i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-04 00:37:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

DatabaseViewer: disabling SIFT/SURF/g2o when not available

Browse Source
This commit is contained in:
Mathieu Labbe
2015-03-16 15:02:31 -04:00
parent b9628b0447
commit e80958240d
1 changed files with 22 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
guilib/src/DatabaseViewer.cpp
+22
View File
@@ -98,6 +98,28 @@ DatabaseViewer::DatabaseViewer(QWidget * parent) :
this->readSettings(); this->readSettings();
if(RTABMAP_NONFREE == 0)
{
ui_->comboBox_featureType->setItemData(0, 0, Qt::UserRole - 1);
ui_->comboBox_featureType->setItemData(1, 0, Qt::UserRole - 1);
if(ui_->comboBox_featureType->currentIndex() <= 1)
{
UWARN("SURF/SIFT not available, setting feature default to FAST/BRIEF.");
ui_->comboBox_featureType->setCurrentIndex(4);
ui_->comboBox_nnType->setCurrentIndex(3);
}
}
if(!graph::G2OOptimizer::available())
{
ui_->comboBox_graphOptimizer->setItemData(1, 0, Qt::UserRole - 1);
if(ui_->comboBox_graphOptimizer->currentIndex() == 1)
{
UWARN("g2o is not available, setting optimization default to TORO.");
ui_->comboBox_graphOptimizer->setCurrentIndex(0);
}
}
ui_->menuView->addAction(ui_->dockWidget_constraints->toggleViewAction()); ui_->menuView->addAction(ui_->dockWidget_constraints->toggleViewAction());
ui_->menuView->addAction(ui_->dockWidget_graphView->toggleViewAction()); ui_->menuView->addAction(ui_->dockWidget_graphView->toggleViewAction());
ui_->menuView->addAction(ui_->dockWidget_icp->toggleViewAction()); ui_->menuView->addAction(ui_->dockWidget_icp->toggleViewAction());