mirror of
https://github.com/introlab/rtabmap_ros.git
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matlabbe
8b8511e154
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1014 f169173b-cf89-36c8-b27e-44dbe73f0c83
284 lines
9.0 KiB
C++
284 lines
9.0 KiB
C++
/*
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* Copyright (C) 2010-2011, Mathieu Labbe and IntRoLab - Universite de Sherbrooke
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*
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* This file is part of RTAB-Map.
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*
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* RTAB-Map is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* RTAB-Map is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with RTAB-Map. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef PREFERENCESDIALOG_H_
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#define PREFERENCESDIALOG_H_
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#include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
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#include <QtGui/QDialog>
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#include <QtCore/QModelIndex>
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#include <QtCore/QVector>
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#include <set>
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#include "rtabmap/core/Transform.h"
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#include "rtabmap/core/Parameters.h"
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class Ui_preferencesDialog;
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class QAbstractItemModel;
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class QAbstractButton;
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class QStandardItemModel;
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class QStandardItem;
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class QFile;
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class QGroupBox;
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class QMainWindow;
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class QLineEdit;
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class QSlider;
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class QProgressDialog;
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class UPlotCurve;
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class QStackedWidget;
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class QCheckBox;
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class QSpinBox;
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class QDoubleSpinBox;
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namespace rtabmap {
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class CameraOpenni;
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class OdometryThread;
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class Signature;
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class LoopClosureViewer;
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class RTABMAPGUI_EXP PreferencesDialog : public QDialog
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{
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Q_OBJECT
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public:
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enum PanelFlag {
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kPanelDummy = 0,
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kPanelGeneral = 1,
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kPanelCloudRendering = 2,
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kPanelLogging = 4,
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kPanelSource = 8,
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kPanelAll = 15
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};
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// TODO, tried to change the name of PANEL_FLAGS to PanelFlags... but signals/slots errors appeared...
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Q_DECLARE_FLAGS(PANEL_FLAGS, PanelFlag);
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enum Src {
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kSrcUndef,
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kSrcUsbDevice,
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kSrcImages,
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kSrcVideo
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};
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enum OdomTest {
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kOdomBIN,
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kOdomBOW,
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kOdomICP
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};
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public:
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PreferencesDialog(QWidget * parent = 0);
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virtual ~PreferencesDialog();
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virtual QString getIniFilePath() const;
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void init();
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void saveWindowGeometry(const QString & windowName, const QWidget * window);
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void loadWindowGeometry(const QString & windowName, QWidget * window);
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void saveMainWindowState(const QMainWindow * mainWindow);
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void loadMainWindowState(QMainWindow * mainWindow);
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void saveCustomConfig(const QString & section, const QString & key, const QString & value);
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QString loadCustomConfig(const QString & section, const QString & key);
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rtabmap::ParametersMap getAllParameters();
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//General panel
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int getGeneralLoggerLevel() const;
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int getGeneralLoggerEventLevel() const;
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int getGeneralLoggerPauseLevel() const;
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int getGeneralLoggerType() const;
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bool getGeneralLoggerPrintTime() const;
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bool isVerticalLayoutUsed() const;
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bool isImageFlipped() const;
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bool imageRejectedShown() const;
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bool imageHighestHypShown() const;
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bool beepOnPause() const;
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int getKeypointsOpacity() const;
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bool isCloudMeshing(int index) const; // 0=map
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bool isCloudsShown(int index) const; // 0=map, 1=odom, 2=save
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double getCloudVoxelSize(int index) const; // 0=map, 1=odom, 2=save
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int getCloudDecimation(int index) const; // 0=map, 1=odom, 2=save
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double getCloudMaxDepth(int index) const; // 0=map, 1=odom, 2=save
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double getCloudOpacity(int index) const; // 0=map, 1=odom, 2=save
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int getCloudPointSize(int index) const; // 0=map, 1=odom, 2=save
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bool isScansShown(int index) const; // 0=map, 1=odom, 2=save
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double getScanOpacity(int index) const; // 0=map, 1=odom, 2=save
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int getScanPointSize(int index) const; // 0=map, 1=odom, 2=save
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QString getWorkingDirectory() const;
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// source panel
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double getGeneralInputRate() const;
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bool isSourceImageUsed() const;
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bool isSourceDatabaseUsed() const;
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bool isSourceOpenniUsed() const;
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bool isSourceOpenniOdometryBIN() const;
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bool isSourceOpenniOdometryBOW() const;
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bool getGeneralAutoRestart() const;
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bool getGeneralCameraKeypoints() const;
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int getSourceImageType() const;
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QString getSourceImageTypeStr() const;
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int getSourceWidth() const;
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int getSourceHeight() const;
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int getFramesDropped() const;
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QString getSourceImagesPath() const; //Images group
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QString getSourceImagesSuffix() const; //Images group
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int getSourceImagesSuffixIndex() const; //Images group
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int getSourceImagesStartPos() const; //Images group
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bool getSourceImagesRefreshDir() const; //Images group
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QString getSourceVideoPath() const; //Video group
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int getSourceUsbDeviceId() const; //UsbDevice group
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QString getSourceDatabasePath() const; //Database group
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bool getSourceDatabaseOdometryIgnored() const; //Database group
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int getSourceDatabaseStartPos() const; //Database group
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QString getSourceOpenniDevice() const; //Openni group
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Transform getSourceOpenniLocalTransform() const; //Openni group
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int getIgnoredDCComponents() const;
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//
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bool isImagesKept() const;
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float getTimeLimit() const;
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float getDetectionRate() const;
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bool isSLAMMode() const;
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//specific
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bool isStatisticsPublished() const;
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double getLoopThr() const;
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double getVpThr() const;
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double getExpThr() const;
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//
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void setMonitoringState(bool monitoringState) {_monitoringState = monitoringState;}
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signals:
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void settingsChanged(PreferencesDialog::PANEL_FLAGS);
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void settingsChanged(rtabmap::ParametersMap);
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public slots:
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void setInputRate(double value);
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void setDetectionRate(double value);
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void setHardThr(int value);
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void setAutoRestart(bool value);
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void setTimeLimit(float value);
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void setSLAMMode(bool enabled);
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void selectSourceImage(Src src = kSrcUndef);
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void selectSourceDatabase(bool user = false);
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void selectSourceOpenni(bool user = false);
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private slots:
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void closeDialog ( QAbstractButton * button );
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void resetApply ( QAbstractButton * button );
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void resetSettings(int panelNumber);
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void loadConfigFrom();
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void saveConfigTo();
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void makeObsoleteGeneralPanel();
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void makeObsoleteCloudRenderingPanel();
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void makeObsoleteLoggingPanel();
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void makeObsoleteSourcePanel();
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void clicked(const QModelIndex &index);
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void addParameter(int value);
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void addParameter(bool value);
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void addParameter(double value);
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void addParameter(const QString & value);
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void updatePredictionPlot();
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void updateKpROI();
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void changeDatabasePath();
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void changeWorkingDirectory();
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void changeDictionaryPath();
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void readSettingsEnd();
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void setupTreeView();
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void updateBasicParameter();
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void openDatabaseViewer();
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void cleanOdometryTest();
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void testSourceOdometry();
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protected:
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virtual void showEvent ( QShowEvent * event );
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virtual void closeEvent(QCloseEvent *event);
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void setParameter(const std::string & key, const std::string & value);
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virtual QString getParamMessage();
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virtual void readSettings(const QString & filePath = QString());
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virtual void readGuiSettings(const QString & filePath = QString());
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virtual void readCameraSettings(const QString & filePath = QString());
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virtual bool readCoreSettings(const QString & filePath = QString());
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virtual void writeSettings(const QString & filePath = QString());
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virtual void writeGuiSettings(const QString & filePath = QString());
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virtual void writeCameraSettings(const QString & filePath = QString());
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virtual void writeCoreSettings(const QString & filePath = QString());
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private:
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bool validateForm();
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void setupSignals();
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void setupKpRoiPanel();
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bool parseModel(QList<QGroupBox*> & boxes, QStandardItem * parentItem, int currentLevel, int & absoluteIndex);
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void resetSettings(QGroupBox * groupBox);
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void addParameter(const QObject * object, int value);
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void addParameter(const QObject * object, bool value);
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void addParameter(const QObject * object, double value);
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void addParameter(const QObject * object, const QString & value);
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void addParameters(const QObjectList & children);
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void addParameters(const QStackedWidget * stackedWidget);
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void addParameters(const QGroupBox * box);
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QList<QGroupBox*> getGroupBoxes();
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void readSettingsBegin();
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void testOdometry(OdomTest test);
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protected:
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rtabmap::ParametersMap _parameters;
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PANEL_FLAGS _obsoletePanels;
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private:
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Ui_preferencesDialog * _ui;
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QStandardItemModel * _indexModel;
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bool _initialized;
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bool _monitoringState;
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QProgressDialog * _progressDialog;
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//Odometry test
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CameraOpenni * _odomCamera;
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OdometryThread * _odomThread;
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QVector<QCheckBox*> _3dRenderingShowClouds;
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QVector<QDoubleSpinBox*> _3dRenderingVoxelSize;
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QVector<QSpinBox*> _3dRenderingDecimation;
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QVector<QDoubleSpinBox*> _3dRenderingMaxDepth;
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QVector<QDoubleSpinBox*> _3dRenderingOpacity;
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QVector<QSpinBox*> _3dRenderingPtSize;
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QVector<QCheckBox*> _3dRenderingShowScans;
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QVector<QDoubleSpinBox*> _3dRenderingOpacityScan;
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QVector<QSpinBox*> _3dRenderingPtSizeScan;
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QVector<QCheckBox*> _3dRenderingMeshing;
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};
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Q_DECLARE_OPERATORS_FOR_FLAGS(PreferencesDialog::PANEL_FLAGS)
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}
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#endif /* PREFERENCESDIALOG_H_ */
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