mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
401 lines
14 KiB
C++
401 lines
14 KiB
C++
/*
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Copyright (c) 2010-2016, 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 CreateSimpleCalibrationDialog;
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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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kSrcRealSense = 6,
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kSrcRGBDImages = 7,
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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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kSrcStereoZed = 104,
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kSrcStereoUsb = 105,
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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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virtual QString getTmpIniFilePath() 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() const;
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std::string getParameter(const std::string & key) const;
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void updateParameters(const ParametersMap & parameters);
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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 getGeneralLoggerPrintThreadId() const;
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std::vector<std::string> getGeneralLoggerThreads() 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 isTimeUsedInFigures() const;
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bool isCacheSavedInFigures() 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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int getOdomRegistrationApproach() const;
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bool isOdomDisabled() const;
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bool isGroundTruthAligned() const;
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bool isGraphsShown() const;
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bool isLabelsShown() const;
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double getMapVoxel() const;
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double getMapNoiseRadius() const;
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int getMapNoiseMinNeighbors() const;
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bool isCloudsShown(int index) const; // 0=map, 1=odom
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bool isOctomapUpdated() const;
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bool isOctomapShown() const;
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bool isOctomapCubeRendering() const;
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bool isOctomap2dGrid() const;
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int getOctomapTreeDepth() const;
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bool isOctomapGroundAnObstacle() const;
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double getOctomapOccupancyThr() const;
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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 getCloudMinDepth(int index) const; // 0=map, 1=odom
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std::vector<float> getCloudRoiRatios(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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bool isFeaturesShown(int index) const; // 0=map, 1=odom
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int getFeaturesPointSize(int index) const; // 0=map, 1=odom
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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 getSubtractFilteringMinPts() const;
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double getSubtractFilteringRadius() const;
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double getSubtractFilteringAngle() const;
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int getNormalKSearch() const;
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bool gainCompensation() const;
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bool getGridMapShown() const;
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double getGridMapResolution() const;;
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bool isGridMapEroded() const;
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bool isGridMapIncremental() const;
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double getGridMapFootprintRadius() const;
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bool isGridMapFrom3DCloud() const;
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bool projMapFrame() const;
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double projMaxGroundAngle() const;
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double projMaxGroundHeight() const;
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int projMinClusterSize() const;
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double projMaxObstaclesHeight() const;
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bool projFlatObstaclesDetected() const;
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double getGridMapOpacity() const;
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bool isCloudMeshing() const;
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double getCloudMeshingAngle() const;
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bool isCloudMeshingQuad() const;
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bool isCloudMeshingTexture() const;
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int getCloudMeshingTriangleSize();
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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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bool isSourceDatabaseStampsUsed() const;
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bool isSourceRGBDColorOnly() const;
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bool isDepthFilteringAvailable() const;
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QString getSourceDistortionModel() const;
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bool isBilateralFiltering() const;
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double getBilateralSigmaS() const;
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double getBilateralSigmaR() const;
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int getSourceImageDecimation() const;
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bool isSourceStereoDepthGenerated() const;
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bool isSourceScanFromDepth() const;
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int getSourceScanFromDepthDecimation() const;
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double getSourceScanFromDepthMaxDepth() const;
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double getSourceScanVoxelSize() const;
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int getSourceScanNormalsK() const;
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Transform getSourceLocalTransform() const; //Openni group
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Transform getLaserLocalTransform() const; // directory images
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Camera * createCamera(bool useRawImages = false, bool useColor = true); // 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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bool isCloudsKept() 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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bool isRGBDMode() 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 updateStereoDisparityVisibility();
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void useOdomFeatures();
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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 visualizeDistortionModel();
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void selectSourceDatabase();
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void selectCalibrationPath();
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void selectSourceImagesStamps();
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void selectSourceRGBDImagesPathRGB();
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void selectSourceRGBDImagesPathDepth();
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void selectSourceImagesPathScans();
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void selectSourceImagesPathOdom();
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void selectSourceImagesPathGt();
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void selectSourceStereoImagesPathLeft();
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void selectSourceStereoImagesPathRight();
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void selectSourceImagesPath();
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void selectSourceVideoPath();
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void selectSourceStereoVideoPath();
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void selectSourceStereoVideoPath2();
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void selectSourceDistortionModel();
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void selectSourceOniPath();
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void selectSourceOni2Path();
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void selectSourceSvoPath();
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void updateSourceGrpVisibility();
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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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virtual QString getParamMessage();
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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 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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void setParameter(const std::string & key, const std::string & value);
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private:
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void readSettings(const QString & filePath = QString());
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void writeSettings(const QString & filePath = QString());
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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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PANEL_FLAGS _obsoletePanels;
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private:
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rtabmap::ParametersMap _modifiedParameters;
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rtabmap::ParametersMap _parameters;
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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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CreateSimpleCalibrationDialog * _createCalibrationDialog;
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QVector<QCheckBox*> _3dRenderingShowClouds;
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QVector<QSpinBox*> _3dRenderingDecimation;
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QVector<QDoubleSpinBox*> _3dRenderingMaxDepth;
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QVector<QDoubleSpinBox*> _3dRenderingMinDepth;
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QVector<QLineEdit*> _3dRenderingRoiRatios;
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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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QVector<QCheckBox*> _3dRenderingShowFeatures;
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QVector<QSpinBox*> _3dRenderingPtSizeFeatures;
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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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