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0.11.1: Added "ground_truth_pose" field to database in Node table. MainWindow: alignment of the map to ground truth (if ground truth is present).

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This commit is contained in:
matlabbe
2016-01-07 19:39:21 -05:00
parent b8c9f32fd8
commit e7565db5d0
22 changed files with 283 additions and 132 deletions
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guilib/src/PreferencesDialog.cpp
+20 -54
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@@ -990,7 +990,7 @@ void PreferencesDialog::clicked(const QModelIndex & current, const QModelIndex &
void PreferencesDialog::closeEvent(QCloseEvent *event)
{
UDEBUG("");
_parameters.clear();
_modifiedParameters.clear();
_obsoletePanels = kPanelDummy;
this->readGuiSettings(getTmpIniFilePath());
this->readCameraSettings(getTmpIniFilePath());
@@ -1005,7 +1005,7 @@ void PreferencesDialog::closeDialog ( QAbstractButton * button )
switch(role)
{
case QDialogButtonBox::RejectRole:
_parameters.clear();
_modifiedParameters.clear();
_obsoletePanels = kPanelDummy;
this->readGuiSettings(getTmpIniFilePath());
this->readCameraSettings(getTmpIniFilePath());
@@ -1014,7 +1014,7 @@ void PreferencesDialog::closeDialog ( QAbstractButton * button )
case QDialogButtonBox::AcceptRole:
updateBasicParameter();// make that changes without editing finished signal are updated.
if((_obsoletePanels & kPanelAll) || _parameters.size())
if((_obsoletePanels & kPanelAll) || _modifiedParameters.size())
{
if(validateForm())
{
@@ -1327,6 +1327,7 @@ void PreferencesDialog::readSettings(const QString & filePath)
if(!readCoreSettings(filePath))
{
_parameters.clear();
_modifiedParameters.clear();
_obsoletePanels = kPanelDummy;
// only keep GUI settings
@@ -1690,11 +1691,11 @@ void PreferencesDialog::writeSettings(const QString & filePath)
writeCameraSettings(filePath);
writeCoreSettings(filePath);
UDEBUG("_obsoletePanels=%d parameters=%d", (int)_obsoletePanels, (int)_parameters.size());
UDEBUG("_obsoletePanels=%d modified parameters=%d", (int)_obsoletePanels, (int)_modifiedParameters.size());
if(_parameters.size())
if(_modifiedParameters.size())
{
emit settingsChanged(_parameters);
emit settingsChanged(_modifiedParameters);
}
if(_obsoletePanels)
@@ -1702,7 +1703,9 @@ void PreferencesDialog::writeSettings(const QString & filePath)
emit settingsChanged(_obsoletePanels);
}
_parameters.clear();
uInsert(_parameters, _modifiedParameters); // update cached parameters
_modifiedParameters.clear();
_obsoletePanels = kPanelDummy;
}
@@ -2349,6 +2352,11 @@ QString PreferencesDialog::loadCustomConfig(const QString & section, const QStri
return value;
}
const rtabmap::ParametersMap & PreferencesDialog::getAllParameters() const
{
UASSERT(_parameters.size() == Parameters::getDefaultParameters().size());
return _parameters;
}
void PreferencesDialog::selectSourceDriver(Src src)
{
@@ -2626,6 +2634,7 @@ void PreferencesDialog::selectSourceOni2Path()
void PreferencesDialog::setParameter(const std::string & key, const std::string & value)
{
UDEBUG("%s=%s", key.c_str(), value.c_str());
uInsert(_parameters, ParametersPair(key, value));
QWidget * obj = _ui->stackedWidget->findChild<QWidget*>(key.c_str());
if(obj)
{
@@ -2795,13 +2804,6 @@ void PreferencesDialog::addParameter(const QObject * object, int value)
{
if(object)
{
// Make sure the value is inserted, check if the same key already exists
rtabmap::ParametersMap::iterator iter = _parameters.find(object->objectName().toStdString());
if(iter != _parameters.end())
{
_parameters.erase(iter);
}
const QComboBox * comboBox = qobject_cast<const QComboBox*>(object);
const QSpinBox * spinbox = qobject_cast<const QSpinBox*>(object);
if(comboBox || spinbox)
@@ -2879,7 +2881,7 @@ void PreferencesDialog::addParameter(const QObject * object, int value)
}
}
// Add parameter
_parameters.insert(rtabmap::ParametersPair(object->objectName().toStdString(), QString::number(value).toStdString()));
uInsert(_modifiedParameters, rtabmap::ParametersPair(object->objectName().toStdString(), QString::number(value).toStdString()));
}
else
{
@@ -2897,20 +2899,13 @@ void PreferencesDialog::addParameter(const QObject * object, bool value)
{
if(object)
{
// Make sure the value is inserted, check if the same key already exists
rtabmap::ParametersMap::iterator iter = _parameters.find(object->objectName().toStdString());
if(iter != _parameters.end())
{
_parameters.erase(iter);
}
const QCheckBox * checkbox = qobject_cast<const QCheckBox*>(object);
const QRadioButton * radio = qobject_cast<const QRadioButton*>(object);
const QGroupBox * groupBox = qobject_cast<const QGroupBox*>(object);
if(checkbox || radio || groupBox)
{
// Add parameter
_parameters.insert(rtabmap::ParametersPair(object->objectName().toStdString(), uBool2Str(value)));
uInsert(_modifiedParameters, rtabmap::ParametersPair(object->objectName().toStdString(), uBool2Str(value)));
// RGBD panel
if(value && checkbox == _ui->general_checkBox_activateRGBD)
@@ -2955,14 +2950,7 @@ void PreferencesDialog::addParameter(const QObject * object, double value)
{
if(object)
{
// Make sure the value is inserted, check if the same key already exists
rtabmap::ParametersMap::iterator iter = _parameters.find(object->objectName().toStdString());
if(iter != _parameters.end())
{
_parameters.erase(iter);
}
_parameters.insert(rtabmap::ParametersPair(object->objectName().toStdString(), QString::number(value).toStdString()));
//ULOGGER_DEBUG("PreferencesDialog::addParameter(object, double) Added [\"%s\",\"%s\"]", object->objectName().toStdString().c_str(), QString::number(value).toStdString().c_str());
uInsert(_modifiedParameters, rtabmap::ParametersPair(object->objectName().toStdString(), QString::number(value).toStdString()));
}
else
{
@@ -2975,12 +2963,7 @@ void PreferencesDialog::addParameter(const QObject * object, const QString & val
if(object)
{
// Make sure the value is inserted, check if the same key already exists
rtabmap::ParametersMap::iterator iter = _parameters.find(object->objectName().toStdString());
if(iter != _parameters.end())
{
_parameters.erase(iter);
}
_parameters.insert(rtabmap::ParametersPair(object->objectName().toStdString(), value.toStdString()));
uInsert(_modifiedParameters, rtabmap::ParametersPair(object->objectName().toStdString(), value.toStdString()));
//ULOGGER_DEBUG("PreferencesDialog::addParameter(object, QString) Added [\"%s\",\"%s\"]", object->objectName().toStdString().c_str(), QString::number(value).toStdString().c_str());
}
else
@@ -3162,23 +3145,6 @@ void PreferencesDialog::makeObsoleteSourcePanel()
_obsoletePanels = _obsoletePanels | kPanelSource;
}
rtabmap::ParametersMap PreferencesDialog::getAllParameters()
{
rtabmap::ParametersMap result;
rtabmap::ParametersMap tmpParameters = _parameters;
_parameters.clear();
QList<QGroupBox*> boxes = this->getGroupBoxes();
for(int i=0; i<boxes.size(); ++i)
{
this->addParameters(boxes.at(i));
}
result = _parameters;
_parameters = tmpParameters;
return result;
}
QList<QGroupBox*> PreferencesDialog::getGroupBoxes()
{
QList<QGroupBox*> boxes;