From b97426c83d42240ab311325e4ab694ea7fdb7790 Mon Sep 17 00:00:00 2001 From: matlabbe Date: Sat, 18 Oct 2014 13:12:45 +0000 Subject: [PATCH] fixed warning of logStatisticsHeader parameter not set in Preferences git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1898 f169173b-cf89-36c8-b27e-44dbe73f0c83 --- guilib/src/PreferencesDialog.cpp | 15 +- guilib/src/ui/preferencesDialog.ui | 539 ++++++++++++++--------------- 2 files changed, 270 insertions(+), 284 deletions(-) diff --git a/guilib/src/PreferencesDialog.cpp b/guilib/src/PreferencesDialog.cpp index ab268365..22b00449 100644 --- a/guilib/src/PreferencesDialog.cpp +++ b/guilib/src/PreferencesDialog.cpp @@ -274,7 +274,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) : connect(_ui->general_doubleSpinBox_detectionRate_2, SIGNAL(editingFinished()), this, SLOT(updateBasicParameter())); connect(_ui->general_spinBox_imagesBufferSize_2, SIGNAL(editingFinished()), this, SLOT(updateBasicParameter())); connect(_ui->general_spinBox_maxStMemSize_2, SIGNAL(editingFinished()), this, SLOT(updateBasicParameter())); - connect(_ui->general_checkBox_publishStats, SIGNAL(stateChanged(int)), this, SLOT(updateBasicParameter())); + connect(_ui->groupBox_publishing, SIGNAL(clicked(bool)), this, SLOT(updateBasicParameter())); connect(_ui->general_checkBox_publishStats_2, SIGNAL(stateChanged(int)), this, SLOT(updateBasicParameter())); connect(_ui->general_checkBox_activateRGBD, SIGNAL(stateChanged(int)), this, SLOT(updateBasicParameter())); connect(_ui->general_checkBox_activateRGBD_2, SIGNAL(stateChanged(int)), this, SLOT(updateBasicParameter())); @@ -286,12 +286,13 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) : // Map objects name with the corresponding parameter key, needed for the addParameter() slots //Rtabmap - _ui->general_checkBox_publishStats->setObjectName(Parameters::kRtabmapPublishStats().c_str()); + _ui->groupBox_publishing->setObjectName(Parameters::kRtabmapPublishStats().c_str()); _ui->general_checkBox_publishRawData->setObjectName(Parameters::kRtabmapPublishImage().c_str()); _ui->general_checkBox_publishPdf->setObjectName(Parameters::kRtabmapPublishPdf().c_str()); _ui->general_checkBox_publishLikelihood->setObjectName(Parameters::kRtabmapPublishLikelihood().c_str()); _ui->general_checkBox_statisticLogsBufferedInRAM->setObjectName(Parameters::kRtabmapStatisticLogsBufferedInRAM().c_str()); - _ui->general_checkBox_statisticLogged->setObjectName(Parameters::kRtabmapStatisticLogged().c_str()); + _ui->groupBox_statistics->setObjectName(Parameters::kRtabmapStatisticLogged().c_str()); + _ui->general_checkBox_statisticLoggedHeaders->setObjectName(Parameters::kRtabmapStatisticLoggedHeaders().c_str()); _ui->general_doubleSpinBox_timeThr->setObjectName(Parameters::kRtabmapTimeThr().c_str()); _ui->general_spinBox_memoryThr->setObjectName(Parameters::kRtabmapMemoryThr().c_str()); _ui->general_doubleSpinBox_detectionRate->setObjectName(Parameters::kRtabmapDetectionRate().c_str()); @@ -2246,13 +2247,13 @@ void PreferencesDialog::updateBasicParameter() { _ui->general_spinBox_maxStMemSize->setValue(_ui->general_spinBox_maxStMemSize_2->value()); } - else if(sender() == _ui->general_checkBox_publishStats) + else if(sender() == _ui->groupBox_publishing) { - _ui->general_checkBox_publishStats_2->setChecked(_ui->general_checkBox_publishStats->isChecked()); + _ui->general_checkBox_publishStats_2->setChecked(_ui->groupBox_publishing->isChecked()); } else if(sender() == _ui->general_checkBox_publishStats_2) { - _ui->general_checkBox_publishStats->setChecked(_ui->general_checkBox_publishStats_2->isChecked()); + _ui->groupBox_publishing->setChecked(_ui->general_checkBox_publishStats_2->isChecked()); } else if(sender() == _ui->doubleSpinBox_similarityThreshold_2) { @@ -2804,7 +2805,7 @@ float PreferencesDialog::getSourceOpenniCy() const bool PreferencesDialog::isStatisticsPublished() const { - return _ui->general_checkBox_publishStats->isChecked(); + return _ui->groupBox_publishing->isChecked(); } double PreferencesDialog::getLoopThr() const { diff --git a/guilib/src/ui/preferencesDialog.ui b/guilib/src/ui/preferencesDialog.ui index 69eff253..26db9ca5 100644 --- a/guilib/src/ui/preferencesDialog.ui +++ b/guilib/src/ui/preferencesDialog.ui @@ -86,7 +86,7 @@ QFrame::Raised - 22 + 5 @@ -360,7 +360,7 @@ Show a yellow background when the number of odometry inliers goes under this thr true - false + true @@ -384,7 +384,7 @@ Show a yellow background when the number of odometry inliers goes under this thr 0.010000000000000 - 0.100000000000000 + 0.200000000000000 @@ -2354,33 +2354,16 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag - Publishing (stuff to be shown in the GUI) + Publish statistics (stuff to be shown in the GUI) + + + true QFormLayout::AllNonFixedFieldsGrow - - - - - - true - - - - - - - Publish statistics (when false, this disables other "Publish *"). - - - true - - - - @@ -2390,14 +2373,14 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag - + Publish raw sensor data. - + @@ -2407,14 +2390,14 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag - + - Publish pdf. See the probability density function + Publish loop closure hypotheses (pdf). - + @@ -2424,10 +2407,27 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag - + - Publish likelihood. + Publish loop closure likelihood. + + + + + + + Publish visual words. + + + + + + + + + + true @@ -2437,13 +2437,16 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag - Statistics + Log statistics (LogI.txt and LogF.txt) in the working directory. + + + true QFormLayout::AllNonFixedFieldsGrow - + @@ -2453,7 +2456,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag - + Statistics logs buffered in RAM and written to hard drive on exit (otherwise logs are written at each iteration on hard drive). @@ -2463,18 +2466,8 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag - - - - Log statistics (in LogI.txt and LogF.txt in the working directory). - - - true - - - - - + + @@ -2483,6 +2476,16 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag + + + + Add headers (column names) to log files. + + + true + + + @@ -3150,235 +3153,6 @@ see Sqlite3 doc 'PRAGMA temp_store'. QFormLayout::AllNonFixedFieldsGrow - - - - - - true - - - - - - - Publish visual words. - - - true - - - - - - - m - - - 2 - - - 0.000000000000000 - - - 99.000000000000000 - - - 1.000000000000000 - - - 0.000000000000000 - - - - - - - 0 means that the response (hessian) threshold -used for the detector will not be adapted. -Otherwise, the threshold is modified to -generate the number of words requested. - - - Maximum words depth (0 means inf). Only used when a depth image is provided. Applied before "Maximum words per image". - - - true - - - - - - - 0 - - - 2000 - - - 150 - - - - - - - 0 means that the response (hessian) threshold -used for the detector will not be adapted. -Otherwise, the threshold is modified to -generate the number of words requested. - - - Maximum words per image. - - - true - - - - - - - 2 - - - 0.000000000000000 - - - 1.000000000000000 - - - 0.050000000000000 - - - 0.250000000000000 - - - - - - - 0 means that the response (hessian) threshold -used for the detector will not be adapted. -Otherwise, the threshold is modified to -generate the number of words requested. - - - Bad signature ratio (less than Ratio x AverageWordsPerImage = bad). - - - true - - - - - - - true - - - - - - - ROI ratios [left, right, top, bottom] between 0 and 1. - - - true - - - - - - - % - - - 0 - - - - - - - Left ROI ratio (0 = no change). - - - true - - - - - - - % - - - 0 - - - - - - - Right ROI ratio (0 = no change). - - - true - - - - - - - % - - - 0 - - - - - - - Top ROI ratio (0 = no change). - - - true - - - - - - - % - - - 0 - - - - - - - Bottom ROI ratio (0 = no change). - - - true - - - - - - - Visual word type. - - - true - - - - @@ -3422,6 +3196,215 @@ generate the number of words requested. + + + + Visual word type. + + + true + + + + + + + m + + + 2 + + + 0.000000000000000 + + + 99.000000000000000 + + + 1.000000000000000 + + + 0.000000000000000 + + + + + + + 0 means that the response (hessian) threshold +used for the detector will not be adapted. +Otherwise, the threshold is modified to +generate the number of words requested. + + + Maximum words depth (0 means inf). Only used when a depth image is provided. Applied before "Maximum words per image". + + + true + + + + + + + 0 + + + 2000 + + + 150 + + + + + + + 0 means that the response (hessian) threshold +used for the detector will not be adapted. +Otherwise, the threshold is modified to +generate the number of words requested. + + + Maximum words per image. + + + true + + + + + + + 2 + + + 0.000000000000000 + + + 1.000000000000000 + + + 0.050000000000000 + + + 0.250000000000000 + + + + + + + 0 means that the response (hessian) threshold +used for the detector will not be adapted. +Otherwise, the threshold is modified to +generate the number of words requested. + + + Bad signature ratio (less than Ratio x AverageWordsPerImage = bad). + + + true + + + + + + + true + + + + + + + ROI ratios [left, right, top, bottom] between 0 and 1. + + + true + + + + + + + % + + + 0 + + + + + + + Left ROI ratio (0 = no change). + + + true + + + + + + + % + + + 0 + + + + + + + Right ROI ratio (0 = no change). + + + true + + + + + + + % + + + 0 + + + + + + + Top ROI ratio (0 = no change). + + + true + + + + + + + % + + + 0 + + + + + + + Bottom ROI ratio (0 = no change). + + + true + + + @@ -4869,7 +4852,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag - A transformation is computed using the 3D visual word correspondences. See "Visual transformation" panel for parameters. + A transformation is computed using the 3D visual word correspondences. See "Loop closure constraint" panel for parameters. true @@ -4999,7 +4982,9 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag - Optimize graph from the newest node. If false, the graph is optimized from the oldest node of the current graph (this adds an overhead computation to detect to oldest mode of the current graph, but it can be useful to preserve the map referential from the oldest node). + Optimize graph from the newest node. +-If false, the graph is optimized from the oldest node of the current graph (this adds an overhead computation to detect to oldest mode of the current graph, but it can be useful to preserve the map referential from the oldest node). An odometry correction from frames /map to /odom is computed. +-If true, there is no odometry correction computed since it is all previous poses in the map that are corrected, not the last one (which corresponds to latest odometry value). Warning when set to false: when some nodes are transferred, the first referential of the local map may change, resulting in momentary changes in robot/map position (which are annoying in teleoperation).