mirror of
https://github.com/introlab/rtabmap.git
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129 lines
4.5 KiB
C++
129 lines
4.5 KiB
C++
/*
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Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#include "ExportBundlerDialog.h"
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#include "ui_exportBundlerDialog.h"
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#include <QFileDialog>
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#include <QPushButton>
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namespace rtabmap {
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ExportBundlerDialog::ExportBundlerDialog(QWidget * parent) :
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QDialog(parent)
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{
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_ui = new Ui_ExportBundlerDialog();
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_ui->setupUi(this);
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connect(_ui->toolButton_path, SIGNAL(clicked()), this, SLOT(getPath()));
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restoreDefaults();
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connect(_ui->buttonBox->button(QDialogButtonBox::RestoreDefaults), SIGNAL(clicked()), this, SLOT(restoreDefaults()));
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connect(_ui->doubleSpinBox_laplacianVariance, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
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connect(_ui->doubleSpinBox_linearSpeed, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
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connect(_ui->doubleSpinBox_angularSpeed, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
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_ui->lineEdit_path->setText(QDir::currentPath());
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}
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ExportBundlerDialog::~ExportBundlerDialog()
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{
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delete _ui;
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}
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void ExportBundlerDialog::saveSettings(QSettings & settings, const QString & group) const
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{
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if(!group.isEmpty())
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{
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settings.beginGroup(group);
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}
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settings.setValue("maxLinearSpeed", this->maxLinearSpeed());
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settings.setValue("maxAngularSpeed", this->maxAngularSpeed());
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settings.setValue("laplacianThr", this->laplacianThreshold());
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if(!group.isEmpty())
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{
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settings.endGroup();
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}
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}
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void ExportBundlerDialog::loadSettings(QSettings & settings, const QString & group)
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{
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if(!group.isEmpty())
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{
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settings.beginGroup(group);
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}
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_ui->doubleSpinBox_linearSpeed->setValue(settings.value("maxLinearSpeed", this->maxLinearSpeed()).toDouble());
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_ui->doubleSpinBox_angularSpeed->setValue(settings.value("maxAngularSpeed", this->maxAngularSpeed()).toDouble());
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_ui->doubleSpinBox_laplacianVariance->setValue(settings.value("laplacianThr", this->laplacianThreshold()).toDouble());
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if(!group.isEmpty())
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{
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settings.endGroup();
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}
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}
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void ExportBundlerDialog::setWorkingDirectory(const QString & path)
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{
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_ui->lineEdit_path->setText((path.isEmpty()?QDir::currentPath():path) + "/bundler");
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}
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void ExportBundlerDialog::restoreDefaults()
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{
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_ui->doubleSpinBox_linearSpeed->setValue(0);
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_ui->doubleSpinBox_angularSpeed->setValue(0);
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_ui->doubleSpinBox_laplacianVariance->setValue(0);
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}
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void ExportBundlerDialog::getPath()
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{
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QString path = QFileDialog::getExistingDirectory(this, tr("Exporting cameras in Bundler format..."), _ui->lineEdit_path->text());
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if(!path.isEmpty())
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{
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_ui->lineEdit_path->setText(path);
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}
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}
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QString ExportBundlerDialog::outputPath() const
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{
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return _ui->lineEdit_path->text();
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}
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double ExportBundlerDialog::maxLinearSpeed() const
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{
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return _ui->doubleSpinBox_linearSpeed->value();
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}
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double ExportBundlerDialog::maxAngularSpeed() const
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{
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return _ui->doubleSpinBox_angularSpeed->value();
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}
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double ExportBundlerDialog::laplacianThreshold() const
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{
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return _ui->doubleSpinBox_laplacianVariance->value();
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}
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}
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