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GUI: Optimized odometry display

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GUI: moved alpha parameter into ImageView object
This commit is contained in:
Mathieu Labbe
2015-01-23 15:16:05 -05:00
parent 7a6bf630ca
commit f9fb6216d8
7 changed files with 119 additions and 116 deletions
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4
guilib/include/rtabmap/gui/ImageView.h
View File

@@ -57,6 +57,7 @@ public:
bool isImageDepthShown() const;
bool isFeaturesShown() const;
bool isLinesShown() const;
int getAlpha() const {return _alpha;}
void setFeaturesShown(bool shown);
void setImageShown(bool shown);
@@ -69,6 +70,7 @@ public:
void setImageDepth(const QImage & image);
void setFeatureColor(int id, const QColor & color);
void setFeaturesColor(const QColor & color);
void setAlpha(int alpha);
const QMultiMap<int, rtabmap::KeypointItem *> & getFeatures() const {return _features;}
@@ -92,6 +94,7 @@ private:
int _zoom;
int _minZoom;
QString _savedFileName;
int _alpha;
QMenu * _menu;
QAction * _showImage;
@@ -99,6 +102,7 @@ private:
QAction * _showFeatures;
QAction * _showLines;
QAction * _saveImage;
QAction * _setAlpha;
QMultiMap<int, rtabmap::KeypointItem *> _features;
QGraphicsPixmapItem * _image;

2
guilib/include/rtabmap/gui/MainWindow.h
View File

@@ -264,6 +264,8 @@ private:
bool _odometryReceived;
QString _openedDatabasePath;
bool _emptyNewDatabase;
bool _odomImageShow;
bool _odomImageDepthShow;
QMap<int, Signature> _cachedSignatures;
std::map<int, Transform> _currentPosesMap; // <nodeId, pose>

2
guilib/include/rtabmap/gui/PreferencesDialog.h
View File

@@ -116,11 +116,9 @@ public:
int getGeneralLoggerType() const;
bool getGeneralLoggerPrintTime() const;
bool isVerticalLayoutUsed() const;
bool isImageFlipped() const;
bool imageRejectedShown() const;
bool imageHighestHypShown() const;
bool beepOnPause() const;
int getKeypointsOpacity() const;
int getOdomQualityWarnThr() const;
bool isPosteriorGraphView() const;

26
guilib/src/ImageView.cpp
View File

@@ -34,6 +34,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <QtCore/QDir>
#include <QtGui/QAction>
#include <QtGui/QGraphicsEffect>
#include <QtGui/QInputDialog>
#include "rtabmap/utilite/ULogger.h"
#include "rtabmap/gui/KeypointItem.h"
@@ -44,6 +45,7 @@ ImageView::ImageView(QWidget * parent) :
_zoom(250),
_minZoom(250),
_savedFileName((QDir::homePath()+ "/") + "picture" + ".png"),
_alpha(100),
_image(0),
_imageDepth(0)
{
@@ -64,6 +66,7 @@ ImageView::ImageView(QWidget * parent) :
_showLines = _menu->addAction(tr("Show lines"));
_showLines->setCheckable(true);
_showLines->setChecked(true);
_setAlpha = _menu->addAction(tr("Set alpha..."));
_saveImage = _menu->addAction(tr("Save picture..."));
}
@@ -179,6 +182,16 @@ void ImageView::contextMenuEvent(QContextMenuEvent * e)
this->setLinesShown(_showLines->isChecked());
emit configChanged();
}
else if(action == _setAlpha)
{
bool ok = false;
int value = QInputDialog::getInt(this, tr("Set features and lines alpha"), tr("alpha (0-255)"), _alpha, 0, 255, 10, &ok);
if(ok)
{
this->setAlpha(value);
emit configChanged();
}
}
if(action == _showImage || action ==_showImageDepth)
{
@@ -364,6 +377,19 @@ void ImageView::setFeaturesColor(const QColor & color)
}
}
void ImageView::setAlpha(int alpha)
{
UASSERT(alpha >=0 && alpha <= 255);
_alpha = alpha;
for(QMultiMap<int, KeypointItem*>::iterator iter=_features.begin(); iter!=_features.end(); ++iter)
{
QColor c = iter.value()->pen().color();
c.setAlpha(_alpha);
iter.value()->setPen(QPen(c));
iter.value()->setBrush(QBrush(c));
}
}
void ImageView::clearLines()
{
if(this->scene())

128
guilib/src/MainWindow.cpp
View File

@@ -120,6 +120,8 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_odometryReceived(false),
_openedDatabasePath(""),
_emptyNewDatabase(true),
_odomImageShow(true),
_odomImageDepthShow(false),
_odometryCorrection(Transform::getIdentity()),
_lastOdometryProcessed(true),
_oneSecondTimer(0),
@@ -206,6 +208,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_ui->imageView_source->setBackgroundBrush(QBrush(Qt::black));
_ui->imageView_loopClosure->setBackgroundBrush(QBrush(Qt::black));
_ui->imageView_odometry->setBackgroundBrush(QBrush(Qt::black));
_ui->imageView_odometry->setAlpha(200);
_preferencesDialog->loadWidgetState(_ui->imageView_source);
_preferencesDialog->loadWidgetState(_ui->imageView_loopClosure);
_preferencesDialog->loadWidgetState(_ui->imageView_odometry);
@@ -635,10 +638,12 @@ void MainWindow::processOdometry(const rtabmap::SensorData & data, const rtabmap
UTimer time;
Transform pose = data.pose();
bool lost = false;
bool lostStateChanged = false;
_ui->imageView_odometry->resetTransform();
if(pose.isNull())
{
UDEBUG("odom lost"); // use last pose
lostStateChanged = _ui->widget_cloudViewer->getBackgroundColor() != Qt::darkRed;
_ui->widget_cloudViewer->setBackgroundColor(Qt::darkRed);
_ui->imageView_odometry->setBackgroundBrush(QBrush(Qt::darkRed));
@@ -650,12 +655,14 @@ void MainWindow::processOdometry(const rtabmap::SensorData & data, const rtabmap
info.inliers < _preferencesDialog->getOdomQualityWarnThr())
{
UDEBUG("odom warn, quality(inliers)=%d thr=%d", info.inliers, _preferencesDialog->getOdomQualityWarnThr());
lostStateChanged = _ui->widget_cloudViewer->getBackgroundColor() == Qt::darkRed;
_ui->widget_cloudViewer->setBackgroundColor(Qt::darkYellow);
_ui->imageView_odometry->setBackgroundBrush(QBrush(Qt::darkYellow));
}
else
{
UDEBUG("odom ok");
lostStateChanged = _ui->widget_cloudViewer->getBackgroundColor() == Qt::darkRed;
_ui->widget_cloudViewer->setBackgroundColor(Qt::black);
_ui->imageView_odometry->setBackgroundBrush(QBrush(Qt::black));
}
@@ -762,54 +769,86 @@ void MainWindow::processOdometry(const rtabmap::SensorData & data, const rtabmap
if(_ui->dockWidget_odometry->isVisible() &&
!data.image().empty())
{
int alpha = _preferencesDialog->getKeypointsOpacity()*255/100;
if(info.type == 0)
if(_ui->imageView_odometry->isFeaturesShown())
{
_ui->imageView_odometry->setFeatures(info.words, QColor(255,255,0, alpha));
}
else if(info.type == 1)
{
_ui->imageView_odometry->setFeatures(info.refCorners, QColor(255,0,0, alpha));
int alpha = _ui->imageView_odometry->getAlpha();
if(info.type == 0)
{
_ui->imageView_odometry->setFeatures(info.words, QColor(255,255,0, alpha));
}
else if(info.type == 1)
{
_ui->imageView_odometry->setFeatures(info.refCorners, QColor(255,0,0, alpha));
}
}
_ui->imageView_odometry->clearLines();
if(lost)
{
if(lostStateChanged)
{
// save state
_odomImageShow = _ui->imageView_odometry->isImageShown();
_odomImageDepthShow = _ui->imageView_odometry->isImageDepthShown();
}
_ui->imageView_odometry->setImageDepth(uCvMat2QImage(data.image()));
_ui->imageView_odometry->setImageShown(true);
_ui->imageView_odometry->setImageDepthShown(true);
}
else
{
if(lostStateChanged)
{
// restore state
_ui->imageView_odometry->setImageShown(_odomImageShow);
_ui->imageView_odometry->setImageDepthShown(_odomImageDepthShow);
}
_ui->imageView_odometry->setImage(uCvMat2QImage(data.image()));
_ui->imageView_odometry->setImageShown(true);
_ui->imageView_odometry->setImageDepthShown(false);
if(_ui->imageView_odometry->isImageDepthShown())
{
_ui->imageView_odometry->setImageDepth(uCvMat2QImage(data.depthOrRightImage()));
}
if(info.type == 0)
{
for(unsigned int i=0; i<info.wordMatches.size(); ++i)
if(_ui->imageView_odometry->isFeaturesShown())
{
_ui->imageView_odometry->setFeatureColor(info.wordMatches[i], QColor(255,0,0, alpha)); // outliers
}
for(unsigned int i=0; i<info.wordInliers.size(); ++i)
{
_ui->imageView_odometry->setFeatureColor(info.wordInliers[i], QColor(0,255,0, alpha)); // inliers
int alpha = _ui->imageView_odometry->getAlpha();
for(unsigned int i=0; i<info.wordMatches.size(); ++i)
{
_ui->imageView_odometry->setFeatureColor(info.wordMatches[i], QColor(255,0,0, alpha)); // outliers
}
for(unsigned int i=0; i<info.wordInliers.size(); ++i)
{
_ui->imageView_odometry->setFeatureColor(info.wordInliers[i], QColor(0,255,0, alpha)); // inliers
}
}
}
else if(info.type == 1)
{
//draw lines
UASSERT(info.refCorners.size() == info.newCorners.size());
for(unsigned int i=0; i<info.cornerInliers.size(); ++i)
if(_ui->imageView_odometry->isFeaturesShown() || _ui->imageView_odometry->isLinesShown())
{
_ui->imageView_odometry->setFeatureColor(info.cornerInliers[i], QColor(0,255,0, alpha)); // inliers
QGraphicsLineItem * item = _ui->imageView_odometry->scene()->addLine(
info.refCorners[info.cornerInliers[i]].pt.x,
info.refCorners[info.cornerInliers[i]].pt.y,
info.newCorners[info.cornerInliers[i]].pt.x,
info.newCorners[info.cornerInliers[i]].pt.y,
QPen(QColor(0, 0, 255, alpha)));
item->setVisible(_ui->imageView_odometry->isLinesShown());
item->setZValue(1);
//draw lines
int alpha = _ui->imageView_odometry->getAlpha();
UASSERT(info.refCorners.size() == info.newCorners.size());
for(unsigned int i=0; i<info.cornerInliers.size(); ++i)
{
if(_ui->imageView_odometry->isFeaturesShown())
{
_ui->imageView_odometry->setFeatureColor(info.cornerInliers[i], QColor(0,255,0, alpha)); // inliers
}
if(_ui->imageView_odometry->isLinesShown())
{
QGraphicsLineItem * item = _ui->imageView_odometry->scene()->addLine(
info.refCorners[info.cornerInliers[i]].pt.x,
info.refCorners[info.cornerInliers[i]].pt.y,
info.newCorners[info.cornerInliers[i]].pt.x,
info.newCorners[info.cornerInliers[i]].pt.y,
QPen(QColor(0, 0, 255, alpha)));
item->setVisible(_ui->imageView_odometry->isLinesShown());
item->setZValue(1);
}
}
}
}
}
@@ -817,10 +856,6 @@ void MainWindow::processOdometry(const rtabmap::SensorData & data, const rtabmap
_ui->imageView_odometry->resetZoom();
_ui->imageView_odometry->setSceneRect(_ui->imageView_odometry->scene()->itemsBoundingRect());
_ui->imageView_odometry->fitInView(_ui->imageView_odometry->sceneRect(), Qt::KeepAspectRatio);
if(_preferencesDialog->isImageFlipped())
{
_ui->imageView_odometry->scale(-1.0, 1.0);
}
}
_lastOdometryProcessed = true;
@@ -1009,12 +1044,6 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
// do it after scaling
this->drawKeypoints(signature.getWords(), loopSignature.getWords());
if(_preferencesDialog->isImageFlipped())
{
_ui->imageView_source->scale(-1.0, 1.0);
_ui->imageView_loopClosure->scale(-1.0, 1.0);
}
UDEBUG("time= %d ms", time.restart());
_ui->statsToolBox->updateStat("Keypoint/Keypoints count in the last signature/", stat.refImageId(), signature.getWords().size());
@@ -1929,7 +1958,7 @@ void MainWindow::drawKeypoints(const std::multimap<int, cv::KeyPoint> & refWords
timer.start();
KeypointItem * item = 0;
int alpha = _preferencesDialog->getKeypointsOpacity()*255/100;
int alphaA = _ui->imageView_source->getAlpha();
ULOGGER_DEBUG("refWords.size() = %d", refWords.size());
QMap<int, KeypointItem*> addedKeypoints;
for(std::multimap<int, cv::KeyPoint>::const_iterator i = refWords.begin(); i != refWords.end(); ++i )
@@ -1948,27 +1977,27 @@ void MainWindow::drawKeypoints(const std::multimap<int, cv::KeyPoint> & refWords
if(uContains(loopWords, id))
{
// PINK = FOUND IN LOOP SIGNATURE
item = new KeypointItem(r.pt.x-radius, r.pt.y-radius, radius*2, info, QColor(255, 0, 255, alpha));
item = new KeypointItem(r.pt.x-radius, r.pt.y-radius, radius*2, info, QColor(255, 0, 255, alphaA));
}
else if(_lastIds.contains(id))
{
// BLUE = FOUND IN LAST SIGNATURE
item = new KeypointItem(r.pt.x-radius, r.pt.y-radius, radius*2, info, QColor(0, 0, 255, alpha));
item = new KeypointItem(r.pt.x-radius, r.pt.y-radius, radius*2, info, QColor(0, 0, 255, alphaA));
}
else if(id<=_lastId)
{
// RED = ALREADY EXISTS
item = new KeypointItem(r.pt.x-radius, r.pt.y-radius, radius*2, info, QColor(255, 0, 0, alpha));
item = new KeypointItem(r.pt.x-radius, r.pt.y-radius, radius*2, info, QColor(255, 0, 0, alphaA));
}
else if(refWords.count(id) > 1)
{
// YELLOW = NEW and multiple times
item = new KeypointItem(r.pt.x-radius, r.pt.y-radius, radius*2, info, QColor(255, 255, 0, alpha));
item = new KeypointItem(r.pt.x-radius, r.pt.y-radius, radius*2, info, QColor(255, 255, 0, alphaA));
}
else
{
// GREEN = NEW
item = new KeypointItem(r.pt.x-radius, r.pt.y-radius, radius*2, info, QColor(0, 255, 0, alpha));
item = new KeypointItem(r.pt.x-radius, r.pt.y-radius, radius*2, info, QColor(0, 255, 0, alphaA));
}
item->setVisible(this->_ui->imageView_source->isFeaturesShown());
this->_ui->imageView_source->scene()->addItem(item);
@@ -1979,6 +2008,7 @@ void MainWindow::drawKeypoints(const std::multimap<int, cv::KeyPoint> & refWords
timer.start();
item = 0;
int alphaB = _ui->imageView_loopClosure->getAlpha();
ULOGGER_DEBUG("loopWords.size() = %d", loopWords.size());
QList<QPair<KeypointItem*, KeypointItem*> > uniqueCorrespondences;
for(std::multimap<int, cv::KeyPoint>::const_iterator i = loopWords.begin(); i != loopWords.end(); ++i )
@@ -1997,7 +2027,7 @@ void MainWindow::drawKeypoints(const std::multimap<int, cv::KeyPoint> & refWords
if(uContains(refWords, id))
{
// PINK = FOUND IN LOOP SIGNATURE
item = new KeypointItem(r.pt.x-radius, r.pt.y-radius, radius*2, info, QColor(255, 0, 255, alpha));
item = new KeypointItem(r.pt.x-radius, r.pt.y-radius, radius*2, info, QColor(255, 0, 255, alphaB));
//To draw lines... get only unique correspondences
if(uValues(refWords, id).size() == 1 && uValues(loopWords, id).size() == 1)
{
@@ -2007,17 +2037,17 @@ void MainWindow::drawKeypoints(const std::multimap<int, cv::KeyPoint> & refWords
else if(id<=_lastId)
{
// RED = ALREADY EXISTS
item = new KeypointItem(r.pt.x-radius, r.pt.y-radius, radius*2, info, QColor(255, 0, 0, alpha));
item = new KeypointItem(r.pt.x-radius, r.pt.y-radius, radius*2, info, QColor(255, 0, 0, alphaB));
}
else if(refWords.count(id) > 1)
{
// YELLOW = NEW and multiple times
item = new KeypointItem(r.pt.x-radius, r.pt.y-radius, radius*2, info, QColor(255, 255, 0, alpha));
item = new KeypointItem(r.pt.x-radius, r.pt.y-radius, radius*2, info, QColor(255, 255, 0, alphaB));
}
else
{
// GREEN = NEW
item = new KeypointItem(r.pt.x-radius, r.pt.y-radius, radius*2, info, QColor(0, 255, 0, alpha));
item = new KeypointItem(r.pt.x-radius, r.pt.y-radius, radius*2, info, QColor(0, 255, 0, alphaB));
}
item->setVisible(this->_ui->imageView_loopClosure->isFeaturesShown());
this->_ui->imageView_loopClosure->scene()->addItem(item);
@@ -2055,7 +2085,7 @@ void MainWindow::drawKeypoints(const std::multimap<int, cv::KeyPoint> & refWords
iter->first->rect().y()+iter->first->rect().height()/2,
iter->second->rect().x()+iter->second->rect().width()/2+deltaX,
iter->second->rect().y()+iter->second->rect().height()/2+deltaY,
QPen(QColor(0, 255, 255, alpha)));
QPen(QColor(0, 255, 255, alphaA)));
item->setVisible(_ui->imageView_source->isLinesShown());
item->setZValue(1);
@@ -2064,7 +2094,7 @@ void MainWindow::drawKeypoints(const std::multimap<int, cv::KeyPoint> & refWords
iter->first->rect().y()+iter->first->rect().height()/2-deltaY,
iter->second->rect().x()+iter->second->rect().width()/2,
iter->second->rect().y()+iter->second->rect().height()/2,
QPen(QColor(0, 255, 255, alpha)));
QPen(QColor(0, 255, 255, alphaB)));
item->setVisible(_ui->imageView_loopClosure->isLinesShown());
item->setZValue(1);
}

18
guilib/src/PreferencesDialog.cpp
View File

@@ -152,11 +152,9 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
// General panel
connect(_ui->general_checkBox_imagesKept, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
connect(_ui->checkBox_verticalLayoutUsed, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
connect(_ui->checkBox_imageFlipped, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
connect(_ui->checkBox_imageRejectedShown, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
connect(_ui->checkBox_imageHighestHypShown, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
connect(_ui->checkBox_beep, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
connect(_ui->horizontalSlider_keypointsOpacity, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
connect(_ui->spinBox_odomQualityWarnThr, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
connect(_ui->checkBox_posteriorGraphView, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
@@ -817,10 +815,8 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->general_checkBox_imagesKept->setChecked(true);
_ui->checkBox_beep->setChecked(false);
_ui->checkBox_verticalLayoutUsed->setChecked(true);
_ui->checkBox_imageFlipped->setChecked(false);
_ui->checkBox_imageRejectedShown->setChecked(true);
_ui->checkBox_imageHighestHypShown->setChecked(false);
_ui->horizontalSlider_keypointsOpacity->setSliderPosition(20);
_ui->spinBox_odomQualityWarnThr->setValue(50);
_ui->checkBox_posteriorGraphView->setChecked(true);
}
@@ -1061,11 +1057,9 @@ void PreferencesDialog::readGuiSettings(const QString & filePath)
_ui->comboBox_loggerType->setCurrentIndex(settings.value("loggerType", _ui->comboBox_loggerType->currentIndex()).toInt());
_ui->checkBox_logger_printTime->setChecked(settings.value("loggerPrintTime", _ui->checkBox_logger_printTime->isChecked()).toBool());
_ui->checkBox_verticalLayoutUsed->setChecked(settings.value("verticalLayoutUsed", _ui->checkBox_verticalLayoutUsed->isChecked()).toBool());
_ui->checkBox_imageFlipped->setChecked(settings.value("imageFlipped", _ui->checkBox_imageFlipped->isChecked()).toBool());
_ui->checkBox_imageRejectedShown->setChecked(settings.value("imageRejectedShown", _ui->checkBox_imageRejectedShown->isChecked()).toBool());
_ui->checkBox_imageHighestHypShown->setChecked(settings.value("imageHighestHypShown", _ui->checkBox_imageHighestHypShown->isChecked()).toBool());
_ui->checkBox_beep->setChecked(settings.value("beep", _ui->checkBox_beep->isChecked()).toBool());
_ui->horizontalSlider_keypointsOpacity->setValue(settings.value("keypointsOpacity", _ui->horizontalSlider_keypointsOpacity->value()).toInt());
_ui->spinBox_odomQualityWarnThr->setValue(settings.value("odomQualityThr", _ui->spinBox_odomQualityWarnThr->value()).toInt());
_ui->checkBox_posteriorGraphView->setChecked(settings.value("posteriorGraphView", _ui->checkBox_posteriorGraphView->isChecked()).toBool());
@@ -1312,11 +1306,9 @@ void PreferencesDialog::writeGuiSettings(const QString & filePath)
settings.setValue("loggerType", _ui->comboBox_loggerType->currentIndex());
settings.setValue("loggerPrintTime", _ui->checkBox_logger_printTime->isChecked());
settings.setValue("verticalLayoutUsed", _ui->checkBox_verticalLayoutUsed->isChecked());
settings.setValue("imageFlipped", _ui->checkBox_imageFlipped->isChecked());
settings.setValue("imageRejectedShown", _ui->checkBox_imageRejectedShown->isChecked());
settings.setValue("imageHighestHypShown", _ui->checkBox_imageHighestHypShown->isChecked());
settings.setValue("beep", _ui->checkBox_beep->isChecked());
settings.setValue("keypointsOpacity", _ui->horizontalSlider_keypointsOpacity->value());
settings.setValue("odomQualityThr", _ui->spinBox_odomQualityWarnThr->value());
settings.setValue("posteriorGraphView", _ui->checkBox_posteriorGraphView->isChecked());
@@ -1762,6 +1754,7 @@ void PreferencesDialog::saveWidgetState(const QWidget * widget)
settings.setValue("depth_shown", imageView->isImageDepthShown());
settings.setValue("features_shown", imageView->isFeaturesShown());
settings.setValue("lines_shown", imageView->isLinesShown());
settings.setValue("alpha", imageView->getAlpha());
}
else if(exportCloudsDialog)
{
@@ -1845,6 +1838,7 @@ void PreferencesDialog::loadWidgetState(QWidget * widget)
imageView->setImageDepthShown(settings.value("depth_shown", imageView->isImageDepthShown()).toBool());
imageView->setFeaturesShown(settings.value("features_shown", imageView->isFeaturesShown()).toBool());
imageView->setLinesShown(settings.value("lines_shown", imageView->isLinesShown()).toBool());
imageView->setAlpha(settings.value("alpha", imageView->getAlpha()).toInt());
}
else if(exportCloudsDialog)
{
@@ -2864,10 +2858,6 @@ bool PreferencesDialog::isVerticalLayoutUsed() const
{
return _ui->checkBox_verticalLayoutUsed->isChecked();
}
bool PreferencesDialog::isImageFlipped() const
{
return _ui->checkBox_imageFlipped->isChecked();
}
bool PreferencesDialog::imageRejectedShown() const
{
return _ui->checkBox_imageRejectedShown->isChecked();
@@ -2880,10 +2870,6 @@ bool PreferencesDialog::beepOnPause() const
{
return _ui->checkBox_beep->isChecked();
}
int PreferencesDialog::getKeypointsOpacity() const
{
return _ui->horizontalSlider_keypointsOpacity->value();
}
int PreferencesDialog::getOdomQualityWarnThr() const
{
return _ui->spinBox_odomQualityWarnThr->value();

55
guilib/src/ui/preferencesDialog.ui
View File

@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>8</number>
<number>0</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29">
@@ -143,7 +143,7 @@
<string>Loop closure detection view</string>
</property>
<layout class="QGridLayout" name="gridLayout_31" columnstretch="0,1">
<item row="2" column="0">
<item row="1" column="0">
<widget class="QCheckBox" name="checkBox_imageRejectedShown">
<property name="text">
<string/>
@@ -153,7 +153,7 @@
</property>
</widget>
</item>
<item row="3" column="1">
<item row="2" column="1">
<widget class="QLabel" name="label_105">
<property name="text">
<string>Show the image of the highest hypothesis.</string>
@@ -163,7 +163,7 @@
</property>
</widget>
</item>
<item row="3" column="0">
<item row="2" column="0">
<widget class="QCheckBox" name="checkBox_imageHighestHypShown">
<property name="text">
<string/>
@@ -174,32 +174,6 @@
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_80">
<property name="text">
<string>Flip image (like a mirror).</string>
</property>
<property name="wordWrap">
<bool>false</bool>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QSlider" name="horizontalSlider_keypointsOpacity">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>100</number>
</property>
<property name="sliderPosition">
<number>16</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_73">
<property name="text">
<string>Show image when an hypothesis is rejected.</string>
@@ -229,24 +203,7 @@
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="checkBox_imageFlipped">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_102">
<property name="text">
<string>Keypoints opacity.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="1">
<item row="3" column="1">
<widget class="QLabel" name="label_222">
<property name="text">
<string>Show loop closure hypotheses on the graph view. Nodes are colorized from blue to red depending on the highest hypothesis (which is red). Posterior hypotheses should be published. </string>
@@ -256,7 +213,7 @@
</property>
</widget>
</item>
<item row="4" column="0">
<item row="3" column="0">
<widget class="QCheckBox" name="checkBox_posteriorGraphView">
<property name="text">
<string/>