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoZed - kSrcStereo);
_ui->groupBox_cameraStereoRealSense2->setVisible(_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoRealSense2 - kSrcStereo);
_ui->stackedWidget_image->setVisible(_ui->comboBox_sourceType->currentIndex() == 2 && (_ui->source_comboBox_image_type->currentIndex() == kSrcImages-kSrcRGB || _ui->source_comboBox_image_type->currentIndex() == kSrcVideo-kSrcRGB));
_ui->source_groupBox_images->setVisible(_ui->comboBox_sourceType->currentIndex() == 2 && _ui->source_comboBox_image_type->currentIndex() == kSrcImages-kSrcRGB);
@@ -4511,6 +4537,18 @@ void PreferencesDialog::updateSourceGrpVisibility()
_ui->comboBox_sourceType->currentIndex() == 3); // Database
_ui->groupBox_depthImageFiltering->setVisible(_ui->groupBox_depthImageFiltering->isEnabled());
_ui->groupBox_imuFiltering->setEnabled(
(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcRGBDImages-kSrcRGBD) ||
(_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoImages-kSrcStereo) ||
(_ui->comboBox_sourceType->currentIndex() == 2 && _ui->source_comboBox_image_type->currentIndex() == kSrcImages-kSrcRGB) ||
(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcRealSense2 - kSrcRGBD) || //D435i
(_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoRealSense2 - kSrcStereo) || //T265
(_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoZed - kSrcStereo)); // ZEDm
_ui->stackedWidget_imuFilter->setVisible(_ui->comboBox_imuFilter_strategy->currentIndex() > 0);
_ui->groupBox_madgwickfilter->setVisible(_ui->comboBox_imuFilter_strategy->currentIndex() == 1);
_ui->groupBox_complementaryfilter->setVisible(_ui->comboBox_imuFilter_strategy->currentIndex() == 2);
_ui->groupBox_imuFiltering->setVisible(_ui->groupBox_imuFiltering->isEnabled());
//_ui->groupBox_scan->setVisible(_ui->comboBox_sourceType->currentIndex() != 3);
_ui->groupBox_depthFromScan->setVisible(_ui->comboBox_sourceType->currentIndex() == 2 && _ui->source_comboBox_image_type->currentIndex() == kSrcImages-kSrcRGB);
@@ -5039,6 +5077,10 @@ bool PreferencesDialog::isSourceRGBDColorOnly() const
{
return _ui->checkbox_rgbd_colorOnly->isChecked();
}
int PreferencesDialog::getIMUFilteringStrategy() const
{
return _ui->comboBox_imuFilter_strategy->currentIndex();
}
bool PreferencesDialog::isDepthFilteringAvailable() const
{
return _ui->groupBox_depthImageFiltering->isEnabled();
@@ -5204,7 +5246,7 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
((CameraRealSense*)camera)->setRGBSource((CameraRealSense::RGBSource)_ui->comboBox_realsenseRGBSource->currentIndex());
}
}
else if (driver == kSrcRealSense2 || driver == kSrcRealSense2Stereo)
else if (driver == kSrcRealSense2 || driver == kSrcStereoRealSense2)
{
if(driver == kSrcRealSense2 && useRawImages)
{
@@ -5219,9 +5261,16 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
this->getSourceDevice().toStdString(),
this->getGeneralInputRate(),
this->getSourceLocalTransform());
((CameraRealSense2*)camera)->setEmitterEnabled(_ui->checkbox_rs2_emitter->isChecked());
((CameraRealSense2*)camera)->setIRDepthFormat(_ui->checkbox_rs2_irDepth->isChecked());
((CameraRealSense2*)camera)->setImagesRectified(_ui->checkBox_stereo_rectify->isChecked() && !useRawImages);
if(driver == kSrcStereoRealSense2)
{
((CameraRealSense2*)camera)->setImagesRectified(_ui->checkBox_stereo_rectify->isChecked() && !useRawImages);
((CameraRealSense2*)camera)->setOdomProvided(_ui->checkbox_stereoRealSense2_odom->isChecked());
}
else
{
((CameraRealSense2*)camera)->setEmitterEnabled(_ui->checkbox_rs2_emitter->isChecked());
((CameraRealSense2*)camera)->setIRDepthFormat(_ui->checkbox_rs2_irDepth->isChecked());
}
}
}
else if(driver == kSrcRGBDImages)
@@ -5709,6 +5758,10 @@ void PreferencesDialog::testOdometry()
_ui->spinBox_source_scanNormalsK->value(),
_ui->doubleSpinBox_source_scanNormalsRadius->value(),
_ui->checkBox_source_scanForceGroundNormalsUp->isChecked());
if(_ui->comboBox_imuFilter_strategy->currentIndex()>0)
{
cameraThread.enableIMUFiltering(_ui->comboBox_imuFilter_strategy->currentIndex()-1, this->getAllParameters());
}
if(isDepthFilteringAvailable())
{
if(_ui->groupBox_bilateral->isChecked())
@@ -5776,6 +5829,10 @@ void PreferencesDialog::testCamera()
_ui->spinBox_source_scanNormalsK->value(),
_ui->doubleSpinBox_source_scanNormalsRadius->value(),
_ui->checkBox_source_scanForceGroundNormalsUp->isChecked());
if(_ui->comboBox_imuFilter_strategy->currentIndex()>0)
{
cameraThread.enableIMUFiltering(_ui->comboBox_imuFilter_strategy->currentIndex()-1, this->getAllParameters());
}
if(isDepthFilteringAvailable())
{
if(_ui->groupBox_bilateral->isChecked())
@@ -6002,7 +6059,7 @@ void PreferencesDialog::calibrate()
}
bool freenect2 = driver == kSrcFreenect2;
bool fisheye = driver == kSrcRealSense2Stereo;
bool fisheye = driver == kSrcStereoRealSense2;
_calibrationDialog->setStereoMode(this->getSourceType() != kSrcRGB && driver != kSrcRealSense, freenect2?"rgb":"left", freenect2?"depth":"right"); // RGB+Depth or left+right
_calibrationDialog->setSwitchedImages(freenect2);
_calibrationDialog->setFisheyeImages(fisheye);

412
guilib/src/ui/preferencesDialog.ui
View File

@@ -24,37 +24,6 @@
<normaloff>:/images/RTAB-Map.ico</normaloff>:/images/RTAB-Map.ico</iconset>
</property>
<layout class="QGridLayout" name="gridLayout_49">
<item row="1" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_3">
<item>
<widget class="QRadioButton" name="radioButton_basic">
<property name="text">
<string>Basic</string>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QRadioButton" name="radioButton_advanced">
<property name="text">
<string>Advanced</string>
</property>
</widget>
</item>
<item>
<widget class="QDialogButtonBox" name="buttonBox_global">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="standardButtons">
<set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
</property>
</widget>
</item>
</layout>
</item>
<item row="0" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_2" stretch="0,1">
<property name="spacing">
@@ -94,7 +63,7 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-359</y>
<y>-1977</y>
<width>680</width>
<height>3082</height>
</rect>
@@ -2731,7 +2700,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<property name="title">
<string>Source</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_7" stretch="0,0,0,0,1">
<layout class="QVBoxLayout" name="verticalLayout_7" stretch="0,0,0,0,0,1">
<item>
<layout class="QGridLayout" name="gridLayout_28" columnstretch="0,1">
<item row="1" column="1">
@@ -3122,7 +3091,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<item>
<widget class="QStackedWidget" name="stackedWidget_rgbd">
<property name="currentIndex">
<number>9</number>
<number>6</number>
</property>
<widget class="QWidget" name="page_32">
<layout class="QVBoxLayout" name="verticalLayout_63">
@@ -4075,7 +4044,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</layout>
</widget>
<widget class="QWidget" name="page_55">
<layout class="QVBoxLayout" name="verticalLayout_103">
<layout class="QVBoxLayout" name="verticalLayout_103" stretch="0,1">
<item>
<widget class="QGroupBox" name="groupBox_realsense2">
<property name="sizePolicy">
@@ -4152,7 +4121,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>338</height>
<height>0</height>
</size>
</property>
</spacer>
@@ -4320,7 +4289,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<item>
<widget class="QStackedWidget" name="stackedWidget_stereo">
<property name="currentIndex">
<number>7</number>
<number>5</number>
</property>
<widget class="QWidget" name="page_49">
<layout class="QVBoxLayout" name="verticalLayout_91">
@@ -4868,6 +4837,41 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</widget>
<widget class="QWidget" name="page_80">
<layout class="QVBoxLayout" name="verticalLayout_140">
<item>
<widget class="QGroupBox" name="groupBox_cameraStereoRealSense2">
<property name="sizePolicy">
<sizepolicy hsizetype="Ignored" vsizetype="Ignored">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="title">
<string>RealSense2</string>
</property>
<layout class="QGridLayout" name="gridLayout_108" columnstretch="0,1">
<item row="0" column="0">
<widget class="QCheckBox" name="checkbox_stereoRealSense2_odom">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_546">
<property name="text">
<string>Use RealSense2 visual inertial odometry.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_78">
<property name="orientation">
@@ -4876,7 +4880,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>471</height>
<height>0</height>
</size>
</property>
</spacer>
@@ -6034,6 +6038,307 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_imuFiltering">
<property name="title">
<string>IMU Filtering</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_141">
<item>
<layout class="QGridLayout" name="gridLayout_109" columnstretch="0,1">
<item row="0" column="0">
<widget class="QComboBox" name="comboBox_imuFilter_strategy">
<item>
<property name="text">
<string>None</string>
</property>
</item>
<item>
<property name="text">
<string>Madgwick Filter</string>
</property>
</item>
<item>
<property name="text">
<string>Complementary Filter</string>
</property>
</item>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_541">
<property name="text">
<string>IMU filtering strategy used to estimate the orientation.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QStackedWidget" name="stackedWidget_imuFilter">
<property name="currentIndex">
<number>2</number>
</property>
<widget class="QWidget" name="page_83">
<layout class="QVBoxLayout" name="verticalLayout_144">
<item>
<spacer name="verticalSpacer_80">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
<widget class="QWidget" name="page_81">
<layout class="QVBoxLayout" name="verticalLayout_142">
<item>
<widget class="QGroupBox" name="groupBox_madgwickfilter">
<property name="title">
<string>Madgwick Filter</string>
</property>
<layout class="QGridLayout" name="gridLayout_110" columnstretch="0,1">
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_imuFilterMadgwickGain">
<property name="suffix">
<string/>
</property>
<property name="decimals">
<number>4</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.010000000000000</double>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_542">
<property name="text">
<string>Gain.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_imuFilterMadgwickZeta">
<property name="suffix">
<string/>
</property>
<property name="decimals">
<number>4</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.010000000000000</double>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_543">
<property name="text">
<string>Zeta.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_79">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
<widget class="QWidget" name="page_82">
<layout class="QVBoxLayout" name="verticalLayout_143">
<item>
<widget class="QGroupBox" name="groupBox_complementaryfilter">
<property name="title">
<string>Complementary Filter</string>
</property>
<layout class="QGridLayout" name="gridLayout_111" columnstretch="0,1">
<item row="2" column="1">
<widget class="QLabel" name="label_547">
<property name="text">
<string>Do bias estimation.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_544">
<property name="text">
<string>Gain acc.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QCheckBox" name="checkBox_imuFilterComplementaryDoBiasEstimation">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_imuFilterComplementaryGainAcc">
<property name="suffix">
<string/>
</property>
<property name="decimals">
<number>4</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.010000000000000</double>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_545">
<property name="text">
<string>Bias alpha.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_imuFilterComplementaryBiasAlpha">
<property name="suffix">
<string/>
</property>
<property name="decimals">
<number>4</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.010000000000000</double>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QCheckBox" name="checkBox_imuFilterComplementaryDoAdaptiveGain">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_548">
<property name="text">
<string>Do adaptive gain.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_81">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_scan">
<property name="title">
@@ -20132,6 +20437,37 @@ Lower the ratio -&gt; higher the precision.</string>
</item>
</layout>
</item>
<item row="1" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_3">
<item>
<widget class="QRadioButton" name="radioButton_basic">
<property name="text">
<string>Basic</string>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QRadioButton" name="radioButton_advanced">
<property name="text">
<string>Advanced</string>
</property>
</widget>
</item>
<item>
<widget class="QDialogButtonBox" name="buttonBox_global">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="standardButtons">
<set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
<customwidgets>