switch rtabmap_lib svn co from the 0.3 branch to trunk

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@110 f169173b-cf89-36c8-b27e-44dbe73f0c83
2026-10-07 10:17:45 +08:00 · 2011-06-20 16:49:22 +00:00
commit b4add8dbe8
49 changed files with 2494 additions and 0 deletions
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+/*
+ * PreferencesDialogROS.cpp
+ *
+ *  Created on: 4 févr. 2010
+ *      Author: labm2414
+ */
+
+#include "PreferencesDialogROS.h"
+#include <rtabmap/core/Parameters.h>
+#include <QtCore/QDir>
+#include <QtCore/QSettings>
+#include <QtGui/QHBoxLayout>
+#include <QtCore/QTimer>
+#include <QtGui/QLabel>
+#include <rtabmap/core/RtabmapEvent.h>
+#include <QtGui/QMessageBox>
+#include <ros/exceptions.h>
+
+using namespace rtabmap;
+
+PreferencesDialogROS::PreferencesDialogROS()
+{
+}
+
+PreferencesDialogROS::~PreferencesDialogROS()
+{
+
+}
+
+void PreferencesDialogROS::readCameraSettings(const QString & filePath)
+{
+	double imgRate = 0;
+	nh_.getParam("cam/image_rate", imgRate);
+	this->setImgRate(imgRate);
+}
+
+QString PreferencesDialogROS::getParamMessage()
+{
+	return tr("Reading parameters from the ROS server...");
+}
+
+void PreferencesDialogROS::readCoreSettings(const QString & filePath)
+{
+	if(filePath.isEmpty())
+	{
+		ROS_INFO("%s", this->getParamMessage().toStdString().c_str());
+		bool validParameters = true;
+		rtabmap::ParametersMap parameters = rtabmap::Parameters::getDefaultParameters();
+		for(rtabmap::ParametersMap::iterator i=parameters.begin(); i!=parameters.end(); ++i)
+		{
+			std::string value;
+			if(nh_.getParam((*i).first,value))
+			{
+				PreferencesDialog::setParameter((*i).first, value);
+			}
+			else
+			{
+				validParameters = false;
+				break;
+			}
+		}
+
+		if(validParameters)
+		{
+			ROS_INFO("Parameters successfully read.");
+		}
+		else
+		{
+			validParameters = false;
+			QString warning = tr("Failed to get some RTAB-Map parameters from ROS server, the rtabmap/core_node may be not started or some parameters won't work...");
+			ROS_ERROR("%s", warning.toStdString().c_str());
+			QMessageBox::warning(this, tr("Can't read parameters from ROS server."), warning);
+		}
+	}
+	else
+	{
+		PreferencesDialog::readCoreSettings(filePath);
+	}
+
+}
+
+void PreferencesDialogROS::writeSettings(const QString & filePath)
+{
+	writeGuiSettings(filePath);
+
+	// This will tell the MainWindow that the
+	//parameters are updated. The MainWindow will send an Event that
+	// will be handled by the GuiWrapper where we will write
+	// parameters in ROS and the rtabmap_node will be notified.
+	if(_parameters.size())
+	{
+		emit settingsChanged(_parameters);
+
+	}
+
+	if(_obsoletePanels)
+	{
+		emit settingsChanged(_obsoletePanels);
+	}
+
+	_parameters = rtabmap::ParametersMap();
+	_obsoletePanels = kPanelDummy;
+}
+