rtabmap_ros/guilib/include/rtabmap/gui/PreferencesDialog.h

/*
Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
    * Redistributions of source code must retain the above copyright
      notice, this list of conditions and the following disclaimer.
    * Redistributions in binary form must reproduce the above copyright
      notice, this list of conditions and the following disclaimer in the
      documentation and/or other materials provided with the distribution.
    * Neither the name of the Universite de Sherbrooke nor the
      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/

#ifndef PREFERENCESDIALOG_H_
#define PREFERENCESDIALOG_H_

#include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines

#include <QDialog>
#include <QtCore/QModelIndex>
#include <QtCore/QVector>
#include <set>

#include "rtabmap/core/Transform.h"
#include "rtabmap/core/Parameters.h"

class Ui_preferencesDialog;
class QAbstractItemModel;
class QAbstractButton;
class QStandardItemModel;
class QStandardItem;
class QFile;
class QGroupBox;
class QMainWindow;
class QLineEdit;
class QSlider;
class QProgressDialog;
class UPlotCurve;
class QStackedWidget;
class QCheckBox;
class QSpinBox;
class QDoubleSpinBox;

namespace rtabmap {

class Signature;
class LoopClosureViewer;
class Camera;
class CalibrationDialog;

class RTABMAPGUI_EXP PreferencesDialog : public QDialog
{
	Q_OBJECT

public:
	enum PanelFlag {
		kPanelDummy = 0,
		kPanelGeneral = 1,
		kPanelCloudRendering = 2,
		kPanelLogging = 4,
		kPanelSource = 8,
		kPanelAll = 15
	};
	// TODO, tried to change the name of PANEL_FLAGS to PanelFlags... but signals/slots errors appeared...
	Q_DECLARE_FLAGS(PANEL_FLAGS, PanelFlag);

	enum Src {
		kSrcUndef = -1,

		kSrcRGBD           = 0,
		kSrcOpenNI_PCL     = 0,
		kSrcFreenect       = 1,
		kSrcOpenNI_CV      = 2,
		kSrcOpenNI_CV_ASUS = 3,
		kSrcOpenNI2        = 4,
		kSrcFreenect2      = 5,

		kSrcStereo         = 100,
		kSrcDC1394         = 100,
		kSrcFlyCapture2    = 101,
		kSrcStereoImages   = 102,

		kSrcRGB            = 200,
		kSrcUsbDevice      = 200,
		kSrcImages         = 201,
		kSrcVideo          = 202,

		kSrcDatabase       = 300
	};

public:
	PreferencesDialog(QWidget * parent = 0);
	virtual ~PreferencesDialog();

	virtual QString getIniFilePath() const;
	void init();
	void setCurrentPanelToSource();

	// save stuff
	void saveSettings();
	void saveWindowGeometry(const QWidget * window);
	void loadWindowGeometry(QWidget * window);
	void saveMainWindowState(const QMainWindow * mainWindow);
	void loadMainWindowState(QMainWindow * mainWindow, bool & maximized);
	void saveWidgetState(const QWidget * widget);
	void loadWidgetState(QWidget * widget);

	void saveCustomConfig(const QString & section, const QString & key, const QString & value);
	QString loadCustomConfig(const QString & section, const QString & key);

	rtabmap::ParametersMap getAllParameters();

	//General panel
	int getGeneralLoggerLevel() const;
	int getGeneralLoggerEventLevel() const;
	int getGeneralLoggerPauseLevel() const;
	int getGeneralLoggerType() const;
	bool getGeneralLoggerPrintTime() const;
	bool isVerticalLayoutUsed() const;
	bool imageRejectedShown() const;
	bool imageHighestHypShown() const;
	bool beepOnPause() const;
	bool notifyWhenNewGlobalPathIsReceived() const;
	int getOdomQualityWarnThr() const;
	bool isPosteriorGraphView() const;

	bool isGraphsShown() const;
	bool isCloudMeshing() const;
	bool isCloudsShown(int index) const;      // 0=map, 1=odom
	double getCloudVoxelSize(int index) const; // 0=map, 1=odom
	int getCloudDecimation(int index) const;   // 0=map, 1=odom
	double getCloudMaxDepth(int index) const;  // 0=map, 1=odom
	double getCloudOpacity(int index) const;   // 0=map, 1=odom
	int getCloudPointSize(int index) const;    // 0=map, 1=odom

	bool isScansShown(int index) const;       // 0=map, 1=odom
	double getScanOpacity(int index) const;    // 0=map, 1=odom
	int getScanPointSize(int index) const;     // 0=map, 1=odom

	int getMeshNormalKSearch() const;
	double getMeshGP3Radius() const;
	bool getMeshSmoothing() const;
	double getMeshSmoothingRadius() const;

	bool isCloudFiltering() const;
	bool isSubtractFiltering() const;
	double getCloudFilteringRadius() const;
	double getCloudFilteringAngle() const;
	int getSubstractFilteringMinPts() const;

	bool getGridMapShown() const;
	double getGridMapResolution() const;
	bool isGridMapFrom3DCloud() const;
	bool isGridMapEroded() const;
	double getGridMapOpacity() const;

	QString getWorkingDirectory() const;

	// source panel
	double getGeneralInputRate() const;
	bool isSourceMirroring() const;
	QString getCalibrationName() const;
	PreferencesDialog::Src getSourceType() const;
	PreferencesDialog::Src getSourceDriver() const;
	QString getSourceDriverStr() const;
	QString getSourceDevice() const;

	QString getSourceImagesPath() const;	//Images group
	QString getSourceImagesSuffix() const;	//Images group
	int getSourceImagesSuffixIndex() const;	//Images group
	int getSourceImagesStartPos() const;	//Images group
	bool getSourceImagesRefreshDir() const;	//Images group
	QString getSourceVideoPath() const;	//Video group
	QString getSourceDatabasePath() const; //Database group
	bool getSourceDatabaseOdometryIgnored() const; //Database group
	bool getSourceDatabaseGoalDelayIgnored() const; //Database group
	int getSourceDatabaseStartPos() const; //Database group
	bool getSourceDatabaseStampsUsed() const;//Database group
	bool getSourceOpenni2AutoWhiteBalance() const;  //Openni group
	bool getSourceOpenni2AutoExposure() const;  //Openni group
	int getSourceOpenni2Exposure() const;  //Openni group
	int getSourceOpenni2Gain() const;   //Openni group
	bool getSourceOpenni2Mirroring() const; //Openni group
	int getSourceFreenect2Format() const; //Openni group
	bool isSourceRGBDColorOnly() const;
	Transform getSourceLocalTransform() const;    //Openni group
	Camera * createCamera(bool useRawImages = false); // return camera should be deleted if not null

	int getIgnoredDCComponents() const;

	//
	bool isImagesKept() const;
	float getTimeLimit() const;
	float getDetectionRate() const;
	bool isSLAMMode() const;

	//specific
	bool isStatisticsPublished() const;
	double getLoopThr() const;
	double getVpThr() const;
	int getOdomStrategy() const;
	int getOdomBufferSize() const;
	QString getCameraInfoDir() const; // "workinfDir/camera_info"

	//
	void setMonitoringState(bool monitoringState) {_monitoringState = monitoringState;}

signals:
	void settingsChanged(PreferencesDialog::PANEL_FLAGS);
	void settingsChanged(rtabmap::ParametersMap);

public slots:
	void setInputRate(double value);
	void setDetectionRate(double value);
	void setTimeLimit(float value);
	void setSLAMMode(bool enabled);
	void selectSourceDriver(Src src);
	void calibrate();

private slots:
	void closeDialog ( QAbstractButton * button );
	void resetApply ( QAbstractButton * button );
	void resetSettings(int panelNumber);
	void loadConfigFrom();
	bool saveConfigTo();
	void resetConfig();
	void makeObsoleteGeneralPanel();
	void makeObsoleteCloudRenderingPanel();
	void makeObsoleteLoggingPanel();
	void makeObsoleteSourcePanel();
	void clicked(const QModelIndex &index);
	void addParameter(int value);
	void addParameter(bool value);
	void addParameter(double value);
	void addParameter(const QString & value);
	void updatePredictionPlot();
	void updateKpROI();
	void changeWorkingDirectory();
	void changeDictionaryPath();
	void changeOdomBowFixedLocalMapPath();
	void readSettingsEnd();
	void setupTreeView();
	void updateBasicParameter();
	void openDatabaseViewer();
	void selectSourceDatabase();
	void selectSourceStereoImagesStamps();
	void selectSourceStereoImagesPath();
	void selectSourceImagesPath();
	void selectSourceVideoPath();
	void selectSourceOniPath();
	void selectSourceOni2Path();
	void updateSourceGrpVisibility();
	void updateRGBDCameraGroupBoxVisibility();
	void updateRGBCameraGroupBoxVisibility();
	void updateStereoCameraGroupBoxVisibility();
	void testOdometry();
	void testCamera();

protected:
	virtual void showEvent ( QShowEvent * event );
	virtual void closeEvent(QCloseEvent *event);

	void setParameter(const std::string & key, const std::string & value);

	virtual QString getParamMessage();

	virtual void readSettings(const QString & filePath = QString());
	virtual void readGuiSettings(const QString & filePath = QString());
	virtual void readCameraSettings(const QString & filePath = QString());
	virtual bool readCoreSettings(const QString & filePath = QString());

	virtual void writeSettings(const QString & filePath = QString());
	virtual void writeGuiSettings(const QString & filePath = QString()) const;
	virtual void writeCameraSettings(const QString & filePath = QString()) const;
	virtual void writeCoreSettings(const QString & filePath = QString()) const;

	virtual QString getTmpIniFilePath() const;

private:
	bool validateForm();
	void setupSignals();
	void setupKpRoiPanel();
	bool parseModel(QList<QGroupBox*> & boxes, QStandardItem * parentItem, int currentLevel, int & absoluteIndex);
	void resetSettings(QGroupBox * groupBox);
	void addParameter(const QObject * object, int value);
	void addParameter(const QObject * object, bool value);
	void addParameter(const QObject * object, double value);
	void addParameter(const QObject * object, const QString & value);
	void addParameters(const QObjectList & children);
	void addParameters(const QStackedWidget * stackedWidget);
	void addParameters(const QGroupBox * box);
	QList<QGroupBox*> getGroupBoxes();
	void readSettingsBegin();
	void testOdometry(int type);

protected:
	rtabmap::ParametersMap _parameters;
	PANEL_FLAGS _obsoletePanels;

private:
	Ui_preferencesDialog * _ui;
	QStandardItemModel * _indexModel;
	bool _initialized;
	bool _monitoringState;

	QProgressDialog * _progressDialog;

	//calibration
	CalibrationDialog * _calibrationDialog;

	QVector<QCheckBox*> _3dRenderingShowClouds;
	QVector<QDoubleSpinBox*> _3dRenderingVoxelSize;
	QVector<QSpinBox*> _3dRenderingDecimation;
	QVector<QDoubleSpinBox*> _3dRenderingMaxDepth;
	QVector<QDoubleSpinBox*> _3dRenderingOpacity;
	QVector<QSpinBox*> _3dRenderingPtSize;
	QVector<QCheckBox*> _3dRenderingShowScans;
	QVector<QDoubleSpinBox*> _3dRenderingOpacityScan;
	QVector<QSpinBox*> _3dRenderingPtSizeScan;
};

Q_DECLARE_OPERATORS_FOR_FLAGS(PreferencesDialog::PANEL_FLAGS)

}

#endif /* PREFERENCESDIALOG_H_ */