mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
matlabbe
3292fb1146
Added graph::importPoses(). Can now have a ground truth published with SensorData (filled optionally by CameraImages classes). Increased database closing time performance when the database is not saved. Added ParametersToolBox widget in DatabaseViewer for core parameters (refactoring done to make easy access to all rtabmap parameters in DatabaseViewer). Added Parameters::getType(key). Added Transform::interpolate() to interpolate between two transforms (SLERP) Updated pf_filter.m and added test_pf_filter.m MATLAB scripts (making easier to compare with a ground truth) UPlot: can now save all curve data of a figure in one action (see right-click on legend area->"Copy all curve data to clipboard")
352 lines
12 KiB
C++
352 lines
12 KiB
C++
/*
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Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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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 <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 Signature;
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class LoopClosureViewer;
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class Camera;
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class CalibrationDialog;
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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 = -1,
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kSrcRGBD = 0,
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kSrcOpenNI_PCL = 0,
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kSrcFreenect = 1,
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kSrcOpenNI_CV = 2,
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kSrcOpenNI_CV_ASUS = 3,
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kSrcOpenNI2 = 4,
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kSrcFreenect2 = 5,
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kSrcRGBDImages = 6,
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kSrcStereo = 100,
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kSrcDC1394 = 100,
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kSrcFlyCapture2 = 101,
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kSrcStereoImages = 102,
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kSrcStereoVideo = 103,
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kSrcRGB = 200,
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kSrcUsbDevice = 200,
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kSrcImages = 201,
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kSrcVideo = 202,
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kSrcDatabase = 300
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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 setCurrentPanelToSource();
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// save stuff
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void saveSettings();
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void saveWindowGeometry(const QWidget * window);
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void loadWindowGeometry(QWidget * window);
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void saveMainWindowState(const QMainWindow * mainWindow);
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void loadMainWindowState(QMainWindow * mainWindow, bool & maximized, bool & statusBarShown);
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void saveWidgetState(const QWidget * widget);
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void loadWidgetState(QWidget * widget);
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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 imageRejectedShown() const;
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bool imageHighestHypShown() const;
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bool beepOnPause() const;
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bool notifyWhenNewGlobalPathIsReceived() const;
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int getOdomQualityWarnThr() const;
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bool isPosteriorGraphView() const;
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bool isGraphsShown() const;
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bool isLabelsShown() const;
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bool isCloudMeshing() const;
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bool isCloudsShown(int index) const; // 0=map, 1=odom
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double getCloudVoxelSize(int index) const; // 0=map, 1=odom
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int getCloudDecimation(int index) const; // 0=map, 1=odom
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double getCloudMaxDepth(int index) const; // 0=map, 1=odom
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double getCloudOpacity(int index) const; // 0=map, 1=odom
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int getCloudPointSize(int index) const; // 0=map, 1=odom
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bool isScansShown(int index) const; // 0=map, 1=odom
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int getDownsamplingStepScan(int index) const; // 0=map, 1=odom
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double getCloudVoxelSizeScan(int index) const; // 0=map, 1=odom
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double getScanOpacity(int index) const; // 0=map, 1=odom
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int getScanPointSize(int index) const; // 0=map, 1=odom
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int getMeshNormalKSearch() const;
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double getMeshGP3Radius() const;
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double getMeshGP3Mu() const;
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bool getMeshSmoothing() const;
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double getMeshSmoothingRadius() const;
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bool isCloudFiltering() const;
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bool isSubtractFiltering() const;
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double getCloudFilteringRadius() const;
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double getCloudFilteringAngle() const;
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int getSubstractFilteringMinPts() const;
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bool getGridMapShown() const;
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double getGridMapResolution() const;
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bool isGridMapFrom3DCloud() const;
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bool isGridMapEroded() const;
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double getGridMapOpacity() const;
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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 isSourceMirroring() const;
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PreferencesDialog::Src getSourceType() const;
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PreferencesDialog::Src getSourceDriver() const;
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QString getSourceDriverStr() const;
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QString getSourceDevice() const;
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QString getSourceDatabasePath() const; //Database group
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bool getSourceDatabaseOdometryIgnored() const; //Database group
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bool getSourceDatabaseGoalDelayIgnored() const; //Database group
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bool getSourceDatabaseGoalsIgnored() const; //Database group
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int getSourceDatabaseStartPos() const; //Database group
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bool getSourceDatabaseStampsUsed() const;//Database group
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bool isSourceRGBDColorOnly() const;
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bool isSourceStereoDepthGenerated() const;
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Transform getSourceLocalTransform() const; //Openni group
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Transform getStereoLaserLocalTransform() const; // stereo images
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Transform getRGBDLaserLocalTransform() const; // rgbd images
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Camera * createCamera(bool useRawImages = false); // return camera should be deleted if not null
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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 getSimThr() const;
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int getOdomStrategy() const;
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int getOdomBufferSize() const;
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bool getRegVarianceFromInliersCount() const;
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QString getCameraInfoDir() const; // "workinfDir/camera_info"
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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 setTimeLimit(float value);
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void setSLAMMode(bool enabled);
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void selectSourceDriver(Src src);
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void calibrate();
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void calibrateSimple();
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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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bool saveConfigTo();
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void resetConfig();
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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 & current, const QModelIndex & previous);
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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 changeWorkingDirectory();
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void changeDictionaryPath();
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void changeOdomBowFixedLocalMapPath();
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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 selectSourceDatabase();
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void selectCalibrationPath();
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void selectSourceRGBDImagesStamps();
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void selectSourceRGBDImagesPathRGB();
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void selectSourceRGBDImagesPathDepth();
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void selectSourceRGBDImagesPathScans();
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void selectSourceRGBDImagesPathGt();
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void selectSourceStereoImagesStamps();
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void selectSourceStereoImagesPathLeft();
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void selectSourceStereoImagesPathRight();
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void selectSourceStereoImagesPathScans();
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void selectSourceStereoImagesPathGt();
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void selectSourceImagesPath();
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void selectSourceVideoPath();
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void selectSourceStereoVideoPath();
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void selectSourceOniPath();
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void selectSourceOni2Path();
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void updateSourceGrpVisibility();
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void updateRGBDCameraGroupBoxVisibility();
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void updateRGBCameraGroupBoxVisibility();
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void updateStereoCameraGroupBoxVisibility();
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void testOdometry();
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void testCamera();
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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()) const;
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virtual void writeCameraSettings(const QString & filePath = QString()) const;
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virtual void writeCoreSettings(const QString & filePath = QString()) const;
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virtual QString getTmpIniFilePath() const;
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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, int panel = -1);
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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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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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//calibration
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CalibrationDialog * _calibrationDialog;
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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<QSpinBox*> _3dRenderingDownsamplingScan;
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QVector<QDoubleSpinBox*> _3dRenderingVoxelSizeScan;
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QVector<QDoubleSpinBox*> _3dRenderingOpacityScan;
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QVector<QSpinBox*> _3dRenderingPtSizeScan;
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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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