/* Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of the Universite de Sherbrooke nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ #include #if PCL_VERSION_COMPARE(>=, 1, 8, 0) // Should be first on windows to avoid "WinSock.h has already been included" error #include "rtabmap/core/lidar/LidarVLP16.h" #endif #include "rtabmap/gui/PreferencesDialog.h" #include "rtabmap/gui/DatabaseViewer.h" #include "rtabmap/gui/OdometryViewer.h" #include "rtabmap/gui/CalibrationDialog.h" #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include "ui_preferencesDialog.h" #include "rtabmap/core/Version.h" #include "rtabmap/core/Parameters.h" #include "rtabmap/core/Odometry.h" #include "rtabmap/core/OdometryThread.h" #include "rtabmap/core/CameraRGBD.h" #include "rtabmap/core/CameraRGB.h" #include "rtabmap/core/CameraStereo.h" #include "rtabmap/core/IMUFilter.h" #include "rtabmap/core/IMUThread.h" #include "rtabmap/core/Memory.h" #include "rtabmap/core/VWDictionary.h" #include "rtabmap/core/Optimizer.h" #include "rtabmap/core/optimizer/OptimizerG2O.h" #include "rtabmap/core/DBReader.h" #include "rtabmap/core/clams/discrete_depth_distortion_model.h" #include "rtabmap/gui/LoopClosureViewer.h" #include "rtabmap/gui/CameraViewer.h" #include "rtabmap/gui/CloudViewer.h" #include "rtabmap/gui/ImageView.h" #include "rtabmap/gui/GraphViewer.h" #include "rtabmap/gui/ExportCloudsDialog.h" #include "rtabmap/gui/ExportBundlerDialog.h" #include "rtabmap/gui/PostProcessingDialog.h" #include "rtabmap/gui/CreateSimpleCalibrationDialog.h" #include "rtabmap/gui/DepthCalibrationDialog.h" #include #include #include #include #include "rtabmap/utilite/UPlot.h" // Presets #include "camera_tof_icp_ini.h" #include "lidar3d_icp_ini.h" #include #include #if CV_MAJOR_VERSION < 3 #ifdef HAVE_OPENCV_GPU #include #endif #else #ifdef HAVE_OPENCV_CUDAFEATURES2D #include #endif #endif using namespace rtabmap; namespace rtabmap { PreferencesDialog::PreferencesDialog(QWidget * parent) : QDialog(parent), _obsoletePanels(kPanelDummy), _ui(0), _indexModel(0), _initialized(false), _progressDialog(new QProgressDialog(this)), _calibrationDialog(new CalibrationDialog(false, ".", false, this)), _createCalibrationDialog(new CreateSimpleCalibrationDialog(".", "", this)) { ULOGGER_DEBUG(""); _calibrationDialog->setWindowFlags(Qt::Window); _calibrationDialog->setWindowTitle(tr("Calibration")); _progressDialog->setWindowTitle(tr("Read parameters...")); _progressDialog->setMaximum(2); _progressDialog->setValue(2); _ui = new Ui_preferencesDialog(); _ui->setupUi(this); bool haveCuda = false; #if CV_MAJOR_VERSION < 3 #ifdef HAVE_OPENCV_GPU haveCuda = cv::gpu::getCudaEnabledDeviceCount() != 0; #endif #else #ifdef HAVE_OPENCV_CUDAFEATURES2D haveCuda = cv::cuda::getCudaEnabledDeviceCount() != 0; #endif #endif if(!haveCuda) { _ui->surf_checkBox_gpuVersion->setChecked(false); _ui->surf_checkBox_gpuVersion->setEnabled(false); _ui->label_surf_checkBox_gpuVersion->setEnabled(false); _ui->surf_doubleSpinBox_gpuKeypointsRatio->setEnabled(false); _ui->label_surf_checkBox_gpuKeypointsRatio->setEnabled(false); _ui->fastGpu->setChecked(false); _ui->fastGpu->setEnabled(false); _ui->label_fastGPU->setEnabled(false); _ui->fastKeypointRatio->setEnabled(false); _ui->label_fastGPUKptRatio->setEnabled(false); _ui->checkBox_ORBGpu->setChecked(false); _ui->checkBox_ORBGpu->setEnabled(false); _ui->label_orbGpu->setEnabled(false); _ui->checkBox_GFTT_gpu->setEnabled(false); _ui->label_GFTT_gpu->setEnabled(false); // disable BruteForceGPU option _ui->comboBox_dictionary_strategy->setItemData(4, 0, Qt::UserRole - 1); _ui->reextract_nn->setItemData(4, 0, Qt::UserRole - 1); } #ifndef RTABMAP_CUDASIFT _ui->sift_checkBox_gpu->setEnabled(false); _ui->sift_label_gpu->setEnabled(false); _ui->sift_doubleSpinBox_gaussianDiffThreshold->setEnabled(false); _ui->sift_label_gaussianThreshold->setEnabled(false); _ui->sift_checkBox_upscale->setEnabled(false); _ui->sift_label_upscale->setEnabled(false); #endif #ifndef HAVE_OPENCV_CUDAOPTFLOW _ui->odom_flow_gpu->setEnabled(false); _ui->label_odom_flow_gpu->setEnabled(false); _ui->stereo_flow_gpu->setEnabled(false); _ui->label_stereo_flow_gpu->setEnabled(false); #endif #ifndef RTABMAP_OCTOMAP _ui->groupBox_octomap->setChecked(false); _ui->groupBox_octomap->setEnabled(false); #endif #ifndef RTABMAP_GRIDMAP _ui->checkBox_elevation_shown->setChecked(false); _ui->checkBox_elevation_shown->setEnabled(false); _ui->label_show_elevation->setEnabled(false); #endif #ifndef RTABMAP_REALSENSE_SLAM _ui->checkbox_realsenseOdom->setChecked(false); _ui->checkbox_realsenseOdom->setEnabled(false); _ui->label_realsenseOdom->setEnabled(false); #endif #ifndef RTABMAP_FOVIS _ui->odom_strategy->setItemData(2, 0, Qt::UserRole - 1); #endif #ifndef RTABMAP_VISO2 _ui->odom_strategy->setItemData(3, 0, Qt::UserRole - 1); #endif #ifndef RTABMAP_DVO _ui->odom_strategy->setItemData(4, 0, Qt::UserRole - 1); #endif #ifndef RTABMAP_ORB_SLAM _ui->odom_strategy->setItemData(5, 0, Qt::UserRole - 1); #elif RTABMAP_ORB_SLAM == 3 _ui->odom_strategy->setItemText(5, "ORB SLAM 3"); _ui->groupBox_odomORBSLAM->setTitle("ORB SLAM 3"); #else _ui->odom_strategy->setItemText(5, "ORB SLAM 2"); _ui->groupBox_odomORBSLAM->setTitle("ORB SLAM 2"); #endif #ifndef RTABMAP_OKVIS _ui->odom_strategy->setItemData(6, 0, Qt::UserRole - 1); #endif #ifndef RTABMAP_LOAM _ui->odom_strategy->setItemData(7, 0, Qt::UserRole - 1); #endif #ifndef RTABMAP_MSCKF_VIO _ui->odom_strategy->setItemData(8, 0, Qt::UserRole - 1); #endif #ifndef RTABMAP_VINS _ui->odom_strategy->setItemData(9, 0, Qt::UserRole - 1); #endif #ifndef RTABMAP_OPENVINS _ui->odom_strategy->setItemData(10, 0, Qt::UserRole - 1); #endif #ifndef RTABMAP_FLOAM _ui->odom_strategy->setItemData(11, 0, Qt::UserRole - 1); #endif #ifndef RTABMAP_OPEN3D _ui->odom_strategy->setItemData(12, 0, Qt::UserRole - 1); #endif #if CV_MAJOR_VERSION < 3 _ui->stereosgbm_mode->setItemData(2, 0, Qt::UserRole - 1); #endif //SURF #ifndef RTABMAP_NONFREE _ui->comboBox_detector_strategy->setItemData(0, 0, Qt::UserRole - 1); _ui->comboBox_detector_strategy->setItemData(12, 0, Qt::UserRole - 1); _ui->comboBox_detector_strategy->setItemData(14, 0, Qt::UserRole - 1); _ui->vis_feature_detector->setItemData(0, 0, Qt::UserRole - 1); _ui->vis_feature_detector->setItemData(12, 0, Qt::UserRole - 1); _ui->vis_feature_detector->setItemData(14, 0, Qt::UserRole - 1); #endif // SIFT #if CV_MAJOR_VERSION < 3 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION <= 3) || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION < 4 || (CV_MINOR_VERSION==4 && CV_SUBMINOR_VERSION<11))) #ifndef RTABMAP_NONFREE _ui->comboBox_detector_strategy->setItemData(1, 0, Qt::UserRole - 1); _ui->vis_feature_detector->setItemData(1, 0, Qt::UserRole - 1); #endif #endif #if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION < 8) _ui->sift_checkBox_preciseUpscale->setEnabled(false); _ui->sift_label_preciseUpscale->setEnabled(false); #endif #if CV_MAJOR_VERSION >= 3 && !defined(HAVE_OPENCV_XFEATURES2D) _ui->comboBox_detector_strategy->setItemData(3, 0, Qt::UserRole - 1); _ui->comboBox_detector_strategy->setItemData(4, 0, Qt::UserRole - 1); _ui->comboBox_detector_strategy->setItemData(5, 0, Qt::UserRole - 1); _ui->comboBox_detector_strategy->setItemData(6, 0, Qt::UserRole - 1); _ui->comboBox_detector_strategy->setItemData(12, 0, Qt::UserRole - 1); _ui->comboBox_detector_strategy->setItemData(13, 0, Qt::UserRole - 1); _ui->comboBox_detector_strategy->setItemData(14, 0, Qt::UserRole - 1); _ui->vis_feature_detector->setItemData(3, 0, Qt::UserRole - 1); _ui->vis_feature_detector->setItemData(4, 0, Qt::UserRole - 1); _ui->vis_feature_detector->setItemData(5, 0, Qt::UserRole - 1); _ui->vis_feature_detector->setItemData(6, 0, Qt::UserRole - 1); _ui->vis_feature_detector->setItemData(12, 0, Qt::UserRole - 1); _ui->vis_feature_detector->setItemData(13, 0, Qt::UserRole - 1); _ui->vis_feature_detector->setItemData(14, 0, Qt::UserRole - 1); #endif #ifndef RTABMAP_ORB_OCTREE _ui->comboBox_detector_strategy->setItemData(10, 0, Qt::UserRole - 1); _ui->vis_feature_detector->setItemData(10, 0, Qt::UserRole - 1); #endif #ifndef RTABMAP_TORCH _ui->comboBox_detector_strategy->setItemData(11, 0, Qt::UserRole - 1); _ui->vis_feature_detector->setItemData(11, 0, Qt::UserRole - 1); #endif #ifndef RTABMAP_PYTHON _ui->comboBox_detector_strategy->setItemData(15, 0, Qt::UserRole - 1); _ui->vis_feature_detector->setItemData(15, 0, Qt::UserRole - 1); _ui->reextract_nn->setItemData(6, 0, Qt::UserRole - 1); _ui->comboBox_globalDescriptorExtractor->setItemData(1, 0, Qt::UserRole - 1); #endif #if !defined(HAVE_OPENCV_XFEATURES2D) || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION<4 || CV_MINOR_VERSION==4 && CV_SUBMINOR_VERSION<1)) _ui->reextract_nn->setItemData(7, 0, Qt::UserRole - 1); #endif #if CV_MAJOR_VERSION >= 3 _ui->groupBox_fast_opencv2->setEnabled(false); #else _ui->comboBox_detector_strategy->setItemData(9, 0, Qt::UserRole - 1); // No KAZE _ui->comboBox_detector_strategy->setItemData(13, 0, Qt::UserRole - 1); // No DAISY _ui->comboBox_detector_strategy->setItemData(14, 0, Qt::UserRole - 1); // No DAISY _ui->vis_feature_detector->setItemData(9, 0, Qt::UserRole - 1); // No KAZE _ui->vis_feature_detector->setItemData(13, 0, Qt::UserRole - 1); // No DAISY _ui->vis_feature_detector->setItemData(14, 0, Qt::UserRole - 1); // No DAISY #endif _ui->comboBox_cameraImages_odomFormat->setItemData(4, 0, Qt::UserRole - 1); _ui->comboBox_cameraImages_gtFormat->setItemData(4, 0, Qt::UserRole - 1); if(!Optimizer::isAvailable(Optimizer::kTypeG2O)) { _ui->graphOptimization_type->setItemData(1, 0, Qt::UserRole - 1); _ui->odom_f2m_bundleStrategy->setItemData(1, 0, Qt::UserRole - 1); _ui->loopClosure_bundle->setItemData(1, 0, Qt::UserRole - 1); _ui->groupBoxx_g2o->setEnabled(false); } #ifdef RTABMAP_ORB_SLAM else { // only graph optimization is disabled, g2o (from ORB_SLAM2) is valid only for SBA _ui->graphOptimization_type->setItemData(1, 0, Qt::UserRole - 1); } #endif if(!OptimizerG2O::isCSparseAvailable()) { _ui->comboBox_g2o_solver->setItemData(0, 0, Qt::UserRole - 1); } if(!OptimizerG2O::isCholmodAvailable()) { _ui->comboBox_g2o_solver->setItemData(2, 0, Qt::UserRole - 1); } if(!Optimizer::isAvailable(Optimizer::kTypeTORO)) { _ui->graphOptimization_type->setItemData(0, 0, Qt::UserRole - 1); } if(!Optimizer::isAvailable(Optimizer::kTypeGTSAM)) { _ui->graphOptimization_type->setItemData(2, 0, Qt::UserRole - 1); } if(!Optimizer::isAvailable(Optimizer::kTypeCVSBA)) { _ui->odom_f2m_bundleStrategy->setItemData(2, 0, Qt::UserRole - 1); _ui->loopClosure_bundle->setItemData(2, 0, Qt::UserRole - 1); } if(!Optimizer::isAvailable(Optimizer::kTypeCeres)) { _ui->graphOptimization_type->setItemData(3, 0, Qt::UserRole - 1); _ui->odom_f2m_bundleStrategy->setItemData(3, 0, Qt::UserRole - 1); _ui->loopClosure_bundle->setItemData(3, 0, Qt::UserRole - 1); } #ifdef RTABMAP_VERTIGO if(!Optimizer::isAvailable(Optimizer::kTypeG2O) && !Optimizer::isAvailable(Optimizer::kTypeGTSAM)) #endif { _ui->graphOptimization_robust->setEnabled(false); } #ifndef RTABMAP_POINTMATCHER _ui->comboBox_icpStrategy->setItemData(1, 0, Qt::UserRole - 1); #endif #ifndef RTABMAP_CCCORELIB _ui->comboBox_icpStrategy->setItemData(2, 0, Qt::UserRole - 1); #endif if(!CameraOpenni::available()) { _ui->comboBox_cameraRGBD->setItemData(kSrcOpenNI_PCL - kSrcRGBD, 0, Qt::UserRole - 1); } if(!CameraFreenect::available()) { _ui->comboBox_cameraRGBD->setItemData(kSrcFreenect - kSrcRGBD, 0, Qt::UserRole - 1); } if(!CameraOpenNICV::available()) { _ui->comboBox_cameraRGBD->setItemData(kSrcOpenNI_CV - kSrcRGBD, 0, Qt::UserRole - 1); _ui->comboBox_cameraRGBD->setItemData(kSrcOpenNI_CV_ASUS - kSrcRGBD, 0, Qt::UserRole - 1); } if(!CameraOpenNI2::available()) { _ui->comboBox_cameraRGBD->setItemData(kSrcOpenNI2 - kSrcRGBD, 0, Qt::UserRole - 1); } if(!CameraFreenect2::available()) { _ui->comboBox_cameraRGBD->setItemData(kSrcFreenect2 - kSrcRGBD, 0, Qt::UserRole - 1); } if (!CameraK4W2::available()) { _ui->comboBox_cameraRGBD->setItemData(kSrcK4W2 - kSrcRGBD, 0, Qt::UserRole - 1); } if (!CameraK4A::available()) { _ui->comboBox_cameraRGBD->setItemData(kSrcK4A - kSrcRGBD, 0, Qt::UserRole - 1); } if (!CameraRealSense::available()) { _ui->comboBox_cameraRGBD->setItemData(kSrcRealSense - kSrcRGBD, 0, Qt::UserRole - 1); } if (!CameraRealSense2::available()) { _ui->comboBox_cameraRGBD->setItemData(kSrcRealSense2 - kSrcRGBD, 0, Qt::UserRole - 1); _ui->comboBox_cameraStereo->setItemData(kSrcStereoRealSense2 - kSrcStereo, 0, Qt::UserRole - 1); _ui->comboBox_odom_sensor->setItemData(1, 0, Qt::UserRole - 1); } if(!CameraStereoDC1394::available()) { _ui->comboBox_cameraStereo->setItemData(kSrcDC1394 - kSrcStereo, 0, Qt::UserRole - 1); } if(!CameraStereoFlyCapture2::available()) { _ui->comboBox_cameraStereo->setItemData(kSrcFlyCapture2 - kSrcStereo, 0, Qt::UserRole - 1); } if (!CameraStereoZed::available()) { _ui->comboBox_cameraStereo->setItemData(kSrcStereoZed - kSrcStereo, 0, Qt::UserRole - 1); _ui->comboBox_odom_sensor->setItemData(2, 0, Qt::UserRole - 1); } else if(CameraStereoZed::sdkVersion() < 4) { _ui->comboBox_stereoZed_resolution->setItemData(1, 0, Qt::UserRole - 1); _ui->comboBox_stereoZed_resolution->setItemData(4, 0, Qt::UserRole - 1); _ui->comboBox_stereoZed_resolution->setItemData(6, 0, Qt::UserRole - 1); _ui->comboBox_stereoZed_quality->setItemData(3, 0, Qt::UserRole - 1); } if (!CameraStereoTara::available()) { _ui->comboBox_cameraStereo->setItemData(kSrcStereoTara - kSrcStereo, 0, Qt::UserRole - 1); } if (!CameraMyntEye::available()) { _ui->comboBox_cameraStereo->setItemData(kSrcStereoMyntEye - kSrcStereo, 0, Qt::UserRole - 1); } if (!CameraStereoZedOC::available()) { _ui->comboBox_cameraStereo->setItemData(kSrcStereoZedOC - kSrcStereo, 0, Qt::UserRole - 1); } if (!CameraDepthAI::available()) { _ui->comboBox_cameraStereo->setItemData(kSrcStereoDepthAI - kSrcStereo, 0, Qt::UserRole - 1); } if (!CameraSeerSense::available()) { _ui->comboBox_cameraRGBD->setItemData(kSrcSeerSense - kSrcRGBD, 0, Qt::UserRole - 1); _ui->comboBox_odom_sensor->setItemData(3, 0, Qt::UserRole - 1); } _ui->openni2_exposure->setEnabled(CameraOpenNI2::exposureGainAvailable()); _ui->openni2_gain->setEnabled(CameraOpenNI2::exposureGainAvailable()); #if PCL_VERSION_COMPARE(<, 1, 7, 2) _ui->checkBox_showFrustums->setEnabled(false); _ui->checkBox_showFrustums->setChecked(false); _ui->checkBox_showOdomFrustums->setEnabled(false); _ui->checkBox_showOdomFrustums->setChecked(false); #endif //if OpenCV < 3.4.2 #if CV_MAJOR_VERSION < 3 || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION <4 || (CV_MINOR_VERSION ==4 && CV_SUBMINOR_VERSION<2))) _ui->ArucoDictionary->setItemData(17, 0, Qt::UserRole - 1); _ui->ArucoDictionary->setItemData(18, 0, Qt::UserRole - 1); _ui->ArucoDictionary->setItemData(19, 0, Qt::UserRole - 1); _ui->ArucoDictionary->setItemData(20, 0, Qt::UserRole - 1); #endif #ifndef HAVE_OPENCV_ARUCO _ui->label_markerDetection->setText(_ui->label_markerDetection->text()+" This option works only if OpenCV has been built with \"aruco\" module."); #endif #ifndef RTABMAP_MADGWICK _ui->comboBox_imuFilter_strategy->setItemData(1, 0, Qt::UserRole - 1); #endif // in case we change the ui, we should not forget to change stuff related to this parameter UASSERT(_ui->odom_registration->count() == 4); // Default Driver connect(_ui->comboBox_sourceType, SIGNAL(currentIndexChanged(int)), this, SLOT(updateSourceGrpVisibility())); connect(_ui->comboBox_cameraRGBD, SIGNAL(currentIndexChanged(int)), this, SLOT(updateSourceGrpVisibility())); connect(_ui->source_comboBox_image_type, SIGNAL(currentIndexChanged(int)), this, SLOT(updateSourceGrpVisibility())); connect(_ui->comboBox_cameraStereo, SIGNAL(currentIndexChanged(int)), this, SLOT(updateSourceGrpVisibility())); connect(_ui->comboBox_imuFilter_strategy, SIGNAL(currentIndexChanged(int)), this, SLOT(updateSourceGrpVisibility())); connect(_ui->comboBox_odom_sensor, SIGNAL(currentIndexChanged(int)), this, SLOT(updateSourceGrpVisibility())); connect(_ui->comboBox_lidar_src, SIGNAL(currentIndexChanged(int)), this, SLOT(updateSourceGrpVisibility())); connect(_ui->checkBox_source_scanFromDepth, SIGNAL(stateChanged(int)), this, SLOT(updateSourceGrpVisibility())); this->resetSettings(_ui->groupBox_source0); _ui->predictionPlot->showLegend(false); QButtonGroup * buttonGroup = new QButtonGroup(this); buttonGroup->addButton(_ui->radioButton_basic); buttonGroup->addButton(_ui->radioButton_advanced); // Connect connect(_ui->buttonBox_global, SIGNAL(clicked(QAbstractButton *)), this, SLOT(closeDialog(QAbstractButton *))); connect(_ui->buttonBox_local, SIGNAL(clicked(QAbstractButton *)), this, SLOT(resetApply(QAbstractButton *))); connect(_ui->pushButton_loadConfig, SIGNAL(clicked()), this, SLOT(loadConfigFrom())); connect(_ui->pushButton_saveConfig, SIGNAL(clicked()), this, SLOT(saveConfigTo())); connect(_ui->pushButton_resetConfig, SIGNAL(clicked()), this, SLOT(resetConfig())); connect(_ui->pushButton_presets_camera_tof_icp, SIGNAL(clicked()), this, SLOT(loadPreset())); connect(_ui->pushButton_presets_lidar_3d_icp, SIGNAL(clicked()), this, SLOT(loadPreset())); connect(_ui->radioButton_basic, SIGNAL(toggled(bool)), this, SLOT(setupTreeView())); connect(_ui->pushButton_testOdometry, SIGNAL(clicked()), this, SLOT(testOdometry())); connect(_ui->pushButton_test_camera, SIGNAL(clicked()), this, SLOT(testCamera())); connect(_ui->pushButton_test_lidar, SIGNAL(clicked()), this, SLOT(testLidar())); // General panel connect(_ui->general_checkBox_imagesKept, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel())); connect(_ui->general_checkBox_missing_cache_republished, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel())); connect(_ui->general_checkBox_cloudsKept, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel())); connect(_ui->checkBox_verticalLayoutUsed, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel())); connect(_ui->checkBox_imageRejectedShown, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel())); connect(_ui->checkBox_imageHighestHypShown, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel())); connect(_ui->checkBox_beep, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel())); connect(_ui->checkBox_stamps, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel())); connect(_ui->checkBox_cacheStatistics, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel())); connect(_ui->checkBox_notifyWhenNewGlobalPathIsReceived, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel())); connect(_ui->spinBox_odomQualityWarnThr, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteGeneralPanel())); connect(_ui->checkBox_odom_onlyInliersShown, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel())); connect(_ui->radioButton_posteriorGraphView, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteGeneralPanel())); connect(_ui->radioButton_wordsGraphView, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteGeneralPanel())); connect(_ui->radioButton_localizationsGraphView, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteGeneralPanel())); connect(_ui->radioButton_localizationsGraphViewOdomCache, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteGeneralPanel())); connect(_ui->radioButton_nochangeGraphView, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteGeneralPanel())); connect(_ui->checkbox_odomDisabled, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel())); connect(_ui->odom_registration, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteGeneralPanel())); connect(_ui->odom_f2m_gravitySigma, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteGeneralPanel())); connect(_ui->checkbox_groundTruthAlign, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel())); // Cloud rendering panel _3dRenderingShowClouds.resize(2); _3dRenderingShowClouds[0] = _ui->checkBox_showClouds; _3dRenderingShowClouds[1] = _ui->checkBox_showOdomClouds; _3dRenderingDecimation.resize(2); _3dRenderingDecimation[0] = _ui->spinBox_decimation; _3dRenderingDecimation[1] = _ui->spinBox_decimation_odom; _3dRenderingMaxDepth.resize(2); _3dRenderingMaxDepth[0] = _ui->doubleSpinBox_maxDepth; _3dRenderingMaxDepth[1] = _ui->doubleSpinBox_maxDepth_odom; _3dRenderingMinDepth.resize(2); _3dRenderingMinDepth[0] = _ui->doubleSpinBox_minDepth; _3dRenderingMinDepth[1] = _ui->doubleSpinBox_minDepth_odom; _3dRenderingRoiRatios.resize(2); _3dRenderingRoiRatios[0] = _ui->lineEdit_roiRatios; _3dRenderingRoiRatios[1] = _ui->lineEdit_roiRatios_odom; _3dRenderingDepthConfidenceThr.resize(2); _3dRenderingDepthConfidenceThr[0] = _ui->spinBox_depthConf; _3dRenderingDepthConfidenceThr[1] = _ui->spinBox_depthConf_odom; _3dRenderingColorScheme.resize(2); _3dRenderingColorScheme[0] = _ui->spinBox_colorScheme; _3dRenderingColorScheme[1] = _ui->spinBox_colorScheme_odom; _3dRenderingOpacity.resize(2); _3dRenderingOpacity[0] = _ui->doubleSpinBox_opacity; _3dRenderingOpacity[1] = _ui->doubleSpinBox_opacity_odom; _3dRenderingPtSize.resize(2); _3dRenderingPtSize[0] = _ui->spinBox_ptsize; _3dRenderingPtSize[1] = _ui->spinBox_ptsize_odom; _3dRenderingShowScans.resize(2); _3dRenderingShowScans[0] = _ui->checkBox_showScans; _3dRenderingShowScans[1] = _ui->checkBox_showOdomScans; _3dRenderingDownsamplingScan.resize(2); _3dRenderingDownsamplingScan[0] = _ui->spinBox_downsamplingScan; _3dRenderingDownsamplingScan[1] = _ui->spinBox_downsamplingScan_odom; _3dRenderingMaxRange.resize(2); _3dRenderingMaxRange[0] = _ui->doubleSpinBox_maxRange; _3dRenderingMaxRange[1] = _ui->doubleSpinBox_maxRange_odom; _3dRenderingMinRange.resize(2); _3dRenderingMinRange[0] = _ui->doubleSpinBox_minRange; _3dRenderingMinRange[1] = _ui->doubleSpinBox_minRange_odom; _3dRenderingVoxelSizeScan.resize(2); _3dRenderingVoxelSizeScan[0] = _ui->doubleSpinBox_voxelSizeScan; _3dRenderingVoxelSizeScan[1] = _ui->doubleSpinBox_voxelSizeScan_odom; _3dRenderingColorSchemeScan.resize(2); _3dRenderingColorSchemeScan[0] = _ui->spinBox_colorSchemeScan; _3dRenderingColorSchemeScan[1] = _ui->spinBox_colorSchemeScan_odom; _3dRenderingOpacityScan.resize(2); _3dRenderingOpacityScan[0] = _ui->doubleSpinBox_opacity_scan; _3dRenderingOpacityScan[1] = _ui->doubleSpinBox_opacity_odom_scan; _3dRenderingPtSizeScan.resize(2); _3dRenderingPtSizeScan[0] = _ui->spinBox_ptsize_scan; _3dRenderingPtSizeScan[1] = _ui->spinBox_ptsize_odom_scan; _3dRenderingShowFeatures.resize(2); _3dRenderingShowFeatures[0] = _ui->checkBox_showFeatures; _3dRenderingShowFeatures[1] = _ui->checkBox_showOdomFeatures; _3dRenderingShowFrustums.resize(2); _3dRenderingShowFrustums[0] = _ui->checkBox_showFrustums; _3dRenderingShowFrustums[1] = _ui->checkBox_showOdomFrustums; _3dRenderingPtSizeFeatures.resize(2); _3dRenderingPtSizeFeatures[0] = _ui->spinBox_ptsize_features; _3dRenderingPtSizeFeatures[1] = _ui->spinBox_ptsize_odom_features; _3dRenderingGravity.resize(2); _3dRenderingGravity[0] = _ui->checkBox_showIMUGravity; _3dRenderingGravity[1] = _ui->checkBox_showIMUGravity_odom; _3dRenderingGravityLength.resize(2); _3dRenderingGravityLength[0] = _ui->doubleSpinBox_lengthIMUGravity; _3dRenderingGravityLength[1] = _ui->doubleSpinBox_lengthIMUGravity_odom; for(int i=0; i<2; ++i) { connect(_3dRenderingShowClouds[i], SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_3dRenderingDecimation[i], SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_3dRenderingMaxDepth[i], SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_3dRenderingMinDepth[i], SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_3dRenderingRoiRatios[i], SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_3dRenderingDepthConfidenceThr[i], SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_3dRenderingShowScans[i], SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_3dRenderingShowFeatures[i], SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_3dRenderingShowFrustums[i], SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_3dRenderingDownsamplingScan[i], SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_3dRenderingMaxRange[i], SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_3dRenderingMinRange[i], SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_3dRenderingVoxelSizeScan[i], SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_3dRenderingColorScheme[i], SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_3dRenderingOpacity[i], SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_3dRenderingPtSize[i], SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_3dRenderingColorSchemeScan[i], SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_3dRenderingOpacityScan[i], SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_3dRenderingPtSizeScan[i], SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_3dRenderingPtSizeFeatures[i], SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_3dRenderingGravity[i], SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_3dRenderingGravityLength[i], SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel())); } connect(_ui->doubleSpinBox_voxel, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_ui->doubleSpinBox_noiseRadius, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_ui->spinBox_noiseMinNeighbors, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_ui->doubleSpinBox_ceilingFilterHeight, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_ui->doubleSpinBox_floorFilterHeight, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_ui->spinBox_normalKSearch, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_ui->doubleSpinBox_normalRadiusSearch, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_ui->doubleSpinBox_ceilingFilterHeight_scan, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_ui->doubleSpinBox_floorFilterHeight_scan, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_ui->spinBox_normalKSearch_scan, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_ui->doubleSpinBox_normalRadiusSearch_scan, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_ui->checkBox_showGraphs, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_ui->checkBox_showLabels, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_ui->checkBox_showFrames, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_ui->checkBox_showLandmarks, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_ui->doubleSpinBox_landmarkSize, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_ui->checkBox_showIMUGravity, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_ui->checkBox_showIMUAcc, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_ui->radioButton_noFiltering, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_ui->radioButton_nodeFiltering, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_ui->radioButton_subtractFiltering, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_ui->doubleSpinBox_cloudFilterRadius, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_ui->doubleSpinBox_cloudFilterAngle, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_ui->spinBox_subtractFilteringMinPts, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_ui->doubleSpinBox_subtractFilteringRadius, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_ui->doubleSpinBox_subtractFilteringAngle, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_ui->doubleSpinBox_map_resolution, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_ui->checkBox_map_shown, SIGNAL(clicked(bool)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_ui->doubleSpinBox_map_opacity, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_ui->checkBox_elevation_shown, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_ui->groupBox_octomap, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_ui->spinBox_octomap_treeDepth, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_ui->checkBox_octomap_2dgrid, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_ui->checkBox_octomap_show3dMap, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_ui->comboBox_octomap_renderingType, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_ui->spinBox_octomap_pointSize, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_ui->groupBox_organized, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_ui->doubleSpinBox_mesh_angleTolerance, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_ui->checkBox_mesh_quad, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_ui->checkBox_mesh_texture, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_ui->spinBox_mesh_triangleSize, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel())); //Logging panel connect(_ui->comboBox_loggerLevel, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteLoggingPanel())); connect(_ui->comboBox_loggerEventLevel, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteLoggingPanel())); connect(_ui->comboBox_loggerPauseLevel, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteLoggingPanel())); connect(_ui->checkBox_logger_printTime, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteLoggingPanel())); connect(_ui->checkBox_logger_printThreadId, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteLoggingPanel())); connect(_ui->comboBox_loggerType, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteLoggingPanel())); _ui->comboBox_loggerFilter->SetDisplayText("Select:"); connect(_ui->comboBox_loggerFilter, SIGNAL(itemChanged()), this, SLOT(makeObsoleteLoggingPanel())); //Source panel connect(_ui->general_doubleSpinBox_imgRate, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->general_doubleSpinBox_imgRate, SIGNAL(valueChanged(double)), _ui->doubleSpinBox_OdomORBSLAMFps, SLOT(setValue(double))); connect(_ui->source_mirroring, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->toolButton_source_path_calibration, SIGNAL(clicked()), this, SLOT(selectCalibrationPath())); connect(_ui->lineEdit_calibrationFile, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel())); _ui->stackedWidget_src->setCurrentIndex(_ui->comboBox_sourceType->currentIndex()); connect(_ui->comboBox_sourceType, SIGNAL(currentIndexChanged(int)), _ui->stackedWidget_src, SLOT(setCurrentIndex(int))); connect(_ui->comboBox_sourceType, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->lineEdit_sourceDevice, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->lineEdit_sourceLocalTransform, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel())); //RGB source _ui->stackedWidget_image->setCurrentIndex(_ui->source_comboBox_image_type->currentIndex()); connect(_ui->source_comboBox_image_type, SIGNAL(currentIndexChanged(int)), _ui->stackedWidget_image, SLOT(setCurrentIndex(int))); connect(_ui->source_comboBox_image_type, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->checkBox_rgb_rectify, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel())); //images group connect(_ui->source_images_toolButton_selectSource, SIGNAL(clicked()), this, SLOT(selectSourceImagesPath())); connect(_ui->source_images_lineEdit_path, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->source_images_spinBox_startPos, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->source_images_spinBox_maxFrames, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->comboBox_cameraImages_bayerMode, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel())); // usb group connect(_ui->spinBox_usbcam_streamWidth, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->spinBox_usbcam_streamHeight, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->lineEdit_usbcam_fourcc, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel())); //video group connect(_ui->source_video_toolButton_selectSource, SIGNAL(clicked()), this, SLOT(selectSourceVideoPath())); connect(_ui->source_video_lineEdit_path, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel())); //database group connect(_ui->source_database_toolButton_selectSource, SIGNAL(clicked()), this, SLOT(selectSourceDatabase())); connect(_ui->toolButton_dbViewer, SIGNAL(clicked()), this, SLOT(openDatabaseViewer())); connect(_ui->groupBox_sourceDatabase, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->source_database_lineEdit_path, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->source_checkBox_ignoreOdometry, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->source_checkBox_ignoreGoalDelay, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->source_checkBox_ignoreGoals, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->source_checkBox_ignoreLandmarks, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->source_checkBox_ignoreFeatures, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->source_checkBox_ignorePriors, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->source_spinBox_databaseStartId, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->source_spinBox_databaseStopId, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->source_checkBox_useDbStamps, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->source_lineEdit_databaseCameraIndex, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->source_checkBox_stereoToDepthDB, SIGNAL(toggled(bool)), _ui->checkbox_stereo_depthGenerated, SLOT(setChecked(bool))); connect(_ui->checkbox_stereo_depthGenerated, SIGNAL(toggled(bool)), _ui->source_checkBox_stereoToDepthDB, SLOT(setChecked(bool))); //openni group _ui->stackedWidget_rgbd->setCurrentIndex(_ui->comboBox_cameraRGBD->currentIndex()); connect(_ui->comboBox_cameraRGBD, SIGNAL(currentIndexChanged(int)), _ui->stackedWidget_rgbd, SLOT(setCurrentIndex(int))); connect(_ui->comboBox_cameraRGBD, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel())); _ui->stackedWidget_stereo->setCurrentIndex(_ui->comboBox_cameraStereo->currentIndex()); connect(_ui->comboBox_cameraStereo, SIGNAL(currentIndexChanged(int)), _ui->stackedWidget_stereo, SLOT(setCurrentIndex(int))); connect(_ui->comboBox_cameraStereo, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->openni2_autoWhiteBalance, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->openni2_autoExposure, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->openni2_exposure, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->openni2_gain, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->openni2_mirroring, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->openni2_stampsIdsUsed, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->openni2_hshift, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->openni2_vshift, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->openni2_depth_decimation, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->comboBox_freenect2Format, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->doubleSpinBox_freenect2MinDepth, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->doubleSpinBox_freenect2MaxDepth, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->checkBox_freenect2BilateralFiltering, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->checkBox_freenect2EdgeAwareFiltering, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->checkBox_freenect2NoiseFiltering, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->lineEdit_freenect2Pipeline, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->comboBox_k4w2Format, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->comboBox_realsensePresetRGB, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->comboBox_realsensePresetDepth, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->checkbox_realsenseOdom, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->checkbox_realsenseDepthScaledToRGBSize, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->comboBox_realsenseRGBSource, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->checkbox_rs2_emitter, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->checkbox_rs2_irMode, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->checkbox_rs2_irDepth, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->spinBox_rs2_width, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->spinBox_rs2_height, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->spinBox_rs2_rate, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->spinBox_rs2_width_depth, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->spinBox_rs2_height_depth, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->spinBox_rs2_rate_depth, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->checkbox_rs2_globalTimeStync, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->lineEdit_rs2_jsonFile, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->toolButton_rs2_jsonFile, SIGNAL(clicked()), this, SLOT(selectSourceRealsense2JsonPath())); connect(_ui->toolButton_cameraImages_timestamps, SIGNAL(clicked()), this, SLOT(selectSourceImagesStamps())); connect(_ui->lineEdit_cameraImages_timestamps, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->toolButton_cameraRGBDImages_path_rgb, SIGNAL(clicked()), this, SLOT(selectSourceRGBDImagesPathRGB())); connect(_ui->toolButton_cameraRGBDImages_path_depth, SIGNAL(clicked()), this, SLOT(selectSourceRGBDImagesPathDepth())); connect(_ui->toolButton_cameraImages_path_scans, SIGNAL(clicked()), this, SLOT(selectSourceImagesPathScans())); connect(_ui->toolButton_cameraImages_path_imu, SIGNAL(clicked()), this, SLOT(selectSourceImagesPathIMU())); connect(_ui->toolButton_cameraImages_odom, SIGNAL(clicked()), this, SLOT(selectSourceImagesPathOdom())); connect(_ui->toolButton_cameraImages_gt, SIGNAL(clicked()), this, SLOT(selectSourceImagesPathGt())); connect(_ui->lineEdit_cameraRGBDImages_path_rgb, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->lineEdit_cameraRGBDImages_path_depth, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->checkBox_cameraImages_configForEachFrame, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->checkBox_cameraImages_timestamps, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->checkBox_cameraImages_syncTimeStamps, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->doubleSpinBox_cameraRGBDImages_scale, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->spinBox_cameraRGBDImages_startIndex, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->spinBox_cameraRGBDImages_maxFrames, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->lineEdit_cameraImages_path_scans, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->lineEdit_cameraImages_laser_transform, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->spinBox_cameraImages_max_scan_pts, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->lineEdit_cameraImages_odom, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->comboBox_cameraImages_odomFormat, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->lineEdit_cameraImages_gt, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->comboBox_cameraImages_gtFormat, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->doubleSpinBox_maxPoseTimeDiff, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->lineEdit_cameraImages_path_imu, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->lineEdit_cameraImages_imu_transform, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->spinBox_cameraImages_max_imu_rate, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->groupBox_depthFromScan, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->groupBox_depthFromScan_fillHoles, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->radioButton_depthFromScan_vertical, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->radioButton_depthFromScan_horizontal, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->checkBox_depthFromScan_fillBorders, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->toolButton_cameraStereoImages_path_left, SIGNAL(clicked()), this, SLOT(selectSourceStereoImagesPathLeft())); connect(_ui->toolButton_cameraStereoImages_path_right, SIGNAL(clicked()), this, SLOT(selectSourceStereoImagesPathRight())); connect(_ui->lineEdit_cameraStereoImages_path_left, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->lineEdit_cameraStereoImages_path_right, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->checkBox_stereo_rectify, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->spinBox_cameraStereoImages_startIndex, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->spinBox_cameraStereoImages_maxFrames, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->toolButton_cameraStereoVideo_path, SIGNAL(clicked()), this, SLOT(selectSourceStereoVideoPath())); connect(_ui->toolButton_cameraStereoVideo_path_2, SIGNAL(clicked()), this, SLOT(selectSourceStereoVideoPath2())); connect(_ui->lineEdit_cameraStereoVideo_path, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->lineEdit_cameraStereoVideo_path_2, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->spinBox_stereo_right_device, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->spinBox_stereousbcam_streamWidth, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->spinBox_stereousbcam_streamHeight, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->lineEdit_stereousbcam_fourcc, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->comboBox_stereoZed_resolution, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->comboBox_stereoZed_quality, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->comboBox_stereoZed_quality, SIGNAL(currentIndexChanged(int)), this, SLOT(updateStereoDisparityVisibility())); connect(_ui->checkbox_stereoZed_selfCalibration, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->comboBox_cameraStereo, SIGNAL(currentIndexChanged(int)), this, SLOT(updateStereoDisparityVisibility())); connect(_ui->comboBox_stereoZed_sensingMode, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->spinBox_stereoZed_confidenceThr, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->spinBox_stereoZed_texturenessConfidenceThr, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->toolButton_zedSvoPath, SIGNAL(clicked()), this, SLOT(selectSourceSvoPath())); connect(_ui->lineEdit_zedSvoPath, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->checkbox_stereoMyntEye_rectify, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->checkbox_stereoMyntEye_depth, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->checkbox_stereoMyntEye_autoExposure, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->spinBox_stereoMyntEye_gain, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->spinBox_stereoMyntEye_brightness, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->spinBox_stereoMyntEye_contrast, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->spinBox_stereoMyntEye_irControl, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->comboBox_depthai_image_width, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->comboBox_depthai_output_mode, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->spinBox_depthai_conf_threshold, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->spinBox_depthai_lrc_threshold, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->checkBox_depthai_extended_disparity, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->checkBox_depthai_disparity_companding, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->comboBox_depthai_subpixel_fractional_bits, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->comboBox_depthai_disparity_width, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->comboBox_depthai_median_filter, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->checkBox_depthai_use_spec_translation, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->doubleSpinBox_depthai_alpha_scaling, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->checkBox_depthai_imu_published, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->doubleSpinBox_depthai_dot_intensity, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->doubleSpinBox_depthai_flood_intensity, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->comboBox_depthai_detect_features, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->lineEdit_depthai_blob_path, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->toolButton_depthai_blob_path, SIGNAL(clicked()), this, SLOT(selectSourceDepthaiBlobPath())); connect(_ui->checkbox_rgbd_colorOnly, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->spinBox_source_imageDecimation, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->comboBox_source_histogramMethod, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->checkbox_source_feature_detection, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->checkbox_stereo_depthGenerated, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->checkBox_stereo_exposureCompensation, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->checkBox_stereo_rightGrayScale, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->pushButton_calibrate, SIGNAL(clicked()), this, SLOT(calibrate())); connect(_ui->pushButton_calibrate_simple, SIGNAL(clicked()), this, SLOT(calibrateSimple())); connect(_ui->toolButton_openniOniPath, SIGNAL(clicked()), this, SLOT(selectSourceOniPath())); connect(_ui->toolButton_openni2OniPath, SIGNAL(clicked()), this, SLOT(selectSourceOni2Path())); connect(_ui->comboBox_k4a_rgb_resolution, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->comboBox_k4a_framerate, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->comboBox_k4a_depth_resolution, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->checkbox_k4a_irDepth, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->toolButton_k4a_mkv, SIGNAL(clicked()), this, SLOT(selectSourceMKVPath())); connect(_ui->toolButton_source_distortionModel, SIGNAL(clicked()), this, SLOT(selectSourceDistortionModel())); connect(_ui->toolButton_distortionModel, SIGNAL(clicked()), this, SLOT(visualizeDistortionModel())); connect(_ui->lineEdit_openniOniPath, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->lineEdit_openni2OniPath, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->lineEdit_k4a_mkv, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->source_checkBox_useMKVStamps, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->lineEdit_source_distortionModel, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->groupBox_bilateral, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->doubleSpinBox_bilateral_sigmaS, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->doubleSpinBox_bilateral_sigmaR, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->lineEdit_odom_sensor_extrinsics, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->comboBox_odom_sensor, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->toolButton_odom_sensor_path_calibration, SIGNAL(clicked()), this, SLOT(selectOdomSensorCalibrationPath())); connect(_ui->pushButton_odom_sensor_calibrate, SIGNAL(clicked()), this, SLOT(calibrateOdomSensorExtrinsics())); connect(_ui->lineEdit_odom_sensor_path_calibration, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->lineEdit_odomSourceDevice, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->doubleSpinBox_odom_sensor_time_offset, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->doubleSpinBox_odom_sensor_scale_factor, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->doubleSpinBox_odom_sensor_wait_time, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->checkBox_odom_sensor_use_as_gt, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->comboBox_imuFilter_strategy, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->comboBox_imuFilter_strategy, SIGNAL(currentIndexChanged(int)), _ui->stackedWidget_imuFilter, SLOT(setCurrentIndex(int))); _ui->stackedWidget_imuFilter->setCurrentIndex(_ui->comboBox_imuFilter_strategy->currentIndex()); connect(_ui->checkBox_imuFilter_baseFrameConversion, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->checkbox_publishInterIMU, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->comboBox_lidar_src, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->comboBox_lidar_src, SIGNAL(currentIndexChanged(int)), _ui->stackedWidget_lidar_src, SLOT(setCurrentIndex(int))); _ui->stackedWidget_lidar_src->setCurrentIndex(_ui->comboBox_lidar_src->currentIndex()); connect(_ui->checkBox_source_scanDeskewing, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->checkBox_source_scanFromDepth, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->spinBox_source_scanDownsampleStep, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->doubleSpinBox_source_scanRangeMin, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->doubleSpinBox_source_scanRangeMax, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->doubleSpinBox_source_scanVoxelSize, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->spinBox_source_scanNormalsK, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->doubleSpinBox_source_scanNormalsRadius, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->doubleSpinBox_source_scanNormalsForceGroundUp, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->lineEdit_lidar_local_transform, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->toolButton_vlp16_pcap_path, SIGNAL(clicked()), this, SLOT(selectVlp16PcapPath())); connect(_ui->lineEdit_vlp16_pcap_path, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->spinBox_vlp16_ip1, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->spinBox_vlp16_ip2, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->spinBox_vlp16_ip2, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->spinBox_vlp16_ip4, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->spinBox_vlp16_port, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->checkBox_vlp16_organized, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->checkBox_vlp16_hostTime, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel())); connect(_ui->checkBox_vlp16_stamp_last, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel())); //Rtabmap basic connect(_ui->general_doubleSpinBox_timeThr, SIGNAL(valueChanged(double)), _ui->general_doubleSpinBox_timeThr_2, SLOT(setValue(double))); connect(_ui->general_doubleSpinBox_hardThr, SIGNAL(valueChanged(double)), _ui->general_doubleSpinBox_hardThr_2, SLOT(setValue(double))); connect(_ui->doubleSpinBox_similarityThreshold, SIGNAL(valueChanged(double)), _ui->doubleSpinBox_similarityThreshold_2, SLOT(setValue(double))); connect(_ui->general_doubleSpinBox_detectionRate, SIGNAL(valueChanged(double)), _ui->general_doubleSpinBox_detectionRate_2, SLOT(setValue(double))); connect(_ui->general_spinBox_imagesBufferSize, SIGNAL(valueChanged(int)), _ui->general_spinBox_imagesBufferSize_2, SLOT(setValue(int))); connect(_ui->general_spinBox_maxStMemSize, SIGNAL(valueChanged(int)), _ui->general_spinBox_maxStMemSize_2, SLOT(setValue(int))); connect(_ui->general_doubleSpinBox_timeThr_2, SIGNAL(editingFinished()), this, SLOT(updateBasicParameter())); connect(_ui->general_doubleSpinBox_hardThr_2, SIGNAL(editingFinished()), this, SLOT(updateBasicParameter())); connect(_ui->doubleSpinBox_similarityThreshold_2, SIGNAL(editingFinished()), this, SLOT(updateBasicParameter())); connect(_ui->general_doubleSpinBox_detectionRate_2, SIGNAL(editingFinished()), this, SLOT(updateBasicParameter())); connect(_ui->general_spinBox_imagesBufferSize_2, SIGNAL(editingFinished()), this, SLOT(updateBasicParameter())); connect(_ui->general_spinBox_maxStMemSize_2, SIGNAL(editingFinished()), this, SLOT(updateBasicParameter())); connect(_ui->groupBox_publishing, SIGNAL(toggled(bool)), this, SLOT(updateBasicParameter())); connect(_ui->general_checkBox_publishStats_2, SIGNAL(stateChanged(int)), this, SLOT(updateBasicParameter())); connect(_ui->general_checkBox_activateRGBD, SIGNAL(stateChanged(int)), this, SLOT(updateBasicParameter())); connect(_ui->general_checkBox_activateRGBD_2, SIGNAL(stateChanged(int)), this, SLOT(updateBasicParameter())); connect(_ui->general_checkBox_SLAM_mode, SIGNAL(stateChanged(int)), this, SLOT(updateBasicParameter())); connect(_ui->general_checkBox_SLAM_mode_2, SIGNAL(stateChanged(int)), this, SLOT(updateBasicParameter())); // Map objects name with the corresponding parameter key, needed for the addParameter() slots //Rtabmap _ui->groupBox_publishing->setObjectName(Parameters::kRtabmapPublishStats().c_str()); _ui->general_checkBox_publishRawData->setObjectName(Parameters::kRtabmapPublishLastSignature().c_str()); _ui->general_checkBox_publishPdf->setObjectName(Parameters::kRtabmapPublishPdf().c_str()); _ui->general_checkBox_publishLikelihood->setObjectName(Parameters::kRtabmapPublishLikelihood().c_str()); _ui->general_checkBox_publishRMSE->setObjectName(Parameters::kRtabmapComputeRMSE().c_str()); _ui->general_checkBox_saveWMState->setObjectName(Parameters::kRtabmapSaveWMState().c_str()); _ui->general_checkBox_publishRAM->setObjectName(Parameters::kRtabmapPublishRAMUsage().c_str()); _ui->general_checkBox_statisticLogsBufferedInRAM->setObjectName(Parameters::kRtabmapStatisticLogsBufferedInRAM().c_str()); _ui->groupBox_statistics->setObjectName(Parameters::kRtabmapStatisticLogged().c_str()); _ui->general_checkBox_statisticLoggedHeaders->setObjectName(Parameters::kRtabmapStatisticLoggedHeaders().c_str()); _ui->general_doubleSpinBox_timeThr->setObjectName(Parameters::kRtabmapTimeThr().c_str()); _ui->general_spinBox_memoryThr->setObjectName(Parameters::kRtabmapMemoryThr().c_str()); _ui->general_doubleSpinBox_detectionRate->setObjectName(Parameters::kRtabmapDetectionRate().c_str()); _ui->general_spinBox_imagesBufferSize->setObjectName(Parameters::kRtabmapImageBufferSize().c_str()); _ui->general_checkBox_createIntermediateNodes->setObjectName(Parameters::kRtabmapCreateIntermediateNodes().c_str()); _ui->general_spinBox_maxRetrieved->setObjectName(Parameters::kRtabmapMaxRetrieved().c_str()); _ui->general_spinBox_max_republished->setObjectName(Parameters::kRtabmapMaxRepublished().c_str()); _ui->general_checkBox_startNewMapOnLoopClosure->setObjectName(Parameters::kRtabmapStartNewMapOnLoopClosure().c_str()); _ui->general_checkBox_startNewMapOnGoodSignature->setObjectName(Parameters::kRtabmapStartNewMapOnGoodSignature().c_str()); _ui->general_checkBox_imagesAlreadyRectified->setObjectName(Parameters::kRtabmapImagesAlreadyRectified().c_str()); _ui->general_checkBox_rectifyOnlyFeatures->setObjectName(Parameters::kRtabmapRectifyOnlyFeatures().c_str()); _ui->checkBox_rtabmap_loopGPS->setObjectName(Parameters::kRtabmapLoopGPS().c_str()); _ui->lineEdit_workingDirectory->setObjectName(Parameters::kRtabmapWorkingDirectory().c_str()); connect(_ui->toolButton_workingDirectory, SIGNAL(clicked()), this, SLOT(changeWorkingDirectory())); // Memory _ui->general_checkBox_keepRawData->setObjectName(Parameters::kMemImageKept().c_str()); _ui->general_checkBox_keepBinaryData->setObjectName(Parameters::kMemBinDataKept().c_str()); _ui->general_checkBox_saveIntermediateNodeData->setObjectName(Parameters::kMemIntermediateNodeDataKept().c_str()); _ui->lineEdit_rgbCompressionFormat->setObjectName(Parameters::kMemImageCompressionFormat().c_str()); _ui->lineEdit_depthCompressionFormat->setObjectName(Parameters::kMemDepthCompressionFormat().c_str()); _ui->general_checkBox_keepDescriptors->setObjectName(Parameters::kMemRawDescriptorsKept().c_str()); _ui->general_checkBox_saveDepth16bits->setObjectName(Parameters::kMemSaveDepth16Format().c_str()); _ui->general_checkBox_compressionParallelized->setObjectName(Parameters::kMemCompressionParallelized().c_str()); _ui->general_checkBox_reduceGraph->setObjectName(Parameters::kMemReduceGraph().c_str()); _ui->general_checkBox_keepNotLinkedNodes->setObjectName(Parameters::kMemNotLinkedNodesKept().c_str()); _ui->general_spinBox_maxStMemSize->setObjectName(Parameters::kMemSTMSize().c_str()); _ui->doubleSpinBox_similarityThreshold->setObjectName(Parameters::kMemRehearsalSimilarity().c_str()); _ui->general_checkBox_SLAM_mode->setObjectName(Parameters::kMemIncrementalMemory().c_str()); _ui->general_checkBox_saveLocalizationData->setObjectName(Parameters::kMemLocalizationDataSaved().c_str()); _ui->general_doubleSpinBox_recentWmRatio->setObjectName(Parameters::kMemRecentWmRatio().c_str()); _ui->general_checkBox_transferSortingByWeightId->setObjectName(Parameters::kMemTransferSortingByWeightId().c_str()); _ui->general_checkBox_RehearsalIdUpdatedToNewOne->setObjectName(Parameters::kMemRehearsalIdUpdatedToNewOne().c_str()); _ui->general_checkBox_generateIds->setObjectName(Parameters::kMemGenerateIds().c_str()); _ui->general_checkBox_badSignaturesIgnored->setObjectName(Parameters::kMemBadSignaturesIgnored().c_str()); _ui->general_checkBox_createMapLabels->setObjectName(Parameters::kMemMapLabelsAdded().c_str()); _ui->general_checkBox_initWMWithAllNodes->setObjectName(Parameters::kMemInitWMWithAllNodes().c_str()); _ui->checkBox_localSpaceScanMatchingIDsSaved->setObjectName(Parameters::kRGBDScanMatchingIdsSavedInLinks().c_str()); _ui->checkBox_localSpaceCreateGlobalScanMap->setObjectName(Parameters::kRGBDProximityGlobalScanMap().c_str()); _ui->spinBox_imagePreDecimation->setObjectName(Parameters::kMemImagePreDecimation().c_str()); _ui->spinBox_imagePostDecimation->setObjectName(Parameters::kMemImagePostDecimation().c_str()); _ui->general_spinBox_laserScanDownsample->setObjectName(Parameters::kMemLaserScanDownsampleStepSize().c_str()); _ui->general_doubleSpinBox_laserScanVoxelSize->setObjectName(Parameters::kMemLaserScanVoxelSize().c_str()); _ui->general_spinBox_laserScanNormalK->setObjectName(Parameters::kMemLaserScanNormalK().c_str()); _ui->general_doubleSpinBox_laserScanNormalRadius->setObjectName(Parameters::kMemLaserScanNormalRadius().c_str()); _ui->checkBox_useOdomFeatures->setObjectName(Parameters::kMemUseOdomFeatures().c_str()); _ui->memCovOffDiagIgnored->setObjectName(Parameters::kMemCovOffDiagIgnored().c_str()); _ui->general_checkBox_rotateImagesUpsideUp->setObjectName(Parameters::kMemRotateImagesUpsideUp().c_str()); // Database _ui->checkBox_dbInMemory->setObjectName(Parameters::kDbSqlite3InMemory().c_str()); _ui->spinBox_dbCacheSize->setObjectName(Parameters::kDbSqlite3CacheSize().c_str()); _ui->comboBox_dbJournalMode->setObjectName(Parameters::kDbSqlite3JournalMode().c_str()); _ui->comboBox_dbSynchronous->setObjectName(Parameters::kDbSqlite3Synchronous().c_str()); _ui->comboBox_dbTempStore->setObjectName(Parameters::kDbSqlite3TempStore().c_str()); _ui->lineEdit_targetDatabaseVersion->setObjectName(Parameters::kDbTargetVersion().c_str()); // Create hypotheses _ui->general_doubleSpinBox_hardThr->setObjectName(Parameters::kRtabmapLoopThr().c_str()); _ui->general_doubleSpinBox_agressiveThr->setObjectName(Parameters::kRGBDAggressiveLoopThr().c_str()); _ui->general_doubleSpinBox_loopRatio->setObjectName(Parameters::kRtabmapLoopRatio().c_str()); _ui->comboBox_virtualPlaceLikelihoodRatio->setObjectName(Parameters::kRtabmapVirtualPlaceLikelihoodRatio().c_str()); _ui->comboBox_globalDescriptorExtractor->setObjectName(Parameters::kMemGlobalDescriptorStrategy().c_str()); connect(_ui->comboBox_globalDescriptorExtractor, SIGNAL(currentIndexChanged(int)), this, SLOT(updateGlobalDescriptorVisibility())); //Bayes _ui->general_doubleSpinBox_vp->setObjectName(Parameters::kBayesVirtualPlacePriorThr().c_str()); _ui->lineEdit_bayes_predictionLC->setObjectName(Parameters::kBayesPredictionLC().c_str()); _ui->checkBox_bayes_fullPredictionUpdate->setObjectName(Parameters::kBayesFullPredictionUpdate().c_str()); connect(_ui->lineEdit_bayes_predictionLC, SIGNAL(textChanged(const QString &)), this, SLOT(updatePredictionPlot())); //Keypoint-based _ui->comboBox_dictionary_strategy->setObjectName(Parameters::kKpNNStrategy().c_str()); _ui->checkBox_dictionary_incremental->setObjectName(Parameters::kKpIncrementalDictionary().c_str()); _ui->checkBox_kp_incrementalFlann->setObjectName(Parameters::kKpIncrementalFlann().c_str()); _ui->checkBox_kp_byteToFloat->setObjectName(Parameters::kKpByteToFloat().c_str()); _ui->surf_doubleSpinBox_rebalancingFactor->setObjectName(Parameters::kKpFlannRebalancingFactor().c_str()); _ui->comboBox_detector_strategy->setObjectName(Parameters::kKpDetectorStrategy().c_str()); _ui->surf_doubleSpinBox_nndrRatio->setObjectName(Parameters::kKpNndrRatio().c_str()); _ui->surf_doubleSpinBox_maxDepth->setObjectName(Parameters::kKpMaxDepth().c_str()); _ui->surf_doubleSpinBox_minDepth->setObjectName(Parameters::kKpMinDepth().c_str()); _ui->checkBox_memDepthAsMask->setObjectName(Parameters::kMemDepthAsMask().c_str()); _ui->doubleSpinBox_memDepthMaskFloorThr->setObjectName(Parameters::kMemDepthMaskFloorThr().c_str()); _ui->checkBox_memStereoFromMotion->setObjectName(Parameters::kMemStereoFromMotion().c_str()); _ui->surf_spinBox_wordsPerImageTarget->setObjectName(Parameters::kKpMaxFeatures().c_str()); _ui->checkBox_kp_ssc->setObjectName(Parameters::kKpSSC().c_str()); _ui->spinBox_KPGridRows->setObjectName(Parameters::kKpGridRows().c_str()); _ui->spinBox_KPGridCols->setObjectName(Parameters::kKpGridCols().c_str()); _ui->surf_doubleSpinBox_ratioBadSign->setObjectName(Parameters::kKpBadSignRatio().c_str()); _ui->checkBox_kp_tfIdfLikelihoodUsed->setObjectName(Parameters::kKpTfIdfLikelihoodUsed().c_str()); _ui->checkBox_kp_parallelized->setObjectName(Parameters::kKpParallelized().c_str()); _ui->lineEdit_kp_roi->setObjectName(Parameters::kKpRoiRatios().c_str()); _ui->lineEdit_dictionaryPath->setObjectName(Parameters::kKpDictionaryPath().c_str()); connect(_ui->toolButton_dictionaryPath, SIGNAL(clicked()), this, SLOT(changeDictionaryPath())); _ui->checkBox_kp_newWordsComparedTogether->setObjectName(Parameters::kKpNewWordsComparedTogether().c_str()); _ui->subpix_winSize_kp->setObjectName(Parameters::kKpSubPixWinSize().c_str()); _ui->subpix_iterations_kp->setObjectName(Parameters::kKpSubPixIterations().c_str()); _ui->subpix_eps_kp->setObjectName(Parameters::kKpSubPixEps().c_str()); _ui->subpix_winSize->setObjectName(Parameters::kKpSubPixWinSize().c_str()); _ui->subpix_iterations->setObjectName(Parameters::kKpSubPixIterations().c_str()); _ui->subpix_eps->setObjectName(Parameters::kKpSubPixEps().c_str()); //SURF detector _ui->surf_doubleSpinBox_hessianThr->setObjectName(Parameters::kSURFHessianThreshold().c_str()); _ui->surf_spinBox_octaves->setObjectName(Parameters::kSURFOctaves().c_str()); _ui->surf_spinBox_octaveLayers->setObjectName(Parameters::kSURFOctaveLayers().c_str()); _ui->checkBox_surfExtended->setObjectName(Parameters::kSURFExtended().c_str()); _ui->surf_checkBox_upright->setObjectName(Parameters::kSURFUpright().c_str()); _ui->surf_checkBox_gpuVersion->setObjectName(Parameters::kSURFGpuVersion().c_str()); _ui->surf_doubleSpinBox_gpuKeypointsRatio->setObjectName(Parameters::kSURFGpuKeypointsRatio().c_str()); //SIFT detector _ui->sift_spinBox_nOctaveLayers->setObjectName(Parameters::kSIFTNOctaveLayers().c_str()); _ui->sift_doubleSpinBox_contrastThr->setObjectName(Parameters::kSIFTContrastThreshold().c_str()); _ui->sift_doubleSpinBox_edgeThr->setObjectName(Parameters::kSIFTEdgeThreshold().c_str()); _ui->sift_doubleSpinBox_sigma->setObjectName(Parameters::kSIFTSigma().c_str()); _ui->sift_checkBox_preciseUpscale->setObjectName(Parameters::kSIFTPreciseUpscale().c_str()); _ui->sift_checkBox_rootsift->setObjectName(Parameters::kSIFTRootSIFT().c_str()); _ui->sift_checkBox_gpu->setObjectName(Parameters::kSIFTGpu().c_str()); _ui->sift_doubleSpinBox_gaussianDiffThreshold->setObjectName(Parameters::kSIFTGaussianThreshold().c_str()); _ui->sift_checkBox_upscale->setObjectName(Parameters::kSIFTUpscale().c_str()); //BRIEF descriptor _ui->briefBytes->setObjectName(Parameters::kBRIEFBytes().c_str()); //FAST detector _ui->fastSuppressNonMax->setObjectName(Parameters::kFASTNonmaxSuppression().c_str()); _ui->fastThreshold->setObjectName(Parameters::kFASTThreshold().c_str()); _ui->fastThresholdMin->setObjectName(Parameters::kFASTMinThreshold().c_str()); _ui->fastThresholdMax->setObjectName(Parameters::kFASTMaxThreshold().c_str()); _ui->fastGridRows->setObjectName(Parameters::kFASTGridRows().c_str()); _ui->fastGridCols->setObjectName(Parameters::kFASTGridCols().c_str()); _ui->fastGpu->setObjectName(Parameters::kFASTGpu().c_str()); _ui->fastKeypointRatio->setObjectName(Parameters::kFASTGpuKeypointsRatio().c_str()); _ui->fastCV->setObjectName(Parameters::kFASTCV().c_str()); //ORB detector _ui->doubleSpinBox_ORBScaleFactor->setObjectName(Parameters::kORBScaleFactor().c_str()); _ui->spinBox_ORBNLevels->setObjectName(Parameters::kORBNLevels().c_str()); _ui->spinBox_ORBEdgeThreshold->setObjectName(Parameters::kORBEdgeThreshold().c_str()); _ui->spinBox_ORBFirstLevel->setObjectName(Parameters::kORBFirstLevel().c_str()); _ui->spinBox_ORBWTA_K->setObjectName(Parameters::kORBWTA_K().c_str()); _ui->spinBox_ORBScoreType->setObjectName(Parameters::kORBScoreType().c_str()); _ui->spinBox_ORBPatchSize->setObjectName(Parameters::kORBPatchSize().c_str()); _ui->checkBox_ORBGpu->setObjectName(Parameters::kORBGpu().c_str()); //FREAK descriptor _ui->checkBox_FREAKOrientationNormalized->setObjectName(Parameters::kFREAKOrientationNormalized().c_str()); _ui->checkBox_FREAKScaleNormalized->setObjectName(Parameters::kFREAKScaleNormalized().c_str()); _ui->doubleSpinBox_FREAKPatternScale->setObjectName(Parameters::kFREAKPatternScale().c_str()); _ui->spinBox_FREAKNOctaves->setObjectName(Parameters::kFREAKNOctaves().c_str()); //GFTT detector _ui->doubleSpinBox_GFTT_qualityLevel->setObjectName(Parameters::kGFTTQualityLevel().c_str()); _ui->doubleSpinBox_GFTT_minDistance->setObjectName(Parameters::kGFTTMinDistance().c_str()); _ui->spinBox_GFTT_blockSize->setObjectName(Parameters::kGFTTBlockSize().c_str()); _ui->checkBox_GFTT_useHarrisDetector->setObjectName(Parameters::kGFTTUseHarrisDetector().c_str()); _ui->doubleSpinBox_GFTT_k->setObjectName(Parameters::kGFTTK().c_str()); _ui->checkBox_GFTT_gpu->setObjectName(Parameters::kGFTTGpu().c_str()); //BRISK _ui->spinBox_BRISK_thresh->setObjectName(Parameters::kBRISKThresh().c_str()); _ui->spinBox_BRISK_octaves->setObjectName(Parameters::kBRISKOctaves().c_str()); _ui->doubleSpinBox_BRISK_patterScale->setObjectName(Parameters::kBRISKPatternScale().c_str()); //KAZE _ui->checkBox_kaze_extended->setObjectName(Parameters::kKAZEExtended().c_str()); _ui->checkBox_kaze_upright->setObjectName(Parameters::kKAZEUpright().c_str()); _ui->doubleSpinBox_kaze_threshold->setObjectName(Parameters::kKAZEThreshold().c_str()); _ui->spinBox_kaze_octaves->setObjectName(Parameters::kKAZENOctaves().c_str()); _ui->spinBox_kaze_octavelayers->setObjectName(Parameters::kKAZENOctaveLayers().c_str()); _ui->spinBox_kaze_diffusivity->setObjectName(Parameters::kKAZEDiffusivity().c_str()); // SuperPoint Torch _ui->lineEdit_sptorch_path->setObjectName(Parameters::kSuperPointModelPath().c_str()); connect(_ui->toolButton_sptorch_path, SIGNAL(clicked()), this, SLOT(changeSuperPointModelPath())); _ui->doubleSpinBox_sptorch_threshold->setObjectName(Parameters::kSuperPointThreshold().c_str()); _ui->checkBox_sptorch_nms->setObjectName(Parameters::kSuperPointNMS().c_str()); _ui->spinBox_sptorch_minDistance->setObjectName(Parameters::kSuperPointNMSRadius().c_str()); _ui->checkBox_sptorch_cuda->setObjectName(Parameters::kSuperPointCuda().c_str()); // PyMatcher _ui->lineEdit_pymatcher_path->setObjectName(Parameters::kPyMatcherPath().c_str()); connect(_ui->toolButton_pymatcher_path, SIGNAL(clicked()), this, SLOT(changePyMatcherPath())); _ui->pymatcher_matchThreshold->setObjectName(Parameters::kPyMatcherThreshold().c_str()); _ui->pymatcher_iterations->setObjectName(Parameters::kPyMatcherIterations().c_str()); _ui->checkBox_pymatcher_cuda->setObjectName(Parameters::kPyMatcherCuda().c_str()); _ui->lineEdit_pymatcher_model->setObjectName(Parameters::kPyMatcherModel().c_str()); connect(_ui->toolButton_pymatcher_model, SIGNAL(clicked()), this, SLOT(changePyMatcherModel())); // PyDetector _ui->lineEdit_pydetector_path->setObjectName(Parameters::kPyDetectorPath().c_str()); connect(_ui->toolButton_pydetector_path, SIGNAL(clicked()), this, SLOT(changePyDetectorPath())); _ui->checkBox_pydetector_cuda->setObjectName(Parameters::kPyDetectorCuda().c_str()); // GMS _ui->checkBox_gms_withRotation->setObjectName(Parameters::kGMSWithRotation().c_str()); _ui->checkBox_gms_withScale->setObjectName(Parameters::kGMSWithScale().c_str()); _ui->gms_thresholdFactor->setObjectName(Parameters::kGMSThresholdFactor().c_str()); // PyDescriptor _ui->lineEdit_pydescriptor_path->setObjectName(Parameters::kPyDescriptorPath().c_str()); connect(_ui->toolButton_pydescriptor_path, SIGNAL(clicked()), this, SLOT(changePyDescriptorPath())); _ui->pydescriptor_dim->setObjectName(Parameters::kPyDescriptorDim().c_str()); // verifyHypotheses _ui->groupBox_vh_epipolar2->setObjectName(Parameters::kVhEpEnabled().c_str()); _ui->surf_spinBox_matchCountMinAccepted->setObjectName(Parameters::kVhEpMatchCountMin().c_str()); _ui->surf_doubleSpinBox_ransacParam1->setObjectName(Parameters::kVhEpRansacParam1().c_str()); _ui->surf_doubleSpinBox_ransacParam2->setObjectName(Parameters::kVhEpRansacParam2().c_str()); // RGB-D SLAM _ui->general_checkBox_activateRGBD->setObjectName(Parameters::kRGBDEnabled().c_str()); _ui->rgdb_linearUpdate->setObjectName(Parameters::kRGBDLinearUpdate().c_str()); _ui->rgdb_angularUpdate->setObjectName(Parameters::kRGBDAngularUpdate().c_str()); _ui->rgdb_linearSpeedUpdate->setObjectName(Parameters::kRGBDLinearSpeedUpdate().c_str()); _ui->rgdb_angularSpeedUpdate->setObjectName(Parameters::kRGBDAngularSpeedUpdate().c_str()); _ui->rgbd_forceOdom3DoF->setObjectName(Parameters::kRGBDForceOdom3DoF().c_str()); _ui->rgbd_savedLocalizationIgnored->setObjectName(Parameters::kRGBDStartAtOrigin().c_str()); _ui->rgdb_rehearsalWeightIgnoredWhileMoving->setObjectName(Parameters::kMemRehearsalWeightIgnoredWhileMoving().c_str()); _ui->rgdb_newMapOdomChange->setObjectName(Parameters::kRGBDNewMapOdomChangeDistance().c_str()); _ui->odomScanHistory->setObjectName(Parameters::kRGBDNeighborLinkRefining().c_str()); _ui->odomGravity->setObjectName(Parameters::kMemUseOdomGravity().c_str()); _ui->spinBox_maxLocalLocationsRetrieved->setObjectName(Parameters::kRGBDMaxLocalRetrieved().c_str()); _ui->rgbd_loopCovLimited->setObjectName(Parameters::kRGBDLoopCovLimited().c_str()); _ui->graphOptimization_type->setObjectName(Parameters::kOptimizerStrategy().c_str()); _ui->graphOptimization_iterations->setObjectName(Parameters::kOptimizerIterations().c_str()); _ui->graphOptimization_covarianceIgnored->setObjectName(Parameters::kOptimizerVarianceIgnored().c_str()); _ui->graphOptimization_fromGraphEnd->setObjectName(Parameters::kRGBDOptimizeFromGraphEnd().c_str()); _ui->graphOptimization_maxError->setObjectName(Parameters::kRGBDOptimizeMaxError().c_str()); _ui->graphOptimization_gravitySigma->setObjectName(Parameters::kOptimizerGravitySigma().c_str()); _ui->graphOptimization_stopEpsilon->setObjectName(Parameters::kOptimizerEpsilon().c_str()); _ui->graphOptimization_robust->setObjectName(Parameters::kOptimizerRobust().c_str()); _ui->graphOptimization_priorsIgnored->setObjectName(Parameters::kOptimizerPriorsIgnored().c_str()); _ui->graphOptimization_landmarksIgnored->setObjectName(Parameters::kOptimizerLandmarksIgnored().c_str()); _ui->comboBox_g2o_solver->setObjectName(Parameters::kg2oSolver().c_str()); _ui->comboBox_g2o_optimizer->setObjectName(Parameters::kg2oOptimizer().c_str()); _ui->doubleSpinBox_g2o_pixelVariance->setObjectName(Parameters::kg2oPixelVariance().c_str()); _ui->doubleSpinBox_g2o_robustKernelDelta->setObjectName(Parameters::kg2oRobustKernelDelta().c_str()); _ui->doubleSpinBox_g2o_baseline->setObjectName(Parameters::kg2oBaseline().c_str()); _ui->comboBox_gtsam_optimizer->setObjectName(Parameters::kGTSAMOptimizer().c_str()); _ui->gtsam_incremental->setObjectName(Parameters::kGTSAMIncremental().c_str()); _ui->gtsam_incremental_threshold->setObjectName(Parameters::kGTSAMIncRelinearizeThreshold().c_str()); _ui->gtsam_incremental_skip->setObjectName(Parameters::kGTSAMIncRelinearizeSkip().c_str()); _ui->graphPlan_goalReachedRadius->setObjectName(Parameters::kRGBDGoalReachedRadius().c_str()); _ui->graphPlan_goalsSavedInUserData->setObjectName(Parameters::kRGBDGoalsSavedInUserData().c_str()); _ui->graphPlan_stuckIterations->setObjectName(Parameters::kRGBDPlanStuckIterations().c_str()); _ui->graphPlan_linearVelocity->setObjectName(Parameters::kRGBDPlanLinearVelocity().c_str()); _ui->graphPlan_angularVelocity->setObjectName(Parameters::kRGBDPlanAngularVelocity().c_str()); _ui->groupBox_localDetection_time->setObjectName(Parameters::kRGBDProximityByTime().c_str()); _ui->groupBox_localDetection_space->setObjectName(Parameters::kRGBDProximityBySpace().c_str()); _ui->localDetection_radius->setObjectName(Parameters::kRGBDLocalRadius().c_str()); _ui->maxLocalizationDistance->setObjectName(Parameters::kRGBDMaxLoopClosureDistance().c_str()); _ui->localDetection_maxDiffID->setObjectName(Parameters::kRGBDProximityMaxGraphDepth().c_str()); _ui->localDetection_maxNeighbors->setObjectName(Parameters::kRGBDProximityPathMaxNeighbors().c_str()); _ui->localDetection_maxPaths->setObjectName(Parameters::kRGBDProximityMaxPaths().c_str()); _ui->localDetection_pathFilteringRadius->setObjectName(Parameters::kRGBDProximityPathFilteringRadius().c_str()); _ui->localDetection_angle->setObjectName(Parameters::kRGBDProximityAngle().c_str()); _ui->localDetection_mergedScanCovFactor->setObjectName(Parameters::kRGBDProximityMergedScanCovFactor().c_str()); _ui->checkBox_localSpaceOdomGuess->setObjectName(Parameters::kRGBDProximityOdomGuess().c_str()); _ui->checkBox_localSpacePathOdomPosesUsed->setObjectName(Parameters::kRGBDProximityPathRawPosesUsed().c_str()); _ui->rgdb_localImmunizationRatio->setObjectName(Parameters::kRGBDLocalImmunizationRatio().c_str()); _ui->loopClosure_identityGuess->setObjectName(Parameters::kRGBDLoopClosureIdentityGuess().c_str()); _ui->loopClosure_reextract->setObjectName(Parameters::kRGBDLoopClosureReextractFeatures().c_str()); _ui->loopClosure_bunlde->setObjectName(Parameters::kRGBDLocalBundleOnLoopClosure().c_str()); _ui->loopClosure_invertedReg->setObjectName(Parameters::kRGBDInvertedReg().c_str()); _ui->checkbox_rgbd_createOccupancyGrid->setObjectName(Parameters::kRGBDCreateOccupancyGrid().c_str()); _ui->RGBDMarkerDetection->setObjectName(Parameters::kRGBDMarkerDetection().c_str()); _ui->spinBox_maxOdomCacheSize->setObjectName(Parameters::kRGBDMaxOdomCacheSize().c_str()); _ui->checkbox_localizationSmoothing->setObjectName(Parameters::kRGBDLocalizationSmoothing().c_str()); _ui->doubleSpinBox_localizationPriorError->setObjectName(Parameters::kRGBDLocalizationPriorError().c_str()); _ui->checkbox_localizationSecondTryWithoutProximityLinks->setObjectName(Parameters::kRGBDLocalizationSecondTryWithoutProximityLinks().c_str()); // Registration _ui->reg_repeatOnce->setObjectName(Parameters::kRegRepeatOnce().c_str()); _ui->comboBox_registrationStrategy->setObjectName(Parameters::kRegStrategy().c_str()); _ui->loopClosure_bowForce2D->setObjectName(Parameters::kRegForce3DoF().c_str()); //RegistrationVis _ui->loopClosure_bowMinInliers->setObjectName(Parameters::kVisMinInliers().c_str()); _ui->loopClosure_bowInlierDistance->setObjectName(Parameters::kVisInlierDistance().c_str()); _ui->loopClosure_bowIterations->setObjectName(Parameters::kVisIterations().c_str()); _ui->loopClosure_bowRefineIterations->setObjectName(Parameters::kVisRefineIterations().c_str()); _ui->visMeanDistance->setObjectName(Parameters::kVisMeanInliersDistance().c_str()); _ui->visMinDistribution->setObjectName(Parameters::kVisMinInliersDistribution().c_str()); _ui->loopClosure_estimationType->setObjectName(Parameters::kVisEstimationType().c_str()); connect(_ui->loopClosure_estimationType, SIGNAL(currentIndexChanged(int)), _ui->stackedWidget_loopClosureEstimation, SLOT(setCurrentIndex(int))); _ui->stackedWidget_loopClosureEstimation->setCurrentIndex(Parameters::defaultVisEstimationType()); _ui->loopClosure_bowEpipolarGeometryVar->setObjectName(Parameters::kVisEpipolarGeometryVar().c_str()); _ui->loopClosure_pnpReprojError->setObjectName(Parameters::kVisPnPReprojError().c_str()); _ui->loopClosure_pnpFlags->setObjectName(Parameters::kVisPnPFlags().c_str()); _ui->loopClosure_pnpRefineIterations->setObjectName(Parameters::kVisPnPRefineIterations().c_str()); _ui->loopClosure_pnpVarMedianRatio->setObjectName(Parameters::kVisPnPVarianceMedianRatio().c_str()); _ui->loopClosure_pnpMaxVariance->setObjectName(Parameters::kVisPnPMaxVariance().c_str()); _ui->loopClosure_pnpSamplingPolicy->setObjectName(Parameters::kVisPnPSamplingPolicy().c_str()); _ui->loopClosure_pnpSplitLinearCovComponents->setObjectName(Parameters::kVisPnPSplitLinearCovComponents().c_str()); _ui->reextract_nn->setObjectName(Parameters::kVisCorNNType().c_str()); connect(_ui->reextract_nn, SIGNAL(currentIndexChanged(int)), this, SLOT(updateFeatureMatchingVisibility())); _ui->reextract_nndrRatio->setObjectName(Parameters::kVisCorNNDR().c_str()); _ui->spinBox_visCorGuessWinSize->setObjectName(Parameters::kVisCorGuessWinSize().c_str()); _ui->checkBox_visCorGuessMatchToProjection->setObjectName(Parameters::kVisCorGuessMatchToProjection().c_str()); _ui->vis_feature_detector->setObjectName(Parameters::kVisFeatureType().c_str()); _ui->reextract_maxFeatures->setObjectName(Parameters::kVisMaxFeatures().c_str()); _ui->checkBox_visSSC->setObjectName(Parameters::kVisSSC().c_str()); _ui->reextract_gridrows->setObjectName(Parameters::kVisGridRows().c_str()); _ui->reextract_gridcols->setObjectName(Parameters::kVisGridCols().c_str()); _ui->loopClosure_bowMaxDepth->setObjectName(Parameters::kVisMaxDepth().c_str()); _ui->loopClosure_bowMinDepth->setObjectName(Parameters::kVisMinDepth().c_str()); _ui->checkBox_visDepthAsMask->setObjectName(Parameters::kVisDepthAsMask().c_str()); _ui->doubleSpinBox_visDepthMaskFloorThr->setObjectName(Parameters::kVisDepthMaskFloorThr().c_str()); _ui->loopClosure_roi->setObjectName(Parameters::kVisRoiRatios().c_str()); _ui->subpix_winSize->setObjectName(Parameters::kVisSubPixWinSize().c_str()); _ui->subpix_iterations->setObjectName(Parameters::kVisSubPixIterations().c_str()); _ui->subpix_eps->setObjectName(Parameters::kVisSubPixEps().c_str()); _ui->odom_flow_winSize->setObjectName(Parameters::kVisCorFlowWinSize().c_str()); _ui->odom_flow_maxLevel->setObjectName(Parameters::kVisCorFlowMaxLevel().c_str()); _ui->odom_flow_iterations->setObjectName(Parameters::kVisCorFlowIterations().c_str()); _ui->odom_flow_eps->setObjectName(Parameters::kVisCorFlowEps().c_str()); _ui->odom_flow_gpu->setObjectName(Parameters::kVisCorFlowGpu().c_str()); _ui->loopClosure_bundle->setObjectName(Parameters::kVisBundleAdjustment().c_str()); //RegistrationIcp _ui->comboBox_icpStrategy->setObjectName(Parameters::kIcpStrategy().c_str()); connect(_ui->comboBox_icpStrategy, SIGNAL(currentIndexChanged(int)), _ui->stackedWidget_icpStrategy, SLOT(setCurrentIndex(int))); _ui->comboBox_icpStrategy->setCurrentIndex(Parameters::defaultIcpStrategy()); _ui->globalDetection_icpMaxTranslation->setObjectName(Parameters::kIcpMaxTranslation().c_str()); _ui->globalDetection_icpMaxRotation->setObjectName(Parameters::kIcpMaxRotation().c_str()); _ui->loopClosure_icpVoxelSize->setObjectName(Parameters::kIcpVoxelSize().c_str()); _ui->loopClosure_icpDownsamplingStep->setObjectName(Parameters::kIcpDownsamplingStep().c_str()); _ui->loopClosure_icpRangeMin->setObjectName(Parameters::kIcpRangeMin().c_str()); _ui->loopClosure_icpRangeMax->setObjectName(Parameters::kIcpRangeMax().c_str()); _ui->loopClosure_icpFiltersEnabled->setObjectName(Parameters::kIcpFiltersEnabled().c_str()); _ui->loopClosure_icpMaxCorrespondenceDistance->setObjectName(Parameters::kIcpMaxCorrespondenceDistance().c_str()); _ui->loopClosure_icpReciprocalCorrespondences->setObjectName(Parameters::kIcpReciprocalCorrespondences().c_str()); _ui->loopClosure_icpIterations->setObjectName(Parameters::kIcpIterations().c_str()); _ui->loopClosure_icpEpsilon->setObjectName(Parameters::kIcpEpsilon().c_str()); _ui->loopClosure_icpRatio->setObjectName(Parameters::kIcpCorrespondenceRatio().c_str()); _ui->doubleSpinBox_icpOutlierRatio->setObjectName(Parameters::kIcpOutlierRatio().c_str()); _ui->loopClosure_icpPointToPlane->setObjectName(Parameters::kIcpPointToPlane().c_str()); _ui->loopClosure_icpPointToPlaneNormals->setObjectName(Parameters::kIcpPointToPlaneK().c_str()); _ui->loopClosure_icpPointToPlaneNormalsRadius->setObjectName(Parameters::kIcpPointToPlaneRadius().c_str()); _ui->loopClosure_icpPointToPlaneGroundNormalsUp->setObjectName(Parameters::kIcpPointToPlaneGroundNormalsUp().c_str()); _ui->loopClosure_icpPointToPlaneNormalsMinComplexity->setObjectName(Parameters::kIcpPointToPlaneMinComplexity().c_str()); _ui->loopClosure_icpPointToPlaneLowComplexityStrategy->setObjectName(Parameters::kIcpPointToPlaneLowComplexityStrategy().c_str()); _ui->loopClosure_icpDebugExportFormat->setObjectName(Parameters::kIcpDebugExportFormat().c_str()); _ui->lineEdit_IcpPMConfigPath->setObjectName(Parameters::kIcpPMConfig().c_str()); connect(_ui->toolButton_IcpConfigPath, SIGNAL(clicked()), this, SLOT(changeIcpPMConfigPath())); _ui->spinBox_icpPMMatcherKnn->setObjectName(Parameters::kIcpPMMatcherKnn().c_str()); _ui->doubleSpinBox_icpPMMatcherEpsilon->setObjectName(Parameters::kIcpPMMatcherEpsilon().c_str()); _ui->loopClosure_icpPMMatcherIntensity->setObjectName(Parameters::kIcpPMMatcherIntensity().c_str()); _ui->loopClosure_icpForce4DoF->setObjectName(Parameters::kIcpForce4DoF().c_str()); _ui->spinBox_icpCCSamplingLimit->setObjectName(Parameters::kIcpCCSamplingLimit().c_str()); _ui->checkBox_icpCCFilterOutFarthestPoints->setObjectName(Parameters::kIcpCCFilterOutFarthestPoints().c_str()); _ui->doubleSpinBox_icpCCMaxFinalRMS->setObjectName(Parameters::kIcpCCMaxFinalRMS().c_str()); // Occupancy grid _ui->groupBox_grid_3d->setObjectName(Parameters::kGrid3D().c_str()); _ui->checkBox_grid_groundObstacle->setObjectName(Parameters::kGridGroundIsObstacle().c_str()); _ui->doubleSpinBox_grid_resolution->setObjectName(Parameters::kGridCellSize().c_str()); _ui->checkBox_grid_preVoxelFiltering->setObjectName(Parameters::kGridPreVoxelFiltering().c_str()); _ui->spinBox_grid_decimation->setObjectName(Parameters::kGridDepthDecimation().c_str()); _ui->doubleSpinBox_grid_maxDepth->setObjectName(Parameters::kGridRangeMax().c_str()); _ui->doubleSpinBox_grid_minDepth->setObjectName(Parameters::kGridRangeMin().c_str()); _ui->lineEdit_grid_roi->setObjectName(Parameters::kGridDepthRoiRatios().c_str()); _ui->checkBox_grid_projRayTracing->setObjectName(Parameters::kGridRayTracing().c_str()); _ui->doubleSpinBox_grid_footprintLength->setObjectName(Parameters::kGridFootprintLength().c_str()); _ui->doubleSpinBox_grid_footprintWidth->setObjectName(Parameters::kGridFootprintWidth().c_str()); _ui->doubleSpinBox_grid_footprintHeight->setObjectName(Parameters::kGridFootprintHeight().c_str()); _ui->checkBox_grid_flatObstaclesDetected->setObjectName(Parameters::kGridFlatObstacleDetected().c_str()); _ui->comboBox_grid_sensor->setObjectName(Parameters::kGridSensor().c_str()); _ui->checkBox_grid_projMapFrame->setObjectName(Parameters::kGridMapFrameProjection().c_str()); _ui->doubleSpinBox_grid_maxGroundAngle->setObjectName(Parameters::kGridMaxGroundAngle().c_str()); _ui->spinBox_grid_normalK->setObjectName(Parameters::kGridNormalK().c_str()); _ui->doubleSpinBox_grid_maxGroundHeight->setObjectName(Parameters::kGridMaxGroundHeight().c_str()); _ui->doubleSpinBox_grid_maxObstacleHeight->setObjectName(Parameters::kGridMaxObstacleHeight().c_str()); _ui->doubleSpinBox_grid_clusterRadius->setObjectName(Parameters::kGridClusterRadius().c_str()); _ui->spinBox_grid_minClusterSize->setObjectName(Parameters::kGridMinClusterSize().c_str()); _ui->doubleSpinBox_grid_minGroundHeight->setObjectName(Parameters::kGridMinGroundHeight().c_str()); _ui->spinBox_grid_noiseMinNeighbors->setObjectName(Parameters::kGridNoiseFilteringMinNeighbors().c_str()); _ui->doubleSpinBox_grid_noiseRadius->setObjectName(Parameters::kGridNoiseFilteringRadius().c_str()); _ui->groupBox_grid_normalsSegmentation->setObjectName(Parameters::kGridNormalsSegmentation().c_str()); _ui->checkBox_grid_unknownSpaceFilled->setObjectName(Parameters::kGridScan2dUnknownSpaceFilled().c_str()); _ui->spinBox_grid_scanDecimation->setObjectName(Parameters::kGridScanDecimation().c_str()); _ui->doubleSpinBox_grid_updateError->setObjectName(Parameters::kGridGlobalUpdateError().c_str()); _ui->doubleSpinBox_grid_minMapSize->setObjectName(Parameters::kGridGlobalMinSize().c_str()); _ui->spinBox_grid_maxNodes->setObjectName(Parameters::kGridGlobalMaxNodes().c_str()); _ui->doubleSpinBox_grid_altitudeDelta->setObjectName(Parameters::kGridGlobalAltitudeDelta().c_str()); _ui->doubleSpinBox_grid_footprintRadius->setObjectName(Parameters::kGridGlobalFootprintRadius().c_str()); _ui->doubleSpinBox_grid_occThr->setObjectName(Parameters::kGridGlobalOccupancyThr().c_str()); _ui->doubleSpinBox_grid_probHit->setObjectName(Parameters::kGridGlobalProbHit().c_str()); _ui->doubleSpinBox_grid_probMiss->setObjectName(Parameters::kGridGlobalProbMiss().c_str()); _ui->doubleSpinBox_grid_clampingMin->setObjectName(Parameters::kGridGlobalProbClampingMin().c_str()); _ui->doubleSpinBox_grid_clampingMax->setObjectName(Parameters::kGridGlobalProbClampingMax().c_str()); _ui->checkBox_grid_erode->setObjectName(Parameters::kGridGlobalEroded().c_str()); _ui->spinBox_grid_floodfilldepth->setObjectName(Parameters::kGridGlobalFloodFillDepth().c_str()); //Odometry _ui->odom_strategy->setObjectName(Parameters::kOdomStrategy().c_str()); connect(_ui->odom_strategy, SIGNAL(currentIndexChanged(int)), this, SLOT(updateOdometryStackedIndex(int))); _ui->odom_strategy->setCurrentIndex(Parameters::defaultOdomStrategy()); updateOdometryStackedIndex(Parameters::defaultOdomStrategy()); _ui->odom_countdown->setObjectName(Parameters::kOdomResetCountdown().c_str()); _ui->odom_holonomic->setObjectName(Parameters::kOdomHolonomic().c_str()); _ui->odom_fillInfoData->setObjectName(Parameters::kOdomFillInfoData().c_str()); _ui->odom_dataBufferSize->setObjectName(Parameters::kOdomImageBufferSize().c_str()); _ui->odom_flow_keyframeThr->setObjectName(Parameters::kOdomKeyFrameThr().c_str()); _ui->odom_VisKeyFrameThr->setObjectName(Parameters::kOdomVisKeyFrameThr().c_str()); _ui->odom_flow_scanKeyframeThr->setObjectName(Parameters::kOdomScanKeyFrameThr().c_str()); _ui->odom_flow_guessMotion->setObjectName(Parameters::kOdomGuessMotion().c_str()); _ui->odom_guess_smoothing_delay->setObjectName(Parameters::kOdomGuessSmoothingDelay().c_str()); _ui->odom_imageDecimation->setObjectName(Parameters::kOdomImageDecimation().c_str()); _ui->odom_alignWithGround->setObjectName(Parameters::kOdomAlignWithGround().c_str()); _ui->odom_lidar_deskewing->setObjectName(Parameters::kOdomDeskewing().c_str()); //Odometry Frame to Map _ui->odom_localHistory->setObjectName(Parameters::kOdomF2MMaxSize().c_str()); _ui->spinBox_odom_f2m_maxNewFeatures->setObjectName(Parameters::kOdomF2MMaxNewFeatures().c_str()); _ui->doubleSpinBox_odom_f2m_floorThreshold->setObjectName(Parameters::kOdomF2MFloorThreshold().c_str()); _ui->spinBox_odom_f2m_scanMaxSize->setObjectName(Parameters::kOdomF2MScanMaxSize().c_str()); _ui->doubleSpinBox_odom_f2m_scanRadius->setObjectName(Parameters::kOdomF2MScanSubtractRadius().c_str()); _ui->doubleSpinBox_odom_f2m_scanAngle->setObjectName(Parameters::kOdomF2MScanSubtractAngle().c_str()); _ui->doubleSpinBox_odom_f2m_scanRange->setObjectName(Parameters::kOdomF2MScanRange().c_str()); _ui->odom_f2m_validDepthRatio->setObjectName(Parameters::kOdomF2MValidDepthRatio().c_str()); _ui->odom_f2m_initDepthFactor->setObjectName(Parameters::kOdomF2MInitDepthFactor().c_str()); _ui->odom_f2m_bundleStrategy->setObjectName(Parameters::kOdomF2MBundleAdjustment().c_str()); _ui->odom_f2m_bundleMaxFrames->setObjectName(Parameters::kOdomF2MBundleAdjustmentMaxFrames().c_str()); _ui->odom_f2m_bundleMinMotion->setObjectName(Parameters::kOdomF2MBundleAdjustmentMinMotion().c_str()); _ui->odom_f2m_bundleMaxKeyFramesPerFeature->setObjectName(Parameters::kOdomF2MBundleAdjustmentMaxKeyFramesPerFeature().c_str()); _ui->odom_f2m_bundleUpdateFeatureMapOnAllFrames->setObjectName(Parameters::kOdomF2MBundleUpdateFeatureMapOnAllFrames().c_str()); //Odometry Frame To Frame _ui->comboBox_odomf2f_corType->setObjectName(Parameters::kVisCorType().c_str()); //Odometry Mono _ui->doubleSpinBox_minFlow->setObjectName(Parameters::kOdomMonoInitMinFlow().c_str()); _ui->doubleSpinBox_minInitTranslation->setObjectName(Parameters::kOdomMonoInitMinTranslation().c_str()); _ui->doubleSpinBox_minTranslation->setObjectName(Parameters::kOdomMonoMinTranslation().c_str()); _ui->doubleSpinBox_maxVariance->setObjectName(Parameters::kOdomMonoMaxVariance().c_str()); //Odometry particle filter _ui->odom_filteringStrategy->setObjectName(Parameters::kOdomFilteringStrategy().c_str()); _ui->stackedWidget_odometryFiltering->setCurrentIndex(_ui->odom_filteringStrategy->currentIndex()); connect(_ui->odom_filteringStrategy, SIGNAL(currentIndexChanged(int)), _ui->stackedWidget_odometryFiltering, SLOT(setCurrentIndex(int))); _ui->spinBox_particleSize->setObjectName(Parameters::kOdomParticleSize().c_str()); _ui->doubleSpinBox_particleNoiseT->setObjectName(Parameters::kOdomParticleNoiseT().c_str()); _ui->doubleSpinBox_particleLambdaT->setObjectName(Parameters::kOdomParticleLambdaT().c_str()); _ui->doubleSpinBox_particleNoiseR->setObjectName(Parameters::kOdomParticleNoiseR().c_str()); _ui->doubleSpinBox_particleLambdaR->setObjectName(Parameters::kOdomParticleLambdaR().c_str()); //Odometry Kalman filter _ui->doubleSpinBox_kalmanProcessNoise->setObjectName(Parameters::kOdomKalmanProcessNoise().c_str()); _ui->doubleSpinBox_kalmanMeasurementNoise->setObjectName(Parameters::kOdomKalmanMeasurementNoise().c_str()); //Odometry Fovis _ui->spinBox_OdomFovisFeatureWindowSize->setObjectName(Parameters::kOdomFovisFeatureWindowSize().c_str()); _ui->spinBox_OdomFovisMaxPyramidLevel->setObjectName(Parameters::kOdomFovisMaxPyramidLevel().c_str()); _ui->spinBox_OdomFovisMinPyramidLevel->setObjectName(Parameters::kOdomFovisMinPyramidLevel().c_str()); _ui->spinBox_OdomFovisTargetPixelsPerFeature->setObjectName(Parameters::kOdomFovisTargetPixelsPerFeature().c_str()); _ui->spinBox_OdomFovisFastThreshold->setObjectName(Parameters::kOdomFovisFastThreshold().c_str()); _ui->checkBox_OdomFovisUseAdaptiveThreshold->setObjectName(Parameters::kOdomFovisUseAdaptiveThreshold().c_str()); _ui->doubleSpinBox_OdomFovisFastThresholdAdaptiveGain->setObjectName(Parameters::kOdomFovisFastThresholdAdaptiveGain().c_str()); _ui->checkBox_OdomFovisUseHomographyInitialization->setObjectName(Parameters::kOdomFovisUseHomographyInitialization().c_str()); _ui->checkBox_OdomFovisUseBucketing->setObjectName(Parameters::kOdomFovisUseBucketing().c_str()); _ui->spinBox_OdomFovisBucketWidth->setObjectName(Parameters::kOdomFovisBucketWidth().c_str()); _ui->spinBox_OdomFovisBucketHeight->setObjectName(Parameters::kOdomFovisBucketHeight().c_str()); _ui->spinBox_OdomFovisMaxKeypointsPerBucket->setObjectName(Parameters::kOdomFovisMaxKeypointsPerBucket().c_str()); _ui->checkBox_OdomFovisUseImageNormalization->setObjectName(Parameters::kOdomFovisUseImageNormalization().c_str()); _ui->doubleSpinBox_OdomFovisInlierMaxReprojectionError->setObjectName(Parameters::kOdomFovisInlierMaxReprojectionError().c_str()); _ui->doubleSpinBox_OdomFovisCliqueInlierThreshold->setObjectName(Parameters::kOdomFovisCliqueInlierThreshold().c_str()); _ui->spinBox_OdomFovisMinFeaturesForEstimate->setObjectName(Parameters::kOdomFovisMinFeaturesForEstimate().c_str()); _ui->doubleSpinBox_OdomFovisMaxMeanReprojectionError->setObjectName(Parameters::kOdomFovisMaxMeanReprojectionError().c_str()); _ui->checkBox_OdomFovisUseSubpixelRefinement->setObjectName(Parameters::kOdomFovisUseSubpixelRefinement().c_str()); _ui->spinBox_OdomFovisFeatureSearchWindow->setObjectName(Parameters::kOdomFovisFeatureSearchWindow().c_str()); _ui->checkBox_OdomFovisUpdateTargetFeaturesWithRefined->setObjectName(Parameters::kOdomFovisUpdateTargetFeaturesWithRefined().c_str()); _ui->checkBox_OdomFovisStereoRequireMutualMatch->setObjectName(Parameters::kOdomFovisStereoRequireMutualMatch().c_str()); _ui->doubleSpinBox_OdomFovisStereoMaxDistEpipolarLine->setObjectName(Parameters::kOdomFovisStereoMaxDistEpipolarLine().c_str()); _ui->doubleSpinBox_OdomFovisStereoMaxRefinementDisplacement->setObjectName(Parameters::kOdomFovisStereoMaxRefinementDisplacement().c_str()); _ui->spinBox_OdomFovisStereoMaxDisparity->setObjectName(Parameters::kOdomFovisStereoMaxDisparity().c_str()); // Odometry viso2 _ui->spinBox_OdomViso2RansacIters->setObjectName(Parameters::kOdomViso2RansacIters().c_str()); _ui->doubleSpinBox_OdomViso2InlierThreshold->setObjectName(Parameters::kOdomViso2InlierThreshold().c_str()); _ui->checkBox_OdomViso2Reweighting->setObjectName(Parameters::kOdomViso2Reweighting().c_str()); _ui->spinBox_OdomViso2MatchNmsN->setObjectName(Parameters::kOdomViso2MatchNmsN().c_str()); _ui->spinBox_OdomViso2MatchNmsTau->setObjectName(Parameters::kOdomViso2MatchNmsTau().c_str()); _ui->spinBox_OdomViso2MatchBinsize->setObjectName(Parameters::kOdomViso2MatchBinsize().c_str()); _ui->spinBox_OdomViso2MatchRadius->setObjectName(Parameters::kOdomViso2MatchRadius().c_str()); _ui->spinBox_OdomViso2MatchDispTolerance->setObjectName(Parameters::kOdomViso2MatchDispTolerance().c_str()); _ui->spinBox_OdomViso2MatchOutlierDispTolerance->setObjectName(Parameters::kOdomViso2MatchOutlierDispTolerance().c_str()); _ui->spinBox_OdomViso2MatchOutlierFlowTolerance->setObjectName(Parameters::kOdomViso2MatchOutlierFlowTolerance().c_str()); _ui->checkBox_OdomViso2MatchMultiStage->setObjectName(Parameters::kOdomViso2MatchMultiStage().c_str()); _ui->checkBox_OdomViso2MatchHalfResolution->setObjectName(Parameters::kOdomViso2MatchHalfResolution().c_str()); _ui->spinBox_OdomViso2MatchRefinement->setObjectName(Parameters::kOdomViso2MatchRefinement().c_str()); _ui->spinBox_OdomViso2BucketMaxFeatures->setObjectName(Parameters::kOdomViso2BucketMaxFeatures().c_str()); _ui->doubleSpinBox_OdomViso2BucketWidth->setObjectName(Parameters::kOdomViso2BucketWidth().c_str()); _ui->doubleSpinBox_OdomViso2BucketHeight->setObjectName(Parameters::kOdomViso2BucketHeight().c_str()); // Odometry ORBSLAM _ui->lineEdit_OdomORBSLAMVocPath->setObjectName(Parameters::kOdomORBSLAMVocPath().c_str()); connect(_ui->toolButton_OdomORBSLAMVocPath, SIGNAL(clicked()), this, SLOT(changeOdometryORBSLAMVocabulary())); _ui->doubleSpinBox_OdomORBSLAMBf->setObjectName(Parameters::kOdomORBSLAMBf().c_str()); _ui->doubleSpinBox_OdomORBSLAMThDepth->setObjectName(Parameters::kOdomORBSLAMThDepth().c_str()); _ui->doubleSpinBox_OdomORBSLAMFps->setObjectName(Parameters::kOdomORBSLAMFps().c_str()); _ui->spinBox_OdomORBSLAMMaxFeatures->setObjectName(Parameters::kOdomORBSLAMMaxFeatures().c_str()); _ui->spinBox_OdomORBSLAMMapSize->setObjectName(Parameters::kOdomORBSLAMMapSize().c_str()); _ui->groupBox_OdomORBSLAMInertial->setObjectName(Parameters::kOdomORBSLAMInertial().c_str()); _ui->doubleSpinBox_ORBSLAMGyroNoise->setObjectName(Parameters::kOdomORBSLAMGyroNoise().c_str()); _ui->doubleSpinBox_ORBSLAMAccNoise->setObjectName(Parameters::kOdomORBSLAMAccNoise().c_str()); _ui->doubleSpinBox_ORBSLAMGyroWalk->setObjectName(Parameters::kOdomORBSLAMGyroWalk().c_str()); _ui->doubleSpinBox_ORBSLAMAccWalk->setObjectName(Parameters::kOdomORBSLAMAccWalk().c_str()); _ui->doubleSpinBox_ORBSLAMSamplingRate->setObjectName(Parameters::kOdomORBSLAMSamplingRate().c_str()); // Odometry Okvis _ui->lineEdit_OdomOkvisPath->setObjectName(Parameters::kOdomOKVISConfigPath().c_str()); connect(_ui->toolButton_OdomOkvisPath, SIGNAL(clicked()), this, SLOT(changeOdometryOKVISConfigPath())); // Odometry LOAM _ui->odom_loam_sensor->setObjectName(Parameters::kOdomLOAMSensor().c_str()); _ui->odom_loam_scan_period->setObjectName(Parameters::kOdomLOAMScanPeriod().c_str()); _ui->odom_loam_resolution->setObjectName(Parameters::kOdomLOAMResolution().c_str()); _ui->odom_loam_linvar->setObjectName(Parameters::kOdomLOAMLinVar().c_str()); _ui->odom_loam_angvar->setObjectName(Parameters::kOdomLOAMAngVar().c_str()); _ui->odom_loam_localMapping->setObjectName(Parameters::kOdomLOAMLocalMapping().c_str()); // Odometry MSCKF_VIO _ui->OdomMSCKFGridRow->setObjectName(Parameters::kOdomMSCKFGridRow().c_str()); _ui->OdomMSCKFGridCol->setObjectName(Parameters::kOdomMSCKFGridCol().c_str()); _ui->OdomMSCKFGridMinFeatureNum->setObjectName(Parameters::kOdomMSCKFGridMinFeatureNum().c_str()); _ui->OdomMSCKFGridMaxFeatureNum->setObjectName(Parameters::kOdomMSCKFGridMaxFeatureNum().c_str()); _ui->OdomMSCKFPyramidLevels->setObjectName(Parameters::kOdomMSCKFPyramidLevels().c_str()); _ui->OdomMSCKFPatchSize->setObjectName(Parameters::kOdomMSCKFPatchSize().c_str()); _ui->OdomMSCKFFastThreshold->setObjectName(Parameters::kOdomMSCKFFastThreshold().c_str()); _ui->OdomMSCKFMaxIteration->setObjectName(Parameters::kOdomMSCKFMaxIteration().c_str()); _ui->OdomMSCKFMaxCamStateSize->setObjectName(Parameters::kOdomMSCKFMaxCamStateSize().c_str()); _ui->OdomMSCKFTrackPrecision->setObjectName(Parameters::kOdomMSCKFTrackPrecision().c_str()); _ui->OdomMSCKFRansacThreshold->setObjectName(Parameters::kOdomMSCKFRansacThreshold().c_str()); _ui->OdomMSCKFStereoThreshold->setObjectName(Parameters::kOdomMSCKFStereoThreshold().c_str()); _ui->OdomMSCKFPositionStdThreshold->setObjectName(Parameters::kOdomMSCKFPositionStdThreshold().c_str()); _ui->OdomMSCKFRotationThreshold->setObjectName(Parameters::kOdomMSCKFRotationThreshold().c_str()); _ui->OdomMSCKFTranslationThreshold->setObjectName(Parameters::kOdomMSCKFTranslationThreshold().c_str()); _ui->OdomMSCKFTrackingRateThreshold->setObjectName(Parameters::kOdomMSCKFTrackingRateThreshold().c_str()); _ui->OdomMSCKFOptTranslationThreshold->setObjectName(Parameters::kOdomMSCKFOptTranslationThreshold().c_str()); _ui->OdomMSCKFNoiseGyro->setObjectName(Parameters::kOdomMSCKFNoiseGyro().c_str()); _ui->OdomMSCKFNoiseAcc->setObjectName(Parameters::kOdomMSCKFNoiseAcc().c_str()); _ui->OdomMSCKFNoiseGyroBias->setObjectName(Parameters::kOdomMSCKFNoiseGyroBias().c_str()); _ui->OdomMSCKFNoiseAccBias->setObjectName(Parameters::kOdomMSCKFNoiseAccBias().c_str()); _ui->OdomMSCKFNoiseFeature->setObjectName(Parameters::kOdomMSCKFNoiseFeature().c_str()); _ui->OdomMSCKFInitCovVel->setObjectName(Parameters::kOdomMSCKFInitCovVel().c_str()); _ui->OdomMSCKFInitCovGyroBias->setObjectName(Parameters::kOdomMSCKFInitCovGyroBias().c_str()); _ui->OdomMSCKFInitCovAccBias->setObjectName(Parameters::kOdomMSCKFInitCovAccBias().c_str()); _ui->OdomMSCKFInitCovExRot->setObjectName(Parameters::kOdomMSCKFInitCovExRot().c_str()); _ui->OdomMSCKFInitCovExTrans->setObjectName(Parameters::kOdomMSCKFInitCovExTrans().c_str()); // Odometry VINS _ui->lineEdit_OdomVinsPath->setObjectName(Parameters::kOdomVINSConfigPath().c_str()); connect(_ui->toolButton_OdomVinsPath, SIGNAL(clicked()), this, SLOT(changeOdometryVINSConfigPath())); // Odometry OpenVINS _ui->checkBox_OdomOpenVINSUseStereo->setObjectName(Parameters::kOdomOpenVINSUseStereo().c_str()); _ui->checkBox_OdomOpenVINSUseKLT->setObjectName(Parameters::kOdomOpenVINSUseKLT().c_str()); _ui->spinBox_OdomOpenVINSNumPts->setObjectName(Parameters::kOdomOpenVINSNumPts().c_str()); _ui->spinBox_OdomOpenVINSMinPxDist->setObjectName(Parameters::kOdomOpenVINSMinPxDist().c_str()); _ui->checkBox_OdomOpenVINSFiTriangulate1d->setObjectName(Parameters::kOdomOpenVINSFiTriangulate1d().c_str()); _ui->checkBox_OdomOpenVINSFiRefineFeatures->setObjectName(Parameters::kOdomOpenVINSFiRefineFeatures().c_str()); _ui->spinBox_OdomOpenVINSFiMaxRuns->setObjectName(Parameters::kOdomOpenVINSFiMaxRuns().c_str()); _ui->doubleSpinBox_OdomOpenVINSFiMaxBaseline->setObjectName(Parameters::kOdomOpenVINSFiMaxBaseline().c_str()); _ui->doubleSpinBox_OdomOpenVINSFiMaxCondNumber->setObjectName(Parameters::kOdomOpenVINSFiMaxCondNumber().c_str()); _ui->checkBox_OdomOpenVINSUseFEJ->setObjectName(Parameters::kOdomOpenVINSUseFEJ().c_str()); _ui->comboBox_OdomOpenVINSIntegration->setObjectName(Parameters::kOdomOpenVINSIntegration().c_str()); _ui->checkBox_OdomOpenVINSCalibCamExtrinsics->setObjectName(Parameters::kOdomOpenVINSCalibCamExtrinsics().c_str()); _ui->checkBox_OdomOpenVINSCalibCamIntrinsics->setObjectName(Parameters::kOdomOpenVINSCalibCamIntrinsics().c_str()); _ui->checkBox_OdomOpenVINSCalibCamTimeoffset->setObjectName(Parameters::kOdomOpenVINSCalibCamTimeoffset().c_str()); _ui->checkBox_OdomOpenVINSCalibIMUIntrinsics->setObjectName(Parameters::kOdomOpenVINSCalibIMUIntrinsics().c_str()); _ui->checkBox_OdomOpenVINSCalibIMUGSensitivity->setObjectName(Parameters::kOdomOpenVINSCalibIMUGSensitivity().c_str()); _ui->spinBox_OdomOpenVINSMaxClones->setObjectName(Parameters::kOdomOpenVINSMaxClones().c_str()); _ui->spinBox_OdomOpenVINSMaxSLAM->setObjectName(Parameters::kOdomOpenVINSMaxSLAM().c_str()); _ui->spinBox_OdomOpenVINSMaxSLAMInUpdate->setObjectName(Parameters::kOdomOpenVINSMaxSLAMInUpdate().c_str()); _ui->spinBox_OdomOpenVINSMaxMSCKFInUpdate->setObjectName(Parameters::kOdomOpenVINSMaxMSCKFInUpdate().c_str()); _ui->comboBox_OdomOpenVINSFeatRepMSCKF->setObjectName(Parameters::kOdomOpenVINSFeatRepMSCKF().c_str()); _ui->comboBox_OdomOpenVINSFeatRepSLAM->setObjectName(Parameters::kOdomOpenVINSFeatRepSLAM().c_str()); _ui->doubleSpinBox_OdomOpenVINSDtSLAMDelay->setObjectName(Parameters::kOdomOpenVINSDtSLAMDelay().c_str()); _ui->doubleSpinBox_OdomOpenVINSGravityMag->setObjectName(Parameters::kOdomOpenVINSGravityMag().c_str()); _ui->lineEdit_OdomOpenVINSLeftMaskPath->setObjectName(Parameters::kOdomOpenVINSLeftMaskPath().c_str()); connect(_ui->toolButton_OdomOpenVINSLeftMaskPath, SIGNAL(clicked()), this, SLOT(changeOdometryOpenVINSLeftMask())); _ui->lineEdit_OdomOpenVINSRightMaskPath->setObjectName(Parameters::kOdomOpenVINSRightMaskPath().c_str()); connect(_ui->toolButton_OdomOpenVINSRightMaskPath, SIGNAL(clicked()), this, SLOT(changeOdometryOpenVINSRightMask())); _ui->doubleSpinBox_OdomOpenVINSInitWindowTime->setObjectName(Parameters::kOdomOpenVINSInitWindowTime().c_str()); _ui->doubleSpinBox_OdomOpenVINSInitIMUThresh->setObjectName(Parameters::kOdomOpenVINSInitIMUThresh().c_str()); _ui->doubleSpinBox_OdomOpenVINSInitMaxDisparity->setObjectName(Parameters::kOdomOpenVINSInitMaxDisparity().c_str()); _ui->spinBox_OdomOpenVINSInitMaxFeatures->setObjectName(Parameters::kOdomOpenVINSInitMaxFeatures().c_str()); _ui->checkBox_OdomOpenVINSInitDynUse->setObjectName(Parameters::kOdomOpenVINSInitDynUse().c_str()); _ui->checkBox_OdomOpenVINSInitDynMLEOptCalib->setObjectName(Parameters::kOdomOpenVINSInitDynMLEOptCalib().c_str()); _ui->spinBox_OdomOpenVINSInitDynMLEMaxIter->setObjectName(Parameters::kOdomOpenVINSInitDynMLEMaxIter().c_str()); _ui->doubleSpinBox_OdomOpenVINSInitDynMLEMaxTime->setObjectName(Parameters::kOdomOpenVINSInitDynMLEMaxTime().c_str()); _ui->spinBox_OdomOpenVINSInitDynMLEMaxThreads->setObjectName(Parameters::kOdomOpenVINSInitDynMLEMaxThreads().c_str()); _ui->spinBox_OdomOpenVINSInitDynNumPose->setObjectName(Parameters::kOdomOpenVINSInitDynNumPose().c_str()); _ui->doubleSpinBox_OdomOpenVINSInitDynMinDeg->setObjectName(Parameters::kOdomOpenVINSInitDynMinDeg().c_str()); _ui->doubleSpinBox_OdomOpenVINSInitDynInflationOri->setObjectName(Parameters::kOdomOpenVINSInitDynInflationOri().c_str()); _ui->doubleSpinBox_OdomOpenVINSInitDynInflationVel->setObjectName(Parameters::kOdomOpenVINSInitDynInflationVel().c_str()); _ui->doubleSpinBox_OdomOpenVINSInitDynInflationBg->setObjectName(Parameters::kOdomOpenVINSInitDynInflationBg().c_str()); _ui->doubleSpinBox_OdomOpenVINSInitDynInflationBa->setObjectName(Parameters::kOdomOpenVINSInitDynInflationBa().c_str()); _ui->doubleSpinBox_OdomOpenVINSInitDynMinRecCond->setObjectName(Parameters::kOdomOpenVINSInitDynMinRecCond().c_str()); _ui->checkBox_OdomOpenVINSTryZUPT->setObjectName(Parameters::kOdomOpenVINSTryZUPT().c_str()); _ui->doubleSpinBox_OdomOpenVINSZUPTChi2Multiplier->setObjectName(Parameters::kOdomOpenVINSZUPTChi2Multiplier().c_str()); _ui->doubleSpinBox_OdomOpenVINSZUPTMaxVelodicy->setObjectName(Parameters::kOdomOpenVINSZUPTMaxVelodicy().c_str()); _ui->doubleSpinBox_OdomOpenVINSZUPTNoiseMultiplier->setObjectName(Parameters::kOdomOpenVINSZUPTNoiseMultiplier().c_str()); _ui->doubleSpinBox_OdomOpenVINSZUPTMaxDisparity->setObjectName(Parameters::kOdomOpenVINSZUPTMaxDisparity().c_str()); _ui->checkBox_OdomOpenVINSZUPTOnlyAtBeginning->setObjectName(Parameters::kOdomOpenVINSZUPTOnlyAtBeginning().c_str()); _ui->doubleSpinBox_OdomOpenVINSAccelerometerNoiseDensity->setObjectName(Parameters::kOdomOpenVINSAccelerometerNoiseDensity().c_str()); _ui->doubleSpinBox_OdomOpenVINSAccelerometerRandomWalk->setObjectName(Parameters::kOdomOpenVINSAccelerometerRandomWalk().c_str()); _ui->doubleSpinBox_OdomOpenVINSGyroscopeNoiseDensity->setObjectName(Parameters::kOdomOpenVINSGyroscopeNoiseDensity().c_str()); _ui->doubleSpinBox_OdomOpenVINSGyroscopeRandomWalk->setObjectName(Parameters::kOdomOpenVINSGyroscopeRandomWalk().c_str()); _ui->doubleSpinBox_OdomOpenVINSUpMSCKFSigmaPx->setObjectName(Parameters::kOdomOpenVINSUpMSCKFSigmaPx().c_str()); _ui->doubleSpinBox_OdomOpenVINSUpMSCKFChi2Multiplier->setObjectName(Parameters::kOdomOpenVINSUpMSCKFChi2Multiplier().c_str()); _ui->doubleSpinBox_OdomOpenVINSUpSLAMSigmaPx->setObjectName(Parameters::kOdomOpenVINSUpSLAMSigmaPx().c_str()); _ui->doubleSpinBox_OdomOpenVINSUpSLAMChi2Multiplier->setObjectName(Parameters::kOdomOpenVINSUpSLAMChi2Multiplier().c_str()); //Stereo _ui->stereo_winWidth->setObjectName(Parameters::kStereoWinWidth().c_str()); _ui->stereo_winHeight->setObjectName(Parameters::kStereoWinHeight().c_str()); _ui->stereo_maxLevel->setObjectName(Parameters::kStereoMaxLevel().c_str()); _ui->stereo_iterations->setObjectName(Parameters::kStereoIterations().c_str()); _ui->stereo_minDisparity->setObjectName(Parameters::kStereoMinDisparity().c_str()); _ui->stereo_maxDisparity->setObjectName(Parameters::kStereoMaxDisparity().c_str()); _ui->stereo_ssd->setObjectName(Parameters::kStereoSSD().c_str()); _ui->stereo_flow_eps->setObjectName(Parameters::kStereoEps().c_str()); _ui->stereo_opticalFlow->setObjectName(Parameters::kStereoOpticalFlow().c_str()); _ui->stereo_flow_gpu->setObjectName(Parameters::kStereoGpu().c_str()); // Odometry Open3D _ui->odom_open3d_method->setObjectName(Parameters::kOdomOpen3DMethod().c_str()); _ui->odom_open3d_max_depth->setObjectName(Parameters::kOdomOpen3DMaxDepth().c_str()); //StereoDense _ui->comboBox_stereoDense_strategy->setObjectName(Parameters::kStereoDenseStrategy().c_str()); connect(_ui->comboBox_stereoDense_strategy, SIGNAL(currentIndexChanged(int)), _ui->stackedWidget_stereoDense, SLOT(setCurrentIndex(int))); _ui->comboBox_stereoDense_strategy->setCurrentIndex(Parameters::defaultStereoDenseStrategy()); _ui->stackedWidget_stereoDense->setCurrentIndex(Parameters::defaultStereoDenseStrategy()); //StereoBM _ui->stereobm_blockSize->setObjectName(Parameters::kStereoBMBlockSize().c_str()); _ui->stereobm_minDisparity->setObjectName(Parameters::kStereoBMMinDisparity().c_str()); _ui->stereobm_numDisparities->setObjectName(Parameters::kStereoBMNumDisparities().c_str()); _ui->stereobm_preFilterCap->setObjectName(Parameters::kStereoBMPreFilterCap().c_str()); _ui->stereobm_preFilterSize->setObjectName(Parameters::kStereoBMPreFilterSize().c_str()); _ui->stereobm_speckleRange->setObjectName(Parameters::kStereoBMSpeckleRange().c_str()); _ui->stereobm_speckleWinSize->setObjectName(Parameters::kStereoBMSpeckleWindowSize().c_str()); _ui->stereobm_tetureThreshold->setObjectName(Parameters::kStereoBMTextureThreshold().c_str()); _ui->stereobm_uniquessRatio->setObjectName(Parameters::kStereoBMUniquenessRatio().c_str()); _ui->stereobm_disp12MaxDiff->setObjectName(Parameters::kStereoBMDisp12MaxDiff().c_str()); //StereoSGBM _ui->stereosgbm_blockSize->setObjectName(Parameters::kStereoSGBMBlockSize().c_str()); _ui->stereosgbm_minDisparity->setObjectName(Parameters::kStereoSGBMMinDisparity().c_str()); _ui->stereosgbm_numDisparities->setObjectName(Parameters::kStereoSGBMNumDisparities().c_str()); _ui->stereosgbm_preFilterCap->setObjectName(Parameters::kStereoSGBMPreFilterCap().c_str()); _ui->stereosgbm_speckleRange->setObjectName(Parameters::kStereoSGBMSpeckleRange().c_str()); _ui->stereosgbm_speckleWinSize->setObjectName(Parameters::kStereoSGBMSpeckleWindowSize().c_str()); _ui->stereosgbm_uniquessRatio->setObjectName(Parameters::kStereoSGBMUniquenessRatio().c_str()); _ui->stereosgbm_disp12MaxDiff->setObjectName(Parameters::kStereoSGBMDisp12MaxDiff().c_str()); _ui->stereosgbm_p1->setObjectName(Parameters::kStereoSGBMP1().c_str()); _ui->stereosgbm_p2->setObjectName(Parameters::kStereoSGBMP2().c_str()); _ui->stereosgbm_mode->setObjectName(Parameters::kStereoSGBMMode().c_str()); // Aruco marker _ui->ArucoDictionary->setObjectName(Parameters::kMarkerDictionary().c_str()); _ui->ArucoMarkerLength->setObjectName(Parameters::kMarkerLength().c_str()); _ui->ArucoMaxDepthError->setObjectName(Parameters::kMarkerMaxDepthError().c_str()); _ui->ArucoVarianceLinear->setObjectName(Parameters::kMarkerVarianceLinear().c_str()); _ui->ArucoVarianceAngular->setObjectName(Parameters::kMarkerVarianceAngular().c_str()); _ui->ArucoVarianceOrientationIgnored->setObjectName(Parameters::kMarkerVarianceOrientationIgnored().c_str()); _ui->ArucoMarkerRangeMin->setObjectName(Parameters::kMarkerMinRange().c_str()); _ui->ArucoMarkerRangeMax->setObjectName(Parameters::kMarkerMaxRange().c_str()); _ui->ArucoMarkerPriors->setObjectName(Parameters::kMarkerPriors().c_str()); _ui->ArucoPriorsVarianceLinear->setObjectName(Parameters::kMarkerPriorsVarianceLinear().c_str()); _ui->ArucoPriorsVarianceAngular->setObjectName(Parameters::kMarkerPriorsVarianceAngular().c_str()); _ui->ArucoCornerRefinementMethod->setObjectName(Parameters::kMarkerCornerRefinementMethod().c_str()); // IMU filter _ui->doubleSpinBox_imuFilterMadgwickGain->setObjectName(Parameters::kImuFilterMadgwickGain().c_str()); _ui->doubleSpinBox_imuFilterMadgwickZeta->setObjectName(Parameters::kImuFilterMadgwickZeta().c_str()); _ui->doubleSpinBox_imuFilterComplementaryGainAcc->setObjectName(Parameters::kImuFilterComplementaryGainAcc().c_str()); _ui->doubleSpinBox_imuFilterComplementaryBiasAlpha->setObjectName(Parameters::kImuFilterComplementaryBiasAlpha().c_str()); _ui->checkBox_imuFilterComplementaryDoAdaptiveGain->setObjectName(Parameters::kImuFilterComplementaryDoAdpativeGain().c_str()); _ui->checkBox_imuFilterComplementaryDoBiasEstimation->setObjectName(Parameters::kImuFilterComplementaryDoBiasEstimation().c_str()); // reset default settings for the gui resetSettings(_ui->groupBox_generalSettingsGui0); resetSettings(_ui->groupBox_cloudRendering1); resetSettings(_ui->groupBox_filtering2); resetSettings(_ui->groupBox_gridMap2); resetSettings(_ui->groupBox_logging1); resetSettings(_ui->groupBox_source0); setupSignals(); // custom signals connect(_ui->doubleSpinBox_kp_roi0, SIGNAL(valueChanged(double)), this, SLOT(updateKpROI())); connect(_ui->doubleSpinBox_kp_roi1, SIGNAL(valueChanged(double)), this, SLOT(updateKpROI())); connect(_ui->doubleSpinBox_kp_roi2, SIGNAL(valueChanged(double)), this, SLOT(updateKpROI())); connect(_ui->doubleSpinBox_kp_roi3, SIGNAL(valueChanged(double)), this, SLOT(updateKpROI())); connect(_ui->checkBox_useOdomFeatures, SIGNAL(toggled(bool)), this, SLOT(useOdomFeatures())); //Create a model from the stacked widgets // This will add all parameters to the parameters Map _ui->stackedWidget->setCurrentIndex(0); this->setupTreeView(); _obsoletePanels = kPanelAll; updateFeatureMatchingVisibility(); updateGlobalDescriptorVisibility(); } PreferencesDialog::~PreferencesDialog() { // remove tmp ini file QFile::remove(getTmpIniFilePath()); delete _ui; } void PreferencesDialog::init(const QString & iniFilePath) { UDEBUG(""); //First set all default values const ParametersMap & defaults = Parameters::getDefaultParameters(); for(ParametersMap::const_iterator iter=defaults.begin(); iter!=defaults.end(); ++iter) { this->setParameter(iter->first, iter->second); } this->readSettings(iniFilePath); this->writeSettings(getTmpIniFilePath()); _initialized = true; } void PreferencesDialog::setCurrentPanelToSource() { QList boxes = this->getGroupBoxes(); for(int i =0;igroupBox_source0) { _ui->stackedWidget->setCurrentIndex(i); _ui->treeView->setCurrentIndex(_indexModel->index(i-2, 0)); break; } } } void PreferencesDialog::saveSettings() { writeSettings(); } void PreferencesDialog::setupTreeView() { if(_indexModel) { _ui->treeView->setModel(0); delete _indexModel; } _indexModel = new QStandardItemModel(this); // Parse the model QList boxes = this->getGroupBoxes(); if(_ui->radioButton_basic->isChecked()) { boxes = boxes.mid(0,7); } else // Advanced { boxes.removeAt(6); } QStandardItem * parentItem = _indexModel->invisibleRootItem(); int index = 0; this->parseModel(boxes, parentItem, 0, index); // recursive method if(_ui->radioButton_advanced->isChecked() && index != _ui->stackedWidget->count()-1) { ULOGGER_ERROR("The tree model is not the same size of the stacked widgets...%d vs %d advanced stacks", index, _ui->stackedWidget->count()-1); } int currentIndex = _ui->stackedWidget->currentIndex(); if(_ui->radioButton_basic->isChecked()) { if(currentIndex >= 6) { _ui->stackedWidget->setCurrentIndex(6); currentIndex = 6; } } else // Advanced { if(currentIndex == 6) { _ui->stackedWidget->setCurrentIndex(7); } } _ui->treeView->setModel(_indexModel); _ui->treeView->expandToDepth(1); // should be after setModel() connect(_ui->treeView->selectionModel(), SIGNAL(currentChanged(const QModelIndex &, const QModelIndex &)), this, SLOT(clicked(const QModelIndex &, const QModelIndex &))); } // recursive... bool PreferencesDialog::parseModel(QList & boxes, QStandardItem * parentItem, int currentLevel, int & absoluteIndex) { if(parentItem == 0) { ULOGGER_ERROR("Parent item is null !"); return false; } QStandardItem * currentItem = 0; while(absoluteIndex < boxes.size()) { QString objectName = boxes.at(absoluteIndex)->objectName(); QString title = boxes.at(absoluteIndex)->title(); bool ok = false; int lvl = QString(objectName.at(objectName.size()-1)).toInt(&ok); if(!ok) { ULOGGER_ERROR("Error while parsing the first number of the QGroupBox title (%s), the first character must be the number in the hierarchy", title.toStdString().c_str()); return false; } if(lvl == currentLevel) { QStandardItem * item = new QStandardItem(title); item->setData(absoluteIndex); currentItem = item; //ULOGGER_DEBUG("PreferencesDialog::parseModel() lvl(%d) Added %s", currentLevel, title.toStdString().c_str()); parentItem->appendRow(item); ++absoluteIndex; } else if(lvl > currentLevel) { if(lvl>currentLevel+1) { ULOGGER_ERROR("Intermediary lvl doesn't exist, lvl %d to %d, indexes %d and %d", currentLevel, lvl, absoluteIndex-1, absoluteIndex); return false; } else { parseModel(boxes, currentItem, currentLevel+1, absoluteIndex); // recursive } } else { return false; } } return true; } void PreferencesDialog::setupSignals() { const rtabmap::ParametersMap & parameters = Parameters::getDefaultParameters(); for(rtabmap::ParametersMap::const_iterator iter=parameters.begin(); iter!=parameters.end(); ++iter) { QWidget * obj = _ui->stackedWidget->findChild((*iter).first.c_str()); if(obj) { // set tooltip as the parameter name obj->setToolTip(tr("%1 (Default=\"%2\")").arg(iter->first.c_str()).arg(iter->second.c_str())); QSpinBox * spin = qobject_cast(obj); QDoubleSpinBox * doubleSpin = qobject_cast(obj); QComboBox * combo = qobject_cast(obj); QCheckBox * check = qobject_cast(obj); QRadioButton * radio = qobject_cast(obj); QLineEdit * lineEdit = qobject_cast(obj); QGroupBox * groupBox = qobject_cast(obj); if(spin) { connect(spin, SIGNAL(valueChanged(int)), this, SLOT(addParameter(int))); } else if(doubleSpin) { connect(doubleSpin, SIGNAL(valueChanged(double)), this, SLOT(addParameter(double))); } else if(combo) { connect(combo, SIGNAL(currentIndexChanged(int)), this, SLOT(addParameter(int))); } else if(check) { connect(check, SIGNAL(toggled(bool)), this, SLOT(addParameter(bool))); } else if(radio) { connect(radio, SIGNAL(toggled(bool)), this, SLOT(addParameter(bool))); } else if(lineEdit) { connect(lineEdit, SIGNAL(textChanged(const QString &)), this, SLOT(addParameter(const QString &))); } else if(groupBox) { connect(groupBox, SIGNAL(toggled(bool)), this, SLOT(addParameter(bool))); } else { ULOGGER_WARN("QWidget called %s can't be cast to a supported widget", (*iter).first.c_str()); } } else { ULOGGER_WARN("Can't find the related QWidget for parameter %s", (*iter).first.c_str()); } } } void PreferencesDialog::clicked(const QModelIndex & current, const QModelIndex & previous) { QStandardItem * item = _indexModel->itemFromIndex(current); if(item && item->isEnabled()) { int index = item->data().toInt(); if(_ui->radioButton_advanced->isChecked() && index >= 6) { ++index; } _ui->stackedWidget->setCurrentIndex(index); _ui->scrollArea->horizontalScrollBar()->setValue(0); _ui->scrollArea->verticalScrollBar()->setValue(0); } } void PreferencesDialog::closeEvent(QCloseEvent *event) { UDEBUG(""); _modifiedParameters.clear(); _obsoletePanels = kPanelDummy; this->readGuiSettings(getTmpIniFilePath()); this->readCameraSettings(getTmpIniFilePath()); event->accept(); } void PreferencesDialog::closeDialog ( QAbstractButton * button ) { UDEBUG(""); QDialogButtonBox::ButtonRole role = _ui->buttonBox_global->buttonRole(button); switch(role) { case QDialogButtonBox::RejectRole: _modifiedParameters.clear(); _obsoletePanels = kPanelDummy; this->readGuiSettings(getTmpIniFilePath()); this->readCameraSettings(getTmpIniFilePath()); this->reject(); break; case QDialogButtonBox::AcceptRole: updateBasicParameter();// make that changes without editing finished signal are updated. if((_obsoletePanels & kPanelAll) || _modifiedParameters.size()) { if(validateForm()) { writeSettings(getTmpIniFilePath()); this->accept(); } } else { this->accept(); } break; default: break; } } void PreferencesDialog::resetApply ( QAbstractButton * button ) { QDialogButtonBox::ButtonRole role = _ui->buttonBox_local->buttonRole(button); switch(role) { case QDialogButtonBox::ApplyRole: updateBasicParameter();// make that changes without editing finished signal are updated. if(validateForm()) { writeSettings(getTmpIniFilePath()); } break; case QDialogButtonBox::ResetRole: resetSettings(_ui->stackedWidget->currentIndex()); break; default: break; } } void PreferencesDialog::resetSettings(QGroupBox * groupBox) { if(groupBox->objectName() == _ui->groupBox_generalSettingsGui0->objectName()) { _ui->general_checkBox_imagesKept->setChecked(true); _ui->general_checkBox_missing_cache_republished->setChecked(true); _ui->general_checkBox_cloudsKept->setChecked(true); _ui->checkBox_beep->setChecked(false); _ui->checkBox_stamps->setChecked(true); _ui->checkBox_cacheStatistics->setChecked(true); _ui->checkBox_notifyWhenNewGlobalPathIsReceived->setChecked(false); _ui->checkBox_verticalLayoutUsed->setChecked(true); _ui->checkBox_imageRejectedShown->setChecked(true); _ui->checkBox_imageHighestHypShown->setChecked(false); _ui->spinBox_odomQualityWarnThr->setValue(50); _ui->checkBox_odom_onlyInliersShown->setChecked(false); _ui->radioButton_posteriorGraphView->setChecked(true); _ui->radioButton_wordsGraphView->setChecked(false); _ui->radioButton_localizationsGraphView->setChecked(false); _ui->radioButton_localizationsGraphViewOdomCache->setChecked(false); _ui->radioButton_nochangeGraphView->setChecked(false); _ui->checkbox_odomDisabled->setChecked(false); _ui->checkbox_groundTruthAlign->setChecked(true); } else if(groupBox->objectName() == _ui->groupBox_cloudRendering1->objectName()) { for(int i=0; i<2; ++i) { _3dRenderingShowClouds[i]->setChecked(true); _3dRenderingDecimation[i]->setValue(4); _3dRenderingMaxDepth[i]->setValue(0.0); _3dRenderingMinDepth[i]->setValue(0.0); _3dRenderingRoiRatios[i]->setText("0.0 0.0 0.0 0.0"); _3dRenderingDepthConfidenceThr[i]->setValue(0); _3dRenderingShowScans[i]->setChecked(true); _3dRenderingShowFeatures[i]->setChecked(i==0?false:true); _3dRenderingShowFrustums[i]->setChecked(false); _3dRenderingDownsamplingScan[i]->setValue(1); _3dRenderingMaxRange[i]->setValue(0.0); _3dRenderingMinRange[i]->setValue(0.0); _3dRenderingVoxelSizeScan[i]->setValue(0.0); _3dRenderingColorScheme[i]->setValue(0); _3dRenderingOpacity[i]->setValue(i==0?1.0:0.75); _3dRenderingPtSize[i]->setValue(i==0?1:2); _3dRenderingColorSchemeScan[i]->setValue(0); _3dRenderingOpacityScan[i]->setValue(i==0?1.0:0.5); _3dRenderingPtSizeScan[i]->setValue(i==0?1:2); _3dRenderingPtSizeFeatures[i]->setValue(3); _3dRenderingGravity[i]->setChecked(false); _3dRenderingGravityLength[i]->setValue(1); } _ui->doubleSpinBox_voxel->setValue(0); _ui->doubleSpinBox_noiseRadius->setValue(0); _ui->spinBox_noiseMinNeighbors->setValue(5); _ui->doubleSpinBox_ceilingFilterHeight->setValue(0); _ui->doubleSpinBox_floorFilterHeight->setValue(0); _ui->spinBox_normalKSearch->setValue(10); _ui->doubleSpinBox_normalRadiusSearch->setValue(0.0); _ui->doubleSpinBox_ceilingFilterHeight_scan->setValue(0); _ui->doubleSpinBox_floorFilterHeight_scan->setValue(0); _ui->spinBox_normalKSearch_scan->setValue(0); _ui->doubleSpinBox_normalRadiusSearch_scan->setValue(0.0); _ui->checkBox_showGraphs->setChecked(true); _ui->checkBox_showLabels->setChecked(false); _ui->checkBox_showFrames->setChecked(false); _ui->checkBox_showLandmarks->setChecked(true); _ui->doubleSpinBox_landmarkSize->setValue(0); _ui->checkBox_showIMUGravity->setChecked(false); _ui->checkBox_showIMUAcc->setChecked(false); _ui->doubleSpinBox_mesh_angleTolerance->setValue(15.0); _ui->groupBox_organized->setChecked(false); #if PCL_VERSION_COMPARE(>=, 1, 7, 2) _ui->checkBox_mesh_quad->setChecked(true); #else _ui->checkBox_mesh_quad->setChecked(false); #endif _ui->checkBox_mesh_texture->setChecked(false); _ui->spinBox_mesh_triangleSize->setValue(2); } else if(groupBox->objectName() == _ui->groupBox_filtering2->objectName()) { _ui->radioButton_noFiltering->setChecked(true); _ui->radioButton_nodeFiltering->setChecked(false); _ui->radioButton_subtractFiltering->setChecked(false); _ui->doubleSpinBox_cloudFilterRadius->setValue(0.1); _ui->doubleSpinBox_cloudFilterAngle->setValue(30); _ui->spinBox_subtractFilteringMinPts->setValue(5); _ui->doubleSpinBox_subtractFilteringRadius->setValue(0.02); _ui->doubleSpinBox_subtractFilteringAngle->setValue(0); } else if(groupBox->objectName() == _ui->groupBox_gridMap2->objectName()) { _ui->doubleSpinBox_map_resolution->setValue(0); _ui->checkBox_map_shown->setChecked(false); _ui->doubleSpinBox_map_opacity->setValue(0.75); _ui->checkBox_elevation_shown->setCheckState(Qt::Unchecked); _ui->groupBox_octomap->setChecked(false); _ui->spinBox_octomap_treeDepth->setValue(16); _ui->checkBox_octomap_2dgrid->setChecked(true); _ui->checkBox_octomap_show3dMap->setChecked(true); _ui->comboBox_octomap_renderingType->setCurrentIndex(0); _ui->spinBox_octomap_pointSize->setValue(5); } else if(groupBox->objectName() == _ui->groupBox_logging1->objectName()) { _ui->comboBox_loggerLevel->setCurrentIndex(2); _ui->comboBox_loggerEventLevel->setCurrentIndex(3); _ui->comboBox_loggerPauseLevel->setCurrentIndex(3); _ui->checkBox_logger_printTime->setChecked(true); _ui->checkBox_logger_printThreadId->setChecked(false); _ui->comboBox_loggerType->setCurrentIndex(1); for(int i=0; i<_ui->comboBox_loggerFilter->count(); ++i) { _ui->comboBox_loggerFilter->setItemChecked(i, false); } } else if(groupBox->objectName() == _ui->groupBox_source0->objectName()) { _ui->general_doubleSpinBox_imgRate->setValue(0.0); _ui->source_mirroring->setChecked(false); _ui->lineEdit_calibrationFile->clear(); _ui->comboBox_sourceType->setCurrentIndex(kSrcRGBD); _ui->lineEdit_sourceDevice->setText(""); _ui->lineEdit_sourceLocalTransform->setText("0 0 0 0 0 0"); _ui->source_comboBox_image_type->setCurrentIndex(kSrcUsbDevice-kSrcUsbDevice); _ui->source_images_spinBox_startPos->setValue(0); _ui->source_images_spinBox_maxFrames->setValue(0); _ui->spinBox_usbcam_streamWidth->setValue(0); _ui->spinBox_usbcam_streamHeight->setValue(0); _ui->checkBox_rgb_rectify->setChecked(false); _ui->comboBox_cameraImages_bayerMode->setCurrentIndex(0); _ui->source_checkBox_ignoreOdometry->setChecked(false); _ui->source_checkBox_ignoreGoalDelay->setChecked(true); _ui->source_checkBox_ignoreGoals->setChecked(true); _ui->source_checkBox_ignoreLandmarks->setChecked(true); _ui->source_checkBox_ignoreFeatures->setChecked(true); _ui->source_checkBox_ignorePriors->setChecked(false); _ui->source_spinBox_databaseStartId->setValue(0); _ui->source_spinBox_databaseStopId->setValue(0); _ui->source_lineEdit_databaseCameraIndex->setText(""); _ui->source_checkBox_useDbStamps->setChecked(true); #ifdef _WIN32 _ui->comboBox_cameraRGBD->setCurrentIndex(kSrcOpenNI2-kSrcRGBD); // openni2 #else if(CameraFreenect::available()) { _ui->comboBox_cameraRGBD->setCurrentIndex(kSrcFreenect-kSrcRGBD); // freenect } else if(CameraOpenNI2::available()) { _ui->comboBox_cameraRGBD->setCurrentIndex(kSrcOpenNI2-kSrcRGBD); // openni2 } else { _ui->comboBox_cameraRGBD->setCurrentIndex(kSrcOpenNI_PCL-kSrcRGBD); // openni-pcl } #endif if(CameraStereoDC1394::available()) { _ui->comboBox_cameraStereo->setCurrentIndex(kSrcDC1394-kSrcStereo); // dc1394 } else if(CameraStereoFlyCapture2::available()) { _ui->comboBox_cameraStereo->setCurrentIndex(kSrcFlyCapture2-kSrcStereo); // flycapture } else { _ui->comboBox_cameraStereo->setCurrentIndex(kSrcStereoImages-kSrcStereo); // stereo images } _ui->checkbox_rgbd_colorOnly->setChecked(false); _ui->spinBox_source_imageDecimation->setValue(1); _ui->comboBox_source_histogramMethod->setCurrentIndex(0); _ui->checkbox_source_feature_detection->setChecked(false); _ui->checkbox_stereo_depthGenerated->setChecked(false); _ui->checkBox_stereo_exposureCompensation->setChecked(false); _ui->checkBox_stereo_rightGrayScale->setChecked(true); _ui->openni2_autoWhiteBalance->setChecked(true); _ui->openni2_autoExposure->setChecked(true); _ui->openni2_exposure->setValue(0); _ui->openni2_gain->setValue(100); _ui->openni2_mirroring->setChecked(false); _ui->openni2_stampsIdsUsed->setChecked(false); _ui->openni2_hshift->setValue(0); _ui->openni2_vshift->setValue(0); _ui->openni2_depth_decimation->setValue(1); _ui->comboBox_freenect2Format->setCurrentIndex(1); _ui->doubleSpinBox_freenect2MinDepth->setValue(0.3); _ui->doubleSpinBox_freenect2MaxDepth->setValue(12.0); _ui->checkBox_freenect2BilateralFiltering->setChecked(true); _ui->checkBox_freenect2EdgeAwareFiltering->setChecked(true); _ui->checkBox_freenect2NoiseFiltering->setChecked(true); _ui->lineEdit_freenect2Pipeline->setText(""); _ui->comboBox_k4w2Format->setCurrentIndex(1); _ui->comboBox_realsensePresetRGB->setCurrentIndex(0); _ui->comboBox_realsensePresetDepth->setCurrentIndex(2); _ui->checkbox_realsenseOdom->setChecked(false); _ui->checkbox_realsenseDepthScaledToRGBSize->setChecked(false); _ui->comboBox_realsenseRGBSource->setCurrentIndex(0); _ui->checkbox_rs2_emitter->setChecked(true); _ui->checkbox_rs2_irMode->setChecked(false); _ui->checkbox_rs2_irDepth->setChecked(true); _ui->spinBox_rs2_width->setValue(848); _ui->spinBox_rs2_height->setValue(480); _ui->spinBox_rs2_rate->setValue(60); _ui->spinBox_rs2_width_depth->setValue(640); _ui->spinBox_rs2_height_depth->setValue(480); _ui->spinBox_rs2_rate_depth->setValue(30); _ui->checkbox_rs2_globalTimeStync->setChecked(true); _ui->lineEdit_rs2_jsonFile->clear(); _ui->lineEdit_openniOniPath->clear(); _ui->lineEdit_openni2OniPath->clear(); _ui->comboBox_k4a_rgb_resolution->setCurrentIndex(0); _ui->comboBox_k4a_framerate->setCurrentIndex(2); _ui->comboBox_k4a_depth_resolution->setCurrentIndex(2); _ui->checkbox_k4a_irDepth->setChecked(false); _ui->lineEdit_k4a_mkv->clear(); _ui->source_checkBox_useMKVStamps->setChecked(true); _ui->lineEdit_cameraRGBDImages_path_rgb->setText(""); _ui->lineEdit_cameraRGBDImages_path_depth->setText(""); _ui->doubleSpinBox_cameraRGBDImages_scale->setValue(1.0); _ui->spinBox_cameraRGBDImages_startIndex->setValue(0); _ui->spinBox_cameraRGBDImages_maxFrames->setValue(0); _ui->lineEdit_source_distortionModel->setText(""); _ui->groupBox_bilateral->setChecked(false); _ui->doubleSpinBox_bilateral_sigmaS->setValue(10.0); _ui->doubleSpinBox_bilateral_sigmaR->setValue(0.1); _ui->source_comboBox_image_type->setCurrentIndex(kSrcDC1394-kSrcDC1394); _ui->lineEdit_cameraStereoImages_path_left->setText(""); _ui->lineEdit_cameraStereoImages_path_right->setText(""); _ui->checkBox_stereo_rectify->setChecked(false); _ui->spinBox_cameraStereoImages_startIndex->setValue(0); _ui->spinBox_cameraStereoImages_maxFrames->setValue(0); _ui->lineEdit_cameraStereoVideo_path->setText(""); _ui->lineEdit_cameraStereoVideo_path_2->setText(""); _ui->spinBox_stereo_right_device->setValue(-1); _ui->spinBox_stereousbcam_streamWidth->setValue(0); _ui->spinBox_stereousbcam_streamHeight->setValue(0); _ui->comboBox_stereoZed_resolution->setCurrentIndex(0); _ui->comboBox_stereoZed_quality->setCurrentIndex(1); _ui->checkbox_stereoZed_selfCalibration->setChecked(true); _ui->comboBox_stereoZed_sensingMode->setCurrentIndex(0); _ui->spinBox_stereoZed_confidenceThr->setValue(100); _ui->spinBox_stereoZed_texturenessConfidenceThr->setValue(90); _ui->lineEdit_zedSvoPath->clear(); _ui->comboBox_stereoZedOC_resolution->setCurrentIndex(3); _ui->checkbox_stereoMyntEye_rectify->setChecked(false); _ui->checkbox_stereoMyntEye_depth->setChecked(false); _ui->checkbox_stereoMyntEye_autoExposure->setChecked(true); _ui->spinBox_stereoMyntEye_gain->setValue(24); _ui->spinBox_stereoMyntEye_brightness->setValue(120); _ui->spinBox_stereoMyntEye_contrast->setValue(116); _ui->spinBox_stereoMyntEye_irControl->setValue(0); _ui->comboBox_depthai_image_width->setCurrentIndex(1); _ui->comboBox_depthai_output_mode->setCurrentIndex(1); _ui->spinBox_depthai_conf_threshold->setValue(200); _ui->checkBox_depthai_extended_disparity->setChecked(false); _ui->checkBox_depthai_disparity_companding->setChecked(false); _ui->comboBox_depthai_subpixel_fractional_bits->setCurrentIndex(1); _ui->comboBox_depthai_disparity_width->setCurrentIndex(1); _ui->comboBox_depthai_median_filter->setCurrentIndex(2); _ui->spinBox_depthai_lrc_threshold->setValue(5); _ui->checkBox_depthai_use_spec_translation->setChecked(false); _ui->doubleSpinBox_depthai_alpha_scaling->setValue(-1); _ui->checkBox_depthai_imu_published->setChecked(true); _ui->doubleSpinBox_depthai_dot_intensity->setValue(0.0); _ui->doubleSpinBox_depthai_flood_intensity->setValue(0.0); _ui->comboBox_depthai_detect_features->setCurrentIndex(0); _ui->lineEdit_depthai_blob_path->clear(); _ui->checkBox_cameraImages_configForEachFrame->setChecked(false); _ui->checkBox_cameraImages_timestamps->setChecked(false); _ui->checkBox_cameraImages_syncTimeStamps->setChecked(true); _ui->lineEdit_cameraImages_timestamps->setText(""); _ui->lineEdit_cameraImages_path_scans->setText(""); _ui->lineEdit_cameraImages_laser_transform->setText("0 0 0 0 0 0"); _ui->spinBox_cameraImages_max_scan_pts->setValue(0); _ui->lineEdit_cameraImages_odom->setText(""); _ui->comboBox_cameraImages_odomFormat->setCurrentIndex(0); _ui->lineEdit_cameraImages_gt->setText(""); _ui->comboBox_cameraImages_gtFormat->setCurrentIndex(0); _ui->doubleSpinBox_maxPoseTimeDiff->setValue(0.02); _ui->lineEdit_cameraImages_path_imu->setText(""); _ui->lineEdit_cameraImages_imu_transform->setText("0 0 1 0 -1 0 1 0 0"); _ui->spinBox_cameraImages_max_imu_rate->setValue(0); _ui->comboBox_odom_sensor->setCurrentIndex(0); _ui->lineEdit_odom_sensor_extrinsics->setText("-0.000622602 0.0303752 0.031389 -0.00272485 0.00749254 0.0"); _ui->lineEdit_odom_sensor_path_calibration->setText(""); _ui->lineEdit_odomSourceDevice->setText(""); _ui->doubleSpinBox_odom_sensor_time_offset->setValue(0.0); _ui->doubleSpinBox_odom_sensor_scale_factor->setValue(1); _ui->doubleSpinBox_odom_sensor_wait_time->setValue(100); _ui->checkBox_odom_sensor_use_as_gt->setChecked(false); _ui->comboBox_imuFilter_strategy->setCurrentIndex(2); _ui->doubleSpinBox_imuFilterMadgwickGain->setValue(Parameters::defaultImuFilterMadgwickGain()); _ui->doubleSpinBox_imuFilterMadgwickZeta->setValue(Parameters::defaultImuFilterMadgwickZeta()); _ui->doubleSpinBox_imuFilterComplementaryGainAcc->setValue(Parameters::defaultImuFilterComplementaryGainAcc()); _ui->doubleSpinBox_imuFilterComplementaryBiasAlpha->setValue(Parameters::defaultImuFilterComplementaryBiasAlpha()); _ui->checkBox_imuFilterComplementaryDoAdaptiveGain->setChecked(Parameters::defaultImuFilterComplementaryDoAdpativeGain()); _ui->checkBox_imuFilterComplementaryDoBiasEstimation->setChecked(Parameters::defaultImuFilterComplementaryDoBiasEstimation()); _ui->checkBox_imuFilter_baseFrameConversion->setChecked(true); _ui->checkbox_publishInterIMU->setChecked(false); _ui->comboBox_lidar_src->setCurrentIndex(0); _ui->checkBox_source_scanDeskewing->setChecked(false); _ui->checkBox_source_scanFromDepth->setChecked(false); _ui->spinBox_source_scanDownsampleStep->setValue(1); _ui->doubleSpinBox_source_scanRangeMin->setValue(0); _ui->doubleSpinBox_source_scanRangeMax->setValue(0); _ui->doubleSpinBox_source_scanVoxelSize->setValue(0.0f); _ui->spinBox_source_scanNormalsK->setValue(0); _ui->doubleSpinBox_source_scanNormalsRadius->setValue(0.0); _ui->doubleSpinBox_source_scanNormalsForceGroundUp->setValue(0); _ui->lineEdit_lidar_local_transform->setText("0 0 0 0 0 0"); _ui->lineEdit_vlp16_pcap_path->clear(); _ui->spinBox_vlp16_ip1->setValue(192); _ui->spinBox_vlp16_ip2->setValue(168); _ui->spinBox_vlp16_ip3->setValue(1); _ui->spinBox_vlp16_ip4->setValue(201); _ui->spinBox_vlp16_port->setValue(2368); _ui->checkBox_vlp16_organized->setChecked(false); _ui->checkBox_vlp16_hostTime->setChecked(true); _ui->checkBox_vlp16_stamp_last->setChecked(true); _ui->groupBox_depthFromScan->setChecked(false); _ui->groupBox_depthFromScan_fillHoles->setChecked(true); _ui->radioButton_depthFromScan_vertical->setChecked(true); _ui->radioButton_depthFromScan_horizontal->setChecked(false); _ui->checkBox_depthFromScan_fillBorders->setChecked(false); } else if(groupBox->objectName() == _ui->groupBox_rtabmap_basic0->objectName()) { _ui->general_doubleSpinBox_timeThr_2->setValue(Parameters::defaultRtabmapTimeThr()); _ui->general_doubleSpinBox_hardThr_2->setValue(Parameters::defaultRtabmapLoopThr()); _ui->doubleSpinBox_similarityThreshold_2->setValue(Parameters::defaultMemRehearsalSimilarity()); _ui->general_spinBox_imagesBufferSize_2->setValue(Parameters::defaultRtabmapImageBufferSize()); _ui->general_spinBox_maxStMemSize_2->setValue(Parameters::defaultMemSTMSize()); _ui->general_checkBox_publishStats_2->setChecked(Parameters::defaultRtabmapPublishStats()); _ui->general_checkBox_activateRGBD_2->setChecked(Parameters::defaultRGBDEnabled()); _ui->general_checkBox_SLAM_mode_2->setChecked(Parameters::defaultMemIncrementalMemory()); _ui->general_doubleSpinBox_detectionRate_2->setValue(Parameters::defaultRtabmapDetectionRate()); // match the advanced (spin and doubleSpin boxes) _ui->general_doubleSpinBox_timeThr->setValue(Parameters::defaultRtabmapTimeThr()); _ui->general_doubleSpinBox_hardThr->setValue(Parameters::defaultRtabmapLoopThr()); _ui->doubleSpinBox_similarityThreshold->setValue(Parameters::defaultMemRehearsalSimilarity()); _ui->general_spinBox_imagesBufferSize->setValue(Parameters::defaultRtabmapImageBufferSize()); _ui->general_spinBox_maxStMemSize->setValue(Parameters::defaultMemSTMSize()); _ui->general_doubleSpinBox_detectionRate->setValue(Parameters::defaultRtabmapDetectionRate()); } else { QObjectList children = groupBox->children(); rtabmap::ParametersMap defaults = Parameters::getDefaultParameters(); std::string key; for(int i=0; iobjectName().toStdString(); if(uContains(defaults, key)) { if(key.compare(Parameters::kRtabmapWorkingDirectory().c_str()) == 0) { this->setParameter(key, getDefaultWorkingDirectory().toStdString()); } else { this->setParameter(key, defaults.at(key)); } if(qobject_cast(children.at(i))) { this->resetSettings((QGroupBox*)children.at(i)); } } else if(qobject_cast(children.at(i))) { this->resetSettings((QGroupBox*)children.at(i)); } else if(qobject_cast(children.at(i))) { QStackedWidget * stackedWidget = (QStackedWidget*)children.at(i); for(int j=0; jcount(); ++j) { const QObjectList & children2 = stackedWidget->widget(j)->children(); for(int k=0; k(children2.at(k))) { this->resetSettings((QGroupBox*)children2.at(k)); } } } } } if(groupBox->findChild(_ui->lineEdit_kp_roi->objectName())) { this->setupKpRoiPanel(); } if(groupBox->objectName() == _ui->groupBox_odometry1->objectName()) { _ui->odom_registration->setCurrentIndex(3); _ui->odom_f2m_gravitySigma->setValue(-1); } } } void PreferencesDialog::resetSettings(int panelNumber) { QList boxes = this->getGroupBoxes(); if(panelNumber >= 0 && panelNumber < boxes.size()) { this->resetSettings(boxes.at(panelNumber)); } else if(panelNumber == -1) { for(QList::iterator iter = boxes.begin(); iter!=boxes.end(); ++iter) { this->resetSettings(*iter); } } else { ULOGGER_WARN("panel number and the number of stacked widget doesn't match"); } } QString PreferencesDialog::getWorkingDirectory() const { return _ui->lineEdit_workingDirectory->text(); } QString PreferencesDialog::getIniFilePath() const { QString privatePath = QDir::homePath() + "/.rtabmap"; if(!QDir(privatePath).exists()) { QDir::home().mkdir(".rtabmap"); } return privatePath + "/rtabmap.ini"; } QString PreferencesDialog::getTmpIniFilePath() const { return getIniFilePath()+".tmp"; } void PreferencesDialog::loadConfigFrom() { QString path = QFileDialog::getOpenFileName(this, tr("Load settings..."), this->getWorkingDirectory(), "*.ini"); if(!path.isEmpty()) { this->readSettings(path); } } void PreferencesDialog::readSettings(const QString & filePath) { ULOGGER_DEBUG("%s", filePath.toStdString().c_str()); readGuiSettings(filePath); readCameraSettings(filePath); if(!readCoreSettings(filePath)) { _modifiedParameters.clear(); _obsoletePanels = kPanelDummy; // only keep GUI settings QStandardItem * parentItem = _indexModel->invisibleRootItem(); if(parentItem) { for(int i=1; irowCount(); ++i) { parentItem->child(i)->setEnabled(false); } } _ui->radioButton_basic->setEnabled(false); _ui->radioButton_advanced->setEnabled(false); } else { // enable settings QStandardItem * parentItem = _indexModel->invisibleRootItem(); if(parentItem) { for(int i=0; irowCount(); ++i) { parentItem->child(i)->setEnabled(true); } } _ui->radioButton_basic->setEnabled(true); _ui->radioButton_advanced->setEnabled(true); } } void PreferencesDialog::readGuiSettings(const QString & filePath) { QString path = getIniFilePath(); if(!filePath.isEmpty()) { path = filePath; } QSettings settings(path, QSettings::IniFormat); settings.beginGroup("Gui"); settings.beginGroup("General"); _ui->general_checkBox_imagesKept->setChecked(settings.value("imagesKept", _ui->general_checkBox_imagesKept->isChecked()).toBool()); _ui->general_checkBox_missing_cache_republished->setChecked(settings.value("missingRepublished", _ui->general_checkBox_missing_cache_republished->isChecked()).toBool()); _ui->general_checkBox_cloudsKept->setChecked(settings.value("cloudsKept", _ui->general_checkBox_cloudsKept->isChecked()).toBool()); _ui->comboBox_loggerLevel->setCurrentIndex(settings.value("loggerLevel", _ui->comboBox_loggerLevel->currentIndex()).toInt()); _ui->comboBox_loggerEventLevel->setCurrentIndex(settings.value("loggerEventLevel", _ui->comboBox_loggerEventLevel->currentIndex()).toInt()); _ui->comboBox_loggerPauseLevel->setCurrentIndex(settings.value("loggerPauseLevel", _ui->comboBox_loggerPauseLevel->currentIndex()).toInt()); _ui->comboBox_loggerType->setCurrentIndex(settings.value("loggerType", _ui->comboBox_loggerType->currentIndex()).toInt()); _ui->checkBox_logger_printTime->setChecked(settings.value("loggerPrintTime", _ui->checkBox_logger_printTime->isChecked()).toBool()); _ui->checkBox_logger_printThreadId->setChecked(settings.value("loggerPrintThreadId", _ui->checkBox_logger_printThreadId->isChecked()).toBool()); _ui->checkBox_verticalLayoutUsed->setChecked(settings.value("verticalLayoutUsed", _ui->checkBox_verticalLayoutUsed->isChecked()).toBool()); _ui->checkBox_imageRejectedShown->setChecked(settings.value("imageRejectedShown", _ui->checkBox_imageRejectedShown->isChecked()).toBool()); _ui->checkBox_imageHighestHypShown->setChecked(settings.value("imageHighestHypShown", _ui->checkBox_imageHighestHypShown->isChecked()).toBool()); _ui->checkBox_beep->setChecked(settings.value("beep", _ui->checkBox_beep->isChecked()).toBool()); _ui->checkBox_stamps->setChecked(settings.value("figure_time", _ui->checkBox_stamps->isChecked()).toBool()); _ui->checkBox_cacheStatistics->setChecked(settings.value("figure_cache", _ui->checkBox_cacheStatistics->isChecked()).toBool()); _ui->checkBox_notifyWhenNewGlobalPathIsReceived->setChecked(settings.value("notifyNewGlobalPath", _ui->checkBox_notifyWhenNewGlobalPathIsReceived->isChecked()).toBool()); _ui->spinBox_odomQualityWarnThr->setValue(settings.value("odomQualityThr", _ui->spinBox_odomQualityWarnThr->value()).toInt()); _ui->checkBox_odom_onlyInliersShown->setChecked(settings.value("odomOnlyInliersShown", _ui->checkBox_odom_onlyInliersShown->isChecked()).toBool()); _ui->radioButton_posteriorGraphView->setChecked(settings.value("posteriorGraphView", _ui->radioButton_posteriorGraphView->isChecked()).toBool()); _ui->radioButton_wordsGraphView->setChecked(settings.value("wordsGraphView", _ui->radioButton_wordsGraphView->isChecked()).toBool()); _ui->radioButton_localizationsGraphView->setChecked(settings.value("localizationsGraphView", _ui->radioButton_localizationsGraphView->isChecked()).toBool()); _ui->radioButton_localizationsGraphViewOdomCache->setChecked(settings.value("localizationsGraphViewOdomCache", _ui->radioButton_localizationsGraphViewOdomCache->isChecked()).toBool()); _ui->radioButton_nochangeGraphView->setChecked(settings.value("nochangeGraphView", _ui->radioButton_nochangeGraphView->isChecked()).toBool()); _ui->checkbox_odomDisabled->setChecked(settings.value("odomDisabled", _ui->checkbox_odomDisabled->isChecked()).toBool()); _ui->odom_registration->setCurrentIndex(settings.value("odomRegistration", _ui->odom_registration->currentIndex()).toInt()); _ui->odom_f2m_gravitySigma->setValue(settings.value("odomF2MGravitySigma", _ui->odom_f2m_gravitySigma->value()).toDouble()); _ui->checkbox_groundTruthAlign->setChecked(settings.value("gtAlign", _ui->checkbox_groundTruthAlign->isChecked()).toBool()); for(int i=0; i<2; ++i) { _3dRenderingShowClouds[i]->setChecked(settings.value(QString("showClouds%1").arg(i), _3dRenderingShowClouds[i]->isChecked()).toBool()); _3dRenderingDecimation[i]->setValue(settings.value(QString("decimation%1").arg(i), _3dRenderingDecimation[i]->value()).toInt()); _3dRenderingMaxDepth[i]->setValue(settings.value(QString("maxDepth%1").arg(i), _3dRenderingMaxDepth[i]->value()).toDouble()); _3dRenderingMinDepth[i]->setValue(settings.value(QString("minDepth%1").arg(i), _3dRenderingMinDepth[i]->value()).toDouble()); _3dRenderingRoiRatios[i]->setText(settings.value(QString("roiRatios%1").arg(i), _3dRenderingRoiRatios[i]->text()).toString()); _3dRenderingDepthConfidenceThr[i]->setValue(settings.value(QString("depthConf%1").arg(i), _3dRenderingDepthConfidenceThr[i]->value()).toInt()); _3dRenderingShowScans[i]->setChecked(settings.value(QString("showScans%1").arg(i), _3dRenderingShowScans[i]->isChecked()).toBool()); _3dRenderingShowFeatures[i]->setChecked(settings.value(QString("showFeatures%1").arg(i), _3dRenderingShowFeatures[i]->isChecked()).toBool()); _3dRenderingShowFrustums[i]->setChecked(settings.value(QString("showFrustums%1").arg(i), _3dRenderingShowFrustums[i]->isChecked()).toBool()); _3dRenderingDownsamplingScan[i]->setValue(settings.value(QString("downsamplingScan%1").arg(i), _3dRenderingDownsamplingScan[i]->value()).toInt()); _3dRenderingMaxRange[i]->setValue(settings.value(QString("maxRange%1").arg(i), _3dRenderingMaxRange[i]->value()).toDouble()); _3dRenderingMinRange[i]->setValue(settings.value(QString("minRange%1").arg(i), _3dRenderingMinRange[i]->value()).toDouble()); _3dRenderingVoxelSizeScan[i]->setValue(settings.value(QString("voxelSizeScan%1").arg(i), _3dRenderingVoxelSizeScan[i]->value()).toDouble()); _3dRenderingColorScheme[i]->setValue(settings.value(QString("colorScheme%1").arg(i), _3dRenderingColorScheme[i]->value()).toInt()); _3dRenderingOpacity[i]->setValue(settings.value(QString("opacity%1").arg(i), _3dRenderingOpacity[i]->value()).toDouble()); _3dRenderingPtSize[i]->setValue(settings.value(QString("ptSize%1").arg(i), _3dRenderingPtSize[i]->value()).toInt()); _3dRenderingColorSchemeScan[i]->setValue(settings.value(QString("colorSchemeScan%1").arg(i), _3dRenderingColorSchemeScan[i]->value()).toInt()); _3dRenderingOpacityScan[i]->setValue(settings.value(QString("opacityScan%1").arg(i), _3dRenderingOpacityScan[i]->value()).toDouble()); _3dRenderingPtSizeScan[i]->setValue(settings.value(QString("ptSizeScan%1").arg(i), _3dRenderingPtSizeScan[i]->value()).toInt()); _3dRenderingPtSizeFeatures[i]->setValue(settings.value(QString("ptSizeFeatures%1").arg(i), _3dRenderingPtSizeFeatures[i]->value()).toInt()); _3dRenderingGravity[i]->setChecked(settings.value(QString("gravityShown%1").arg(i), _3dRenderingGravity[i]->isChecked()).toBool()); _3dRenderingGravityLength[i]->setValue(settings.value(QString("gravityLength%1").arg(i), _3dRenderingGravityLength[i]->value()).toDouble()); } _ui->doubleSpinBox_voxel->setValue(settings.value("cloudVoxel", _ui->doubleSpinBox_voxel->value()).toDouble()); _ui->doubleSpinBox_noiseRadius->setValue(settings.value("cloudNoiseRadius", _ui->doubleSpinBox_noiseRadius->value()).toDouble()); _ui->spinBox_noiseMinNeighbors->setValue(settings.value("cloudNoiseMinNeighbors", _ui->spinBox_noiseMinNeighbors->value()).toInt()); _ui->doubleSpinBox_ceilingFilterHeight->setValue(settings.value("cloudCeilingHeight", _ui->doubleSpinBox_ceilingFilterHeight->value()).toDouble()); _ui->doubleSpinBox_floorFilterHeight->setValue(settings.value("cloudFloorHeight", _ui->doubleSpinBox_floorFilterHeight->value()).toDouble()); _ui->spinBox_normalKSearch->setValue(settings.value("normalKSearch", _ui->spinBox_normalKSearch->value()).toInt()); _ui->doubleSpinBox_normalRadiusSearch->setValue(settings.value("normalRadiusSearch", _ui->doubleSpinBox_normalRadiusSearch->value()).toDouble()); _ui->doubleSpinBox_ceilingFilterHeight_scan->setValue(settings.value("scanCeilingHeight", _ui->doubleSpinBox_ceilingFilterHeight_scan->value()).toDouble()); _ui->doubleSpinBox_floorFilterHeight_scan->setValue(settings.value("scanFloorHeight", _ui->doubleSpinBox_floorFilterHeight_scan->value()).toDouble()); _ui->spinBox_normalKSearch_scan->setValue(settings.value("scanNormalKSearch", _ui->spinBox_normalKSearch_scan->value()).toInt()); _ui->doubleSpinBox_normalRadiusSearch_scan->setValue(settings.value("scanNormalRadiusSearch", _ui->doubleSpinBox_normalRadiusSearch_scan->value()).toDouble()); _ui->checkBox_showGraphs->setChecked(settings.value("showGraphs", _ui->checkBox_showGraphs->isChecked()).toBool()); _ui->checkBox_showLabels->setChecked(settings.value("showLabels", _ui->checkBox_showLabels->isChecked()).toBool()); _ui->checkBox_showFrames->setChecked(settings.value("showFrames", _ui->checkBox_showFrames->isChecked()).toBool()); _ui->checkBox_showLandmarks->setChecked(settings.value("showLandmarks", _ui->checkBox_showLandmarks->isChecked()).toBool()); _ui->doubleSpinBox_landmarkSize->setValue(settings.value("landmarkSize", _ui->doubleSpinBox_landmarkSize->value()).toDouble()); _ui->checkBox_showIMUGravity->setChecked(settings.value("showIMUGravity", _ui->checkBox_showIMUGravity->isChecked()).toBool()); _ui->checkBox_showIMUAcc->setChecked(settings.value("showIMUAcc", _ui->checkBox_showIMUAcc->isChecked()).toBool()); _ui->radioButton_noFiltering->setChecked(settings.value("noFiltering", _ui->radioButton_noFiltering->isChecked()).toBool()); _ui->radioButton_nodeFiltering->setChecked(settings.value("cloudFiltering", _ui->radioButton_nodeFiltering->isChecked()).toBool()); _ui->doubleSpinBox_cloudFilterRadius->setValue(settings.value("cloudFilteringRadius", _ui->doubleSpinBox_cloudFilterRadius->value()).toDouble()); _ui->doubleSpinBox_cloudFilterAngle->setValue(settings.value("cloudFilteringAngle", _ui->doubleSpinBox_cloudFilterAngle->value()).toDouble()); _ui->radioButton_subtractFiltering->setChecked(settings.value("subtractFiltering", _ui->radioButton_subtractFiltering->isChecked()).toBool()); _ui->spinBox_subtractFilteringMinPts->setValue(settings.value("subtractFilteringMinPts", _ui->spinBox_subtractFilteringMinPts->value()).toInt()); _ui->doubleSpinBox_subtractFilteringRadius->setValue(settings.value("subtractFilteringRadius", _ui->doubleSpinBox_subtractFilteringRadius->value()).toDouble()); _ui->doubleSpinBox_subtractFilteringAngle->setValue(settings.value("subtractFilteringAngle", _ui->doubleSpinBox_subtractFilteringAngle->value()).toDouble()); _ui->doubleSpinBox_map_resolution->setValue(settings.value("gridUIResolution", _ui->doubleSpinBox_map_resolution->value()).toDouble()); _ui->checkBox_map_shown->setChecked(settings.value("gridMapShown", _ui->checkBox_map_shown->isChecked()).toBool()); _ui->doubleSpinBox_map_opacity->setValue(settings.value("gridMapOpacity", _ui->doubleSpinBox_map_opacity->value()).toDouble()); _ui->checkBox_elevation_shown->setCheckState((Qt::CheckState)settings.value("elevationMapShown", _ui->checkBox_elevation_shown->checkState()).toInt()); _ui->groupBox_octomap->setChecked(settings.value("octomap", _ui->groupBox_octomap->isChecked()).toBool()); _ui->spinBox_octomap_treeDepth->setValue(settings.value("octomap_depth", _ui->spinBox_octomap_treeDepth->value()).toInt()); _ui->checkBox_octomap_2dgrid->setChecked(settings.value("octomap_2dgrid", _ui->checkBox_octomap_2dgrid->isChecked()).toBool()); _ui->checkBox_octomap_show3dMap->setChecked(settings.value("octomap_3dmap", _ui->checkBox_octomap_show3dMap->isChecked()).toBool()); _ui->comboBox_octomap_renderingType->setCurrentIndex(settings.value("octomap_rendering_type", _ui->comboBox_octomap_renderingType->currentIndex()).toInt()); _ui->spinBox_octomap_pointSize->setValue(settings.value("octomap_point_size", _ui->spinBox_octomap_pointSize->value()).toInt()); _ui->groupBox_organized->setChecked(settings.value("meshing", _ui->groupBox_organized->isChecked()).toBool()); _ui->doubleSpinBox_mesh_angleTolerance->setValue(settings.value("meshing_angle", _ui->doubleSpinBox_mesh_angleTolerance->value()).toDouble()); _ui->checkBox_mesh_quad->setChecked(settings.value("meshing_quad", _ui->checkBox_mesh_quad->isChecked()).toBool()); _ui->checkBox_mesh_texture->setChecked(settings.value("meshing_texture", _ui->checkBox_mesh_texture->isChecked()).toBool()); _ui->spinBox_mesh_triangleSize->setValue(settings.value("meshing_triangle_size", _ui->spinBox_mesh_triangleSize->value()).toInt()); settings.endGroup(); // General settings.endGroup(); // rtabmap } void PreferencesDialog::readCameraSettings(const QString & filePath) { QString path = getIniFilePath(); if(!filePath.isEmpty()) { path = filePath; } QSettings settings(path, QSettings::IniFormat); settings.beginGroup("Camera"); _ui->general_doubleSpinBox_imgRate->setValue(settings.value("imgRate", _ui->general_doubleSpinBox_imgRate->value()).toDouble()); _ui->source_mirroring->setChecked(settings.value("mirroring", _ui->source_mirroring->isChecked()).toBool()); _ui->lineEdit_calibrationFile->setText(settings.value("calibrationName", _ui->lineEdit_calibrationFile->text()).toString()); _ui->comboBox_sourceType->setCurrentIndex(settings.value("type", _ui->comboBox_sourceType->currentIndex()).toInt()); _ui->lineEdit_sourceDevice->setText(settings.value("device",_ui->lineEdit_sourceDevice->text()).toString()); _ui->lineEdit_sourceLocalTransform->setText(settings.value("localTransform",_ui->lineEdit_sourceLocalTransform->text()).toString()); _ui->spinBox_source_imageDecimation->setValue(settings.value("imageDecimation",_ui->spinBox_source_imageDecimation->value()).toInt()); _ui->comboBox_source_histogramMethod->setCurrentIndex(settings.value("histogramMethod", _ui->comboBox_source_histogramMethod->currentIndex()).toInt()); _ui->checkbox_source_feature_detection->setChecked(settings.value("featureDetection", _ui->checkbox_source_feature_detection->isChecked()).toBool()); // Backward compatibility if(_ui->lineEdit_sourceLocalTransform->text().compare("0 0 1 -1 0 0 0 -1 0") == 0) { UWARN("From 0.20.11, the local transform of the camera should not contain optical rotation (read=\"%s\"). Resetting to default Identity for convenience.", _ui->lineEdit_sourceLocalTransform->text().toStdString().c_str()); _ui->lineEdit_sourceLocalTransform->setText("0 0 0 0 0 0"); } settings.beginGroup("rgbd"); _ui->comboBox_cameraRGBD->setCurrentIndex(settings.value("driver", _ui->comboBox_cameraRGBD->currentIndex()).toInt()); _ui->checkbox_rgbd_colorOnly->setChecked(settings.value("rgbdColorOnly", _ui->checkbox_rgbd_colorOnly->isChecked()).toBool()); _ui->lineEdit_source_distortionModel->setText(settings.value("distortion_model", _ui->lineEdit_source_distortionModel->text()).toString()); _ui->groupBox_bilateral->setChecked(settings.value("bilateral", _ui->groupBox_bilateral->isChecked()).toBool()); _ui->doubleSpinBox_bilateral_sigmaS->setValue(settings.value("bilateral_sigma_s", _ui->doubleSpinBox_bilateral_sigmaS->value()).toDouble()); _ui->doubleSpinBox_bilateral_sigmaR->setValue(settings.value("bilateral_sigma_r", _ui->doubleSpinBox_bilateral_sigmaR->value()).toDouble()); settings.endGroup(); // rgbd settings.beginGroup("stereo"); _ui->comboBox_cameraStereo->setCurrentIndex(settings.value("driver", _ui->comboBox_cameraStereo->currentIndex()).toInt()); _ui->checkbox_stereo_depthGenerated->setChecked(settings.value("depthGenerated", _ui->checkbox_stereo_depthGenerated->isChecked()).toBool()); _ui->checkBox_stereo_exposureCompensation->setChecked(settings.value("exposureCompensation", _ui->checkBox_stereo_exposureCompensation->isChecked()).toBool()); _ui->checkBox_stereo_rightGrayScale->setChecked(settings.value("rightGrayScale", _ui->checkBox_stereo_rightGrayScale->isChecked()).toBool()); settings.endGroup(); // stereo settings.beginGroup("rgb"); _ui->source_comboBox_image_type->setCurrentIndex(settings.value("driver", _ui->source_comboBox_image_type->currentIndex()).toInt()); _ui->checkBox_rgb_rectify->setChecked(settings.value("rectify",_ui->checkBox_rgb_rectify->isChecked()).toBool()); settings.endGroup(); // rgb settings.beginGroup("Openni"); _ui->lineEdit_openniOniPath->setText(settings.value("oniPath", _ui->lineEdit_openniOniPath->text()).toString()); settings.endGroup(); // Openni settings.beginGroup("Openni2"); _ui->openni2_autoWhiteBalance->setChecked(settings.value("autoWhiteBalance", _ui->openni2_autoWhiteBalance->isChecked()).toBool()); _ui->openni2_autoExposure->setChecked(settings.value("autoExposure", _ui->openni2_autoExposure->isChecked()).toBool()); _ui->openni2_exposure->setValue(settings.value("exposure", _ui->openni2_exposure->value()).toInt()); _ui->openni2_gain->setValue(settings.value("gain", _ui->openni2_gain->value()).toInt()); _ui->openni2_mirroring->setChecked(settings.value("mirroring", _ui->openni2_mirroring->isChecked()).toBool()); _ui->openni2_stampsIdsUsed->setChecked(settings.value("stampsIdsUsed", _ui->openni2_stampsIdsUsed->isChecked()).toBool()); _ui->lineEdit_openni2OniPath->setText(settings.value("oniPath", _ui->lineEdit_openni2OniPath->text()).toString()); _ui->openni2_hshift->setValue(settings.value("hshift", _ui->openni2_hshift->value()).toInt()); _ui->openni2_vshift->setValue(settings.value("vshift", _ui->openni2_vshift->value()).toInt()); _ui->openni2_depth_decimation->setValue(settings.value("depthDecimation", _ui->openni2_depth_decimation->value()).toInt()); settings.endGroup(); // Openni2 settings.beginGroup("Freenect2"); _ui->comboBox_freenect2Format->setCurrentIndex(settings.value("format", _ui->comboBox_freenect2Format->currentIndex()).toInt()); _ui->doubleSpinBox_freenect2MinDepth->setValue(settings.value("minDepth", _ui->doubleSpinBox_freenect2MinDepth->value()).toDouble()); _ui->doubleSpinBox_freenect2MaxDepth->setValue(settings.value("maxDepth", _ui->doubleSpinBox_freenect2MaxDepth->value()).toDouble()); _ui->checkBox_freenect2BilateralFiltering->setChecked(settings.value("bilateralFiltering", _ui->checkBox_freenect2BilateralFiltering->isChecked()).toBool()); _ui->checkBox_freenect2EdgeAwareFiltering->setChecked(settings.value("edgeAwareFiltering", _ui->checkBox_freenect2EdgeAwareFiltering->isChecked()).toBool()); _ui->checkBox_freenect2NoiseFiltering->setChecked(settings.value("noiseFiltering", _ui->checkBox_freenect2NoiseFiltering->isChecked()).toBool()); _ui->lineEdit_freenect2Pipeline->setText(settings.value("pipeline", _ui->lineEdit_freenect2Pipeline->text()).toString()); settings.endGroup(); // Freenect2 settings.beginGroup("K4W2"); _ui->comboBox_k4w2Format->setCurrentIndex(settings.value("format", _ui->comboBox_k4w2Format->currentIndex()).toInt()); settings.endGroup(); // K4W2 settings.beginGroup("K4A"); _ui->comboBox_k4a_rgb_resolution->setCurrentIndex(settings.value("rgb_resolution", _ui->comboBox_k4a_rgb_resolution->currentIndex()).toInt()); _ui->comboBox_k4a_framerate->setCurrentIndex(settings.value("framerate", _ui->comboBox_k4a_framerate->currentIndex()).toInt()); _ui->comboBox_k4a_depth_resolution->setCurrentIndex(settings.value("depth_resolution", _ui->comboBox_k4a_depth_resolution->currentIndex()).toInt()); _ui->checkbox_k4a_irDepth->setChecked(settings.value("ir", _ui->checkbox_k4a_irDepth->isChecked()).toBool()); _ui->lineEdit_k4a_mkv->setText(settings.value("mkvPath", _ui->lineEdit_k4a_mkv->text()).toString()); _ui->source_checkBox_useMKVStamps->setChecked(settings.value("useMkvStamps", _ui->source_checkBox_useMKVStamps->isChecked()).toBool()); settings.endGroup(); // K4A settings.beginGroup("RealSense"); _ui->comboBox_realsensePresetRGB->setCurrentIndex(settings.value("presetRGB", _ui->comboBox_realsensePresetRGB->currentIndex()).toInt()); _ui->comboBox_realsensePresetDepth->setCurrentIndex(settings.value("presetDepth", _ui->comboBox_realsensePresetDepth->currentIndex()).toInt()); _ui->checkbox_realsenseOdom->setChecked(settings.value("odom", _ui->checkbox_realsenseOdom->isChecked()).toBool()); _ui->checkbox_realsenseDepthScaledToRGBSize->setChecked(settings.value("depthScaled", _ui->checkbox_realsenseDepthScaledToRGBSize->isChecked()).toBool()); _ui->comboBox_realsenseRGBSource->setCurrentIndex(settings.value("rgbSource", _ui->comboBox_realsenseRGBSource->currentIndex()).toInt()); settings.endGroup(); // RealSense settings.beginGroup("RealSense2"); _ui->checkbox_rs2_emitter->setChecked(settings.value("emitter", _ui->checkbox_rs2_emitter->isChecked()).toBool()); _ui->checkbox_rs2_irMode->setChecked(settings.value("ir", _ui->checkbox_rs2_irMode->isChecked()).toBool()); _ui->checkbox_rs2_irDepth->setChecked(settings.value("irdepth", _ui->checkbox_rs2_irDepth->isChecked()).toBool()); _ui->spinBox_rs2_width->setValue(settings.value("width", _ui->spinBox_rs2_width->value()).toInt()); _ui->spinBox_rs2_height->setValue(settings.value("height", _ui->spinBox_rs2_height->value()).toInt()); _ui->spinBox_rs2_rate->setValue(settings.value("rate", _ui->spinBox_rs2_rate->value()).toInt()); _ui->spinBox_rs2_width_depth->setValue(settings.value("width_depth", _ui->spinBox_rs2_width_depth->value()).toInt()); _ui->spinBox_rs2_height_depth->setValue(settings.value("height_depth", _ui->spinBox_rs2_height_depth->value()).toInt()); _ui->spinBox_rs2_rate_depth->setValue(settings.value("rate_depth", _ui->spinBox_rs2_rate_depth->value()).toInt()); _ui->checkbox_rs2_globalTimeStync->setChecked(settings.value("global_time_sync", _ui->checkbox_rs2_globalTimeStync->isChecked()).toBool()); _ui->lineEdit_rs2_jsonFile->setText(settings.value("json_preset", _ui->lineEdit_rs2_jsonFile->text()).toString()); settings.endGroup(); // RealSense settings.beginGroup("RGBDImages"); _ui->lineEdit_cameraRGBDImages_path_rgb->setText(settings.value("path_rgb", _ui->lineEdit_cameraRGBDImages_path_rgb->text()).toString()); _ui->lineEdit_cameraRGBDImages_path_depth->setText(settings.value("path_depth", _ui->lineEdit_cameraRGBDImages_path_depth->text()).toString()); _ui->doubleSpinBox_cameraRGBDImages_scale->setValue(settings.value("scale", _ui->doubleSpinBox_cameraRGBDImages_scale->value()).toDouble()); _ui->spinBox_cameraRGBDImages_startIndex->setValue(settings.value("start_index", _ui->spinBox_cameraRGBDImages_startIndex->value()).toInt()); _ui->spinBox_cameraRGBDImages_maxFrames->setValue(settings.value("max_frames", _ui->spinBox_cameraRGBDImages_maxFrames->value()).toInt()); settings.endGroup(); // RGBDImages settings.beginGroup("StereoImages"); _ui->lineEdit_cameraStereoImages_path_left->setText(settings.value("path_left", _ui->lineEdit_cameraStereoImages_path_left->text()).toString()); _ui->lineEdit_cameraStereoImages_path_right->setText(settings.value("path_right", _ui->lineEdit_cameraStereoImages_path_right->text()).toString()); _ui->checkBox_stereo_rectify->setChecked(settings.value("rectify",_ui->checkBox_stereo_rectify->isChecked()).toBool()); _ui->spinBox_cameraStereoImages_startIndex->setValue(settings.value("start_index",_ui->spinBox_cameraStereoImages_startIndex->value()).toInt()); _ui->spinBox_cameraStereoImages_maxFrames->setValue(settings.value("max_frames",_ui->spinBox_cameraStereoImages_maxFrames->value()).toInt()); settings.endGroup(); // StereoImages settings.beginGroup("StereoVideo"); _ui->lineEdit_cameraStereoVideo_path->setText(settings.value("path", _ui->lineEdit_cameraStereoVideo_path->text()).toString()); _ui->lineEdit_cameraStereoVideo_path_2->setText(settings.value("path2", _ui->lineEdit_cameraStereoVideo_path_2->text()).toString()); _ui->spinBox_stereo_right_device->setValue(settings.value("device2", _ui->spinBox_stereo_right_device->value()).toInt()); _ui->spinBox_stereousbcam_streamWidth->setValue(settings.value("width", _ui->spinBox_stereousbcam_streamWidth->value()).toInt()); _ui->spinBox_stereousbcam_streamHeight->setValue(settings.value("height", _ui->spinBox_stereousbcam_streamHeight->value()).toInt()); _ui->lineEdit_stereousbcam_fourcc->setText(settings.value("fourcc", _ui->lineEdit_stereousbcam_fourcc->text()).toString()); settings.endGroup(); // StereoVideo settings.beginGroup("StereoZed"); _ui->comboBox_stereoZed_resolution->setCurrentIndex(settings.value("resolution", _ui->comboBox_stereoZed_resolution->currentIndex()).toInt()); _ui->comboBox_stereoZed_quality->setCurrentIndex(settings.value("quality", _ui->comboBox_stereoZed_quality->currentIndex()).toInt()); _ui->checkbox_stereoZed_selfCalibration->setChecked(settings.value("self_calibration", _ui->checkbox_stereoZed_selfCalibration->isChecked()).toBool()); _ui->comboBox_stereoZed_sensingMode->setCurrentIndex(settings.value("sensing_mode", _ui->comboBox_stereoZed_sensingMode->currentIndex()).toInt()); _ui->spinBox_stereoZed_confidenceThr->setValue(settings.value("confidence_thr", _ui->spinBox_stereoZed_confidenceThr->value()).toInt()); _ui->spinBox_stereoZed_texturenessConfidenceThr->setValue(settings.value("textureness_confidence_thr", _ui->spinBox_stereoZed_texturenessConfidenceThr->value()).toInt()); _ui->lineEdit_zedSvoPath->setText(settings.value("svo_path", _ui->lineEdit_zedSvoPath->text()).toString()); settings.endGroup(); // StereoZed settings.beginGroup("MyntEye"); _ui->checkbox_stereoMyntEye_rectify->setChecked(settings.value("rectify", _ui->checkbox_stereoMyntEye_rectify->isChecked()).toBool()); _ui->checkbox_stereoMyntEye_depth->setChecked(settings.value("depth", _ui->checkbox_stereoMyntEye_depth->isChecked()).toBool()); _ui->checkbox_stereoMyntEye_autoExposure->setChecked(settings.value("auto_exposure", _ui->checkbox_stereoMyntEye_autoExposure->isChecked()).toBool()); _ui->spinBox_stereoMyntEye_gain->setValue(settings.value("gain", _ui->spinBox_stereoMyntEye_gain->value()).toInt()); _ui->spinBox_stereoMyntEye_brightness->setValue(settings.value("brightness", _ui->spinBox_stereoMyntEye_brightness->value()).toInt()); _ui->spinBox_stereoMyntEye_contrast->setValue(settings.value("contrast", _ui->spinBox_stereoMyntEye_contrast->value()).toInt()); _ui->spinBox_stereoMyntEye_irControl->setValue(settings.value("ir_control", _ui->spinBox_stereoMyntEye_irControl->value()).toInt()); settings.endGroup(); // MyntEye settings.beginGroup("DepthAI"); _ui->comboBox_depthai_image_width->setCurrentIndex(settings.value("image_width", _ui->comboBox_depthai_image_width->currentIndex()).toInt()); _ui->comboBox_depthai_output_mode->setCurrentIndex(settings.value("output_mode", _ui->comboBox_depthai_output_mode->currentIndex()).toInt()); _ui->spinBox_depthai_conf_threshold->setValue(settings.value("conf_threshold", _ui->spinBox_depthai_conf_threshold->value()).toInt()); _ui->spinBox_depthai_lrc_threshold->setValue(settings.value("lrc_threshold", _ui->spinBox_depthai_lrc_threshold->value()).toInt()); _ui->checkBox_depthai_extended_disparity->setChecked(settings.value("extended_disparity", _ui->checkBox_depthai_extended_disparity->isChecked()).toBool()); _ui->checkBox_depthai_disparity_companding->setChecked(settings.value("disparity_companding", _ui->checkBox_depthai_disparity_companding->isChecked()).toBool()); _ui->comboBox_depthai_subpixel_fractional_bits->setCurrentIndex(settings.value("subpixel_fractional_bits", _ui->comboBox_depthai_subpixel_fractional_bits->currentIndex()).toInt()); _ui->comboBox_depthai_disparity_width->setCurrentIndex(settings.value("disparity_width", _ui->comboBox_depthai_disparity_width->currentIndex()).toInt()); _ui->comboBox_depthai_median_filter->setCurrentIndex(settings.value("median_filter", _ui->comboBox_depthai_median_filter->currentIndex()).toInt()); _ui->checkBox_depthai_use_spec_translation->setChecked(settings.value("use_spec_translation", _ui->checkBox_depthai_use_spec_translation->isChecked()).toBool()); _ui->doubleSpinBox_depthai_alpha_scaling->setValue(settings.value("alpha_scaling", _ui->doubleSpinBox_depthai_alpha_scaling->value()).toDouble()); _ui->checkBox_depthai_imu_published->setChecked(settings.value("imu_published", _ui->checkBox_depthai_imu_published->isChecked()).toBool()); _ui->doubleSpinBox_depthai_dot_intensity->setValue(settings.value("dot_intensity", _ui->doubleSpinBox_depthai_dot_intensity->value()).toDouble()); _ui->doubleSpinBox_depthai_flood_intensity->setValue(settings.value("flood_intensity", _ui->doubleSpinBox_depthai_flood_intensity->value()).toDouble()); _ui->comboBox_depthai_detect_features->setCurrentIndex(settings.value("detect_features", _ui->comboBox_depthai_detect_features->currentIndex()).toInt()); _ui->lineEdit_depthai_blob_path->setText(settings.value("blob_path", _ui->lineEdit_depthai_blob_path->text()).toString()); settings.endGroup(); // DepthAI settings.beginGroup("Images"); _ui->source_images_lineEdit_path->setText(settings.value("path", _ui->source_images_lineEdit_path->text()).toString()); _ui->source_images_spinBox_startPos->setValue(settings.value("startPos",_ui->source_images_spinBox_startPos->value()).toInt()); _ui->source_images_spinBox_maxFrames->setValue(settings.value("maxFrames",_ui->source_images_spinBox_maxFrames->value()).toInt()); _ui->comboBox_cameraImages_bayerMode->setCurrentIndex(settings.value("bayerMode",_ui->comboBox_cameraImages_bayerMode->currentIndex()).toInt()); _ui->checkBox_cameraImages_configForEachFrame->setChecked(settings.value("config_each_frame",_ui->checkBox_cameraImages_configForEachFrame->isChecked()).toBool()); _ui->checkBox_cameraImages_timestamps->setChecked(settings.value("filenames_as_stamps",_ui->checkBox_cameraImages_timestamps->isChecked()).toBool()); _ui->checkBox_cameraImages_syncTimeStamps->setChecked(settings.value("sync_stamps",_ui->checkBox_cameraImages_syncTimeStamps->isChecked()).toBool()); _ui->lineEdit_cameraImages_timestamps->setText(settings.value("stamps", _ui->lineEdit_cameraImages_timestamps->text()).toString()); _ui->lineEdit_cameraImages_path_scans->setText(settings.value("path_scans", _ui->lineEdit_cameraImages_path_scans->text()).toString()); _ui->lineEdit_cameraImages_laser_transform->setText(settings.value("scan_transform", _ui->lineEdit_cameraImages_laser_transform->text()).toString()); _ui->spinBox_cameraImages_max_scan_pts->setValue(settings.value("scan_max_pts", _ui->spinBox_cameraImages_max_scan_pts->value()).toInt()); _ui->lineEdit_cameraImages_odom->setText(settings.value("odom_path", _ui->lineEdit_cameraImages_odom->text()).toString()); _ui->comboBox_cameraImages_odomFormat->setCurrentIndex(settings.value("odom_format", _ui->comboBox_cameraImages_odomFormat->currentIndex()).toInt()); _ui->lineEdit_cameraImages_gt->setText(settings.value("gt_path", _ui->lineEdit_cameraImages_gt->text()).toString()); _ui->comboBox_cameraImages_gtFormat->setCurrentIndex(settings.value("gt_format", _ui->comboBox_cameraImages_gtFormat->currentIndex()).toInt()); _ui->doubleSpinBox_maxPoseTimeDiff->setValue(settings.value("max_pose_time_diff", _ui->doubleSpinBox_maxPoseTimeDiff->value()).toDouble()); _ui->lineEdit_cameraImages_path_imu->setText(settings.value("imu_path", _ui->lineEdit_cameraImages_path_imu->text()).toString()); _ui->lineEdit_cameraImages_imu_transform->setText(settings.value("imu_local_transform", _ui->lineEdit_cameraImages_imu_transform->text()).toString()); _ui->spinBox_cameraImages_max_imu_rate->setValue(settings.value("imu_rate", _ui->spinBox_cameraImages_max_imu_rate->value()).toInt()); settings.endGroup(); // images settings.beginGroup("OdomSensor"); _ui->comboBox_odom_sensor->setCurrentIndex(settings.value("odom_sensor", _ui->comboBox_odom_sensor->currentIndex()).toInt()); _ui->lineEdit_odom_sensor_extrinsics->setText(settings.value("odom_sensor_extrinsics", _ui->lineEdit_odom_sensor_extrinsics->text()).toString()); _ui->lineEdit_odom_sensor_path_calibration->setText(settings.value("odom_sensor_calibration_path", _ui->lineEdit_odom_sensor_path_calibration->text()).toString()); _ui->lineEdit_odomSourceDevice->setText(settings.value("odom_sensor_device", _ui->lineEdit_odomSourceDevice->text()).toString()); _ui->doubleSpinBox_odom_sensor_time_offset->setValue(settings.value("odom_sensor_offset_time", _ui->doubleSpinBox_odom_sensor_time_offset->value()).toDouble()); _ui->doubleSpinBox_odom_sensor_scale_factor->setValue(settings.value("odom_sensor_scale_factor", _ui->doubleSpinBox_odom_sensor_scale_factor->value()).toDouble()); _ui->doubleSpinBox_odom_sensor_wait_time->setValue(settings.value("odom_sensor_wait_time", _ui->doubleSpinBox_odom_sensor_wait_time->value()).toDouble()); _ui->checkBox_odom_sensor_use_as_gt->setChecked(settings.value("odom_sensor_odom_as_gt", _ui->checkBox_odom_sensor_use_as_gt->isChecked()).toBool()); settings.endGroup(); // OdomSensor settings.beginGroup("UsbCam"); _ui->spinBox_usbcam_streamWidth->setValue(settings.value("width", _ui->spinBox_usbcam_streamWidth->value()).toInt()); _ui->spinBox_usbcam_streamHeight->setValue(settings.value("height", _ui->spinBox_usbcam_streamHeight->value()).toInt()); _ui->lineEdit_usbcam_fourcc->setText(settings.value("fourcc", _ui->lineEdit_usbcam_fourcc->text()).toString()); settings.endGroup(); // UsbCam settings.beginGroup("Video"); _ui->source_video_lineEdit_path->setText(settings.value("path", _ui->source_video_lineEdit_path->text()).toString()); settings.endGroup(); // video settings.beginGroup("IMU"); _ui->comboBox_imuFilter_strategy->setCurrentIndex(settings.value("strategy", _ui->comboBox_imuFilter_strategy->currentIndex()).toInt()); _ui->doubleSpinBox_imuFilterMadgwickGain->setValue(settings.value("madgwick_gain", _ui->doubleSpinBox_imuFilterMadgwickGain->value()).toDouble()); _ui->doubleSpinBox_imuFilterMadgwickZeta->setValue(settings.value("madgwick_zeta", _ui->doubleSpinBox_imuFilterMadgwickZeta->value()).toDouble()); _ui->doubleSpinBox_imuFilterComplementaryGainAcc->setValue(settings.value("complementary_gain_acc", _ui->doubleSpinBox_imuFilterComplementaryGainAcc->value()).toDouble()); _ui->doubleSpinBox_imuFilterComplementaryBiasAlpha->setValue(settings.value("complementary_bias_alpha", _ui->doubleSpinBox_imuFilterComplementaryBiasAlpha->value()).toDouble()); _ui->checkBox_imuFilterComplementaryDoAdaptiveGain->setChecked(settings.value("complementary_adaptive_gain", _ui->checkBox_imuFilterComplementaryDoAdaptiveGain->isChecked()).toBool()); _ui->checkBox_imuFilterComplementaryDoBiasEstimation->setChecked(settings.value("complementary_biais_estimation", _ui->checkBox_imuFilterComplementaryDoBiasEstimation->isChecked()).toBool()); _ui->checkBox_imuFilter_baseFrameConversion->setChecked(settings.value("base_frame_conversion", _ui->checkBox_imuFilter_baseFrameConversion->isChecked()).toBool()); _ui->checkbox_publishInterIMU->setChecked(settings.value("publish_inter_imu", _ui->checkbox_publishInterIMU->isChecked()).toBool()); settings.endGroup();//IMU settings.beginGroup("Scan"); _ui->comboBox_lidar_src->setCurrentIndex(settings.value("source", _ui->comboBox_lidar_src->currentIndex()).toInt()); _ui->checkBox_source_scanDeskewing->setChecked(settings.value("deskewing", _ui->checkBox_source_scanDeskewing->isChecked()).toBool()); _ui->checkBox_source_scanFromDepth->setChecked(settings.value("fromDepth", _ui->checkBox_source_scanFromDepth->isChecked()).toBool()); _ui->spinBox_source_scanDownsampleStep->setValue(settings.value("downsampleStep", _ui->spinBox_source_scanDownsampleStep->value()).toInt()); _ui->doubleSpinBox_source_scanRangeMin->setValue(settings.value("rangeMin", _ui->doubleSpinBox_source_scanRangeMin->value()).toDouble()); _ui->doubleSpinBox_source_scanRangeMax->setValue(settings.value("rangeMax", _ui->doubleSpinBox_source_scanRangeMax->value()).toDouble()); _ui->doubleSpinBox_source_scanVoxelSize->setValue(settings.value("voxelSize", _ui->doubleSpinBox_source_scanVoxelSize->value()).toDouble()); _ui->spinBox_source_scanNormalsK->setValue(settings.value("normalsK", _ui->spinBox_source_scanNormalsK->value()).toInt()); _ui->doubleSpinBox_source_scanNormalsRadius->setValue(settings.value("normalsRadius", _ui->doubleSpinBox_source_scanNormalsRadius->value()).toDouble()); _ui->doubleSpinBox_source_scanNormalsForceGroundUp->setValue(settings.value("normalsUpF", _ui->doubleSpinBox_source_scanNormalsForceGroundUp->value()).toDouble()); settings.endGroup();//Scan settings.beginGroup("DepthFromScan"); _ui->groupBox_depthFromScan->setChecked(settings.value("depthFromScan", _ui->groupBox_depthFromScan->isChecked()).toBool()); _ui->groupBox_depthFromScan_fillHoles->setChecked(settings.value("depthFromScanFillHoles", _ui->groupBox_depthFromScan_fillHoles->isChecked()).toBool()); _ui->radioButton_depthFromScan_vertical->setChecked(settings.value("depthFromScanVertical", _ui->radioButton_depthFromScan_vertical->isChecked()).toBool()); _ui->radioButton_depthFromScan_horizontal->setChecked(settings.value("depthFromScanHorizontal", _ui->radioButton_depthFromScan_horizontal->isChecked()).toBool()); _ui->checkBox_depthFromScan_fillBorders->setChecked(settings.value("depthFromScanFillBorders", _ui->checkBox_depthFromScan_fillBorders->isChecked()).toBool()); settings.endGroup(); settings.beginGroup("Database"); _ui->source_database_lineEdit_path->setText(settings.value("path",_ui->source_database_lineEdit_path->text()).toString()); _ui->source_checkBox_ignoreOdometry->setChecked(settings.value("ignoreOdometry", _ui->source_checkBox_ignoreOdometry->isChecked()).toBool()); _ui->source_checkBox_ignoreGoalDelay->setChecked(settings.value("ignoreGoalDelay", _ui->source_checkBox_ignoreGoalDelay->isChecked()).toBool()); _ui->source_checkBox_ignoreGoals->setChecked(settings.value("ignoreGoals", _ui->source_checkBox_ignoreGoals->isChecked()).toBool()); _ui->source_checkBox_ignoreLandmarks->setChecked(settings.value("ignoreLandmarks", _ui->source_checkBox_ignoreLandmarks->isChecked()).toBool()); _ui->source_checkBox_ignoreFeatures->setChecked(settings.value("ignoreFeatures", _ui->source_checkBox_ignoreFeatures->isChecked()).toBool()); _ui->source_checkBox_ignorePriors->setChecked(settings.value("ignorePriors", _ui->source_checkBox_ignorePriors->isChecked()).toBool()); _ui->source_spinBox_databaseStartId->setValue(settings.value("startId", _ui->source_spinBox_databaseStartId->value()).toInt()); _ui->source_spinBox_databaseStopId->setValue(settings.value("stopId", _ui->source_spinBox_databaseStopId->value()).toInt()); _ui->source_lineEdit_databaseCameraIndex->setText(settings.value("cameraIndices", _ui->source_lineEdit_databaseCameraIndex->text()).toString()); _ui->source_checkBox_useDbStamps->setChecked(settings.value("useDatabaseStamps", _ui->source_checkBox_useDbStamps->isChecked()).toBool()); settings.endGroup(); // Database settings.endGroup(); // Camera settings.beginGroup("Lidar"); settings.beginGroup("VLP16"); _ui->lineEdit_lidar_local_transform->setText(settings.value("localTransform",_ui->lineEdit_lidar_local_transform->text()).toString()); _ui->lineEdit_vlp16_pcap_path->setText(settings.value("pcapPath",_ui->lineEdit_vlp16_pcap_path->text()).toString()); _ui->spinBox_vlp16_ip1->setValue(settings.value("ip1", _ui->spinBox_vlp16_ip1->value()).toInt()); _ui->spinBox_vlp16_ip2->setValue(settings.value("ip2", _ui->spinBox_vlp16_ip2->value()).toInt()); _ui->spinBox_vlp16_ip3->setValue(settings.value("ip3", _ui->spinBox_vlp16_ip3->value()).toInt()); _ui->spinBox_vlp16_ip4->setValue(settings.value("ip4", _ui->spinBox_vlp16_ip4->value()).toInt()); _ui->spinBox_vlp16_port->setValue(settings.value("port", _ui->spinBox_vlp16_port->value()).toInt()); _ui->checkBox_vlp16_organized->setChecked(settings.value("organized", _ui->checkBox_vlp16_organized->isChecked()).toBool()); _ui->checkBox_vlp16_hostTime->setChecked(settings.value("hostTime", _ui->checkBox_vlp16_hostTime->isChecked()).toBool()); _ui->checkBox_vlp16_stamp_last->setChecked(settings.value("stampLast", _ui->checkBox_vlp16_stamp_last->isChecked()).toBool()); settings.endGroup(); // VLP16 settings.endGroup(); // Lidar _calibrationDialog->loadSettings(settings, "CalibrationDialog"); } QString PreferencesDialog::getDefaultWorkingDirectory() const { return Parameters::createDefaultWorkingDirectory().c_str(); } bool PreferencesDialog::readCoreSettings(const QString & filePath) { QString path = getIniFilePath(); if(!filePath.isEmpty()) { path = filePath; } UDEBUG("%s", path.toStdString().c_str()); if(!QFile::exists(path)) { QMessageBox::information(this, tr("INI file doesn't exist..."), tr("The configuration file \"%1\" does not exist, it will be created with default parameters.").arg(path)); } ParametersMap parameters; Parameters::readINI(path.toStdString(), parameters); for(rtabmap::ParametersMap::const_iterator iter = parameters.begin(); iter!=parameters.end(); ++iter) { std::string value = iter->second; if(iter->first.compare(Parameters::kRtabmapWorkingDirectory()) == 0) { if(value.empty()) { UWARN("Reading config: Working directory is empty. Keeping old one (\"%s\").", this->getWorkingDirectory().toStdString().c_str()); value = this->getWorkingDirectory().toStdString(); } // The directory should exist if not the default one if(!QDir(value.c_str()).exists() && value.compare(getDefaultWorkingDirectory().toStdString()) != 0) { if(QDir(this->getWorkingDirectory().toStdString().c_str()).exists()) { UWARN("Reading config: Not existing working directory \"%s\". Keeping old one (\"%s\").", value.c_str(), this->getWorkingDirectory().toStdString().c_str()); value = this->getWorkingDirectory().toStdString(); } else { std::string defaultWorkingDir = getDefaultWorkingDirectory().toStdString(); UWARN("Reading config: Not existing working directory \"%s\". Using default one (\"%s\").", value.c_str(), defaultWorkingDir.c_str()); value = defaultWorkingDir; } } } //backward compatibility if(iter->first.compare(Parameters::kIcpStrategy()) == 0) { if(value.compare("true") == 0) { value = "1"; } else if(value.compare("false") == 0) { value = "0"; } } this->setParameter(iter->first, value); } // Add information about the working directory if not in the config file if(parameters.find(Parameters::kRtabmapWorkingDirectory()) == parameters.end()) { if(!_initialized) { QMessageBox::information(this, tr("Working directory"), tr("RTAB-Map needs a working directory to put the database.\n\n" "By default, the directory \"%1\" is used.\n\n" "The working directory can be changed any time in the " "preferences menu.").arg(getDefaultWorkingDirectory())); } this->setParameter(Parameters::kRtabmapWorkingDirectory(), getDefaultWorkingDirectory().toStdString()); UDEBUG("key.toStdString()=%s", getDefaultWorkingDirectory().toStdString().c_str()); } return true; } bool PreferencesDialog::saveConfigTo() { QString path = QFileDialog::getSaveFileName(this, tr("Save settings..."), this->getWorkingDirectory()+QDir::separator()+"config.ini", "*.ini"); if(!path.isEmpty()) { writeGuiSettings(path); writeCameraSettings(path); writeCoreSettings(path); return true; } return false; } void PreferencesDialog::resetConfig() { int button = QMessageBox::warning(this, tr("Reset settings..."), tr("This will reset all settings. Restore all settings to default without saving them first?"), QMessageBox::Cancel | QMessageBox::Yes | QMessageBox::Save, QMessageBox::Cancel); if(button == QMessageBox::Yes || (button == QMessageBox::Save && saveConfigTo())) { this->resetSettings(-1); _calibrationDialog->resetSettings(); } } void PreferencesDialog::loadPreset(const std::string & presetHexHeader) { ParametersMap parameters = Parameters::getDefaultParameters(); if(!presetHexHeader.empty()) { Parameters::readINIStr(uHex2Str(presetHexHeader), parameters); } // Reset 3D rendering panel this->resetSettings(1); // Update parameters parameters.erase(Parameters::kRtabmapWorkingDirectory()); for(ParametersMap::iterator iter=parameters.begin(); iter!=parameters.end(); ++iter) { this->setParameter(iter->first, iter->second); } } void PreferencesDialog::loadPreset() { if(sender() == _ui->pushButton_presets_camera_tof_icp) { loadPreset(CAMERA_TOF_ICP_INI); } else if(sender() == _ui->pushButton_presets_lidar_3d_icp) { loadPreset(LIDAR3D_ICP_INI); } else { UERROR("Unknown sender!"); return; } QMessageBox::information(this, tr("Preset"), tr("Loaded \"%1\" preset!").arg(((QPushButton*)sender())->text()), QMessageBox::Ok); } void PreferencesDialog::writeSettings(const QString & filePath) { writeGuiSettings(filePath); writeCameraSettings(filePath); writeCoreSettings(filePath); UDEBUG("_obsoletePanels=%d modified parameters=%d", (int)_obsoletePanels, (int)_modifiedParameters.size()); if(_modifiedParameters.size()) { Q_EMIT settingsChanged(_modifiedParameters); } if(_obsoletePanels) { Q_EMIT settingsChanged(_obsoletePanels); } for(ParametersMap::iterator iter = _modifiedParameters.begin(); iter!=_modifiedParameters.end(); ++iter) { if (_parameters.at(iter->first).compare(iter->second) != 0) { bool different = true; if (Parameters::getType(iter->first).compare("double") == 0 || Parameters::getType(iter->first).compare("float") == 0) { if (uStr2Double(_parameters.at(iter->first)) == uStr2Double(iter->second)) { different = false; } } if (different) { UINFO("modified %s = %s->%s", iter->first.c_str(), _parameters.at(iter->first).c_str(), iter->second.c_str()); } } } uInsert(_parameters, _modifiedParameters); // update cached parameters _modifiedParameters.clear(); _obsoletePanels = kPanelDummy; } void PreferencesDialog::writeGuiSettings(const QString & filePath) const { QString path = getIniFilePath(); if(!filePath.isEmpty()) { path = filePath; } QSettings settings(path, QSettings::IniFormat); settings.beginGroup("Gui"); settings.beginGroup("General"); settings.remove(""); settings.setValue("imagesKept", _ui->general_checkBox_imagesKept->isChecked()); settings.setValue("missingRepublished", _ui->general_checkBox_missing_cache_republished->isChecked()); settings.setValue("cloudsKept", _ui->general_checkBox_cloudsKept->isChecked()); settings.setValue("loggerLevel", _ui->comboBox_loggerLevel->currentIndex()); settings.setValue("loggerEventLevel", _ui->comboBox_loggerEventLevel->currentIndex()); settings.setValue("loggerPauseLevel", _ui->comboBox_loggerPauseLevel->currentIndex()); settings.setValue("loggerType", _ui->comboBox_loggerType->currentIndex()); settings.setValue("loggerPrintTime", _ui->checkBox_logger_printTime->isChecked()); settings.setValue("loggerPrintThreadId", _ui->checkBox_logger_printThreadId->isChecked()); settings.setValue("verticalLayoutUsed", _ui->checkBox_verticalLayoutUsed->isChecked()); settings.setValue("imageRejectedShown", _ui->checkBox_imageRejectedShown->isChecked()); settings.setValue("imageHighestHypShown", _ui->checkBox_imageHighestHypShown->isChecked()); settings.setValue("beep", _ui->checkBox_beep->isChecked()); settings.setValue("figure_time", _ui->checkBox_stamps->isChecked()); settings.setValue("figure_cache", _ui->checkBox_cacheStatistics->isChecked()); settings.setValue("notifyNewGlobalPath", _ui->checkBox_notifyWhenNewGlobalPathIsReceived->isChecked()); settings.setValue("odomQualityThr", _ui->spinBox_odomQualityWarnThr->value()); settings.setValue("odomOnlyInliersShown", _ui->checkBox_odom_onlyInliersShown->isChecked()); settings.setValue("posteriorGraphView", _ui->radioButton_posteriorGraphView->isChecked()); settings.setValue("wordsGraphView", _ui->radioButton_wordsGraphView->isChecked()); settings.setValue("localizationsGraphView", _ui->radioButton_localizationsGraphView->isChecked()); settings.setValue("localizationsGraphViewOdomCache", _ui->radioButton_localizationsGraphViewOdomCache->isChecked()); settings.setValue("nochangeGraphView", _ui->radioButton_nochangeGraphView->isChecked()); settings.setValue("odomDisabled", _ui->checkbox_odomDisabled->isChecked()); settings.setValue("odomRegistration", _ui->odom_registration->currentIndex()); settings.setValue("odomF2MGravitySigma", _ui->odom_f2m_gravitySigma->value()); settings.setValue("gtAlign", _ui->checkbox_groundTruthAlign->isChecked()); for(int i=0; i<2; ++i) { settings.setValue(QString("showClouds%1").arg(i), _3dRenderingShowClouds[i]->isChecked()); settings.setValue(QString("decimation%1").arg(i), _3dRenderingDecimation[i]->value()); settings.setValue(QString("maxDepth%1").arg(i), _3dRenderingMaxDepth[i]->value()); settings.setValue(QString("minDepth%1").arg(i), _3dRenderingMinDepth[i]->value()); settings.setValue(QString("roiRatios%1").arg(i), _3dRenderingRoiRatios[i]->text()); settings.setValue(QString("depthConf%1").arg(i), _3dRenderingDepthConfidenceThr[i]->value()); settings.setValue(QString("showScans%1").arg(i), _3dRenderingShowScans[i]->isChecked()); settings.setValue(QString("showFeatures%1").arg(i), _3dRenderingShowFeatures[i]->isChecked()); settings.setValue(QString("showFrustums%1").arg(i), _3dRenderingShowFrustums[i]->isChecked()); settings.setValue(QString("downsamplingScan%1").arg(i), _3dRenderingDownsamplingScan[i]->value()); settings.setValue(QString("maxRange%1").arg(i), _3dRenderingMaxRange[i]->value()); settings.setValue(QString("minRange%1").arg(i), _3dRenderingMinRange[i]->value()); settings.setValue(QString("voxelSizeScan%1").arg(i), _3dRenderingVoxelSizeScan[i]->value()); settings.setValue(QString("colorScheme%1").arg(i), _3dRenderingColorScheme[i]->value()); settings.setValue(QString("opacity%1").arg(i), _3dRenderingOpacity[i]->value()); settings.setValue(QString("ptSize%1").arg(i), _3dRenderingPtSize[i]->value()); settings.setValue(QString("colorSchemeScan%1").arg(i), _3dRenderingColorSchemeScan[i]->value()); settings.setValue(QString("opacityScan%1").arg(i), _3dRenderingOpacityScan[i]->value()); settings.setValue(QString("ptSizeScan%1").arg(i), _3dRenderingPtSizeScan[i]->value()); settings.setValue(QString("ptSizeFeatures%1").arg(i), _3dRenderingPtSizeFeatures[i]->value()); settings.setValue(QString("gravityShown%1").arg(i), _3dRenderingGravity[i]->isChecked()); settings.setValue(QString("gravityLength%1").arg(i), _3dRenderingGravityLength[i]->value()); } settings.setValue("cloudVoxel", _ui->doubleSpinBox_voxel->value()); settings.setValue("cloudNoiseRadius", _ui->doubleSpinBox_noiseRadius->value()); settings.setValue("cloudNoiseMinNeighbors", _ui->spinBox_noiseMinNeighbors->value()); settings.setValue("cloudCeilingHeight", _ui->doubleSpinBox_ceilingFilterHeight->value()); settings.setValue("cloudFloorHeight", _ui->doubleSpinBox_floorFilterHeight->value()); settings.setValue("normalKSearch", _ui->spinBox_normalKSearch->value()); settings.setValue("normalRadiusSearch", _ui->doubleSpinBox_normalRadiusSearch->value()); settings.setValue("scanCeilingHeight", _ui->doubleSpinBox_ceilingFilterHeight_scan->value()); settings.setValue("scanFloorHeight", _ui->doubleSpinBox_floorFilterHeight_scan->value()); settings.setValue("scanNormalKSearch", _ui->spinBox_normalKSearch_scan->value()); settings.setValue("scanNormalRadiusSearch", _ui->doubleSpinBox_normalRadiusSearch_scan->value()); settings.setValue("showGraphs", _ui->checkBox_showGraphs->isChecked()); settings.setValue("showLabels", _ui->checkBox_showLabels->isChecked()); settings.setValue("showFrames", _ui->checkBox_showFrames->isChecked()); settings.setValue("showLandmarks", _ui->checkBox_showLandmarks->isChecked()); settings.setValue("landmarkSize", _ui->doubleSpinBox_landmarkSize->value()); settings.setValue("showIMUGravity", _ui->checkBox_showIMUGravity->isChecked()); settings.setValue("showIMUAcc", _ui->checkBox_showIMUAcc->isChecked()); settings.setValue("noFiltering", _ui->radioButton_noFiltering->isChecked()); settings.setValue("cloudFiltering", _ui->radioButton_nodeFiltering->isChecked()); settings.setValue("cloudFilteringRadius", _ui->doubleSpinBox_cloudFilterRadius->value()); settings.setValue("cloudFilteringAngle", _ui->doubleSpinBox_cloudFilterAngle->value()); settings.setValue("subtractFiltering", _ui->radioButton_subtractFiltering->isChecked()); settings.setValue("subtractFilteringMinPts", _ui->spinBox_subtractFilteringMinPts->value()); settings.setValue("subtractFilteringRadius", _ui->doubleSpinBox_subtractFilteringRadius->value()); settings.setValue("subtractFilteringAngle", _ui->doubleSpinBox_subtractFilteringAngle->value()); settings.setValue("gridUIResolution", _ui->doubleSpinBox_map_resolution->value()); settings.setValue("gridMapShown", _ui->checkBox_map_shown->isChecked()); settings.setValue("gridMapOpacity", _ui->doubleSpinBox_map_opacity->value()); settings.setValue("elevationMapShown", _ui->checkBox_elevation_shown->checkState()); settings.setValue("octomap", _ui->groupBox_octomap->isChecked()); settings.setValue("octomap_depth", _ui->spinBox_octomap_treeDepth->value()); settings.setValue("octomap_2dgrid", _ui->checkBox_octomap_2dgrid->isChecked()); settings.setValue("octomap_3dmap", _ui->checkBox_octomap_show3dMap->isChecked()); settings.setValue("octomap_rendering_type", _ui->comboBox_octomap_renderingType->currentIndex()); settings.setValue("octomap_point_size", _ui->spinBox_octomap_pointSize->value()); settings.setValue("meshing", _ui->groupBox_organized->isChecked()); settings.setValue("meshing_angle", _ui->doubleSpinBox_mesh_angleTolerance->value()); settings.setValue("meshing_quad", _ui->checkBox_mesh_quad->isChecked()); settings.setValue("meshing_texture", _ui->checkBox_mesh_texture->isChecked()); settings.setValue("meshing_triangle_size", _ui->spinBox_mesh_triangleSize->value()); settings.endGroup(); // General settings.endGroup(); // rtabmap } void PreferencesDialog::writeCameraSettings(const QString & filePath) const { QString path = getIniFilePath(); if(!filePath.isEmpty()) { path = filePath; } QSettings settings(path, QSettings::IniFormat); settings.beginGroup("Camera"); settings.remove(""); settings.setValue("imgRate", _ui->general_doubleSpinBox_imgRate->value()); settings.setValue("mirroring", _ui->source_mirroring->isChecked()); settings.setValue("calibrationName", _ui->lineEdit_calibrationFile->text()); settings.setValue("type", _ui->comboBox_sourceType->currentIndex()); settings.setValue("device", _ui->lineEdit_sourceDevice->text()); settings.setValue("localTransform", _ui->lineEdit_sourceLocalTransform->text()); settings.setValue("imageDecimation", _ui->spinBox_source_imageDecimation->value()); settings.setValue("histogramMethod", _ui->comboBox_source_histogramMethod->currentIndex()); settings.setValue("featureDetection", _ui->checkbox_source_feature_detection->isChecked()); settings.beginGroup("rgbd"); settings.setValue("driver", _ui->comboBox_cameraRGBD->currentIndex()); settings.setValue("rgbdColorOnly", _ui->checkbox_rgbd_colorOnly->isChecked()); settings.setValue("distortion_model", _ui->lineEdit_source_distortionModel->text()); settings.setValue("bilateral", _ui->groupBox_bilateral->isChecked()); settings.setValue("bilateral_sigma_s", _ui->doubleSpinBox_bilateral_sigmaS->value()); settings.setValue("bilateral_sigma_r", _ui->doubleSpinBox_bilateral_sigmaR->value()); settings.endGroup(); // rgbd settings.beginGroup("stereo"); settings.setValue("driver", _ui->comboBox_cameraStereo->currentIndex()); settings.setValue("depthGenerated", _ui->checkbox_stereo_depthGenerated->isChecked()); settings.setValue("exposureCompensation", _ui->checkBox_stereo_exposureCompensation->isChecked()); settings.setValue("rightGrayScale", _ui->checkBox_stereo_rightGrayScale->isChecked()); settings.endGroup(); // stereo settings.beginGroup("rgb"); settings.setValue("driver", _ui->source_comboBox_image_type->currentIndex()); settings.setValue("rectify", _ui->checkBox_rgb_rectify->isChecked()); settings.endGroup(); // rgb settings.beginGroup("Openni"); settings.setValue("oniPath", _ui->lineEdit_openniOniPath->text()); settings.endGroup(); // Openni settings.beginGroup("Openni2"); settings.setValue("autoWhiteBalance", _ui->openni2_autoWhiteBalance->isChecked()); settings.setValue("autoExposure", _ui->openni2_autoExposure->isChecked()); settings.setValue("exposure", _ui->openni2_exposure->value()); settings.setValue("gain", _ui->openni2_gain->value()); settings.setValue("mirroring", _ui->openni2_mirroring->isChecked()); settings.setValue("stampsIdsUsed", _ui->openni2_stampsIdsUsed->isChecked()); settings.setValue("oniPath", _ui->lineEdit_openni2OniPath->text()); settings.setValue("hshift", _ui->openni2_hshift->value()); settings.setValue("vshift", _ui->openni2_vshift->value()); settings.setValue("depthDecimation", _ui->openni2_depth_decimation->value()); settings.endGroup(); // Openni2 settings.beginGroup("Freenect2"); settings.setValue("format", _ui->comboBox_freenect2Format->currentIndex()); settings.setValue("minDepth", _ui->doubleSpinBox_freenect2MinDepth->value()); settings.setValue("maxDepth", _ui->doubleSpinBox_freenect2MaxDepth->value()); settings.setValue("bilateralFiltering", _ui->checkBox_freenect2BilateralFiltering->isChecked()); settings.setValue("edgeAwareFiltering", _ui->checkBox_freenect2EdgeAwareFiltering->isChecked()); settings.setValue("noiseFiltering", _ui->checkBox_freenect2NoiseFiltering->isChecked()); settings.setValue("pipeline", _ui->lineEdit_freenect2Pipeline->text()); settings.endGroup(); // Freenect2 settings.beginGroup("K4W2"); settings.setValue("format", _ui->comboBox_k4w2Format->currentIndex()); settings.endGroup(); // K4W2 settings.beginGroup("K4A"); settings.setValue("rgb_resolution", _ui->comboBox_k4a_rgb_resolution->currentIndex()); settings.setValue("framerate", _ui->comboBox_k4a_framerate->currentIndex()); settings.setValue("depth_resolution", _ui->comboBox_k4a_depth_resolution->currentIndex()); settings.setValue("ir", _ui->checkbox_k4a_irDepth->isChecked()); settings.setValue("mkvPath", _ui->lineEdit_k4a_mkv->text()); settings.setValue("useMkvStamps", _ui->source_checkBox_useMKVStamps->isChecked()); settings.endGroup(); // K4A settings.beginGroup("RealSense"); settings.setValue("presetRGB", _ui->comboBox_realsensePresetRGB->currentIndex()); settings.setValue("presetDepth", _ui->comboBox_realsensePresetDepth->currentIndex()); settings.setValue("odom", _ui->checkbox_realsenseOdom->isChecked()); settings.setValue("depthScaled", _ui->checkbox_realsenseDepthScaledToRGBSize->isChecked()); settings.setValue("rgbSource", _ui->comboBox_realsenseRGBSource->currentIndex()); settings.endGroup(); // RealSense settings.beginGroup("RealSense2"); settings.setValue("emitter", _ui->checkbox_rs2_emitter->isChecked()); settings.setValue("ir", _ui->checkbox_rs2_irMode->isChecked()); settings.setValue("irdepth", _ui->checkbox_rs2_irDepth->isChecked()); settings.setValue("width", _ui->spinBox_rs2_width->value()); settings.setValue("height", _ui->spinBox_rs2_height->value()); settings.setValue("rate", _ui->spinBox_rs2_rate->value()); settings.setValue("width_depth", _ui->spinBox_rs2_width_depth->value()); settings.setValue("height_depth", _ui->spinBox_rs2_height_depth->value()); settings.setValue("rate_depth", _ui->spinBox_rs2_rate_depth->value()); settings.setValue("global_time_sync", _ui->checkbox_rs2_globalTimeStync->isChecked()); settings.setValue("json_preset", _ui->lineEdit_rs2_jsonFile->text()); settings.endGroup(); // RealSense2 settings.beginGroup("RGBDImages"); settings.setValue("path_rgb", _ui->lineEdit_cameraRGBDImages_path_rgb->text()); settings.setValue("path_depth", _ui->lineEdit_cameraRGBDImages_path_depth->text()); settings.setValue("scale", _ui->doubleSpinBox_cameraRGBDImages_scale->value()); settings.setValue("start_index", _ui->spinBox_cameraRGBDImages_startIndex->value()); settings.setValue("max_frames", _ui->spinBox_cameraRGBDImages_maxFrames->value()); settings.endGroup(); // RGBDImages settings.beginGroup("StereoImages"); settings.setValue("path_left", _ui->lineEdit_cameraStereoImages_path_left->text()); settings.setValue("path_right", _ui->lineEdit_cameraStereoImages_path_right->text()); settings.setValue("rectify", _ui->checkBox_stereo_rectify->isChecked()); settings.setValue("start_index", _ui->spinBox_cameraStereoImages_startIndex->value()); settings.setValue("max_frames", _ui->spinBox_cameraStereoImages_maxFrames->value()); settings.endGroup(); // StereoImages settings.beginGroup("StereoVideo"); settings.setValue("path", _ui->lineEdit_cameraStereoVideo_path->text()); settings.setValue("path2", _ui->lineEdit_cameraStereoVideo_path_2->text()); settings.setValue("device2", _ui->spinBox_stereo_right_device->value()); settings.setValue("width", _ui->spinBox_stereousbcam_streamWidth->value()); settings.setValue("height", _ui->spinBox_stereousbcam_streamHeight->value()); settings.setValue("fourcc", _ui->lineEdit_stereousbcam_fourcc->text()); settings.endGroup(); // StereoVideo settings.beginGroup("StereoZed"); settings.setValue("resolution", _ui->comboBox_stereoZed_resolution->currentIndex()); settings.setValue("quality", _ui->comboBox_stereoZed_quality->currentIndex()); settings.setValue("self_calibration", _ui->checkbox_stereoZed_selfCalibration->isChecked()); settings.setValue("sensing_mode", _ui->comboBox_stereoZed_sensingMode->currentIndex()); settings.setValue("confidence_thr", _ui->spinBox_stereoZed_confidenceThr->value()); settings.setValue("textureness_confidence_thr", _ui->spinBox_stereoZed_texturenessConfidenceThr->value()); settings.setValue("svo_path", _ui->lineEdit_zedSvoPath->text()); settings.endGroup(); // StereoZed settings.beginGroup("MyntEye"); settings.setValue("rectify", _ui->checkbox_stereoMyntEye_rectify->isChecked()); settings.setValue("depth", _ui->checkbox_stereoMyntEye_depth->isChecked()); settings.setValue("auto_exposure", _ui->checkbox_stereoMyntEye_autoExposure->isChecked()); settings.setValue("gain", _ui->spinBox_stereoMyntEye_gain->value()); settings.setValue("brightness", _ui->spinBox_stereoMyntEye_brightness->value()); settings.setValue("contrast", _ui->spinBox_stereoMyntEye_contrast->value()); settings.setValue("ir_control", _ui->spinBox_stereoMyntEye_irControl->value()); settings.endGroup(); // MyntEye settings.beginGroup("DepthAI"); settings.setValue("image_width", _ui->comboBox_depthai_image_width->currentIndex()); settings.setValue("output_mode", _ui->comboBox_depthai_output_mode->currentIndex()); settings.setValue("conf_threshold", _ui->spinBox_depthai_conf_threshold->value()); settings.setValue("lrc_threshold", _ui->spinBox_depthai_lrc_threshold->value()); settings.setValue("extended_disparity", _ui->checkBox_depthai_extended_disparity->isChecked()); settings.setValue("disparity_companding", _ui->checkBox_depthai_disparity_companding->isChecked()); settings.setValue("subpixel_fractional_bits", _ui->comboBox_depthai_subpixel_fractional_bits->currentIndex()); settings.setValue("disparity_width", _ui->comboBox_depthai_disparity_width->currentIndex()); settings.setValue("median_filter", _ui->comboBox_depthai_median_filter->currentIndex()); settings.setValue("use_spec_translation", _ui->checkBox_depthai_use_spec_translation->isChecked()); settings.setValue("alpha_scaling", _ui->doubleSpinBox_depthai_alpha_scaling->value()); settings.setValue("imu_published", _ui->checkBox_depthai_imu_published->isChecked()); settings.setValue("dot_intensity", _ui->doubleSpinBox_depthai_dot_intensity->value()); settings.setValue("flood_intensity", _ui->doubleSpinBox_depthai_flood_intensity->value()); settings.setValue("detect_features", _ui->comboBox_depthai_detect_features->currentIndex()); settings.setValue("blob_path", _ui->lineEdit_depthai_blob_path->text()); settings.endGroup(); // DepthAI settings.beginGroup("Images"); settings.setValue("path", _ui->source_images_lineEdit_path->text()); settings.setValue("startPos", _ui->source_images_spinBox_startPos->value()); settings.setValue("maxFrames", _ui->source_images_spinBox_maxFrames->value()); settings.setValue("bayerMode", _ui->comboBox_cameraImages_bayerMode->currentIndex()); settings.setValue("config_each_frame", _ui->checkBox_cameraImages_configForEachFrame->isChecked()); settings.setValue("filenames_as_stamps", _ui->checkBox_cameraImages_timestamps->isChecked()); settings.setValue("sync_stamps", _ui->checkBox_cameraImages_syncTimeStamps->isChecked()); settings.setValue("stamps", _ui->lineEdit_cameraImages_timestamps->text()); settings.setValue("path_scans", _ui->lineEdit_cameraImages_path_scans->text()); settings.setValue("scan_transform", _ui->lineEdit_cameraImages_laser_transform->text()); settings.setValue("scan_max_pts", _ui->spinBox_cameraImages_max_scan_pts->value()); settings.setValue("odom_path", _ui->lineEdit_cameraImages_odom->text()); settings.setValue("odom_format", _ui->comboBox_cameraImages_odomFormat->currentIndex()); settings.setValue("gt_path", _ui->lineEdit_cameraImages_gt->text()); settings.setValue("gt_format", _ui->comboBox_cameraImages_gtFormat->currentIndex()); settings.setValue("max_pose_time_diff", _ui->doubleSpinBox_maxPoseTimeDiff->value()); settings.setValue("imu_path", _ui->lineEdit_cameraImages_path_imu->text()); settings.setValue("imu_local_transform", _ui->lineEdit_cameraImages_imu_transform->text()); settings.setValue("imu_rate", _ui->spinBox_cameraImages_max_imu_rate->value()); settings.endGroup(); // images settings.beginGroup("OdomSensor"); settings.setValue("odom_sensor", _ui->comboBox_odom_sensor->currentIndex()); settings.setValue("odom_sensor_extrinsics", _ui->lineEdit_odom_sensor_extrinsics->text()); settings.setValue("odom_sensor_calibration_path", _ui->lineEdit_odom_sensor_path_calibration->text()); settings.setValue("odom_sensor_device", _ui->lineEdit_odomSourceDevice->text()); settings.setValue("odom_sensor_offset_time", _ui->doubleSpinBox_odom_sensor_time_offset->value()); settings.setValue("odom_sensor_scale_factor", _ui->doubleSpinBox_odom_sensor_scale_factor->value()); settings.setValue("odom_sensor_wait_time", _ui->doubleSpinBox_odom_sensor_wait_time->value()); settings.setValue("odom_sensor_odom_as_gt", _ui->checkBox_odom_sensor_use_as_gt->isChecked()); settings.endGroup(); // OdomSensor settings.beginGroup("UsbCam"); settings.setValue("width", _ui->spinBox_usbcam_streamWidth->value()); settings.setValue("height", _ui->spinBox_usbcam_streamHeight->value()); settings.setValue("fourcc", _ui->lineEdit_usbcam_fourcc->text()); settings.endGroup(); // UsbCam settings.beginGroup("Video"); settings.setValue("path", _ui->source_video_lineEdit_path->text()); settings.endGroup(); // video settings.beginGroup("IMU"); settings.setValue("strategy", _ui->comboBox_imuFilter_strategy->currentIndex()); settings.setValue("madgwick_gain", _ui->doubleSpinBox_imuFilterMadgwickGain->value()); settings.setValue("madgwick_zeta", _ui->doubleSpinBox_imuFilterMadgwickZeta->value()); settings.setValue("complementary_gain_acc", _ui->doubleSpinBox_imuFilterComplementaryGainAcc->value()); settings.setValue("complementary_bias_alpha", _ui->doubleSpinBox_imuFilterComplementaryBiasAlpha->value()); settings.setValue("complementary_adaptive_gain", _ui->checkBox_imuFilterComplementaryDoAdaptiveGain->isChecked()); settings.setValue("complementary_biais_estimation", _ui->checkBox_imuFilterComplementaryDoBiasEstimation->isChecked()); settings.setValue("base_frame_conversion", _ui->checkBox_imuFilter_baseFrameConversion->isChecked()); settings.setValue("publish_inter_imu", _ui->checkbox_publishInterIMU->isChecked()); settings.endGroup();//IMU settings.beginGroup("Scan"); settings.setValue("source", _ui->comboBox_lidar_src->currentIndex()); settings.setValue("deskewing", _ui->checkBox_source_scanDeskewing->isChecked()); settings.setValue("fromDepth", _ui->checkBox_source_scanFromDepth->isChecked()); settings.setValue("downsampleStep", _ui->spinBox_source_scanDownsampleStep->value()); settings.setValue("rangeMin", _ui->doubleSpinBox_source_scanRangeMin->value()); settings.setValue("rangeMax", _ui->doubleSpinBox_source_scanRangeMax->value()); settings.setValue("voxelSize", _ui->doubleSpinBox_source_scanVoxelSize->value()); settings.setValue("normalsK", _ui->spinBox_source_scanNormalsK->value()); settings.setValue("normalsRadius", _ui->doubleSpinBox_source_scanNormalsRadius->value()); settings.setValue("normalsUpF", _ui->doubleSpinBox_source_scanNormalsForceGroundUp->value()); settings.endGroup(); settings.beginGroup("DepthFromScan"); settings.setValue("depthFromScan", _ui->groupBox_depthFromScan->isChecked()); settings.setValue("depthFromScanFillHoles", _ui->groupBox_depthFromScan_fillHoles->isChecked()); settings.setValue("depthFromScanVertical", _ui->radioButton_depthFromScan_vertical->isChecked()); settings.setValue("depthFromScanHorizontal", _ui->radioButton_depthFromScan_horizontal->isChecked()); settings.setValue("depthFromScanFillBorders", _ui->checkBox_depthFromScan_fillBorders->isChecked()); settings.endGroup(); settings.beginGroup("Database"); settings.setValue("path", _ui->source_database_lineEdit_path->text()); settings.setValue("ignoreOdometry", _ui->source_checkBox_ignoreOdometry->isChecked()); settings.setValue("ignoreGoalDelay", _ui->source_checkBox_ignoreGoalDelay->isChecked()); settings.setValue("ignoreGoals", _ui->source_checkBox_ignoreGoals->isChecked()); settings.setValue("ignoreLandmarks", _ui->source_checkBox_ignoreLandmarks->isChecked()); settings.setValue("ignoreFeatures", _ui->source_checkBox_ignoreFeatures->isChecked()); settings.setValue("ignorePriors", _ui->source_checkBox_ignorePriors->isChecked()); settings.setValue("startId", _ui->source_spinBox_databaseStartId->value()); settings.setValue("stopId", _ui->source_spinBox_databaseStopId->value()); settings.setValue("cameraIndices", _ui->source_lineEdit_databaseCameraIndex->text()); settings.setValue("useDatabaseStamps", _ui->source_checkBox_useDbStamps->isChecked()); settings.endGroup(); // Database settings.endGroup(); // Camera settings.beginGroup("Lidar"); settings.beginGroup("VLP16"); settings.setValue("localTransform",_ui->lineEdit_lidar_local_transform->text()); settings.setValue("pcapPath",_ui->lineEdit_vlp16_pcap_path->text()); settings.setValue("ip1", _ui->spinBox_vlp16_ip1->value()); settings.setValue("ip2", _ui->spinBox_vlp16_ip2->value()); settings.setValue("ip3", _ui->spinBox_vlp16_ip3->value()); settings.setValue("ip4", _ui->spinBox_vlp16_ip4->value()); settings.setValue("port", _ui->spinBox_vlp16_port->value()); settings.setValue("organized", _ui->checkBox_vlp16_organized->isChecked()); settings.setValue("hostTime", _ui->checkBox_vlp16_hostTime->isChecked()); settings.setValue("stampLast", _ui->checkBox_vlp16_stamp_last->isChecked()); settings.endGroup(); // VLP16 settings.endGroup(); // Lidar _calibrationDialog->saveSettings(settings, "CalibrationDialog"); } void PreferencesDialog::writeCoreSettings(const QString & filePath) const { QString path = getIniFilePath(); if(!filePath.isEmpty()) { path = filePath; } Parameters::writeINI(path.toStdString(), this->getAllParameters()); } bool PreferencesDialog::validateForm() { #if CV_MAJOR_VERSION < 3 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION <= 3) || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION < 4 || (CV_MINOR_VERSION==4 && CV_SUBMINOR_VERSION<11))) #ifndef RTABMAP_NONFREE // verify that SURF/SIFT cannot be selected if not built with OpenCV nonfree module // BOW dictionary type if(_ui->comboBox_detector_strategy->currentIndex() <= 1 || _ui->comboBox_detector_strategy->currentIndex() == 12) { QMessageBox::warning(this, tr("Parameter warning"), tr("Selected feature type (SURF/SIFT) is not available. RTAB-Map is not built " "with the nonfree module from OpenCV. ORB is set instead for the bag-of-words dictionary.")); _ui->comboBox_detector_strategy->setCurrentIndex(Feature2D::kFeatureOrb); } // BOW Reextract features type if(_ui->vis_feature_detector->currentIndex() <= 1 || _ui->vis_feature_detector->currentIndex() == 12) { QMessageBox::warning(this, tr("Parameter warning"), tr("Selected feature type (SURF/SIFT) is not available. RTAB-Map is not built " "with the nonfree module from OpenCV. Fast/Brief is set instead for the re-extraction " "of features on loop closure.")); _ui->vis_feature_detector->setCurrentIndex(Feature2D::kFeatureFastBrief); } #endif #else //>= 4.4.0 >= 3.4.11 #ifndef RTABMAP_NONFREE // verify that SURF cannot be selected if not built with OpenCV nonfree module // BOW dictionary type if(_ui->comboBox_detector_strategy->currentIndex() < 1 || _ui->comboBox_detector_strategy->currentIndex() == 12) { QMessageBox::warning(this, tr("Parameter warning"), tr("Selected feature type (SURF) is not available. RTAB-Map is not built " "with the nonfree module from OpenCV. SIFT is set instead for the bag-of-words dictionary.")); _ui->comboBox_detector_strategy->setCurrentIndex(Feature2D::kFeatureSift); } // BOW Reextract features type if(_ui->vis_feature_detector->currentIndex() < 1 || _ui->vis_feature_detector->currentIndex() == 12) { QMessageBox::warning(this, tr("Parameter warning"), tr("Selected feature type (SURF) is not available. RTAB-Map is not built " "with the nonfree module from OpenCV. Fast/Brief is set instead for the re-extraction " "of features on loop closure.")); _ui->vis_feature_detector->setCurrentIndex(Feature2D::kFeatureFastBrief); } #endif #endif #if CV_MAJOR_VERSION < 3 if (_ui->comboBox_detector_strategy->currentIndex() == Feature2D::kFeatureKaze) { #ifdef RTABMAP_NONFREE QMessageBox::warning(this, tr("Parameter warning"), tr("Selected feature type (KAZE) is not available on OpenCV2. SURF is set instead " "for the bag-of-words dictionary.")); _ui->comboBox_detector_strategy->setCurrentIndex(Feature2D::kFeatureSurf); #else QMessageBox::warning(this, tr("Parameter warning"), tr("Selected feature type (KAZE) is not available on OpenCV2. ORB is set instead " "for the bag-of-words dictionary.")); _ui->comboBox_detector_strategy->setCurrentIndex(Feature2D::kFeatureOrb); #endif } if (_ui->vis_feature_detector->currentIndex() == Feature2D::kFeatureKaze) { #ifdef RTABMAP_NONFREE QMessageBox::warning(this, tr("Parameter warning"), tr("Selected feature type (KAZE) is not available on OpenCV2. SURF is set instead " "for the re-extraction of features on loop closure.")); _ui->vis_feature_detector->setCurrentIndex(Feature2D::kFeatureSurf); #else QMessageBox::warning(this, tr("Parameter warning"), tr("Selected feature type (KAZE) is not available on OpenCV2. ORB is set instead " "for the re-extraction of features on loop closure.")); _ui->vis_feature_detector->setCurrentIndex(Feature2D::kFeatureOrb); #endif } #endif #ifndef RTABMAP_ORB_OCTREE if (_ui->comboBox_detector_strategy->currentIndex() == Feature2D::kFeatureOrbOctree) { QMessageBox::warning(this, tr("Parameter warning"), tr("Selected feature type (ORB Octree) is not available. ORB is set instead " "for the bag-of-words dictionary.")); _ui->comboBox_detector_strategy->setCurrentIndex(Feature2D::kFeatureOrb); } if (_ui->vis_feature_detector->currentIndex() == Feature2D::kFeatureOrbOctree) { QMessageBox::warning(this, tr("Parameter warning"), tr("Selected feature type (ORB Octree) is not available on OpenCV2. ORB is set instead " "for the re-extraction of features on loop closure.")); _ui->vis_feature_detector->setCurrentIndex(Feature2D::kFeatureOrb); } #endif // optimization strategy if(_ui->graphOptimization_type->currentIndex() == 0 && !Optimizer::isAvailable(Optimizer::kTypeTORO)) { if(Optimizer::isAvailable(Optimizer::kTypeGTSAM)) { QMessageBox::warning(this, tr("Parameter warning"), tr("Selected graph optimization strategy (TORO) is not available. RTAB-Map is not built " "with TORO. GTSAM is set instead for graph optimization strategy.")); _ui->graphOptimization_type->setCurrentIndex(Optimizer::kTypeGTSAM); } #ifndef RTABMAP_ORB_SLAM else if(Optimizer::isAvailable(Optimizer::kTypeG2O)) { QMessageBox::warning(this, tr("Parameter warning"), tr("Selected graph optimization strategy (TORO) is not available. RTAB-Map is not built " "with TORO. g2o is set instead for graph optimization strategy.")); _ui->graphOptimization_type->setCurrentIndex(Optimizer::kTypeG2O); } #endif } #ifdef RTABMAP_ORB_SLAM if(_ui->graphOptimization_type->currentIndex() == 1) #else if(_ui->graphOptimization_type->currentIndex() == 1 && !Optimizer::isAvailable(Optimizer::kTypeG2O)) #endif { if(Optimizer::isAvailable(Optimizer::kTypeGTSAM)) { QMessageBox::warning(this, tr("Parameter warning"), tr("Selected graph optimization strategy (g2o) is not available. RTAB-Map is not built " "with g2o. GTSAM is set instead for graph optimization strategy.")); _ui->graphOptimization_type->setCurrentIndex(Optimizer::kTypeGTSAM); } else if(Optimizer::isAvailable(Optimizer::kTypeTORO)) { QMessageBox::warning(this, tr("Parameter warning"), tr("Selected graph optimization strategy (g2o) is not available. RTAB-Map is not built " "with g2o. TORO is set instead for graph optimization strategy.")); _ui->graphOptimization_type->setCurrentIndex(Optimizer::kTypeTORO); } } if(_ui->graphOptimization_type->currentIndex() == 2 && !Optimizer::isAvailable(Optimizer::kTypeGTSAM)) { #ifndef RTABMAP_ORB_SLAM if(Optimizer::isAvailable(Optimizer::kTypeG2O)) { QMessageBox::warning(this, tr("Parameter warning"), tr("Selected graph optimization strategy (GTSAM) is not available. RTAB-Map is not built " "with GTSAM. g2o is set instead for graph optimization strategy.")); _ui->graphOptimization_type->setCurrentIndex(Optimizer::kTypeG2O); } else #endif if(Optimizer::isAvailable(Optimizer::kTypeTORO)) { QMessageBox::warning(this, tr("Parameter warning"), tr("Selected graph optimization strategy (GTSAM) is not available. RTAB-Map is not built " "with GTSAM. TORO is set instead for graph optimization strategy.")); _ui->graphOptimization_type->setCurrentIndex(Optimizer::kTypeTORO); } } // Registration bundle adjustment strategy if(_ui->loopClosure_bundle->currentIndex() == 1 && !Optimizer::isAvailable(Optimizer::kTypeG2O)) { QMessageBox::warning(this, tr("Parameter warning"), tr("Selected visual registration bundle adjustment optimization strategy (g2o) is not available. RTAB-Map is not built " "with g2o. Bundle adjustment is disabled.")); _ui->loopClosure_bundle->setCurrentIndex(0); } if(_ui->loopClosure_bundle->currentIndex() == 2 && !Optimizer::isAvailable(Optimizer::kTypeCVSBA)) { QMessageBox::warning(this, tr("Parameter warning"), tr("Selected visual registration bundle adjustment optimization strategy (cvsba) is not available. RTAB-Map is not built " "with cvsba. Bundle adjustment is disabled.")); _ui->loopClosure_bundle->setCurrentIndex(0); } if(_ui->loopClosure_bundle->currentIndex() == 3 && !Optimizer::isAvailable(Optimizer::kTypeCeres)) { QMessageBox::warning(this, tr("Parameter warning"), tr("Selected visual registration bundle adjustment optimization strategy (Ceres) is not available. RTAB-Map is not built " "with cERES. Bundle adjustment is disabled.")); _ui->loopClosure_bundle->setCurrentIndex(0); } // Local bundle adjustment strategy for odometry F2M if(_ui->odom_f2m_bundleStrategy->currentIndex() == 1 && !Optimizer::isAvailable(Optimizer::kTypeG2O)) { QMessageBox::warning(this, tr("Parameter warning"), tr("Selected odometry local bundle adjustment optimization strategy (g2o) is not available. RTAB-Map is not built " "with g2o. Bundle adjustment is disabled.")); _ui->odom_f2m_bundleStrategy->setCurrentIndex(0); } if(_ui->odom_f2m_bundleStrategy->currentIndex() == 2 && !Optimizer::isAvailable(Optimizer::kTypeCVSBA)) { QMessageBox::warning(this, tr("Parameter warning"), tr("Selected odometry local bundle adjustment optimization strategy (cvsba) is not available. RTAB-Map is not built " "with cvsba. Bundle adjustment is disabled.")); _ui->odom_f2m_bundleStrategy->setCurrentIndex(0); } if(_ui->odom_f2m_bundleStrategy->currentIndex() == 3 && !Optimizer::isAvailable(Optimizer::kTypeCeres)) { QMessageBox::warning(this, tr("Parameter warning"), tr("Selected odometry local bundle adjustment optimization strategy (Ceres) is not available. RTAB-Map is not built " "with Ceres. Bundle adjustment is disabled.")); _ui->odom_f2m_bundleStrategy->setCurrentIndex(0); } // verify that Robust and Reject threshold are not set at the same time if(_ui->graphOptimization_robust->isChecked() && _ui->graphOptimization_maxError->value()>0.0) { QMessageBox::warning(this, tr("Parameter warning"), tr("Robust graph optimization and maximum optimization error threshold cannot be " "both used at the same time. Disabling robust optimization.")); _ui->graphOptimization_robust->setChecked(false); } //verify binary features and nearest neighbor // BOW dictionary type if(_ui->comboBox_dictionary_strategy->currentIndex() == VWDictionary::kNNFlannLSH && _ui->comboBox_detector_strategy->currentIndex() <= 1) { QMessageBox::warning(this, tr("Parameter warning"), tr("With the selected feature type (SURF or SIFT), parameter \"Visual word->Nearest Neighbor\" " "cannot be LSH (used for binary descriptor). KD-tree is set instead for the bag-of-words dictionary.")); _ui->comboBox_dictionary_strategy->setCurrentIndex(VWDictionary::kNNFlannKdTree); } // BOW Reextract features type if(_ui->reextract_nn->currentIndex() == VWDictionary::kNNFlannLSH && _ui->vis_feature_detector->currentIndex() <= 1) { QMessageBox::warning(this, tr("Parameter warning"), tr("With the selected feature type (SURF or SIFT), parameter \"Visual word->Nearest Neighbor\" " "cannot be LSH (used for binary descriptor). KD-tree is set instead for the re-extraction " "of features on loop closure.")); _ui->reextract_nn->setCurrentIndex(VWDictionary::kNNFlannKdTree); } if(_ui->doubleSpinBox_freenect2MinDepth->value() >= _ui->doubleSpinBox_freenect2MaxDepth->value()) { QMessageBox::warning(this, tr("Parameter warning"), tr("Freenect2 minimum depth (%1 m) should be lower than maximum depth (%2 m). Setting maximum depth to %3 m.") .arg(_ui->doubleSpinBox_freenect2MinDepth->value()) .arg(_ui->doubleSpinBox_freenect2MaxDepth->value()) .arg(_ui->doubleSpinBox_freenect2MaxDepth->value()+1)); _ui->doubleSpinBox_freenect2MaxDepth->setValue(_ui->doubleSpinBox_freenect2MaxDepth->value()+1); } if(_ui->surf_doubleSpinBox_maxDepth->value() > 0.0 && _ui->surf_doubleSpinBox_minDepth->value() >= _ui->surf_doubleSpinBox_maxDepth->value()) { QMessageBox::warning(this, tr("Parameter warning"), tr("Visual word minimum depth (%1 m) should be lower than maximum depth (%2 m). Setting maximum depth to %3 m.") .arg(_ui->surf_doubleSpinBox_minDepth->value()) .arg(_ui->surf_doubleSpinBox_maxDepth->value()) .arg(_ui->surf_doubleSpinBox_maxDepth->value()+1)); _ui->doubleSpinBox_freenect2MinDepth->setValue(0); } if(_ui->loopClosure_bowMaxDepth->value() > 0.0 && _ui->loopClosure_bowMinDepth->value() >= _ui->loopClosure_bowMaxDepth->value()) { QMessageBox::warning(this, tr("Parameter warning"), tr("Visual registration word minimum depth (%1 m) should be lower than maximum depth (%2 m). Setting maximum depth to %3 m.") .arg(_ui->loopClosure_bowMinDepth->value()) .arg(_ui->loopClosure_bowMaxDepth->value()) .arg(_ui->loopClosure_bowMaxDepth->value()+1)); _ui->loopClosure_bowMinDepth->setValue(0); } if(_ui->fastThresholdMax->value() < _ui->fastThresholdMin->value()) { QMessageBox::warning(this, tr("Parameter warning"), tr("FAST minimum threshold cannot be lower than maximum threshold. Setting minimum to 1.")); _ui->fastThresholdMin->setValue(1); } if(_ui->fastThreshold->value() > _ui->fastThresholdMax->value()) { QMessageBox::warning(this, tr("Parameter warning"), tr("FAST threshold cannot be higher than maximum threshold. Maximum value set to current threshold.")); _ui->fastThresholdMax->setValue(_ui->fastThreshold->value()); } if(_ui->fastThreshold->value() < _ui->fastThresholdMin->value()) { QMessageBox::warning(this, tr("Parameter warning"), tr("FAST threshold cannot be lower than minimum threshold. Minimum value set to current threshold.")); _ui->fastThresholdMin->setValue(_ui->fastThreshold->value()); } if(_ui->checkbox_odomDisabled->isChecked() && _ui->general_checkBox_SLAM_mode->isChecked() && _ui->general_checkBox_activateRGBD->isChecked()) { QMessageBox::warning(this, tr("Parameter warning"), tr("Odometry is disabled but incremental RGB-D SLAM is activated! Re-enabling odometry.")); _ui->checkbox_odomDisabled->setChecked(false); } #if CV_MAJOR_VERSION < 3 || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION <4 || (CV_MINOR_VERSION ==4 && CV_SUBMINOR_VERSION<2))) if(_ui->ArucoDictionary->currentIndex()>=17) { QMessageBox::warning(this, tr("Parameter warning"), tr("ArUco dictionary: cannot select AprilTag dictionary, OpenCV version should be at least 3.4.2. Setting back to 0.")); _ui->ArucoDictionary->setCurrentIndex(0); } #endif return true; } QString PreferencesDialog::getParamMessage() { return tr("Reading parameters from the configuration file..."); } void PreferencesDialog::showEvent ( QShowEvent * event ) { if(_monitoringState) { // In monitoring state, you cannot change remote paths _ui->lineEdit_dictionaryPath->setEnabled(false); _ui->toolButton_dictionaryPath->setEnabled(false); _ui->label_dictionaryPath->setEnabled(false); _ui->groupBox_source0->setEnabled(false); _ui->groupBox_odometry1->setEnabled(false); this->setWindowTitle(tr("Preferences [Monitoring mode]")); } else { _ui->lineEdit_dictionaryPath->setEnabled(true); _ui->toolButton_dictionaryPath->setEnabled(true); _ui->label_dictionaryPath->setEnabled(true); _ui->groupBox_source0->setEnabled(true); _ui->groupBox_odometry1->setEnabled(true); this->setWindowTitle(tr("Preferences")); } // setup logger filter std::map threads = ULogger::getRegisteredThreads(); std::vector threadsChecked = this->getGeneralLoggerThreads(); std::set threadsCheckedSet(threadsChecked.begin(), threadsChecked.end()); _ui->comboBox_loggerFilter->clear(); for(std::map::iterator iter=threads.begin(); iter!=threads.end(); ++iter) { if(threadsCheckedSet.find(iter->first.c_str()) != threadsCheckedSet.end()) { _ui->comboBox_loggerFilter->addItem(QString(iter->first.c_str()), QVariant(true)); } else { _ui->comboBox_loggerFilter->addItem(QString(iter->first.c_str()), QVariant(false)); } } this->readSettingsBegin(); } void PreferencesDialog::readSettingsBegin() { _progressDialog->setLabelText(this->getParamMessage()); _progressDialog->show(); // this will let the MainThread to display the progress dialog before reading the parameters... QTimer::singleShot(10, this, SLOT(readSettingsEnd())); } void PreferencesDialog::readSettingsEnd() { QApplication::processEvents(); this->readSettings(getTmpIniFilePath()); _progressDialog->setValue(1); if(this->isVisible()) { _progressDialog->setLabelText(tr("Setup dialog...")); this->updatePredictionPlot(); this->setupKpRoiPanel(); } _progressDialog->setValue(2); // this will make closing... } void PreferencesDialog::saveWindowGeometry(const QWidget * window) { if(!window->objectName().isEmpty() && !window->isMaximized()) { QSettings settings(getIniFilePath(), QSettings::IniFormat); settings.beginGroup("Gui"); settings.beginGroup(window->objectName()); settings.setValue("geometry", window->saveGeometry()); settings.endGroup(); // "windowName" settings.endGroup(); // rtabmap QSettings settingsTmp(getTmpIniFilePath(), QSettings::IniFormat); settingsTmp.beginGroup("Gui"); settingsTmp.beginGroup(window->objectName()); settingsTmp.setValue("geometry", window->saveGeometry()); settingsTmp.endGroup(); // "windowName" settingsTmp.endGroup(); // rtabmap } } void PreferencesDialog::loadWindowGeometry(QWidget * window) { if(!window->objectName().isEmpty()) { QByteArray bytes; QSettings settings(getIniFilePath(), QSettings::IniFormat); settings.beginGroup("Gui"); settings.beginGroup(window->objectName()); bytes = settings.value("geometry", QByteArray()).toByteArray(); if(!bytes.isEmpty()) { window->restoreGeometry(bytes); } settings.endGroup(); // "windowName" settings.endGroup(); // rtabmap QSettings settingsTmp(getTmpIniFilePath(), QSettings::IniFormat); settingsTmp.beginGroup("Gui"); settingsTmp.beginGroup(window->objectName()); settingsTmp.setValue("geometry", window->saveGeometry()); settingsTmp.endGroup(); // "windowName" settingsTmp.endGroup(); // rtabmap } } void PreferencesDialog::saveMainWindowState(const QMainWindow * mainWindow) { if(!mainWindow->objectName().isEmpty()) { saveWindowGeometry(mainWindow); QSettings settings(getIniFilePath(), QSettings::IniFormat); settings.beginGroup("Gui"); settings.beginGroup(mainWindow->objectName()); settings.setValue("state", mainWindow->saveState()); settings.setValue("maximized", mainWindow->isMaximized()); settings.setValue("status_bar", mainWindow->statusBar()->isVisible()); settings.endGroup(); // "MainWindow" settings.endGroup(); // rtabmap QSettings settingsTmp(getTmpIniFilePath(), QSettings::IniFormat); settingsTmp.beginGroup("Gui"); settingsTmp.beginGroup(mainWindow->objectName()); settingsTmp.setValue("state", mainWindow->saveState()); settingsTmp.setValue("maximized", mainWindow->isMaximized()); settingsTmp.setValue("status_bar", mainWindow->statusBar()->isVisible()); settingsTmp.endGroup(); // "MainWindow" settingsTmp.endGroup(); // rtabmap } } void PreferencesDialog::loadMainWindowState(QMainWindow * mainWindow, bool & maximized, bool & statusBarShown) { if(!mainWindow->objectName().isEmpty()) { loadWindowGeometry(mainWindow); QByteArray bytes; QSettings settings(getIniFilePath(), QSettings::IniFormat); settings.beginGroup("Gui"); settings.beginGroup(mainWindow->objectName()); bytes = settings.value("state", QByteArray()).toByteArray(); if(!bytes.isEmpty()) { mainWindow->restoreState(bytes); } maximized = settings.value("maximized", false).toBool(); statusBarShown = settings.value("status_bar", false).toBool(); mainWindow->statusBar()->setVisible(statusBarShown); settings.endGroup(); // "MainWindow" settings.endGroup(); // rtabmap QSettings settingsTmp(getTmpIniFilePath(), QSettings::IniFormat); settingsTmp.beginGroup("Gui"); settingsTmp.beginGroup(mainWindow->objectName()); settingsTmp.setValue("state", mainWindow->saveState()); settingsTmp.setValue("maximized", maximized); settingsTmp.setValue("status_bar", statusBarShown); settingsTmp.endGroup(); // "MainWindow" settingsTmp.endGroup(); // rtabmap } } void PreferencesDialog::saveWidgetState(const QWidget * widget) { if(!widget->objectName().isEmpty()) { QSettings settings(getIniFilePath(), QSettings::IniFormat); settings.beginGroup("Gui"); settings.beginGroup(widget->objectName()); QSettings settingsTmp(getTmpIniFilePath(), QSettings::IniFormat); settingsTmp.beginGroup("Gui"); settingsTmp.beginGroup(widget->objectName()); const CloudViewer * cloudViewer = qobject_cast(widget); const ImageView * imageView = qobject_cast(widget); const ExportCloudsDialog * exportCloudsDialog = qobject_cast(widget); const ExportBundlerDialog * exportBundlerDialog = qobject_cast(widget); const PostProcessingDialog * postProcessingDialog = qobject_cast(widget); const GraphViewer * graphViewer = qobject_cast(widget); const CalibrationDialog * calibrationDialog = qobject_cast(widget); const DepthCalibrationDialog * depthCalibrationDialog = qobject_cast(widget); if(cloudViewer) { cloudViewer->saveSettings(settings); cloudViewer->saveSettings(settingsTmp); } else if(imageView) { imageView->saveSettings(settings); imageView->saveSettings(settingsTmp); } else if(exportCloudsDialog) { exportCloudsDialog->saveSettings(settings); exportCloudsDialog->saveSettings(settingsTmp); } else if(exportBundlerDialog) { exportBundlerDialog->saveSettings(settings); exportBundlerDialog->saveSettings(settingsTmp); } else if(postProcessingDialog) { postProcessingDialog->saveSettings(settings); postProcessingDialog->saveSettings(settingsTmp); } else if(graphViewer) { graphViewer->saveSettings(settings); graphViewer->saveSettings(settingsTmp); } else if(calibrationDialog) { calibrationDialog->saveSettings(settings); calibrationDialog->saveSettings(settingsTmp); } else if(depthCalibrationDialog) { depthCalibrationDialog->saveSettings(settings); depthCalibrationDialog->saveSettings(settingsTmp); } else { UERROR("Widget \"%s\" cannot be exported in config file.", widget->objectName().toStdString().c_str()); } settings.endGroup(); // "name" settings.endGroup(); // Gui settingsTmp.endGroup(); settingsTmp.endGroup(); } } void PreferencesDialog::loadWidgetState(QWidget * widget) { if(!widget->objectName().isEmpty()) { QByteArray bytes; QSettings settings(getIniFilePath(), QSettings::IniFormat); settings.beginGroup("Gui"); settings.beginGroup(widget->objectName()); QSettings settingsTmp(getTmpIniFilePath(), QSettings::IniFormat); settingsTmp.beginGroup("Gui"); settingsTmp.beginGroup(widget->objectName()); CloudViewer * cloudViewer = qobject_cast(widget); ImageView * imageView = qobject_cast(widget); ExportCloudsDialog * exportCloudsDialog = qobject_cast(widget); ExportBundlerDialog * exportBundlerDialog = qobject_cast(widget); PostProcessingDialog * postProcessingDialog = qobject_cast(widget); GraphViewer * graphViewer = qobject_cast(widget); CalibrationDialog * calibrationDialog = qobject_cast(widget); DepthCalibrationDialog * depthCalibrationDialog = qobject_cast(widget); if(cloudViewer) { cloudViewer->loadSettings(settings); cloudViewer->saveSettings(settingsTmp); } else if(imageView) { imageView->loadSettings(settings); imageView->saveSettings(settingsTmp); } else if(exportCloudsDialog) { exportCloudsDialog->loadSettings(settings); exportCloudsDialog->saveSettings(settingsTmp); } else if(exportBundlerDialog) { exportBundlerDialog->loadSettings(settings); exportBundlerDialog->saveSettings(settingsTmp); } else if(postProcessingDialog) { postProcessingDialog->loadSettings(settings); postProcessingDialog->saveSettings(settingsTmp); } else if(graphViewer) { graphViewer->loadSettings(settings); graphViewer->saveSettings(settingsTmp); } else if(calibrationDialog) { calibrationDialog->loadSettings(settings); calibrationDialog->saveSettings(settingsTmp); } else if(depthCalibrationDialog) { depthCalibrationDialog->loadSettings(settings); depthCalibrationDialog->saveSettings(settingsTmp); } else { UERROR("Widget \"%s\" cannot be loaded from config file.", widget->objectName().toStdString().c_str()); } settings.endGroup(); //"name" settings.endGroup(); // Gui settingsTmp.endGroup(); //"name" settingsTmp.endGroup(); // Gui } } void PreferencesDialog::saveCustomConfig(const QString & section, const QString & key, const QString & value) { QSettings settings(getIniFilePath(), QSettings::IniFormat); settings.beginGroup("Gui"); settings.beginGroup(section); settings.setValue(key, value); settings.endGroup(); // "section" settings.endGroup(); // rtabmap QSettings settingsTmp(getTmpIniFilePath(), QSettings::IniFormat); settingsTmp.beginGroup("Gui"); settingsTmp.beginGroup(section); settingsTmp.setValue(key, value); settingsTmp.endGroup(); // "section" settingsTmp.endGroup(); // rtabmap } QString PreferencesDialog::loadCustomConfig(const QString & section, const QString & key) { QString value; QSettings settings(getIniFilePath(), QSettings::IniFormat); settings.beginGroup("Gui"); settings.beginGroup(section); value = settings.value(key, QString()).toString(); settings.endGroup(); // "section" settings.endGroup(); // rtabmap QSettings settingsTmp(getTmpIniFilePath(), QSettings::IniFormat); settingsTmp.beginGroup("Gui"); settingsTmp.beginGroup(section); settingsTmp.setValue(key, value); settingsTmp.endGroup(); // "section" settingsTmp.endGroup(); // rtabmap return value; } rtabmap::ParametersMap PreferencesDialog::getAllParameters() const { if(_parameters.size() != Parameters::getDefaultParameters().size()) { UWARN("%d vs %d (Is PreferencesDialog::init() called?)", (int)_parameters.size(), (int)Parameters::getDefaultParameters().size()); } ParametersMap parameters = _parameters; uInsert(parameters, _modifiedParameters); return parameters; } std::string PreferencesDialog::getParameter(const std::string & key) const { if(_modifiedParameters.find(key) != _modifiedParameters.end()) { return _modifiedParameters.at(key); } UASSERT(_parameters.find(key) != _parameters.end()); return _parameters.at(key); } void PreferencesDialog::updateParameters(const ParametersMap & parameters, bool setOtherParametersToDefault) { if(parameters.size()) { for(rtabmap::ParametersMap::const_iterator iter = parameters.begin(); iter!=parameters.end(); ++iter) { this->setParameter(iter->first, iter->second); } if(setOtherParametersToDefault) { for(ParametersMap::const_iterator iter=Parameters::getDefaultParameters().begin(); iter!=Parameters::getDefaultParameters().end(); ++iter) { if(parameters.find(iter->first) == parameters.end() && iter->first.compare(Parameters::kRtabmapWorkingDirectory())!=0) { this->setParameter(iter->first, iter->second); } } } if(!this->isVisible()) { this->writeSettings(getTmpIniFilePath()); } } } void PreferencesDialog::selectSourceDriver(Src src, int variant) { Src previousCameraSrc = getSourceDriver(); Src previousLidarSrc = getLidarSourceDriver(); if(_ui->comboBox_imuFilter_strategy->currentIndex()==0) { _ui->comboBox_imuFilter_strategy->setCurrentIndex(2); } _3dRenderingRoiRatios[0]->setText("0.0 0.0 0.0 0.0"); _3dRenderingRoiRatios[1]->setText("0.0 0.0 0.0 0.0"); if(src >= kSrcRGBD && srccomboBox_sourceType->setCurrentIndex(0); _ui->comboBox_cameraRGBD->setCurrentIndex(src - kSrcRGBD); if(src == kSrcOpenNI_PCL) { _ui->lineEdit_openniOniPath->clear(); } else if(src == kSrcOpenNI2) { _ui->lineEdit_openni2OniPath->clear(); } else if (src == kSrcK4A) { _ui->lineEdit_k4a_mkv->clear(); _3dRenderingRoiRatios[0]->setText("0.05 0.05 0.05 0.05"); _3dRenderingRoiRatios[1]->setText("0.05 0.05 0.05 0.05"); } else if (src == kSrcRealSense2) { if(variant > 0) // L515 { _ui->spinBox_rs2_width->setValue(1280); _ui->spinBox_rs2_height->setValue(720); _ui->spinBox_rs2_rate->setValue(30); _ui->checkbox_rs2_irMode->setChecked(false); _ui->checkbox_rs2_emitter->setChecked(true); } else // D400 { _ui->spinBox_rs2_width->setValue(848); _ui->spinBox_rs2_height->setValue(480); _ui->spinBox_rs2_rate->setValue(60); _ui->checkbox_rs2_irMode->setChecked(true); _ui->checkbox_rs2_emitter->setChecked(false); } } } else if(src >= kSrcStereo && srccomboBox_sourceType->setCurrentIndex(1); _ui->comboBox_cameraStereo->setCurrentIndex(src - kSrcStereo); if(src == kSrcStereoZed) // Zedm, Zed2 { // disable IMU filtering (zed sends already quaternion) _ui->comboBox_imuFilter_strategy->setCurrentIndex(0); } else if(src == kSrcStereoDepthAI) // OAK-D-Pro (variant==2), OAK-D (variant==1), OAK-D Lite (variant==0) { _ui->checkBox_depthai_imu_published->setChecked(variant >= 1); _ui->comboBox_depthai_image_width->setCurrentIndex(1); _ui->comboBox_depthai_output_mode->setCurrentIndex(variant==2?2:1); _ui->doubleSpinBox_depthai_dot_intensity->setValue(variant==2?1:0); } } else if(src >= kSrcRGB && srccomboBox_sourceType->setCurrentIndex(2); _ui->source_comboBox_image_type->setCurrentIndex(src - kSrcRGB); } else if(src == kSrcDatabase) { _ui->comboBox_sourceType->setCurrentIndex(3); } else if(src >= kSrcLidar) { _ui->comboBox_lidar_src->setCurrentIndex(kSrcLidarVLP16 - kSrcLidar + 1); } if(previousCameraSrc == kSrcUndef && src < kSrcDatabase && QMessageBox::question(this, tr("Camera Source..."), tr("Do you want to use default camera settings?"), QMessageBox::Yes | QMessageBox::No, QMessageBox::Yes) == QMessageBox::Yes) { loadPreset(""); _ui->comboBox_lidar_src->setCurrentIndex(0); // Set Lidar to None; _ui->comboBox_odom_sensor->setCurrentIndex(0); // Set odom sensor to None } else if(previousLidarSrc== kSrcUndef && src >= kSrcLidar && QMessageBox::question(this, tr("LiDAR Source..."), tr("Do you want to use \"LiDAR 3D ICP\" preset?"), QMessageBox::Yes | QMessageBox::No, QMessageBox::Yes) == QMessageBox::Yes) { loadPreset(LIDAR3D_ICP_INI); _ui->comboBox_sourceType->setCurrentIndex(4); // Set camera to None; _ui->comboBox_odom_sensor->setCurrentIndex(0); // Set odom sensor to No } if(validateForm()) { // Even if there is no change, MainWindow should be notified makeObsoleteSourcePanel(); this->writeSettings(getTmpIniFilePath()); } else { this->readSettingsBegin(); } } bool sortCallback(const std::string & a, const std::string & b) { return uStrNumCmp(a,b) < 0; } void PreferencesDialog::selectSourceDatabase() { QString dir = _ui->source_database_lineEdit_path->text(); if(dir.isEmpty()) { dir = getWorkingDirectory(); } QStringList paths = QFileDialog::getOpenFileNames(this, tr("Select file"), dir, tr("RTAB-Map database files (*.db)")); if(paths.size()) { int r = QMessageBox::question(this, tr("Odometry in database..."), tr("Use odometry saved in database (if some saved)?"), QMessageBox::Yes | QMessageBox::No, QMessageBox::Yes); _ui->source_checkBox_ignoreOdometry->setChecked(r != QMessageBox::Yes); if (_ui->general_doubleSpinBox_detectionRate->value() != 0 && _ui->general_spinBox_imagesBufferSize->value() != 0) { r = QMessageBox::question(this, tr("Detection rate..."), tr("Do you want to process all frames? \n\nClicking \"Yes\" will set " "RTAB-Map's detection rate (%1 Hz) and buffer size (%2) to 0 to make " "sure that all frames are processed.") .arg(_ui->general_doubleSpinBox_detectionRate->value()) .arg(_ui->general_spinBox_imagesBufferSize->value()), QMessageBox::Yes | QMessageBox::No, QMessageBox::Yes); if (r == QMessageBox::Yes) { _ui->general_doubleSpinBox_detectionRate->setValue(0.0); _ui->general_spinBox_imagesBufferSize->setValue(0); } } if(paths.size() > 1) { std::vector vFileNames(paths.size()); for(int i=0; isource_database_lineEdit_path->setText(paths.size()==1?paths.front():paths.join(";")); _ui->source_spinBox_databaseStartId->setValue(0); _ui->source_spinBox_databaseStopId->setValue(0); _ui->source_lineEdit_databaseCameraIndex->setText(""); } } void PreferencesDialog::openDatabaseViewer() { DatabaseViewer * viewer = new DatabaseViewer(getIniFilePath(), this); viewer->setWindowModality(Qt::WindowModal); viewer->setAttribute(Qt::WA_DeleteOnClose, true); viewer->showCloseButton(); if(viewer->openDatabase(_ui->source_database_lineEdit_path->text())) { viewer->show(); } else { delete viewer; } } void PreferencesDialog::visualizeDistortionModel() { if(!_ui->lineEdit_source_distortionModel->text().isEmpty() && QFileInfo(_ui->lineEdit_source_distortionModel->text()).exists()) { clams::DiscreteDepthDistortionModel model; model.load(_ui->lineEdit_source_distortionModel->text().toStdString()); if(model.isValid()) { cv::Mat img = model.visualize(); QString name = QFileInfo(_ui->lineEdit_source_distortionModel->text()).baseName()+".png"; cv::imwrite(name.toStdString(), img); QDesktopServices::openUrl(QUrl::fromLocalFile(name)); } else { QMessageBox::warning(this, tr("Distortion Model"), tr("Model loaded from \"%1\" is not valid!").arg(_ui->lineEdit_source_distortionModel->text())); } } else { QMessageBox::warning(this, tr("Distortion Model"), tr("File \"%1\" doesn't exist!").arg(_ui->lineEdit_source_distortionModel->text())); } } void PreferencesDialog::selectCalibrationPath() { QString dir = _ui->lineEdit_calibrationFile->text(); if(dir.isEmpty()) { dir = getWorkingDirectory()+"/camera_info"; } else if(!dir.contains('.')) { dir = getWorkingDirectory()+"/camera_info/"+dir; } QString path = QFileDialog::getOpenFileName(this, tr("Select file"), dir, tr("Calibration file (*.yaml)")); if(path.size()) { _ui->lineEdit_calibrationFile->setText(path); } } void PreferencesDialog::selectOdomSensorCalibrationPath() { QString dir = _ui->lineEdit_odom_sensor_path_calibration->text(); if(dir.isEmpty()) { dir = getWorkingDirectory()+"/camera_info"; } else if(!dir.contains('.')) { dir = getWorkingDirectory()+"/camera_info/"+dir; } QString path = QFileDialog::getOpenFileName(this, tr("Select file"), dir, tr("Calibration file (*.yaml)")); if(path.size()) { _ui->lineEdit_odom_sensor_path_calibration->setText(path); } } void PreferencesDialog::selectSourceImagesStamps() { QString dir = _ui->lineEdit_cameraImages_timestamps->text(); if(dir.isEmpty()) { dir = getWorkingDirectory(); } QString path = QFileDialog::getOpenFileName(this, tr("Select file"), dir, tr("Timestamps file (*.txt)")); if(path.size()) { _ui->lineEdit_cameraImages_timestamps->setText(path); } } void PreferencesDialog::selectSourceRGBDImagesPathRGB() { QString dir = _ui->lineEdit_cameraRGBDImages_path_rgb->text(); if(dir.isEmpty()) { dir = getWorkingDirectory(); } QString path = QFileDialog::getExistingDirectory(this, tr("Select RGB images directory"), dir); if(path.size()) { _ui->lineEdit_cameraRGBDImages_path_rgb->setText(path); } } void PreferencesDialog::selectSourceImagesPathScans() { QString dir = _ui->lineEdit_cameraImages_path_scans->text(); if(dir.isEmpty()) { dir = getWorkingDirectory(); } QString path = QFileDialog::getExistingDirectory(this, tr("Select scans directory"), dir); if(path.size()) { _ui->lineEdit_cameraImages_path_scans->setText(path); } } void PreferencesDialog::selectSourceImagesPathIMU() { QString dir = _ui->lineEdit_cameraImages_path_imu->text(); if(dir.isEmpty()) { dir = getWorkingDirectory(); } QString path = QFileDialog::getOpenFileName(this, tr("Select file "), dir, tr("EuRoC IMU file (*.csv)")); if(path.size()) { _ui->lineEdit_cameraImages_path_imu->setText(path); } } void PreferencesDialog::selectSourceRGBDImagesPathDepth() { QString dir = _ui->lineEdit_cameraRGBDImages_path_depth->text(); if(dir.isEmpty()) { dir = getWorkingDirectory(); } QString path = QFileDialog::getExistingDirectory(this, tr("Select depth images directory"), dir); if(path.size()) { _ui->lineEdit_cameraRGBDImages_path_depth->setText(path); } } void PreferencesDialog::selectSourceImagesPathOdom() { QString dir = _ui->lineEdit_cameraImages_odom->text(); if(dir.isEmpty()) { dir = getWorkingDirectory(); } QString path = QFileDialog::getOpenFileName(this, tr("Select file"), dir, tr("Odometry (*.txt *.log *.toro *.g2o *.csv)")); if(path.size()) { QStringList list; for(int i=0; i<_ui->comboBox_cameraImages_odomFormat->count(); ++i) { list.push_back(_ui->comboBox_cameraImages_odomFormat->itemText(i)); } QString item = QInputDialog::getItem(this, tr("Odometry Format"), tr("Format:"), list, _ui->comboBox_cameraImages_odomFormat->currentIndex(), false); if(!item.isEmpty()) { _ui->lineEdit_cameraImages_odom->setText(path); _ui->comboBox_cameraImages_odomFormat->setCurrentIndex(_ui->comboBox_cameraImages_odomFormat->findText(item)); } } } void PreferencesDialog::selectSourceImagesPathGt() { QString dir = _ui->lineEdit_cameraImages_gt->text(); if(dir.isEmpty()) { dir = getWorkingDirectory(); } QString path = QFileDialog::getOpenFileName(this, tr("Select file"), dir, tr("Ground Truth (*.txt *.log *.toro *.g2o *.csv)")); if(path.size()) { QStringList list; for(int i=0; i<_ui->comboBox_cameraImages_gtFormat->count(); ++i) { list.push_back(_ui->comboBox_cameraImages_gtFormat->itemText(i)); } QString item = QInputDialog::getItem(this, tr("Ground Truth Format"), tr("Format:"), list, _ui->comboBox_cameraImages_gtFormat->currentIndex(), false); if(!item.isEmpty()) { _ui->lineEdit_cameraImages_gt->setText(path); _ui->comboBox_cameraImages_gtFormat->setCurrentIndex(_ui->comboBox_cameraImages_gtFormat->findText(item)); } } } void PreferencesDialog::selectSourceStereoImagesPathLeft() { QString dir = _ui->lineEdit_cameraStereoImages_path_left->text(); if(dir.isEmpty()) { dir = getWorkingDirectory(); } QString path = QFileDialog::getExistingDirectory(this, tr("Select left images directory"), dir); if(path.size()) { _ui->lineEdit_cameraStereoImages_path_left->setText(path); } } void PreferencesDialog::selectSourceStereoImagesPathRight() { QString dir = _ui->lineEdit_cameraStereoImages_path_right->text(); if(dir.isEmpty()) { dir = getWorkingDirectory(); } QString path = QFileDialog::getExistingDirectory(this, tr("Select right images directory"), dir); if(path.size()) { _ui->lineEdit_cameraStereoImages_path_right->setText(path); } } void PreferencesDialog::selectSourceImagesPath() { QString dir = _ui->source_images_lineEdit_path->text(); if(dir.isEmpty()) { dir = getWorkingDirectory(); } QString path = QFileDialog::getExistingDirectory(this, tr("Select images directory"), _ui->source_images_lineEdit_path->text()); if(!path.isEmpty()) { _ui->source_images_lineEdit_path->setText(path); _ui->source_images_spinBox_startPos->setValue(0); _ui->source_images_spinBox_maxFrames->setValue(0); } } void PreferencesDialog::selectSourceVideoPath() { QString dir = _ui->source_video_lineEdit_path->text(); if(dir.isEmpty()) { dir = getWorkingDirectory(); } QString path = QFileDialog::getOpenFileName(this, tr("Select file"), dir, tr("Videos (*.avi *.mpg *.mp4 *.mov *.mkv)")); if(!path.isEmpty()) { _ui->source_video_lineEdit_path->setText(path); } } void PreferencesDialog::selectSourceStereoVideoPath() { QString dir = _ui->lineEdit_cameraStereoVideo_path->text(); if(dir.isEmpty()) { dir = getWorkingDirectory(); } QString path = QFileDialog::getOpenFileName(this, tr("Select file"), dir, tr("Videos (*.avi *.mpg *.mp4 *.mov *.mkv)")); if(!path.isEmpty()) { _ui->lineEdit_cameraStereoVideo_path->setText(path); } } void PreferencesDialog::selectSourceStereoVideoPath2() { QString dir = _ui->lineEdit_cameraStereoVideo_path_2->text(); if(dir.isEmpty()) { dir = getWorkingDirectory(); } QString path = QFileDialog::getOpenFileName(this, tr("Select file"), dir, tr("Videos (*.avi *.mpg *.mp4 *.mov *.mkv)")); if(!path.isEmpty()) { _ui->lineEdit_cameraStereoVideo_path_2->setText(path); } } void PreferencesDialog::selectSourceDistortionModel() { QString dir = _ui->lineEdit_source_distortionModel->text(); if(dir.isEmpty()) { dir = getWorkingDirectory(); } QString path = QFileDialog::getOpenFileName(this, tr("Select file"), dir, tr("Distortion model (*.bin *.txt)")); if(!path.isEmpty()) { _ui->lineEdit_source_distortionModel->setText(path); } } void PreferencesDialog::selectSourceOniPath() { QString dir = _ui->lineEdit_openniOniPath->text(); if(dir.isEmpty()) { dir = getWorkingDirectory(); } QString path = QFileDialog::getOpenFileName(this, tr("Select file"), dir, tr("OpenNI (*.oni)")); if(!path.isEmpty()) { _ui->lineEdit_openniOniPath->setText(path); } } void PreferencesDialog::selectSourceOni2Path() { QString dir = _ui->lineEdit_openni2OniPath->text(); if(dir.isEmpty()) { dir = getWorkingDirectory(); } QString path = QFileDialog::getOpenFileName(this, tr("Select file"), dir, tr("OpenNI (*.oni)")); if(!path.isEmpty()) { _ui->lineEdit_openni2OniPath->setText(path); } } void PreferencesDialog::selectSourceMKVPath() { QString dir = _ui->lineEdit_k4a_mkv->text(); if (dir.isEmpty()) { dir = getWorkingDirectory(); } QString path = QFileDialog::getOpenFileName(this, tr("Select file"), dir, tr("K4A recording (*.mkv)")); if (!path.isEmpty()) { _ui->lineEdit_k4a_mkv->setText(path); } } void PreferencesDialog::selectSourceSvoPath() { QString dir = _ui->lineEdit_zedSvoPath->text(); if(dir.isEmpty()) { dir = getWorkingDirectory(); } QString path = QFileDialog::getOpenFileName(this, tr("Select file"), dir, tr("ZED (*.svo)")); if(!path.isEmpty()) { _ui->lineEdit_zedSvoPath->setText(path); } } void PreferencesDialog::selectSourceRealsense2JsonPath() { QString dir = _ui->lineEdit_rs2_jsonFile->text(); if(dir.isEmpty()) { dir = getWorkingDirectory(); } QString path = QFileDialog::getOpenFileName(this, tr("Select RealSense2 preset"), dir, tr("JSON (*.json)")); if(path.size()) { _ui->lineEdit_rs2_jsonFile->setText(path); } } void PreferencesDialog::selectSourceDepthaiBlobPath() { QString dir = _ui->lineEdit_depthai_blob_path->text(); if(dir.isEmpty()) { dir = getWorkingDirectory(); } QString path = QFileDialog::getOpenFileName(this, tr("Select file"), dir, tr("MyriadX blob (*.blob)")); if(path.size()) { _ui->lineEdit_depthai_blob_path->setText(path); } } void PreferencesDialog::selectVlp16PcapPath() { QString dir = _ui->lineEdit_vlp16_pcap_path->text(); if (dir.isEmpty()) { dir = getWorkingDirectory(); } QString path = QFileDialog::getOpenFileName(this, tr("Select file"), dir, tr("Velodyne recording (*.pcap)")); if (!path.isEmpty()) { _ui->lineEdit_vlp16_pcap_path->setText(path); } } void PreferencesDialog::setParameter(const std::string & key, const std::string & value) { UDEBUG("%s=%s", key.c_str(), value.c_str()); QWidget * obj = _ui->stackedWidget->findChild(key.c_str()); if(obj) { QSpinBox * spin = qobject_cast(obj); QDoubleSpinBox * doubleSpin = qobject_cast(obj); QComboBox * combo = qobject_cast(obj); QCheckBox * check = qobject_cast(obj); QRadioButton * radio = qobject_cast(obj); QLineEdit * lineEdit = qobject_cast(obj); QGroupBox * groupBox = qobject_cast(obj); bool ok; if(spin) { int v = QString(value.c_str()).toInt(&ok); if(!ok) { UERROR("Conversion failed from \"%s\" for parameter %s. Original value (%d) is kept.", value.c_str(), key.c_str(), spin->value()); } else { spin->setValue(v); uInsert(_parameters, ParametersPair(key, value)); } } else if(doubleSpin) { double v = QString(value.c_str()).toDouble(&ok); if(!ok) { UERROR("Conversion failed from \"%s\" for parameter %s. Original value (%f) is kept.", value.c_str(), key.c_str(), doubleSpin->value()); } else { doubleSpin->setValue(v); uInsert(_parameters, ParametersPair(key, value)); } } else if(combo) { //backward compatibility std::string valueCpy = value; if( key.compare(Parameters::kIcpStrategy()) == 0 || key.compare(Parameters::kGridSensor()) == 0) { if(value.compare("true") == 0) { valueCpy = "1"; } else if(value.compare("false") == 0) { valueCpy = "0"; } } int valueInt = QString(valueCpy.c_str()).toInt(&ok); if(!ok) { UERROR("Conversion failed from \"%s\" for parameter %s. Original value (%d) is kept.", valueCpy.c_str(), key.c_str(), combo->currentIndex()); } else { #ifndef RTABMAP_NONFREE if(valueInt == 0 && (combo->objectName().toStdString().compare(Parameters::kKpDetectorStrategy()) == 0 || combo->objectName().toStdString().compare(Parameters::kVisFeatureType()) == 0)) { UWARN("Trying to set \"%s\" to SURF but RTAB-Map isn't built " "with the nonfree module from OpenCV. Keeping default combo value: %s.", combo->objectName().toStdString().c_str(), combo->currentText().toStdString().c_str()); ok = false; } #if CV_MAJOR_VERSION < 3 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION <= 3) || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION < 4 || (CV_MINOR_VERSION==4 && CV_SUBMINOR_VERSION<11))) if(valueInt == 1 && (combo->objectName().toStdString().compare(Parameters::kKpDetectorStrategy()) == 0 || combo->objectName().toStdString().compare(Parameters::kVisFeatureType()) == 0)) { UWARN("Trying to set \"%s\" to SIFT but RTAB-Map isn't built " "with the nonfree module from OpenCV. Keeping default combo value: %s.", combo->objectName().toStdString().c_str(), combo->currentText().toStdString().c_str()); ok = false; } #endif #endif #ifndef RTABMAP_ORB_SLAM if(!Optimizer::isAvailable(Optimizer::kTypeG2O)) #endif { if(valueInt==1 && combo->objectName().toStdString().compare(Parameters::kOptimizerStrategy()) == 0) { if(Optimizer::isAvailable(Optimizer::kTypeGTSAM)) { UWARN("Trying to set \"%s\" to g2o but RTAB-Map isn't built " "with g2o. Falling back to GTSAM.", combo->objectName().toStdString().c_str()); valueInt = 2; } else { UWARN("Trying to set \"%s\" to g2o but RTAB-Map isn't built " "with g2o. Keeping default combo value: %s.", combo->objectName().toStdString().c_str(), combo->currentText().toStdString().c_str()); ok = false; } } } if(!Optimizer::isAvailable(Optimizer::kTypeGTSAM)) { if(valueInt==2 && combo->objectName().toStdString().compare(Parameters::kOptimizerStrategy()) == 0) { if( #ifndef RTABMAP_ORB_SLAM Optimizer::isAvailable(Optimizer::kTypeG2O) #else true #endif ){ UWARN("Trying to set \"%s\" to GTSAM but RTAB-Map isn't built " "with GTSAM. Falling back to g2o.", combo->objectName().toStdString().c_str()); valueInt = 1; } else { UWARN("Trying to set \"%s\" to GTSAM but RTAB-Map isn't built " "with GTSAM. Keeping default combo value: %s.", combo->objectName().toStdString().c_str(), combo->currentText().toStdString().c_str()); ok = false; } } } if(ok) { combo->setCurrentIndex(valueInt); uInsert(_parameters, ParametersPair(key, uNumber2Str(valueInt))); } } } else if(check) { _ui->checkBox_useOdomFeatures->blockSignals(true); check->setChecked(uStr2Bool(value.c_str())); _ui->checkBox_useOdomFeatures->blockSignals(false); uInsert(_parameters, ParametersPair(key, uBool2Str(check->isChecked()))); } else if(radio) { radio->setChecked(uStr2Bool(value.c_str())); uInsert(_parameters, ParametersPair(key, uBool2Str(radio->isChecked()))); } else if(lineEdit) { lineEdit->setText(value.c_str()); uInsert(_parameters, ParametersPair(key, value)); } else if(groupBox) { groupBox->setChecked(uStr2Bool(value.c_str())); uInsert(_parameters, ParametersPair(key, uBool2Str(groupBox->isChecked()))); } else { ULOGGER_WARN("QObject called %s can't be cast to a supported widget", key.c_str()); } } else { ULOGGER_WARN("Can't find the related QObject for parameter %s", key.c_str()); } } void PreferencesDialog::addParameter(int value) { if(sender()) { this->addParameter(sender(), value); } else { ULOGGER_ERROR("This slot must be triggered by a signal, not a direct call..."); } } void PreferencesDialog::addParameter(bool value) { if(sender()) { this->addParameter(sender(), value); } else { ULOGGER_ERROR("This slot must be triggered by a signal, not a direct call..."); } } void PreferencesDialog::addParameter(double value) { if(sender()) { this->addParameter(sender(), value); } else { ULOGGER_ERROR("This slot must be triggered by a signal, not a direct call..."); } } void PreferencesDialog::addParameter(const QString & value) { if(sender()) { this->addParameter(sender(), value); } else { ULOGGER_ERROR("This slot must be triggered by a signal, not a direct call..."); } } void PreferencesDialog::addParameter(const QObject * object, int value) { if(object) { const QComboBox * comboBox = qobject_cast(object); const QSpinBox * spinbox = qobject_cast(object); if(comboBox || spinbox) { // Add parameter UDEBUG("modify param %s=%s", object->objectName().toStdString().c_str(), uNumber2Str(value).c_str()); uInsert(_modifiedParameters, rtabmap::ParametersPair(object->objectName().toStdString(), QString::number(value).toStdString())); } else { UWARN("Undefined object \"%s\"", object->objectName().toStdString().c_str()); } } else { ULOGGER_ERROR("Object is null"); } } void PreferencesDialog::addParameter(const QObject * object, bool value) { if(object) { const QCheckBox * checkbox = qobject_cast(object); const QRadioButton * radio = qobject_cast(object); const QGroupBox * groupBox = qobject_cast(object); if(checkbox || radio || groupBox) { // Add parameter UDEBUG("modify param %s=%s", object->objectName().toStdString().c_str(), uBool2Str(value).c_str()); uInsert(_modifiedParameters, rtabmap::ParametersPair(object->objectName().toStdString(), uBool2Str(value))); } else { UWARN("Undefined object \"%s\"", object->objectName().toStdString().c_str()); } } else { ULOGGER_ERROR("Object is null"); } } void PreferencesDialog::addParameter(const QObject * object, double value) { if(object) { UDEBUG("modify param %s=%f", object->objectName().toStdString().c_str(), value); uInsert(_modifiedParameters, rtabmap::ParametersPair(object->objectName().toStdString(), QString::number(value).toStdString())); } else { ULOGGER_ERROR("Object is null"); } } void PreferencesDialog::addParameter(const QObject * object, const QString & value) { if(object) { UDEBUG("modify param %s=%s", object->objectName().toStdString().c_str(), value.toStdString().c_str()); uInsert(_modifiedParameters, rtabmap::ParametersPair(object->objectName().toStdString(), value.toStdString())); } else { ULOGGER_ERROR("Object is null"); } } void PreferencesDialog::addParameters(const QObjectList & children) { //ULOGGER_DEBUG("PreferencesDialog::addParameters(QGroupBox) box %s has %d children", box->objectName().toStdString().c_str(), children.size()); for(int i=0; i(children[i]); const QDoubleSpinBox * doubleSpin = qobject_cast(children[i]); const QComboBox * combo = qobject_cast(children[i]); const QCheckBox * check = qobject_cast(children[i]); const QRadioButton * radio = qobject_cast(children[i]); const QLineEdit * lineEdit = qobject_cast(children[i]); const QGroupBox * groupBox = qobject_cast(children[i]); const QStackedWidget * stackedWidget = qobject_cast(children[i]); if(spin) { this->addParameter(spin, spin->value()); } else if(doubleSpin) { this->addParameter(doubleSpin, doubleSpin->value()); } else if(combo) { this->addParameter(combo, combo->currentIndex()); } else if(check) { this->addParameter(check, check->isChecked()); } else if(radio) { this->addParameter(radio, radio->isChecked()); } else if(lineEdit) { this->addParameter(lineEdit, lineEdit->text()); } else if(groupBox) { if(groupBox->isCheckable()) { this->addParameter(groupBox, groupBox->isChecked()); } else { this->addParameters(groupBox); } } else if(stackedWidget) { this->addParameters(stackedWidget); } } } void PreferencesDialog::addParameters(const QStackedWidget * stackedWidget, int panel) { if(stackedWidget) { if(panel == -1) { for(int i=0; icount(); ++i) { const QObjectList & children = stackedWidget->widget(i)->children(); addParameters(children); } } else { UASSERT(panelcount()); const QObjectList & children = stackedWidget->widget(panel)->children(); addParameters(children); } } } void PreferencesDialog::addParameters(const QGroupBox * box) { if(box) { const QObjectList & children = box->children(); addParameters(children); } } void PreferencesDialog::updateBasicParameter() { UDEBUG(""); // This method is used to update basic/advanced referred parameters, see above editingFinished() // basic to advanced (advanced to basic must be done by connecting signal valueChanged()) if(sender() == _ui->general_doubleSpinBox_timeThr_2) { _ui->general_doubleSpinBox_timeThr->setValue(_ui->general_doubleSpinBox_timeThr_2->value()); } else if(sender() == _ui->general_doubleSpinBox_hardThr_2) { _ui->general_doubleSpinBox_hardThr->setValue(_ui->general_doubleSpinBox_hardThr_2->value()); } else if(sender() == _ui->general_doubleSpinBox_detectionRate_2) { _ui->general_doubleSpinBox_detectionRate->setValue(_ui->general_doubleSpinBox_detectionRate_2->value()); } else if(sender() == _ui->general_spinBox_imagesBufferSize_2) { _ui->general_spinBox_imagesBufferSize->setValue(_ui->general_spinBox_imagesBufferSize_2->value()); } else if(sender() == _ui->general_spinBox_maxStMemSize_2) { _ui->general_spinBox_maxStMemSize->setValue(_ui->general_spinBox_maxStMemSize_2->value()); } else if(sender() == _ui->groupBox_publishing) { _ui->general_checkBox_publishStats_2->setChecked(_ui->groupBox_publishing->isChecked()); } else if(sender() == _ui->general_checkBox_publishStats_2) { _ui->groupBox_publishing->setChecked(_ui->general_checkBox_publishStats_2->isChecked()); } else if(sender() == _ui->doubleSpinBox_similarityThreshold_2) { _ui->doubleSpinBox_similarityThreshold->setValue(_ui->doubleSpinBox_similarityThreshold_2->value()); } else if(sender() == _ui->general_checkBox_activateRGBD) { _ui->general_checkBox_activateRGBD_2->blockSignals(true); _ui->general_checkBox_activateRGBD_2->setChecked(_ui->general_checkBox_activateRGBD->isChecked()); _ui->general_checkBox_activateRGBD_2->blockSignals(false); } else if(sender() == _ui->general_checkBox_activateRGBD_2) { _ui->general_checkBox_activateRGBD->blockSignals(true); _ui->general_checkBox_activateRGBD->setChecked(_ui->general_checkBox_activateRGBD_2->isChecked()); addParameter(_ui->general_checkBox_activateRGBD, _ui->general_checkBox_activateRGBD->isChecked()); _ui->general_checkBox_activateRGBD->blockSignals(false); } else if(sender() == _ui->general_checkBox_SLAM_mode) { _ui->general_checkBox_SLAM_mode_2->blockSignals(true); _ui->general_checkBox_SLAM_mode_2->setChecked(_ui->general_checkBox_SLAM_mode->isChecked()); _ui->general_checkBox_SLAM_mode_2->blockSignals(false); } else if(sender() == _ui->general_checkBox_SLAM_mode_2) { _ui->general_checkBox_SLAM_mode->blockSignals(true); _ui->general_checkBox_SLAM_mode->setChecked(_ui->general_checkBox_SLAM_mode_2->isChecked()); addParameter(_ui->general_checkBox_SLAM_mode, _ui->general_checkBox_SLAM_mode->isChecked()); _ui->general_checkBox_SLAM_mode->blockSignals(false); } else { //update all values (only those using editingFinished signal) _ui->general_doubleSpinBox_timeThr->setValue(_ui->general_doubleSpinBox_timeThr_2->value()); _ui->general_doubleSpinBox_hardThr->setValue(_ui->general_doubleSpinBox_hardThr_2->value()); _ui->general_doubleSpinBox_detectionRate->setValue(_ui->general_doubleSpinBox_detectionRate_2->value()); _ui->general_spinBox_imagesBufferSize->setValue(_ui->general_spinBox_imagesBufferSize_2->value()); _ui->general_spinBox_maxStMemSize->setValue(_ui->general_spinBox_maxStMemSize_2->value()); _ui->doubleSpinBox_similarityThreshold->setValue(_ui->doubleSpinBox_similarityThreshold_2->value()); } } void PreferencesDialog::makeObsoleteGeneralPanel() { ULOGGER_DEBUG(""); _obsoletePanels = _obsoletePanels | kPanelGeneral; } void PreferencesDialog::makeObsoleteCloudRenderingPanel() { ULOGGER_DEBUG(""); _obsoletePanels = _obsoletePanels | kPanelCloudRendering; } void PreferencesDialog::makeObsoleteLoggingPanel() { ULOGGER_DEBUG(""); _obsoletePanels = _obsoletePanels | kPanelLogging; } void PreferencesDialog::makeObsoleteSourcePanel() { ULOGGER_DEBUG(""); _obsoletePanels = _obsoletePanels | kPanelSource; } void PreferencesDialog::makeObsoleteCalibrationPanel() { ULOGGER_DEBUG(""); _obsoletePanels = _obsoletePanels | kPanelCalibration; } QList PreferencesDialog::getGroupBoxes() { QList boxes; for(int i=0; i<_ui->stackedWidget->count(); ++i) { QGroupBox * gb = 0; const QObjectList & children = _ui->stackedWidget->widget(i)->children(); for(int j=0; j(children.at(j)))) { //ULOGGER_DEBUG("PreferencesDialog::setupTreeView() index(%d) Added %s, box name=%s", i, gb->title().toStdString().c_str(), gb->objectName().toStdString().c_str()); break; } } if(gb) { boxes.append(gb); } else { ULOGGER_ERROR("A QGroupBox must be included in the first level of children in stacked widget, index=%d", i); } } return boxes; } void PreferencesDialog::updatePredictionPlot() { QStringList values = _ui->lineEdit_bayes_predictionLC->text().simplified().split(' '); if(values.size() < 2) { UERROR("Error parsing prediction (must have at least 2 items) : %s", _ui->lineEdit_bayes_predictionLC->text().toStdString().c_str()); return; } QVector dataX((values.size()-2)*2 + 1); QVector dataY((values.size()-2)*2 + 1); double value; double sum = 0; int lvl = 1; bool ok = false; bool error = false; int loopClosureIndex = (dataX.size()-1)/2; for(int i=0; ilabel_prediction_sum->setNum(sum); if(error) { _ui->label_prediction_sum->setText(QString("") + _ui->label_prediction_sum->text() + ""); } else if(sum == 1.0) { _ui->label_prediction_sum->setText(QString("") + _ui->label_prediction_sum->text() + ""); } else if(sum > 1.0) { _ui->label_prediction_sum->setText(QString("") + _ui->label_prediction_sum->text() + ""); } else { _ui->label_prediction_sum->setText(QString("") + _ui->label_prediction_sum->text() + ""); } _ui->predictionPlot->removeCurves(); _ui->predictionPlot->addCurve(new UPlotCurve("Prediction", dataX, dataY, _ui->predictionPlot)); } void PreferencesDialog::setupKpRoiPanel() { QStringList strings = _ui->lineEdit_kp_roi->text().split(' '); if(strings.size()!=4) { UERROR("ROI must have 4 values (%s)", _ui->lineEdit_kp_roi->text().toStdString().c_str()); return; } _ui->doubleSpinBox_kp_roi0->setValue(strings[0].toDouble()*100.0); _ui->doubleSpinBox_kp_roi1->setValue(strings[1].toDouble()*100.0); _ui->doubleSpinBox_kp_roi2->setValue(strings[2].toDouble()*100.0); _ui->doubleSpinBox_kp_roi3->setValue(strings[3].toDouble()*100.0); } void PreferencesDialog::updateKpROI() { QStringList strings; strings.append(QString::number(_ui->doubleSpinBox_kp_roi0->value()/100.0)); strings.append(QString::number(_ui->doubleSpinBox_kp_roi1->value()/100.0)); strings.append(QString::number(_ui->doubleSpinBox_kp_roi2->value()/100.0)); strings.append(QString::number(_ui->doubleSpinBox_kp_roi3->value()/100.0)); _ui->lineEdit_kp_roi->setText(strings.join(" ")); } void PreferencesDialog::updateStereoDisparityVisibility() { Src driver = this->getSourceDriver(); _ui->checkbox_stereo_depthGenerated->setVisible( driver != PreferencesDialog::kSrcStereoZed || _ui->comboBox_stereoZed_quality->currentIndex() == 0); _ui->label_stereo_depthGenerated->setVisible( driver != PreferencesDialog::kSrcStereoZed || _ui->comboBox_stereoZed_quality->currentIndex() == 0); _ui->checkBox_stereo_rectify->setEnabled( _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoImages - kSrcStereo || _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoUsb - kSrcStereo || _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoTara - kSrcStereo || _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoVideo - kSrcStereo || _ui->comboBox_cameraStereo->currentIndex() == kSrcDC1394 - kSrcStereo || _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoRealSense2 - kSrcStereo); _ui->checkBox_stereo_rectify->setVisible(_ui->checkBox_stereo_rectify->isEnabled()); _ui->label_stereo_rectify->setVisible(_ui->checkBox_stereo_rectify->isEnabled()); } void PreferencesDialog::updateFeatureMatchingVisibility() { _ui->groupBox_pymatcher->setVisible(_ui->reextract_nn->currentIndex() == 6); _ui->groupBox_gms->setVisible(_ui->reextract_nn->currentIndex() == 7); } void PreferencesDialog::updateGlobalDescriptorVisibility() { _ui->groupBox_pydescriptor->setVisible(_ui->comboBox_globalDescriptorExtractor->currentIndex() == 1); } void PreferencesDialog::updateOdometryStackedIndex(int index) { if(index == 11) // FLOAM -> LOAM { _ui->stackedWidget_odometryType->setCurrentIndex(7); } else { _ui->stackedWidget_odometryType->setCurrentIndex(index); } _ui->groupBox_odomF2M->setVisible(index==0); _ui->groupBox_odomF2F->setVisible(index==1); _ui->groupBox_odomFovis->setVisible(index==2); _ui->groupBox_odomViso2->setVisible(index==3); _ui->groupBox_odomDVO->setVisible(index==4); _ui->groupBox_odomORBSLAM->setVisible(index==5); _ui->groupBox_odomOKVIS->setVisible(index==6); _ui->groupBox_odomLOAM->setVisible(index==7); _ui->groupBox_odomMSCKF->setVisible(index==8); _ui->groupBox_odomVINS->setVisible(index==9); _ui->groupBox_odomOpenVINS->setVisible(index==10); _ui->groupBox_odomOpen3D->setVisible(index==12); } void PreferencesDialog::useOdomFeatures() { if(this->isVisible() && _ui->checkBox_useOdomFeatures->isChecked()) { int r = QMessageBox::question(this, tr("Using odometry features for vocabulary..."), tr("Do you want to match vocabulary feature parameters " "with corresponding ones used for odometry?"), QMessageBox::Yes | QMessageBox::No, QMessageBox::Yes); if(r == QMessageBox::Yes) { _ui->comboBox_detector_strategy->setCurrentIndex(_ui->vis_feature_detector->currentIndex()); _ui->surf_doubleSpinBox_maxDepth->setValue(_ui->loopClosure_bowMaxDepth->value()); _ui->surf_doubleSpinBox_minDepth->setValue(_ui->loopClosure_bowMinDepth->value()); _ui->surf_spinBox_wordsPerImageTarget->setValue(_ui->reextract_maxFeatures->value()); _ui->checkBox_kp_ssc->setChecked(_ui->checkBox_visSSC->isChecked()); _ui->spinBox_KPGridRows->setValue(_ui->reextract_gridrows->value()); _ui->spinBox_KPGridCols->setValue(_ui->reextract_gridcols->value()); _ui->lineEdit_kp_roi->setText(_ui->loopClosure_roi->text()); _ui->subpix_winSize_kp->setValue(_ui->subpix_winSize->value()); _ui->subpix_iterations_kp->setValue(_ui->subpix_iterations->value()); _ui->subpix_eps_kp->setValue(_ui->subpix_eps->value()); } } } void PreferencesDialog::changeWorkingDirectory() { QString directory = QFileDialog::getExistingDirectory(this, tr("Working directory"), _ui->lineEdit_workingDirectory->text()); if(!directory.isEmpty()) { ULOGGER_DEBUG("New working directory = %s", directory.toStdString().c_str()); _ui->lineEdit_workingDirectory->setText(directory); } } void PreferencesDialog::changeDictionaryPath() { QString path; if(_ui->lineEdit_dictionaryPath->text().isEmpty()) { path = QFileDialog::getOpenFileName(this, tr("Dictionary"), this->getWorkingDirectory(), tr("Dictionary (*.txt *.db)")); } else { path = QFileDialog::getOpenFileName(this, tr("Dictionary"), _ui->lineEdit_dictionaryPath->text(), tr("Dictionary (*.txt *.db)")); } if(!path.isEmpty()) { _ui->lineEdit_dictionaryPath->setText(path); } } void PreferencesDialog::changeOdometryORBSLAMVocabulary() { QString path; if(_ui->lineEdit_OdomORBSLAMVocPath->text().isEmpty()) { path = QFileDialog::getOpenFileName(this, tr("ORBSLAM Vocabulary"), this->getWorkingDirectory(), tr("Vocabulary (*.txt)")); } else { path = QFileDialog::getOpenFileName(this, tr("ORBSLAM Vocabulary"), _ui->lineEdit_OdomORBSLAMVocPath->text(), tr("Vocabulary (*.txt)")); } if(!path.isEmpty()) { _ui->lineEdit_OdomORBSLAMVocPath->setText(path); } } void PreferencesDialog::changeOdometryOKVISConfigPath() { QString path; if(_ui->lineEdit_OdomOkvisPath->text().isEmpty()) { path = QFileDialog::getOpenFileName(this, tr("OKVIS Config"), this->getWorkingDirectory(), tr("OKVIS config (*.yaml)")); } else { path = QFileDialog::getOpenFileName(this, tr("OKVIS Config"), _ui->lineEdit_OdomOkvisPath->text(), tr("OKVIS config (*.yaml)")); } if(!path.isEmpty()) { _ui->lineEdit_OdomOkvisPath->setText(path); } } void PreferencesDialog::changeOdometryVINSConfigPath() { QString path; if(_ui->lineEdit_OdomVinsPath->text().isEmpty()) { path = QFileDialog::getOpenFileName(this, tr("VINS-Fusion Config"), this->getWorkingDirectory(), tr("VINS-Fusion config (*.yaml)")); } else { path = QFileDialog::getOpenFileName(this, tr("VINS-Fusion Config"), _ui->lineEdit_OdomVinsPath->text(), tr("VINS-Fusion config (*.yaml)")); } if(!path.isEmpty()) { _ui->lineEdit_OdomVinsPath->setText(path); } } void PreferencesDialog::changeOdometryOpenVINSLeftMask() { QString path; if(_ui->lineEdit_OdomOpenVINSLeftMaskPath->text().isEmpty()) { path = QFileDialog::getOpenFileName(this, tr("Select Left Mask"), this->getWorkingDirectory(), tr("Image mask (*.jpg *.png)")); } else { path = QFileDialog::getOpenFileName(this, tr("Select Left Mask"), _ui->lineEdit_OdomOpenVINSLeftMaskPath->text(), tr("Image mask (*.jpg *.png)")); } if(!path.isEmpty()) { _ui->lineEdit_OdomOpenVINSLeftMaskPath->setText(path); } } void PreferencesDialog::changeOdometryOpenVINSRightMask() { QString path; if(_ui->lineEdit_OdomOpenVINSRightMaskPath->text().isEmpty()) { path = QFileDialog::getOpenFileName(this, tr("Select Right Mask"), this->getWorkingDirectory(), tr("Image mask (*.jpg *.png)")); } else { path = QFileDialog::getOpenFileName(this, tr("Select Right Mask"), _ui->lineEdit_OdomOpenVINSRightMaskPath->text(), tr("Image mask (*.jpg *.png)")); } if(!path.isEmpty()) { _ui->lineEdit_OdomOpenVINSRightMaskPath->setText(path); } } void PreferencesDialog::changeIcpPMConfigPath() { QString path; if(_ui->lineEdit_IcpPMConfigPath->text().isEmpty()) { path = QFileDialog::getOpenFileName(this, tr("Select file"), this->getWorkingDirectory(), tr("libpointmatcher (*.yaml)")); } else { path = QFileDialog::getOpenFileName(this, tr("Select file"), _ui->lineEdit_IcpPMConfigPath->text(), tr("libpointmatcher (*.yaml)")); } if(!path.isEmpty()) { _ui->lineEdit_IcpPMConfigPath->setText(path); } } void PreferencesDialog::changeSuperPointModelPath() { QString path; if(_ui->lineEdit_sptorch_path->text().isEmpty()) { path = QFileDialog::getOpenFileName(this, tr("Select file"), this->getWorkingDirectory(), tr("SuperPoint weights (*.pt)")); } else { path = QFileDialog::getOpenFileName(this, tr("Select file"), _ui->lineEdit_sptorch_path->text(), tr("SuperPoint weights (*.pt)")); } if(!path.isEmpty()) { _ui->lineEdit_sptorch_path->setText(path); } } void PreferencesDialog::changePyMatcherPath() { QString path; if(_ui->lineEdit_pymatcher_path->text().isEmpty()) { path = QFileDialog::getOpenFileName(this, tr("Select file"), this->getWorkingDirectory(), tr("Python wrapper (*.py)")); } else { path = QFileDialog::getOpenFileName(this, tr("Select file"), _ui->lineEdit_pymatcher_path->text(), tr("Python wrapper (*.py)")); } if(!path.isEmpty()) { _ui->lineEdit_pymatcher_path->setText(path); } } void PreferencesDialog::changePyMatcherModel() { QString path; if(_ui->lineEdit_pymatcher_model->text().isEmpty()) { path = QFileDialog::getOpenFileName(this, tr("Select file"), this->getWorkingDirectory(), tr("PyTorch model (*.pth *.pt)")); } else { path = QFileDialog::getOpenFileName(this, tr("Select file"), _ui->lineEdit_pymatcher_model->text(), tr("PyTorch model (*.pth *.pt)")); } if(!path.isEmpty()) { _ui->lineEdit_pymatcher_model->setText(path); } } void PreferencesDialog::changePyDescriptorPath() { QString path; if(_ui->lineEdit_pydescriptor_path->text().isEmpty()) { path = QFileDialog::getOpenFileName(this, tr("Select file"), this->getWorkingDirectory(), tr("Python wrapper (*.py)")); } else { path = QFileDialog::getOpenFileName(this, tr("Select file"), _ui->lineEdit_pydescriptor_path->text(), tr("Python wrapper (*.py)")); } if(!path.isEmpty()) { _ui->lineEdit_pydescriptor_path->setText(path); } } void PreferencesDialog::changePyDetectorPath() { QString path; if(_ui->lineEdit_pydetector_path->text().isEmpty()) { path = QFileDialog::getOpenFileName(this, tr("Select file"), this->getWorkingDirectory(), tr("Python wrapper (*.py)")); } else { path = QFileDialog::getOpenFileName(this, tr("Select file"), _ui->lineEdit_pydetector_path->text(), tr("Python wrapper (*.py)")); } if(!path.isEmpty()) { _ui->lineEdit_pydetector_path->setText(path); } } void PreferencesDialog::updateSourceGrpVisibility() { _ui->stackedWidget_src->setVisible(_ui->comboBox_sourceType->currentIndex() != 4); // Not Camera None _ui->frame_camera_sensor->setVisible(_ui->comboBox_sourceType->currentIndex() != 4); // Not Camera None _ui->groupBox_sourceRGBD->setVisible(_ui->comboBox_sourceType->currentIndex() == 0); _ui->groupBox_sourceStereo->setVisible(_ui->comboBox_sourceType->currentIndex() == 1); _ui->groupBox_sourceRGB->setVisible(_ui->comboBox_sourceType->currentIndex() == 2); _ui->groupBox_sourceDatabase->setVisible(_ui->comboBox_sourceType->currentIndex() == 3); _ui->stackedWidget_rgbd->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && (_ui->comboBox_cameraRGBD->currentIndex() == kSrcOpenNI2-kSrcRGBD || _ui->comboBox_cameraRGBD->currentIndex() == kSrcFreenect2-kSrcRGBD || _ui->comboBox_cameraRGBD->currentIndex() == kSrcK4W2 - kSrcRGBD || _ui->comboBox_cameraRGBD->currentIndex() == kSrcK4A - kSrcRGBD || _ui->comboBox_cameraRGBD->currentIndex() == kSrcRealSense - kSrcRGBD || _ui->comboBox_cameraRGBD->currentIndex() == kSrcRGBDImages-kSrcRGBD || _ui->comboBox_cameraRGBD->currentIndex() == kSrcOpenNI_PCL-kSrcRGBD || _ui->comboBox_cameraRGBD->currentIndex() == kSrcRealSense2-kSrcRGBD || _ui->comboBox_cameraRGBD->currentIndex() == kSrcSeerSense-kSrcRGBD)); _ui->groupBox_openni2->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcOpenNI2-kSrcRGBD); _ui->groupBox_freenect2->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcFreenect2-kSrcRGBD); _ui->groupBox_k4w2->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcK4W2 - kSrcRGBD); _ui->groupBox_k4a->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcK4A - kSrcRGBD); _ui->groupBox_realsense->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcRealSense - kSrcRGBD); _ui->groupBox_realsense2->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcRealSense2 - kSrcRGBD); _ui->groupBox_cameraRGBDImages->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcRGBDImages-kSrcRGBD); _ui->groupBox_openni->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcOpenNI_PCL - kSrcRGBD); _ui->stackedWidget_stereo->setVisible(_ui->comboBox_sourceType->currentIndex() == 1 && (_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoVideo-kSrcStereo || _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoImages-kSrcStereo || _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoZed - kSrcStereo || _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoUsb - kSrcStereo || _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoMyntEye - kSrcStereo || _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoZedOC - kSrcStereo || _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoDepthAI - kSrcStereo)); _ui->groupBox_cameraStereoImages->setVisible(_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoImages-kSrcStereo); _ui->groupBox_cameraStereoVideo->setVisible(_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoVideo - kSrcStereo); _ui->groupBox_cameraStereoUsb->setVisible(_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoUsb - kSrcStereo); _ui->groupBox_cameraStereoZed->setVisible(_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoZed - kSrcStereo); _ui->groupBox_cameraMyntEye->setVisible(_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoMyntEye - kSrcStereo); _ui->groupBox_cameraStereoZedOC->setVisible(_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoZedOC - kSrcStereo); _ui->groupBox_cameraDepthAI->setVisible(_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoDepthAI - kSrcStereo); _ui->stackedWidget_image->setVisible(_ui->comboBox_sourceType->currentIndex() == 2 && (_ui->source_comboBox_image_type->currentIndex() == kSrcImages-kSrcRGB || _ui->source_comboBox_image_type->currentIndex() == kSrcVideo-kSrcRGB || _ui->source_comboBox_image_type->currentIndex() == kSrcUsbDevice-kSrcRGB)); _ui->source_groupBox_images->setVisible(_ui->comboBox_sourceType->currentIndex() == 2 && _ui->source_comboBox_image_type->currentIndex() == kSrcImages-kSrcRGB); _ui->source_groupBox_video->setVisible(_ui->comboBox_sourceType->currentIndex() == 2 && _ui->source_comboBox_image_type->currentIndex() == kSrcVideo-kSrcRGB); _ui->source_groupBox_usbcam->setVisible(_ui->comboBox_sourceType->currentIndex() == 2 && _ui->source_comboBox_image_type->currentIndex() == kSrcUsbDevice-kSrcRGB); _ui->groupBox_sourceImages_optional->setVisible( (_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcRGBDImages-kSrcRGBD) || (_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoImages-kSrcStereo) || (_ui->comboBox_sourceType->currentIndex() == 2 && _ui->source_comboBox_image_type->currentIndex() == kSrcImages-kSrcRGB)); _ui->groupBox_depthImageFiltering->setEnabled( _ui->comboBox_sourceType->currentIndex() == 0 || // RGBD _ui->comboBox_sourceType->currentIndex() == 3); // Database _ui->groupBox_depthImageFiltering->setVisible(_ui->groupBox_depthImageFiltering->isEnabled()); _ui->groupBox_depthFromScan->setVisible(_ui->comboBox_sourceType->currentIndex() == 2 && _ui->source_comboBox_image_type->currentIndex() == kSrcImages-kSrcRGB); // Odom Sensor Group _ui->frame_visual_odometry_sensor->setVisible(getOdomSourceDriver() != kSrcUndef); // Not Lidar None _ui->groupBox_odom_sensor->setVisible(_ui->comboBox_sourceType->currentIndex() != 3); // Don't show when database is selected // Lidar Sensor Group _ui->comboBox_lidar_src->setEnabled(_ui->comboBox_sourceType->currentIndex() != 3); // Disable if database input if(!_ui->comboBox_lidar_src->isEnabled() && _ui->comboBox_lidar_src->currentIndex() != 0) { _ui->comboBox_lidar_src->setCurrentIndex(0); // Set to none } _ui->checkBox_source_scanFromDepth->setEnabled(_ui->comboBox_sourceType->currentIndex() <= 1 || _ui->comboBox_sourceType->currentIndex() == 3); _ui->label_source_scanFromDepth->setEnabled(_ui->checkBox_source_scanFromDepth->isEnabled()); if(!_ui->checkBox_source_scanFromDepth->isEnabled()) { _ui->checkBox_source_scanFromDepth->setChecked(false); } _ui->stackedWidget_lidar_src->setVisible(_ui->comboBox_lidar_src->currentIndex() > 0); _ui->groupBox_vlp16->setVisible(_ui->comboBox_lidar_src->currentIndex()-1 == kSrcLidarVLP16-kSrcLidar); _ui->frame_lidar_sensor->setVisible(_ui->comboBox_lidar_src->currentIndex() > 0 || _ui->checkBox_source_scanFromDepth->isChecked()); // Not Lidar None or database input _ui->pushButton_test_lidar->setEnabled(_ui->comboBox_lidar_src->currentIndex() > 0); // IMU group _ui->groupBox_imuFiltering->setEnabled( (_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcRGBDImages-kSrcRGBD) || (_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoImages-kSrcStereo) || (_ui->comboBox_sourceType->currentIndex() == 2 && _ui->source_comboBox_image_type->currentIndex() == kSrcImages-kSrcRGB) || (_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcFreenect - kSrcRGBD) || //Kinect360 (_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcK4A - kSrcRGBD) || //K4A (_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcRealSense2 - kSrcRGBD) || //D435i (_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcSeerSense - kSrcRGBD) || (_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoRealSense2 - kSrcStereo) || //T265 (_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoZed - kSrcStereo) || // ZEDm, ZED2 (_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoMyntEye - kSrcStereo) || // MYNT EYE S (_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoZedOC - kSrcStereo) || (_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoDepthAI - kSrcStereo)); _ui->frame_imu_filtering->setVisible(getIMUFilteringStrategy() > 0); // Not None _ui->stackedWidget_imuFilter->setVisible(_ui->comboBox_imuFilter_strategy->currentIndex() > 0); _ui->groupBox_madgwickfilter->setVisible(_ui->comboBox_imuFilter_strategy->currentIndex() == 1); _ui->groupBox_complementaryfilter->setVisible(_ui->comboBox_imuFilter_strategy->currentIndex() == 2); _ui->groupBox_imuFiltering->setVisible(_ui->groupBox_imuFiltering->isEnabled()); } /*** GETTERS ***/ //General int PreferencesDialog::getGeneralLoggerLevel() const { return _ui->comboBox_loggerLevel->currentIndex(); } int PreferencesDialog::getGeneralLoggerEventLevel() const { return _ui->comboBox_loggerEventLevel->currentIndex(); } int PreferencesDialog::getGeneralLoggerPauseLevel() const { return _ui->comboBox_loggerPauseLevel->currentIndex(); } int PreferencesDialog::getGeneralLoggerType() const { return _ui->comboBox_loggerType->currentIndex(); } bool PreferencesDialog::getGeneralLoggerPrintTime() const { return _ui->checkBox_logger_printTime->isChecked(); } bool PreferencesDialog::getGeneralLoggerPrintThreadId() const { return _ui->checkBox_logger_printThreadId->isChecked(); } std::vector PreferencesDialog::getGeneralLoggerThreads() const { std::vector threads; for(int i=0; i<_ui->comboBox_loggerFilter->count(); ++i) { if(_ui->comboBox_loggerFilter->itemData(i).toBool()) { threads.push_back(_ui->comboBox_loggerFilter->itemText(i).toStdString()); } } return threads; } bool PreferencesDialog::isVerticalLayoutUsed() const { return _ui->checkBox_verticalLayoutUsed->isChecked(); } bool PreferencesDialog::imageRejectedShown() const { return _ui->checkBox_imageRejectedShown->isChecked(); } bool PreferencesDialog::imageHighestHypShown() const { return _ui->checkBox_imageHighestHypShown->isChecked(); } bool PreferencesDialog::beepOnPause() const { return _ui->checkBox_beep->isChecked(); } bool PreferencesDialog::isTimeUsedInFigures() const { return _ui->checkBox_stamps->isChecked(); } bool PreferencesDialog::isCacheSavedInFigures() const { return _ui->checkBox_cacheStatistics->isChecked(); } bool PreferencesDialog::notifyWhenNewGlobalPathIsReceived() const { return _ui->checkBox_notifyWhenNewGlobalPathIsReceived->isChecked(); } int PreferencesDialog::getOdomQualityWarnThr() const { return _ui->spinBox_odomQualityWarnThr->value(); } bool PreferencesDialog::isOdomOnlyInliersShown() const { return _ui->checkBox_odom_onlyInliersShown->isChecked(); } bool PreferencesDialog::isPosteriorGraphView() const { return _ui->radioButton_posteriorGraphView->isChecked(); } bool PreferencesDialog::isWordsCountGraphView() const { return _ui->radioButton_wordsGraphView->isChecked(); } bool PreferencesDialog::isLocalizationsCountGraphView() const { return _ui->radioButton_localizationsGraphView->isChecked(); } bool PreferencesDialog::isRelocalizationColorOdomCacheGraphView() const { return _ui->radioButton_localizationsGraphViewOdomCache->isChecked(); } bool PreferencesDialog::isOdomDisabled() const { return _ui->checkbox_odomDisabled->isChecked(); } bool PreferencesDialog::isOdomSensorAsGt() const { return _ui->checkBox_odom_sensor_use_as_gt->isChecked(); } int PreferencesDialog::getOdomRegistrationApproach() const { return _ui->odom_registration->currentIndex(); } double PreferencesDialog::getOdomF2MGravitySigma() const { return _ui->odom_f2m_gravitySigma->value(); } bool PreferencesDialog::isGroundTruthAligned() const { return _ui->checkbox_groundTruthAlign->isChecked(); } bool PreferencesDialog::isCloudsShown(int index) const { UASSERT(index >= 0 && index <= 1); return _3dRenderingShowClouds[index]->isChecked(); } bool PreferencesDialog::isOctomapUpdated() const { #ifdef RTABMAP_OCTOMAP return _ui->groupBox_octomap->isChecked(); #endif return false; } bool PreferencesDialog::isOctomapShown() const { #ifdef RTABMAP_OCTOMAP return _ui->groupBox_octomap->isChecked() && _ui->checkBox_octomap_show3dMap->isChecked(); #endif return false; } int PreferencesDialog::getOctomapRenderingType() const { return _ui->comboBox_octomap_renderingType->currentIndex(); } bool PreferencesDialog::isOctomap2dGrid() const { #ifdef RTABMAP_OCTOMAP return _ui->groupBox_octomap->isChecked() && _ui->checkBox_octomap_2dgrid->isChecked(); #endif return false; } int PreferencesDialog::getOctomapTreeDepth() const { return _ui->spinBox_octomap_treeDepth->value(); } int PreferencesDialog::getOctomapPointSize() const { return _ui->spinBox_octomap_pointSize->value(); } double PreferencesDialog::getVoxel() const { return _ui->doubleSpinBox_voxel->value(); } double PreferencesDialog::getNoiseRadius() const { return _ui->doubleSpinBox_noiseRadius->value(); } int PreferencesDialog::getNoiseMinNeighbors() const { return _ui->spinBox_noiseMinNeighbors->value(); } double PreferencesDialog::getCeilingFilteringHeight() const { return _ui->doubleSpinBox_ceilingFilterHeight->value(); } double PreferencesDialog::getFloorFilteringHeight() const { return _ui->doubleSpinBox_floorFilterHeight->value(); } int PreferencesDialog::getNormalKSearch() const { return _ui->spinBox_normalKSearch->value(); } double PreferencesDialog::getNormalRadiusSearch() const { return _ui->doubleSpinBox_normalRadiusSearch->value(); } double PreferencesDialog::getScanCeilingFilteringHeight() const { return _ui->doubleSpinBox_ceilingFilterHeight_scan->value(); } double PreferencesDialog::getScanFloorFilteringHeight() const { return _ui->doubleSpinBox_floorFilterHeight_scan->value(); } int PreferencesDialog::getScanNormalKSearch() const { return _ui->spinBox_normalKSearch_scan->value(); } double PreferencesDialog::getScanNormalRadiusSearch() const { return _ui->doubleSpinBox_normalRadiusSearch_scan->value(); } bool PreferencesDialog::isGraphsShown() const { return _ui->checkBox_showGraphs->isChecked(); } bool PreferencesDialog::isLabelsShown() const { return _ui->checkBox_showLabels->isChecked(); } bool PreferencesDialog::isFramesShown() const { return _ui->checkBox_showFrames->isChecked(); } bool PreferencesDialog::isLandmarksShown() const { return _ui->checkBox_showLandmarks->isChecked(); } double PreferencesDialog::landmarkVisSize() const { return _ui->doubleSpinBox_landmarkSize->value(); } bool PreferencesDialog::isIMUGravityShown(int index) const { UASSERT(index >= 0 && index <= 1); return _3dRenderingGravity[index]->isChecked(); } double PreferencesDialog::getIMUGravityLength(int index) const { UASSERT(index >= 0 && index <= 1); return _3dRenderingGravityLength[index]->value(); } bool PreferencesDialog::isIMUAccShown() const { return _ui->checkBox_showIMUAcc->isChecked(); } bool PreferencesDialog::isMarkerDetection() const { return _ui->RGBDMarkerDetection->isChecked(); } double PreferencesDialog::getMarkerLength() const { return _ui->ArucoMarkerLength->value(); } bool PreferencesDialog::isCloudMeshing() const { return _ui->groupBox_organized->isChecked(); } double PreferencesDialog::getCloudMeshingAngle() const { return _ui->doubleSpinBox_mesh_angleTolerance->value()*M_PI/180.0; } bool PreferencesDialog::isCloudMeshingQuad() const { return _ui->checkBox_mesh_quad->isChecked(); } bool PreferencesDialog::isCloudMeshingTexture() const { return _ui->checkBox_mesh_texture->isChecked(); } int PreferencesDialog::getCloudMeshingTriangleSize() { return _ui->spinBox_mesh_triangleSize->value(); } int PreferencesDialog::getCloudDecimation(int index) const { UASSERT(index >= 0 && index <= 1); return _3dRenderingDecimation[index]->value()==0?1:_3dRenderingDecimation[index]->value(); } double PreferencesDialog::getCloudMaxDepth(int index) const { UASSERT(index >= 0 && index <= 1); return _3dRenderingMaxDepth[index]->value(); } double PreferencesDialog::getCloudMinDepth(int index) const { UASSERT(index >= 0 && index <= 1); return _3dRenderingMinDepth[index]->value(); } std::vector PreferencesDialog::getCloudRoiRatios(int index) const { UASSERT(index >= 0 && index <= 1); std::vector roiRatios; if(!_3dRenderingRoiRatios[index]->text().isEmpty()) { QStringList values = _3dRenderingRoiRatios[index]->text().split(' '); if(values.size() == 4) { roiRatios.resize(4); for(int i=0; i= 0 && index <= 1); return (unsigned char)_3dRenderingDepthConfidenceThr[index]->value(); } int PreferencesDialog::getCloudColorScheme(int index) const { UASSERT(index >= 0 && index <= 1); return _3dRenderingColorScheme[index]->value(); } double PreferencesDialog::getCloudOpacity(int index) const { UASSERT(index >= 0 && index <= 1); return _3dRenderingOpacity[index]->value(); } int PreferencesDialog::getCloudPointSize(int index) const { UASSERT(index >= 0 && index <= 1); return _3dRenderingPtSize[index]->value(); } bool PreferencesDialog::isScansShown(int index) const { UASSERT(index >= 0 && index <= 1); return _3dRenderingShowScans[index]->isChecked(); } int PreferencesDialog::getDownsamplingStepScan(int index) const { UASSERT(index >= 0 && index <= 1); return _3dRenderingDownsamplingScan[index]->value(); } double PreferencesDialog::getScanMaxRange(int index) const { UASSERT(index >= 0 && index <= 1); return _3dRenderingMaxRange[index]->value(); } double PreferencesDialog::getScanMinRange(int index) const { UASSERT(index >= 0 && index <= 1); return _3dRenderingMinRange[index]->value(); } double PreferencesDialog::getCloudVoxelSizeScan(int index) const { UASSERT(index >= 0 && index <= 1); return _3dRenderingVoxelSizeScan[index]->value(); } int PreferencesDialog::getScanColorScheme(int index) const { UASSERT(index >= 0 && index <= 1); return _3dRenderingColorSchemeScan[index]->value(); } double PreferencesDialog::getScanOpacity(int index) const { UASSERT(index >= 0 && index <= 1); return _3dRenderingOpacityScan[index]->value(); } int PreferencesDialog::getScanPointSize(int index) const { UASSERT(index >= 0 && index <= 1); return _3dRenderingPtSizeScan[index]->value(); } bool PreferencesDialog::isFeaturesShown(int index) const { UASSERT(index >= 0 && index <= 1); return _3dRenderingShowFeatures[index]->isChecked(); } bool PreferencesDialog::isFrustumsShown(int index) const { UASSERT(index >= 0 && index <= 1); return _3dRenderingShowFrustums[index]->isEnabled() && _3dRenderingShowFrustums[index]->isChecked(); } int PreferencesDialog::getFeaturesPointSize(int index) const { UASSERT(index >= 0 && index <= 1); return _3dRenderingPtSizeFeatures[index]->value(); } bool PreferencesDialog::isCloudFiltering() const { return _ui->radioButton_nodeFiltering->isChecked(); } bool PreferencesDialog::isSubtractFiltering() const { return _ui->radioButton_subtractFiltering->isChecked(); } double PreferencesDialog::getCloudFilteringRadius() const { return _ui->doubleSpinBox_cloudFilterRadius->value(); } double PreferencesDialog::getCloudFilteringAngle() const { return _ui->doubleSpinBox_cloudFilterAngle->value(); } int PreferencesDialog::getSubtractFilteringMinPts() const { return _ui->spinBox_subtractFilteringMinPts->value(); } double PreferencesDialog::getSubtractFilteringRadius() const { return _ui->doubleSpinBox_subtractFilteringRadius->value(); } double PreferencesDialog::getSubtractFilteringAngle() const { return _ui->doubleSpinBox_subtractFilteringAngle->value()*M_PI/180.0; } double PreferencesDialog::getGridUIResolution() const { return _ui->doubleSpinBox_map_resolution->value(); } bool PreferencesDialog::getGridMapShown() const { return _ui->checkBox_map_shown->isChecked(); } int PreferencesDialog::getElevationMapShown() const { return _ui->checkBox_elevation_shown->checkState(); } int PreferencesDialog::getGridMapSensor() const { return _ui->comboBox_grid_sensor->currentIndex(); } bool PreferencesDialog::projMapFrame() const { return _ui->checkBox_grid_projMapFrame->isChecked(); } double PreferencesDialog::projMaxGroundAngle() const { return _ui->doubleSpinBox_grid_maxGroundAngle->value()*M_PI/180.0; } double PreferencesDialog::projMaxGroundHeight() const { return _ui->doubleSpinBox_grid_maxGroundHeight->value(); } int PreferencesDialog::projMinClusterSize() const { return _ui->spinBox_grid_minClusterSize->value(); } double PreferencesDialog::projMaxObstaclesHeight() const { return _ui->doubleSpinBox_grid_maxObstacleHeight->value(); } bool PreferencesDialog::projFlatObstaclesDetected() const { return _ui->checkBox_grid_flatObstaclesDetected->isChecked(); } double PreferencesDialog::getGridMapOpacity() const { return _ui->doubleSpinBox_map_opacity->value(); } // Source double PreferencesDialog::getGeneralInputRate() const { return _ui->general_doubleSpinBox_imgRate->value(); } bool PreferencesDialog::isSourceMirroring() const { return _ui->source_mirroring->isChecked(); } PreferencesDialog::Src PreferencesDialog::getSourceType() const { int index = _ui->comboBox_sourceType->currentIndex(); if(index == 0) { return kSrcRGBD; } else if(index == 1) { return kSrcStereo; } else if(index == 2) { return kSrcRGB; } else if(index == 3) { return kSrcDatabase; } return kSrcUndef; } PreferencesDialog::Src PreferencesDialog::getSourceDriver() const { PreferencesDialog::Src type = getSourceType(); if(type==kSrcRGBD) { return (PreferencesDialog::Src)(_ui->comboBox_cameraRGBD->currentIndex()+kSrcRGBD); } else if(type==kSrcStereo) { return (PreferencesDialog::Src)(_ui->comboBox_cameraStereo->currentIndex()+kSrcStereo); } else if(type==kSrcRGB) { return (PreferencesDialog::Src)(_ui->source_comboBox_image_type->currentIndex()+kSrcRGB); } else if(type==kSrcDatabase) { return kSrcDatabase; } return kSrcUndef; } QString PreferencesDialog::getSourceDriverStr() const { PreferencesDialog::Src type = getSourceType(); if(type==kSrcRGBD) { return _ui->comboBox_cameraRGBD->currentText(); } else if(type==kSrcStereo) { return _ui->comboBox_cameraStereo->currentText(); } else if(type==kSrcRGB) { return _ui->source_comboBox_image_type->currentText(); } else if(type==kSrcDatabase) { return "Database"; } return ""; } QString PreferencesDialog::getSourceDevice() const { return _ui->lineEdit_sourceDevice->text(); } PreferencesDialog::Src PreferencesDialog::getOdomSourceDriver() const { if(_ui->comboBox_odom_sensor->currentIndex() == 1) { //RealSense2 return kSrcStereoRealSense2; } else if(_ui->comboBox_odom_sensor->currentIndex() == 2) { //Zed SDK return kSrcStereoZed; } else if(_ui->comboBox_odom_sensor->currentIndex() == 3) { //XVisio SDK return kSrcSeerSense; } else if(_ui->comboBox_odom_sensor->currentIndex() != 0) { UERROR("Not implemented!"); } return kSrcUndef; } PreferencesDialog::Src PreferencesDialog::getLidarSourceDriver() const { if(_ui->comboBox_lidar_src->currentIndex() == 0) { return kSrcUndef; } return (PreferencesDialog::Src)(_ui->comboBox_lidar_src->currentIndex()-1 + kSrcLidar); } Transform PreferencesDialog::getSourceLocalTransform() const { Transform t = Transform::fromString(_ui->lineEdit_sourceLocalTransform->text().replace("PI_2", QString::number(3.141592/2.0)).toStdString()); if(t.isNull()) { return Transform::getIdentity(); } return t; } Transform PreferencesDialog::getLaserLocalTransform() const { Transform t = Transform::fromString(_ui->lineEdit_cameraImages_laser_transform->text().replace("PI_2", QString::number(3.141592/2.0)).toStdString()); if(t.isNull()) { return Transform::getIdentity(); } return t; } QString PreferencesDialog::getIMUPath() const { return _ui->lineEdit_cameraImages_path_imu->text(); } Transform PreferencesDialog::getIMULocalTransform() const { Transform t = Transform::fromString(_ui->lineEdit_cameraImages_imu_transform->text().replace("PI_2", QString::number(3.141592/2.0)).toStdString()); if(t.isNull()) { return Transform::getIdentity(); } return t; } int PreferencesDialog::getIMURate() const { return _ui->spinBox_cameraImages_max_imu_rate->value(); } bool PreferencesDialog::isSourceDatabaseStampsUsed() const { return _ui->source_checkBox_useDbStamps->isChecked(); } bool PreferencesDialog::isSourceRGBDColorOnly() const { return _ui->checkbox_rgbd_colorOnly->isChecked(); } int PreferencesDialog::getIMUFilteringStrategy() const { return _ui->comboBox_imuFilter_strategy->currentIndex(); } bool PreferencesDialog::getIMUFilteringBaseFrameConversion() const { return _ui->checkBox_imuFilter_baseFrameConversion->isChecked(); } bool PreferencesDialog::isDepthFilteringAvailable() const { return _ui->groupBox_depthImageFiltering->isEnabled(); } QString PreferencesDialog::getSourceDistortionModel() const { return _ui->lineEdit_source_distortionModel->text(); } bool PreferencesDialog::isBilateralFiltering() const { return _ui->groupBox_bilateral->isChecked(); } double PreferencesDialog::getBilateralSigmaS() const { return _ui->doubleSpinBox_bilateral_sigmaS->value(); } double PreferencesDialog::getBilateralSigmaR() const { return _ui->doubleSpinBox_bilateral_sigmaR->value(); } int PreferencesDialog::getSourceImageDecimation() const { return _ui->spinBox_source_imageDecimation->value(); } int PreferencesDialog::getSourceHistogramMethod() const { return _ui->comboBox_source_histogramMethod->currentIndex(); } bool PreferencesDialog::isSourceFeatureDetection() const { return _ui->checkbox_source_feature_detection->isChecked(); } bool PreferencesDialog::isSourceStereoDepthGenerated() const { return _ui->checkbox_stereo_depthGenerated->isChecked(); } bool PreferencesDialog::isSourceStereoExposureCompensation() const { return _ui->checkBox_stereo_exposureCompensation->isChecked(); } bool PreferencesDialog::isRightGrayScale() const { return _ui->checkBox_stereo_rightGrayScale->isChecked(); } bool PreferencesDialog::isSourceScanFromDepth() const { return _ui->checkBox_source_scanFromDepth->isChecked(); } bool PreferencesDialog::isSourceScanDeskewing() const { return _ui->checkBox_source_scanDeskewing->isChecked(); } int PreferencesDialog::getSourceScanDownsampleStep() const { return _ui->spinBox_source_scanDownsampleStep->value(); } double PreferencesDialog::getSourceScanRangeMin() const { return _ui->doubleSpinBox_source_scanRangeMin->value(); } double PreferencesDialog::getSourceScanRangeMax() const { return _ui->doubleSpinBox_source_scanRangeMax->value(); } double PreferencesDialog::getSourceScanVoxelSize() const { return _ui->doubleSpinBox_source_scanVoxelSize->value(); } int PreferencesDialog::getSourceScanNormalsK() const { return _ui->spinBox_source_scanNormalsK->value(); } double PreferencesDialog::getSourceScanNormalsRadius() const { return _ui->doubleSpinBox_source_scanNormalsRadius->value(); } double PreferencesDialog::getSourceScanForceGroundNormalsUp() const { return _ui->doubleSpinBox_source_scanNormalsForceGroundUp->value(); } Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor) { return createCamera( this->getSourceDriver(), _ui->lineEdit_sourceDevice->text(), _ui->lineEdit_calibrationFile->text(), useRawImages, useColor, false, false); } Camera * PreferencesDialog::createCamera( Src driver, const QString & device, const QString & calibrationPath, bool useRawImages, bool useColor, bool odomOnly, bool odomSensorExtrinsicsCalib) { if(odomOnly && !(driver == kSrcStereoRealSense2 || driver == kSrcStereoZed || driver == kSrcSeerSense)) { QMessageBox::warning(this, tr("Odometry Sensor"), tr("Driver %1 cannot support odometry only mode.").arg(driver), QMessageBox::Ok); return 0; } UDEBUG(""); Camera * camera = 0; if(driver == PreferencesDialog::kSrcOpenNI_PCL) { if(useRawImages) { QMessageBox::warning(this, tr("Calibration"), tr("Using raw images for \"OpenNI\" driver is not yet supported. " "Factory calibration loaded from OpenNI is used."), QMessageBox::Ok); return 0; } else { camera = new CameraOpenni( _ui->lineEdit_openniOniPath->text().isEmpty()?device.toStdString():_ui->lineEdit_openniOniPath->text().toStdString(), this->getGeneralInputRate(), this->getSourceLocalTransform()); } } else if(driver == PreferencesDialog::kSrcOpenNI2) { camera = new CameraOpenNI2( _ui->lineEdit_openni2OniPath->text().isEmpty()?device.toStdString():_ui->lineEdit_openni2OniPath->text().toStdString(), useColor?CameraOpenNI2::kTypeColorDepth:CameraOpenNI2::kTypeIRDepth, this->getGeneralInputRate(), this->getSourceLocalTransform()); } else if(driver == PreferencesDialog::kSrcFreenect) { camera = new CameraFreenect( device.isEmpty()?0:atoi(device.toStdString().c_str()), useColor?CameraFreenect::kTypeColorDepth:CameraFreenect::kTypeIRDepth, this->getGeneralInputRate(), this->getSourceLocalTransform()); } else if(driver == PreferencesDialog::kSrcOpenNI_CV || driver == PreferencesDialog::kSrcOpenNI_CV_ASUS) { if(useRawImages) { QMessageBox::warning(this, tr("Calibration"), tr("Using raw images for \"OpenNI\" driver is not yet supported. " "Factory calibration loaded from OpenNI is used."), QMessageBox::Ok); return 0; } else { camera = new CameraOpenNICV( driver == PreferencesDialog::kSrcOpenNI_CV_ASUS, this->getGeneralInputRate(), this->getSourceLocalTransform()); } } else if(driver == kSrcFreenect2) { camera = new CameraFreenect2( device.isEmpty()?0:atoi(device.toStdString().c_str()), useRawImages?CameraFreenect2::kTypeColorIR:(CameraFreenect2::Type)_ui->comboBox_freenect2Format->currentIndex(), this->getGeneralInputRate(), this->getSourceLocalTransform(), _ui->doubleSpinBox_freenect2MinDepth->value(), _ui->doubleSpinBox_freenect2MaxDepth->value(), _ui->checkBox_freenect2BilateralFiltering->isChecked(), _ui->checkBox_freenect2EdgeAwareFiltering->isChecked(), _ui->checkBox_freenect2NoiseFiltering->isChecked(), _ui->lineEdit_freenect2Pipeline->text().toStdString()); } else if (driver == kSrcK4W2) { camera = new CameraK4W2( device.isEmpty() ? 0 : atoi(device.toStdString().c_str()), (CameraK4W2::Type)_ui->comboBox_k4w2Format->currentIndex(), this->getGeneralInputRate(), this->getSourceLocalTransform()); } else if (driver == kSrcK4A) { if (!_ui->lineEdit_k4a_mkv->text().isEmpty()) { // playback camera = new CameraK4A( _ui->lineEdit_k4a_mkv->text().toStdString().c_str(), _ui->source_checkBox_useMKVStamps->isChecked() ? -1 : this->getGeneralInputRate(), this->getSourceLocalTransform()); } else { camera = new CameraK4A( device.isEmpty() ? 0 : atoi(device.toStdString().c_str()), this->getGeneralInputRate(), this->getSourceLocalTransform()); } ((CameraK4A*)camera)->setIRDepthFormat(_ui->checkbox_k4a_irDepth->isChecked()); ((CameraK4A*)camera)->setPreferences(_ui->comboBox_k4a_rgb_resolution->currentIndex(), _ui->comboBox_k4a_framerate->currentIndex(), _ui->comboBox_k4a_depth_resolution->currentIndex()); } else if (driver == kSrcRealSense) { if(useRawImages && _ui->comboBox_realsenseRGBSource->currentIndex()!=2) { QMessageBox::warning(this, tr("Calibration"), tr("Using raw images for \"RealSense\" driver is not yet supported for color and infrared streams. " "Factory calibration loaded from RealSense is used."), QMessageBox::Ok); return 0; } else { camera = new CameraRealSense( device.isEmpty() ? 0 : atoi(device.toStdString().c_str()), _ui->comboBox_realsensePresetRGB->currentIndex(), _ui->comboBox_realsensePresetDepth->currentIndex(), _ui->checkbox_realsenseOdom->isChecked(), this->getGeneralInputRate(), this->getSourceLocalTransform()); ((CameraRealSense*)camera)->setDepthScaledToRGBSize(_ui->checkbox_realsenseDepthScaledToRGBSize->isChecked()); ((CameraRealSense*)camera)->setRGBSource((CameraRealSense::RGBSource)_ui->comboBox_realsenseRGBSource->currentIndex()); } } else if (driver == kSrcRealSense2 || driver == kSrcStereoRealSense2) { if(driver == kSrcRealSense2 && useRawImages) { QMessageBox::warning(this, tr("Calibration"), tr("Using raw images for \"RealSense\" driver is not yet supported. " "Factory calibration loaded from RealSense2 is used."), QMessageBox::Ok); return 0; } else { camera = new CameraRealSense2( device.isEmpty()&&driver == kSrcStereoRealSense2?"T265":device.toStdString(), this->getGeneralInputRate(), this->getSourceLocalTransform()); camera->setInterIMUPublishing( _ui->checkbox_publishInterIMU->isChecked(), _ui->checkbox_publishInterIMU->isChecked() && getIMUFilteringStrategy()>0? IMUFilter::create((IMUFilter::Type)(getIMUFilteringStrategy()-1), this->getAllParameters()):0); if(driver == kSrcStereoRealSense2) { ((CameraRealSense2*)camera)->setImagesRectified((_ui->checkBox_stereo_rectify->isEnabled() && _ui->checkBox_stereo_rectify->isChecked()) && !useRawImages); ((CameraRealSense2*)camera)->setOdomProvided(getOdomSourceDriver() == kSrcStereoRealSense2 || odomOnly, odomOnly, odomSensorExtrinsicsCalib); } else { ((CameraRealSense2*)camera)->setEmitterEnabled(_ui->checkbox_rs2_emitter->isChecked()); ((CameraRealSense2*)camera)->setIRFormat(_ui->checkbox_rs2_irMode->isChecked(), _ui->checkbox_rs2_irDepth->isChecked()); ((CameraRealSense2*)camera)->setResolution(_ui->spinBox_rs2_width->value(), _ui->spinBox_rs2_height->value(), _ui->spinBox_rs2_rate->value()); ((CameraRealSense2*)camera)->setDepthResolution(_ui->spinBox_rs2_width_depth->value(), _ui->spinBox_rs2_height_depth->value(), _ui->spinBox_rs2_rate_depth->value()); ((CameraRealSense2*)camera)->setGlobalTimeSync(_ui->checkbox_rs2_globalTimeStync->isChecked()); ((CameraRealSense2*)camera)->setDualMode(getOdomSourceDriver() == kSrcStereoRealSense2, Transform::fromString(_ui->lineEdit_odom_sensor_extrinsics->text().toStdString())); ((CameraRealSense2*)camera)->setJsonConfig(_ui->lineEdit_rs2_jsonFile->text().toStdString()); } } } else if (driver == kSrcStereoMyntEye) { if(driver == kSrcStereoMyntEye && useRawImages) { QMessageBox::warning(this, tr("Calibration"), tr("Using raw images for \"MyntEye\" driver is not yet supported. " "Factory calibration loaded from MyntEye is used."), QMessageBox::Ok); return 0; } else { camera = new CameraMyntEye( device.toStdString(), _ui->checkbox_stereoMyntEye_rectify->isChecked(), _ui->checkbox_stereoMyntEye_depth->isChecked(), this->getGeneralInputRate(), this->getSourceLocalTransform()); ((CameraMyntEye*)camera)->publishInterIMU(_ui->checkbox_publishInterIMU->isChecked()); if(_ui->checkbox_stereoMyntEye_autoExposure->isChecked()) { ((CameraMyntEye*)camera)->setAutoExposure(); } else { ((CameraMyntEye*)camera)->setManualExposure( _ui->spinBox_stereoMyntEye_gain->value(), _ui->spinBox_stereoMyntEye_brightness->value(), _ui->spinBox_stereoMyntEye_contrast->value()); } ((CameraMyntEye*)camera)->setIrControl( _ui->spinBox_stereoMyntEye_irControl->value()); } } else if(driver == kSrcRGBDImages) { camera = new CameraRGBDImages( _ui->lineEdit_cameraRGBDImages_path_rgb->text().append(QDir::separator()).toStdString(), _ui->lineEdit_cameraRGBDImages_path_depth->text().append(QDir::separator()).toStdString(), _ui->doubleSpinBox_cameraRGBDImages_scale->value(), this->getGeneralInputRate(), this->getSourceLocalTransform()); ((CameraRGBDImages*)camera)->setStartIndex(_ui->spinBox_cameraRGBDImages_startIndex->value()); ((CameraRGBDImages*)camera)->setMaxFrames(_ui->spinBox_cameraRGBDImages_maxFrames->value()); ((CameraRGBDImages*)camera)->setBayerMode(_ui->comboBox_cameraImages_bayerMode->currentIndex()-1); ((CameraRGBDImages*)camera)->setOdometryPath(_ui->lineEdit_cameraImages_odom->text().toStdString(), _ui->comboBox_cameraImages_odomFormat->currentIndex()); ((CameraRGBDImages*)camera)->setGroundTruthPath(_ui->lineEdit_cameraImages_gt->text().toStdString(), _ui->comboBox_cameraImages_gtFormat->currentIndex()); ((CameraRGBDImages*)camera)->setMaxPoseTimeDiff(_ui->doubleSpinBox_maxPoseTimeDiff->value()); ((CameraRGBDImages*)camera)->setScanPath( _ui->lineEdit_cameraImages_path_scans->text().isEmpty()?"":_ui->lineEdit_cameraImages_path_scans->text().append(QDir::separator()).toStdString(), _ui->spinBox_cameraImages_max_scan_pts->value(), this->getLaserLocalTransform()); ((CameraRGBDImages*)camera)->setTimestamps( _ui->checkBox_cameraImages_timestamps->isChecked(), _ui->lineEdit_cameraImages_timestamps->text().toStdString(), _ui->checkBox_cameraImages_syncTimeStamps->isChecked()); ((CameraRGBDImages*)camera)->setConfigForEachFrame(_ui->checkBox_cameraImages_configForEachFrame->isChecked()); } else if(driver == kSrcDC1394) { camera = new CameraStereoDC1394( this->getGeneralInputRate(), this->getSourceLocalTransform()); } else if(driver == kSrcFlyCapture2) { if(useRawImages) { QMessageBox::warning(this, tr("Calibration"), tr("Using raw images for \"FlyCapture2\" driver is not yet supported. " "Factory calibration loaded from FlyCapture2 is used."), QMessageBox::Ok); return 0; } else { camera = new CameraStereoFlyCapture2( this->getGeneralInputRate(), this->getSourceLocalTransform()); } } else if(driver == kSrcStereoImages) { camera = new CameraStereoImages( _ui->lineEdit_cameraStereoImages_path_left->text().append(QDir::separator()).toStdString(), _ui->lineEdit_cameraStereoImages_path_right->text().append(QDir::separator()).toStdString(), (_ui->checkBox_stereo_rectify->isEnabled() && _ui->checkBox_stereo_rectify->isChecked()) && !useRawImages, this->getGeneralInputRate(), this->getSourceLocalTransform()); ((CameraStereoImages*)camera)->setStartIndex(_ui->spinBox_cameraStereoImages_startIndex->value()); ((CameraStereoImages*)camera)->setMaxFrames(_ui->spinBox_cameraStereoImages_maxFrames->value()); ((CameraStereoImages*)camera)->setBayerMode(_ui->comboBox_cameraImages_bayerMode->currentIndex()-1); ((CameraStereoImages*)camera)->setOdometryPath(_ui->lineEdit_cameraImages_odom->text().toStdString(), _ui->comboBox_cameraImages_odomFormat->currentIndex()); ((CameraStereoImages*)camera)->setGroundTruthPath(_ui->lineEdit_cameraImages_gt->text().toStdString(), _ui->comboBox_cameraImages_gtFormat->currentIndex()); ((CameraStereoImages*)camera)->setMaxPoseTimeDiff(_ui->doubleSpinBox_maxPoseTimeDiff->value()); ((CameraStereoImages*)camera)->setScanPath( _ui->lineEdit_cameraImages_path_scans->text().isEmpty()?"":_ui->lineEdit_cameraImages_path_scans->text().append(QDir::separator()).toStdString(), _ui->spinBox_cameraImages_max_scan_pts->value(), this->getLaserLocalTransform()); ((CameraStereoImages*)camera)->setTimestamps( _ui->checkBox_cameraImages_timestamps->isChecked(), _ui->lineEdit_cameraImages_timestamps->text().toStdString(), _ui->checkBox_cameraImages_syncTimeStamps->isChecked()); ((CameraStereoImages*)camera)->setConfigForEachFrame(_ui->checkBox_cameraImages_configForEachFrame->isChecked()); ((CameraStereoImages*)camera)->setRightGrayScale(_ui->checkBox_stereo_rightGrayScale->isChecked()); } else if (driver == kSrcStereoUsb) { if(_ui->spinBox_stereo_right_device->value()>=0) { camera = new CameraStereoVideo( device.isEmpty() ? 0 : atoi(device.toStdString().c_str()), _ui->spinBox_stereo_right_device->value(), (_ui->checkBox_stereo_rectify->isEnabled() && _ui->checkBox_stereo_rectify->isChecked()) && !useRawImages, this->getGeneralInputRate(), this->getSourceLocalTransform()); } else { camera = new CameraStereoVideo( device.isEmpty() ? 0 : atoi(device.toStdString().c_str()), (_ui->checkBox_stereo_rectify->isEnabled() && _ui->checkBox_stereo_rectify->isChecked()) && !useRawImages, this->getGeneralInputRate(), this->getSourceLocalTransform()); } ((CameraStereoVideo*)camera)->setResolution(_ui->spinBox_stereousbcam_streamWidth->value(), _ui->spinBox_stereousbcam_streamHeight->value()); if(!_ui->lineEdit_stereousbcam_fourcc->text().isEmpty()) { ((CameraStereoVideo*)camera)->setFOURCC(_ui->lineEdit_stereousbcam_fourcc->text().toStdString()); } ((CameraStereoVideo*)camera)->setRightGrayScale(_ui->checkBox_stereo_rightGrayScale->isChecked()); } else if(driver == kSrcStereoVideo) { if(!_ui->lineEdit_cameraStereoVideo_path_2->text().isEmpty()) { // left and right videos camera = new CameraStereoVideo( _ui->lineEdit_cameraStereoVideo_path->text().toStdString(), _ui->lineEdit_cameraStereoVideo_path_2->text().toStdString(), (_ui->checkBox_stereo_rectify->isEnabled() && _ui->checkBox_stereo_rectify->isChecked()) && !useRawImages, this->getGeneralInputRate(), this->getSourceLocalTransform()); } else { // side-by-side video camera = new CameraStereoVideo( _ui->lineEdit_cameraStereoVideo_path->text().toStdString(), (_ui->checkBox_stereo_rectify->isEnabled() && _ui->checkBox_stereo_rectify->isChecked()) && !useRawImages, this->getGeneralInputRate(), this->getSourceLocalTransform()); } ((CameraStereoVideo*)camera)->setRightGrayScale(_ui->checkBox_stereo_rightGrayScale->isChecked()); } else if (driver == kSrcStereoTara) { camera = new CameraStereoTara( device.isEmpty()?0:atoi(device.toStdString().c_str()), (_ui->checkBox_stereo_rectify->isEnabled() && _ui->checkBox_stereo_rectify->isChecked()) && !useRawImages, this->getGeneralInputRate(), this->getSourceLocalTransform()); } else if (driver == kSrcStereoZed) { UDEBUG("ZED"); if(!_ui->lineEdit_zedSvoPath->text().isEmpty()) { camera = new CameraStereoZed( _ui->lineEdit_zedSvoPath->text().toStdString(), _ui->comboBox_stereoZed_quality->currentIndex(), _ui->comboBox_stereoZed_sensingMode->currentIndex(), _ui->spinBox_stereoZed_confidenceThr->value(), getOdomSourceDriver() == kSrcStereoZed, this->getGeneralInputRate(), this->getSourceLocalTransform(), _ui->checkbox_stereoZed_selfCalibration->isChecked(), _ui->loopClosure_bowForce2D->isChecked(), _ui->spinBox_stereoZed_texturenessConfidenceThr->value()); } else { camera = new CameraStereoZed( device.isEmpty()?0:atoi(device.toStdString().c_str()), _ui->comboBox_stereoZed_resolution->currentIndex()-1, // depth should be enabled for zed vo to work _ui->comboBox_stereoZed_quality->currentIndex()==0&&odomOnly?1:_ui->comboBox_stereoZed_quality->currentIndex(), _ui->comboBox_stereoZed_sensingMode->currentIndex(), _ui->spinBox_stereoZed_confidenceThr->value(), getOdomSourceDriver() == kSrcStereoZed || odomOnly, this->getGeneralInputRate(), this->getSourceLocalTransform(), _ui->checkbox_stereoZed_selfCalibration->isChecked(), _ui->loopClosure_bowForce2D->isChecked(), _ui->spinBox_stereoZed_texturenessConfidenceThr->value()); } camera->setInterIMUPublishing( _ui->checkbox_publishInterIMU->isChecked(), _ui->checkbox_publishInterIMU->isChecked() && getIMUFilteringStrategy()>0? IMUFilter::create((IMUFilter::Type)(getIMUFilteringStrategy()-1), this->getAllParameters()):0); ((CameraStereoZed*)camera)->setRightGrayScale(_ui->checkBox_stereo_rightGrayScale->isChecked()); } else if (driver == kSrcStereoZedOC) { UDEBUG("ZEDOC"); camera = new CameraStereoZedOC( device.isEmpty()?-1:atoi(device.toStdString().c_str()), _ui->comboBox_stereoZedOC_resolution->currentIndex(), this->getGeneralInputRate(), this->getSourceLocalTransform()); ((CameraStereoZedOC*)camera)->setRightGrayScale(_ui->checkBox_stereo_rightGrayScale->isChecked()); } else if (driver == kSrcStereoDepthAI) { UDEBUG("DepthAI"); camera = new CameraDepthAI( device.toStdString().c_str(), _ui->comboBox_depthai_image_width->currentIndex()?1280:640, this->getGeneralInputRate(), this->getSourceLocalTransform()); ((CameraDepthAI*)camera)->setOutputMode(_ui->comboBox_depthai_output_mode->currentIndex()); ((CameraDepthAI*)camera)->setDepthProfile(_ui->spinBox_depthai_conf_threshold->value(), _ui->spinBox_depthai_lrc_threshold->value()); ((CameraDepthAI*)camera)->setExtendedDisparity(_ui->checkBox_depthai_extended_disparity->isChecked(), _ui->checkBox_depthai_disparity_companding->isChecked()); ((CameraDepthAI*)camera)->setSubpixelMode(_ui->comboBox_depthai_subpixel_fractional_bits->currentIndex()!=0, _ui->comboBox_depthai_subpixel_fractional_bits->currentIndex()==2?4:_ui->comboBox_depthai_subpixel_fractional_bits->currentIndex()==3?5:3); ((CameraDepthAI*)camera)->setDisparityWidthAndFilter(_ui->comboBox_depthai_disparity_width->currentIndex()==0?64:96, _ui->comboBox_depthai_median_filter->currentIndex()==2?5:_ui->comboBox_depthai_median_filter->currentIndex()==3?7:3); ((CameraDepthAI*)camera)->setRectification(_ui->checkBox_depthai_use_spec_translation->isChecked(), _ui->doubleSpinBox_depthai_alpha_scaling->value(), !useRawImages); ((CameraDepthAI*)camera)->setIMU(_ui->checkBox_depthai_imu_published->isChecked(), _ui->checkbox_publishInterIMU->isChecked()); ((CameraDepthAI*)camera)->setIrIntensity(_ui->doubleSpinBox_depthai_dot_intensity->value(), _ui->doubleSpinBox_depthai_flood_intensity->value()); ((CameraDepthAI*)camera)->setDetectFeatures(_ui->comboBox_depthai_detect_features->currentIndex(), _ui->lineEdit_depthai_blob_path->text().toStdString()); if(_ui->comboBox_depthai_detect_features->currentIndex() == 1) { ((CameraDepthAI*)camera)->setGFTTDetector(_ui->checkBox_GFTT_useHarrisDetector->isChecked(), _ui->doubleSpinBox_GFTT_minDistance->value(), _ui->reextract_maxFeatures->value()); } else if(_ui->comboBox_depthai_detect_features->currentIndex() >= 2) { ((CameraDepthAI*)camera)->setSuperPointDetector(_ui->doubleSpinBox_sptorch_threshold->value(), _ui->checkBox_sptorch_nms->isChecked(), _ui->spinBox_sptorch_minDistance->value()); } } else if (driver == kSrcSeerSense) { UDEBUG("SeerSense"); camera = new CameraSeerSense( getOdomSourceDriver() == kSrcSeerSense || odomOnly, this->getGeneralInputRate(), this->getSourceLocalTransform()); camera->setInterIMUPublishing( _ui->checkbox_publishInterIMU->isChecked(), _ui->checkbox_publishInterIMU->isChecked() && getIMUFilteringStrategy()>0? IMUFilter::create((IMUFilter::Type)(getIMUFilteringStrategy()-1), this->getAllParameters()):0); } else if(driver == kSrcUsbDevice) { camera = new CameraVideo( device.isEmpty()?0:atoi(device.toStdString().c_str()), (_ui->checkBox_rgb_rectify->isEnabled() && _ui->checkBox_rgb_rectify->isChecked()) && !useRawImages, this->getGeneralInputRate(), this->getSourceLocalTransform()); ((CameraVideo*)camera)->setResolution(_ui->spinBox_usbcam_streamWidth->value(), _ui->spinBox_usbcam_streamHeight->value()); if(!_ui->lineEdit_usbcam_fourcc->text().isEmpty()) { ((CameraVideo*)camera)->setFOURCC(_ui->lineEdit_usbcam_fourcc->text().toStdString()); } } else if(driver == kSrcVideo) { camera = new CameraVideo( _ui->source_video_lineEdit_path->text().toStdString(), (_ui->checkBox_rgb_rectify->isEnabled() && _ui->checkBox_rgb_rectify->isChecked()) && !useRawImages, this->getGeneralInputRate(), this->getSourceLocalTransform()); } else if(driver == kSrcImages) { camera = new CameraImages( _ui->source_images_lineEdit_path->text().toStdString(), this->getGeneralInputRate(), this->getSourceLocalTransform()); ((CameraImages*)camera)->setStartIndex(_ui->source_images_spinBox_startPos->value()); ((CameraImages*)camera)->setMaxFrames(_ui->source_images_spinBox_maxFrames->value()); ((CameraImages*)camera)->setImagesRectified((_ui->checkBox_rgb_rectify->isEnabled() && _ui->checkBox_rgb_rectify->isChecked()) && !useRawImages); ((CameraImages*)camera)->setBayerMode(_ui->comboBox_cameraImages_bayerMode->currentIndex()-1); ((CameraImages*)camera)->setOdometryPath( _ui->lineEdit_cameraImages_odom->text().toStdString(), _ui->comboBox_cameraImages_odomFormat->currentIndex()); ((CameraImages*)camera)->setGroundTruthPath( _ui->lineEdit_cameraImages_gt->text().toStdString(), _ui->comboBox_cameraImages_gtFormat->currentIndex()); ((CameraImages*)camera)->setMaxPoseTimeDiff(_ui->doubleSpinBox_maxPoseTimeDiff->value()); ((CameraImages*)camera)->setScanPath( _ui->lineEdit_cameraImages_path_scans->text().isEmpty()?"":_ui->lineEdit_cameraImages_path_scans->text().append(QDir::separator()).toStdString(), _ui->spinBox_cameraImages_max_scan_pts->value(), this->getLaserLocalTransform()); ((CameraImages*)camera)->setDepthFromScan( _ui->groupBox_depthFromScan->isChecked(), !_ui->groupBox_depthFromScan_fillHoles->isChecked()?0:_ui->radioButton_depthFromScan_vertical->isChecked()?1:-1, _ui->checkBox_depthFromScan_fillBorders->isChecked()); ((CameraImages*)camera)->setTimestamps( _ui->checkBox_cameraImages_timestamps->isChecked(), _ui->lineEdit_cameraImages_timestamps->text().toStdString(), _ui->checkBox_cameraImages_syncTimeStamps->isChecked()); ((CameraRGBDImages*)camera)->setConfigForEachFrame(_ui->checkBox_cameraImages_configForEachFrame->isChecked()); } else if(driver == kSrcDatabase) { std::vector cameraIndices; if(!_ui->source_lineEdit_databaseCameraIndex->text().isEmpty()) { // read the first node to know how many cameras we have in the database std::shared_ptr reader( new DBReader( _ui->source_database_lineEdit_path->text().toStdString(), 0, false, false, false, _ui->source_spinBox_databaseStartId->value())); if(reader->init()) { SensorData data = reader->takeImage(); unsigned int numCamerasInDb = data.cameraModels().size()>0?data.cameraModels().size():data.stereoCameraModels().size(); if(numCamerasInDb>1) { QStringList indicesStr = _ui->source_lineEdit_databaseCameraIndex->text().split(' '); for(QStringList::iterator iter=indicesStr.begin(); iter!=indicesStr.end(); ++iter) { cameraIndices.push_back(iter->toInt()); if(cameraIndices.back() > numCamerasInDb) { QMessageBox::warning(this, tr("Creating Database Reader"), tr("Camera index %1 is not valid, it should be between 0 and %2. Remove or update camera indices under Source->Database panel (currently set to \"%3\").") .arg(cameraIndices.back()).arg(numCamerasInDb).arg(_ui->source_lineEdit_databaseCameraIndex->text()), QMessageBox::Ok); cameraIndices.clear(); return 0; } } } } } camera = new DBReader(_ui->source_database_lineEdit_path->text().toStdString(), _ui->source_checkBox_useDbStamps->isChecked()?-1:this->getGeneralInputRate(), _ui->source_checkBox_ignoreOdometry->isChecked(), _ui->source_checkBox_ignoreGoalDelay->isChecked(), _ui->source_checkBox_ignoreGoals->isChecked(), _ui->source_spinBox_databaseStartId->value(), cameraIndices, _ui->source_spinBox_databaseStopId->value(), !_ui->general_checkBox_createIntermediateNodes->isChecked(), _ui->source_checkBox_ignoreLandmarks->isChecked(), _ui->source_checkBox_ignoreFeatures->isChecked(), 0, -1, _ui->source_checkBox_ignorePriors->isChecked()); } else { UFATAL("Source driver undefined (%d)!", driver); } if(camera) { UDEBUG("Init"); QString dir = this->getCameraInfoDir(); QString calibrationFile = calibrationPath; if(!(driver >= kSrcRGB && driver <= kSrcVideo)) { calibrationFile.remove("_left.yaml").remove("_right.yaml").remove("_pose.yaml").remove("_rgb.yaml").remove("_depth.yaml"); } QString name = QFileInfo(calibrationFile.remove(".yaml")).fileName(); if(!calibrationPath.isEmpty()) { QDir d = QFileInfo(calibrationPath).dir(); QString tmp = calibrationPath; if(!tmp.remove(QFileInfo(calibrationPath).baseName()).isEmpty()) { dir = d.absolutePath(); } } UDEBUG("useRawImages=%d dir=%s", useRawImages?1:0, dir.toStdString().c_str()); // don't set calibration folder if we want raw images if(!camera->init(useRawImages?"":dir.toStdString(), name.toStdString())) { UWARN("init camera failed... "); QMessageBox::warning(this, tr("RTAB-Map"), tr("Camera initialization failed...")); delete camera; camera = 0; } else { //should be after initialization if(driver == kSrcOpenNI2) { ((CameraOpenNI2*)camera)->setAutoWhiteBalance(_ui->openni2_autoWhiteBalance->isChecked()); ((CameraOpenNI2*)camera)->setAutoExposure(_ui->openni2_autoExposure->isChecked()); ((CameraOpenNI2*)camera)->setMirroring(_ui->openni2_mirroring->isChecked()); ((CameraOpenNI2*)camera)->setOpenNI2StampsAndIDsUsed(_ui->openni2_stampsIdsUsed->isChecked()); if(CameraOpenNI2::exposureGainAvailable()) { ((CameraOpenNI2*)camera)->setExposure(_ui->openni2_exposure->value()); ((CameraOpenNI2*)camera)->setGain(_ui->openni2_gain->value()); } ((CameraOpenNI2*)camera)->setIRDepthShift(_ui->openni2_hshift->value(), _ui->openni2_vshift->value()); ((CameraOpenNI2*)camera)->setMirroring(_ui->openni2_mirroring->isChecked()); ((CameraOpenNI2*)camera)->setDepthDecimation(_ui->openni2_depth_decimation->value()); } } } UDEBUG(""); return camera; } SensorCapture * PreferencesDialog::createOdomSensor(Transform & extrinsics, double & timeOffset, float & scaleFactor, double & waitTime) { Src driver = getOdomSourceDriver(); if(driver != kSrcUndef) { if(driver == getSourceDriver() && _ui->lineEdit_odomSourceDevice->text().compare(_ui->lineEdit_sourceDevice->text()) == 0) { QMessageBox::warning(this, tr("Odometry Sensor"), tr("Cannot create an odometry sensor with same driver than camera AND with same " "device. Change device ID of the odometry or camera sensor. To use odometry option " "from a single camera, look at the parameters of that driver to enable it, " "then disable odometry sensor. "), QMessageBox::Ok); return 0; } extrinsics = Transform::fromString(_ui->lineEdit_odom_sensor_extrinsics->text().replace("PI_2", QString::number(3.141592/2.0)).toStdString()); timeOffset = _ui->doubleSpinBox_odom_sensor_time_offset->value()/1000.0; scaleFactor = (float)_ui->doubleSpinBox_odom_sensor_scale_factor->value(); waitTime = _ui->doubleSpinBox_odom_sensor_wait_time->value()/1000.0; return createCamera(driver, _ui->lineEdit_odomSourceDevice->text(), _ui->lineEdit_odom_sensor_path_calibration->text(), false, true, true, false); } return 0; } Lidar * PreferencesDialog::createLidar() { Lidar * lidar = 0; Src driver = getLidarSourceDriver(); if(driver == kSrcLidarVLP16) { #if PCL_VERSION_COMPARE(>=, 1, 8, 0) Transform localTransform = Transform::fromString(_ui->lineEdit_lidar_local_transform->text().replace("PI_2", QString::number(3.141592/2.0)).toStdString()); if(localTransform.isNull()) { UWARN("Failed to parse lidar local transfor string \"%s\"!", _ui->lineEdit_lidar_local_transform->text().toStdString().c_str()); localTransform = Transform::getIdentity(); } if(!_ui->lineEdit_vlp16_pcap_path->text().isEmpty()) { // PCAP mode lidar = new LidarVLP16( _ui->lineEdit_vlp16_pcap_path->text().toStdString(), _ui->checkBox_vlp16_organized->isChecked(), _ui->checkBox_vlp16_stamp_last->isChecked(), this->getGeneralInputRate(), localTransform); } else { // Connect to sensor lidar = new LidarVLP16( #if BOOST_VERSION >= 108700 // Version 1.87.0 boost::asio::ip::make_address(uFormat("%ld.%ld.%ld.%ld", #else boost::asio::ip::address_v4::from_string(uFormat("%ld.%ld.%ld.%ld", #endif (size_t)_ui->spinBox_vlp16_ip1->value(), (size_t)_ui->spinBox_vlp16_ip2->value(), (size_t)_ui->spinBox_vlp16_ip3->value(), (size_t)_ui->spinBox_vlp16_ip4->value())), _ui->spinBox_vlp16_port->value(), _ui->checkBox_vlp16_organized->isChecked(), _ui->checkBox_vlp16_hostTime->isChecked(), _ui->checkBox_vlp16_stamp_last->isChecked(), this->getGeneralInputRate(), localTransform); } if(!lidar->init()) { UWARN("init lidar failed... "); QMessageBox::warning(this, tr("RTAB-Map"), tr("Lidar initialization failed...")); delete lidar; lidar = 0; } #else UWARN("Lidar cannot be used with rtabmap built with PCL < 1.8... "); QMessageBox::warning(this, tr("RTAB-Map"), tr("Lidar initialization failed...")); #endif } return lidar; } bool PreferencesDialog::isStatisticsPublished() const { return _ui->groupBox_publishing->isChecked(); } double PreferencesDialog::getLoopThr() const { return _ui->general_doubleSpinBox_hardThr->value(); } double PreferencesDialog::getVpThr() const { return _ui->general_doubleSpinBox_vp->value(); } double PreferencesDialog::getSimThr() const { return _ui->doubleSpinBox_similarityThreshold->value(); } int PreferencesDialog::getOdomStrategy() const { return _ui->odom_strategy->currentIndex(); } int PreferencesDialog::getOdomBufferSize() const { return _ui->odom_dataBufferSize->value(); } QString PreferencesDialog::getCameraInfoDir() const { return (this->getWorkingDirectory().isEmpty()?".":this->getWorkingDirectory())+"/camera_info"; } bool PreferencesDialog::isImagesKept() const { return _ui->general_checkBox_imagesKept->isChecked(); } bool PreferencesDialog::isMissingCacheRepublished() const { return _ui->general_checkBox_missing_cache_republished->isChecked(); } bool PreferencesDialog::isCloudsKept() const { return _ui->general_checkBox_cloudsKept->isChecked(); } float PreferencesDialog::getTimeLimit() const { return _ui->general_doubleSpinBox_timeThr->value(); } float PreferencesDialog::getDetectionRate() const { return _ui->general_doubleSpinBox_detectionRate->value(); } bool PreferencesDialog::isSLAMMode() const { return _ui->general_checkBox_SLAM_mode->isChecked(); } bool PreferencesDialog::isRGBDMode() const { return _ui->general_checkBox_activateRGBD->isChecked(); } int PreferencesDialog::getKpMaxFeatures() const { return _ui->surf_spinBox_wordsPerImageTarget->value(); } bool PreferencesDialog::isPriorIgnored() const { return _ui->graphOptimization_priorsIgnored->isChecked(); } /*** SETTERS ***/ void PreferencesDialog::setInputRate(double value) { ULOGGER_DEBUG("imgRate=%2.2f", value); if(_ui->general_doubleSpinBox_imgRate->value() != value) { _ui->general_doubleSpinBox_imgRate->setValue(value); if(validateForm()) { this->writeSettings(getTmpIniFilePath()); } else { this->readSettingsBegin(); } } } void PreferencesDialog::setDetectionRate(double value) { ULOGGER_DEBUG("detectionRate=%2.2f", value); if(_ui->general_doubleSpinBox_detectionRate->value() != value) { _ui->general_doubleSpinBox_detectionRate->setValue(value); if(validateForm()) { this->writeSettings(getTmpIniFilePath()); } else { this->readSettingsBegin(); } } } void PreferencesDialog::setTimeLimit(float value) { ULOGGER_DEBUG("timeLimit=%fs", value); if(_ui->general_doubleSpinBox_timeThr->value() != value) { _ui->general_doubleSpinBox_timeThr->setValue(value); if(validateForm()) { this->writeSettings(getTmpIniFilePath()); } else { this->readSettingsBegin(); } } } void PreferencesDialog::setSLAMMode(bool enabled) { ULOGGER_DEBUG("slam mode=%s", enabled?"true":"false"); if(_ui->general_checkBox_SLAM_mode->isChecked() != enabled) { _ui->general_checkBox_SLAM_mode->setChecked(enabled); if(validateForm()) { this->writeSettings(getTmpIniFilePath()); } else { this->readSettingsBegin(); } } } void PreferencesDialog::testOdometry() { Camera * camera = this->createCamera(); if(!camera) { return; } ParametersMap parameters = this->getAllParameters(); IMUThread * imuThread = 0; if((this->getSourceDriver() == kSrcStereoImages || this->getSourceDriver() == kSrcRGBDImages || this->getSourceDriver() == kSrcImages) && !_ui->lineEdit_cameraImages_path_imu->text().isEmpty()) { imuThread = new IMUThread(_ui->spinBox_cameraImages_max_imu_rate->value(), this->getIMULocalTransform()); if(getIMUFilteringStrategy()>0) { imuThread->enableIMUFiltering(getIMUFilteringStrategy()-1, parameters, getIMUFilteringBaseFrameConversion()); } if(!imuThread->init(_ui->lineEdit_cameraImages_path_imu->text().toStdString())) { QMessageBox::warning(this, tr("Source IMU Path"), tr("Initialization of IMU data has failed! Path=%1.").arg(_ui->lineEdit_cameraImages_path_imu->text()), QMessageBox::Ok); delete camera; delete imuThread; return; } } if(getOdomRegistrationApproach() < 3) { uInsert(parameters, ParametersPair(Parameters::kRegStrategy(), uNumber2Str(getOdomRegistrationApproach()))); } int odomStrategy = Parameters::defaultOdomStrategy(); Parameters::parse(parameters, Parameters::kOdomStrategy(), odomStrategy); if(odomStrategy != 1) { // Only Frame To Frame supports all VisCorType parameters.erase(Parameters::kVisCorType()); } Odometry * odometry = Odometry::create(parameters); OdometryThread odomThread( odometry, // take ownership of odometry _ui->odom_dataBufferSize->value()); odomThread.registerToEventsManager(); OdometryViewer * odomViewer = new OdometryViewer(10, _ui->spinBox_decimation_odom->value(), 0.0f, _ui->doubleSpinBox_maxDepth_odom->value(), this->getOdomQualityWarnThr(), this, this->getAllParameters()); odomViewer->setWindowTitle(tr("Odometry viewer")); odomViewer->resize(1280, 480+QPushButton().minimumHeight()); odomViewer->registerToEventsManager(); SensorCaptureThread cameraThread(camera, this->getAllParameters()); // take ownership of camera cameraThread.setMirroringEnabled(isSourceMirroring()); cameraThread.setColorOnly(_ui->checkbox_rgbd_colorOnly->isChecked()); cameraThread.setImageDecimation(_ui->spinBox_source_imageDecimation->value()); cameraThread.setHistogramMethod(_ui->comboBox_source_histogramMethod->currentIndex()); if(_ui->checkbox_source_feature_detection->isChecked()) { cameraThread.enableFeatureDetection(this->getAllParameters()); } cameraThread.setStereoToDepth(_ui->checkbox_stereo_depthGenerated->isChecked()); cameraThread.setStereoExposureCompensation(_ui->checkBox_stereo_exposureCompensation->isChecked()); cameraThread.setScanParameters( _ui->checkBox_source_scanFromDepth->isChecked(), _ui->spinBox_source_scanDownsampleStep->value(), _ui->doubleSpinBox_source_scanRangeMin->value(), _ui->doubleSpinBox_source_scanRangeMax->value(), _ui->doubleSpinBox_source_scanVoxelSize->value(), _ui->spinBox_source_scanNormalsK->value(), _ui->doubleSpinBox_source_scanNormalsRadius->value(), (float)_ui->doubleSpinBox_source_scanNormalsForceGroundUp->value(), _ui->checkBox_source_scanDeskewing->isChecked()); if(_ui->comboBox_imuFilter_strategy->currentIndex()>0 && dynamic_cast(camera) == 0) { cameraThread.enableIMUFiltering(_ui->comboBox_imuFilter_strategy->currentIndex()-1, this->getAllParameters(), _ui->checkBox_imuFilter_baseFrameConversion->isChecked()); } if(isDepthFilteringAvailable()) { if(_ui->groupBox_bilateral->isChecked()) { cameraThread.enableBilateralFiltering( _ui->doubleSpinBox_bilateral_sigmaS->value(), _ui->doubleSpinBox_bilateral_sigmaR->value()); } if(!_ui->lineEdit_source_distortionModel->text().isEmpty()) { cameraThread.setDistortionModel(_ui->lineEdit_source_distortionModel->text().toStdString()); } } UEventsManager::createPipe(&cameraThread, &odomThread, "SensorEvent"); if(imuThread) { UEventsManager::createPipe(imuThread, &odomThread, "IMUEvent"); } UEventsManager::createPipe(&odomThread, odomViewer, "OdometryEvent"); UEventsManager::createPipe(odomViewer, &odomThread, "OdometryResetEvent"); odomThread.start(); cameraThread.start(); if(imuThread) { imuThread->start(); } odomViewer->exec(); delete odomViewer; if(imuThread) { imuThread->join(true); delete imuThread; } cameraThread.join(true); odomThread.join(true); } void PreferencesDialog::testCamera() { CameraViewer * window = new CameraViewer(this, this->getAllParameters()); window->setWindowTitle(tr("Camera viewer")); window->resize(1280, 480+QPushButton().minimumHeight()); window->registerToEventsManager(); Camera * camera = this->createCamera(); if(camera) { SensorCaptureThread cameraThread(camera, this->getAllParameters()); cameraThread.setMirroringEnabled(isSourceMirroring()); cameraThread.setColorOnly(_ui->checkbox_rgbd_colorOnly->isChecked()); cameraThread.setImageDecimation(_ui->spinBox_source_imageDecimation->value()); cameraThread.setHistogramMethod(_ui->comboBox_source_histogramMethod->currentIndex()); if(_ui->checkbox_source_feature_detection->isChecked()) { cameraThread.enableFeatureDetection(this->getAllParameters()); } cameraThread.setStereoToDepth(_ui->checkbox_stereo_depthGenerated->isChecked()); cameraThread.setStereoExposureCompensation(_ui->checkBox_stereo_exposureCompensation->isChecked()); cameraThread.setScanParameters( _ui->checkBox_source_scanFromDepth->isChecked(), _ui->spinBox_source_scanDownsampleStep->value(), _ui->doubleSpinBox_source_scanRangeMin->value(), _ui->doubleSpinBox_source_scanRangeMax->value(), _ui->doubleSpinBox_source_scanVoxelSize->value(), _ui->spinBox_source_scanNormalsK->value(), _ui->doubleSpinBox_source_scanNormalsRadius->value(), (float)_ui->doubleSpinBox_source_scanNormalsForceGroundUp->value(), _ui->checkBox_source_scanDeskewing->isChecked()); if(_ui->comboBox_imuFilter_strategy->currentIndex()>0 && dynamic_cast(camera) == 0) { cameraThread.enableIMUFiltering(_ui->comboBox_imuFilter_strategy->currentIndex()-1, this->getAllParameters(), _ui->checkBox_imuFilter_baseFrameConversion->isChecked()); } if(isDepthFilteringAvailable()) { if(_ui->groupBox_bilateral->isChecked()) { cameraThread.enableBilateralFiltering( _ui->doubleSpinBox_bilateral_sigmaS->value(), _ui->doubleSpinBox_bilateral_sigmaR->value()); } if(!_ui->lineEdit_source_distortionModel->text().isEmpty()) { cameraThread.setDistortionModel(_ui->lineEdit_source_distortionModel->text().toStdString()); } } UEventsManager::createPipe(&cameraThread, window, "SensorEvent"); cameraThread.start(); window->exec(); delete window; cameraThread.join(true); } else { delete window; } } void PreferencesDialog::calibrate() { if(this->getSourceType() == kSrcDatabase) { QMessageBox::warning(this, tr("Calibration"), tr("Cannot calibrate database source!")); return; } if(!this->getCameraInfoDir().isEmpty()) { QDir dir(this->getCameraInfoDir()); if (!dir.exists()) { UINFO("Creating camera_info directory: \"%s\"", this->getCameraInfoDir().toStdString().c_str()); if(!dir.mkpath(this->getCameraInfoDir())) { UWARN("Could create camera_info directory: \"%s\"", this->getCameraInfoDir().toStdString().c_str()); } } } Src driver = this->getSourceDriver(); if(driver == PreferencesDialog::kSrcFreenect || driver == PreferencesDialog::kSrcOpenNI2) { // 3 steps calibration: RGB -> IR -> Extrinsic QMessageBox::StandardButton button = QMessageBox::question(this, tr("Calibration"), tr("With \"%1\" driver, Color and IR cameras cannot be streamed at the " "same time. A 3-steps calibration is required (Color -> IR -> extrinsics). We will " "start with the Color camera calibration. Do you want to continue?").arg(this->getSourceDriverStr()), QMessageBox::Yes | QMessageBox::No | QMessageBox::Ignore, QMessageBox::Yes); if(button == QMessageBox::Yes || button == QMessageBox::Ignore) { _calibrationDialog->setSavingDirectory(this->getCameraInfoDir()); Camera * camera = 0; // Step 1: RGB if(button != QMessageBox::Ignore) { camera = this->createCamera(true, true); // RAW color if(!camera) { return; } _calibrationDialog->setStereoMode(false); // this forces restart _calibrationDialog->setCameraName(QString(camera->getSerial().c_str())+"_rgb"); _calibrationDialog->registerToEventsManager(); SensorCaptureThread cameraThread(camera, this->getAllParameters()); UEventsManager::createPipe(&cameraThread, _calibrationDialog, "SensorEvent"); cameraThread.start(); _calibrationDialog->exec(); _calibrationDialog->unregisterFromEventsManager(); cameraThread.join(true); camera = 0; } button = QMessageBox::question(this, tr("Calibration"), tr("We will now calibrate the IR camera. Hide the IR projector with a Post-It and " "make sure you have enough ambient IR light (e.g., external IR source or sunlight!) to see the " "checkerboard with the IR camera. Do you want to continue?"), QMessageBox::Yes | QMessageBox::No | QMessageBox::Ignore, QMessageBox::Yes); if(button == QMessageBox::Yes || button == QMessageBox::Ignore) { // Step 2: IR if(button != QMessageBox::Ignore) { camera = this->createCamera(true, false); // RAW ir if(!camera) { return; } _calibrationDialog->setStereoMode(false); // this forces restart _calibrationDialog->setCameraName(QString(camera->getSerial().c_str())+"_depth"); _calibrationDialog->registerToEventsManager(); SensorCaptureThread cameraThread(camera, this->getAllParameters()); UEventsManager::createPipe(&cameraThread, _calibrationDialog, "SensorEvent"); cameraThread.start(); _calibrationDialog->exec(); _calibrationDialog->unregisterFromEventsManager(); cameraThread.join(true); camera = 0; } button = QMessageBox::question(this, tr("Calibration"), tr("We will now calibrate the extrinsics. Important: Make sure " "the cameras and the checkerboard don't move and that both " "cameras can see the checkerboard. We will repeat this " "multiple times. Each time, you will have to move the camera (or " "checkerboard) for a different point of view. Do you want to " "continue?"), QMessageBox::Yes | QMessageBox::No, QMessageBox::Yes); bool ok = false; int totalSamples = 0; if(button == QMessageBox::Yes) { totalSamples = QInputDialog::getInt(this, tr("Calibration"), tr("Samples: "), 1, 1, 99, 1, &ok); } if(ok) { int count = 0; _calibrationDialog->setStereoMode(true, "depth", "rgb"); // this forces restart _calibrationDialog->setCameraName(""); _calibrationDialog->setModal(true); _calibrationDialog->setProgressVisibility(false); _calibrationDialog->show(); CameraModel irModel; CameraModel rgbModel; std::string serial; for(;count < totalSamples && button == QMessageBox::Yes; ) { // Step 3: Extrinsics camera = this->createCamera(false, true); // Rectified color if(!camera) { return; } SensorData rgbData = camera->takeData(); UASSERT(rgbData.cameraModels().size() == 1); rgbModel = rgbData.cameraModels()[0]; delete camera; camera = this->createCamera(false, false); // Rectified ir if(!camera) { return; } SensorData irData = camera->takeData(); serial = camera->getSerial(); UASSERT(irData.cameraModels().size() == 1); irModel = irData.cameraModels()[0]; delete camera; if(!rgbData.imageRaw().empty() && !irData.imageRaw().empty()) { // assume rgb sensor is on right (e.g., Kinect, Xtion Live Pro) int pair = _calibrationDialog->getStereoPairs(); _calibrationDialog->processImages(irData.imageRaw(), rgbData.imageRaw(), serial.c_str()); if(_calibrationDialog->getStereoPairs() - pair > 0) { ++count; if(count < totalSamples) { button = QMessageBox::question(this, tr("Calibration"), tr("A stereo pair has been taken (total=%1/%2). Move the checkerboard or " "camera to another position. Press \"Yes\" when you are ready " "for the next capture.").arg(count).arg(totalSamples), QMessageBox::Yes | QMessageBox::Abort, QMessageBox::Yes); } } else { button = QMessageBox::question(this, tr("Calibration"), tr("Could not detect the checkerboard on both images or " "the point of view didn't change enough. Try again?"), QMessageBox::Yes | QMessageBox::No, QMessageBox::Yes); } } else { button = QMessageBox::question(this, tr("Calibration"), tr("Failed to start the camera. Try again?"), QMessageBox::Yes | QMessageBox::No, QMessageBox::Yes); } } if(count == totalSamples && button == QMessageBox::Yes) { StereoCameraModel stereoModel = _calibrationDialog->stereoCalibration(irModel, rgbModel, true); stereoModel.setName(stereoModel.name(), "depth", "rgb"); if(stereoModel.stereoTransform().isNull()) { QMessageBox::warning(this, tr("Calibration"), tr("Extrinsic calibration has failed! Look on the terminal " "for possible error messages. Make sure corresponding calibration files exist " "in \"%1\" folder for camera \"%2\" or calibration name set. If not, re-do " "step 1 and 2 and make sure to export the calibration files.").arg(this->getCameraInfoDir()).arg(serial.c_str()), QMessageBox::Ok); } else if(stereoModel.saveStereoTransform(this->getCameraInfoDir().toStdString())) { QMessageBox::information(this, tr("Calibration"), tr("Calibration is completed! Extrinsics have been saved to \"%1/%2_pose.yaml\"").arg(this->getCameraInfoDir()).arg(stereoModel.name().c_str()), QMessageBox::Ok); } } } } } } else // standard calibration { Camera * camera = this->createCamera(true); if(!camera) { return; } bool freenect2 = driver == kSrcFreenect2; bool rgbDepth = freenect2 || (driver==kSrcStereoDepthAI && _ui->comboBox_depthai_output_mode->currentIndex() == 2); _calibrationDialog->setStereoMode(this->getSourceType() != kSrcRGB && driver != kSrcRealSense, rgbDepth?"rgb":"left", rgbDepth?"depth":"right"); // RGB+Depth or left+right _calibrationDialog->setCameraName(""); _calibrationDialog->setSwitchedImages(freenect2); if(driver == kSrcStereoRealSense2) _calibrationDialog->setFisheyeModel(); if(driver == kSrcStereoDepthAI) _calibrationDialog->setRationalModel(); _calibrationDialog->setSavingDirectory(this->getCameraInfoDir()); _calibrationDialog->registerToEventsManager(); SensorCaptureThread cameraThread(camera, this->getAllParameters()); UEventsManager::createPipe(&cameraThread, _calibrationDialog, "SensorEvent"); cameraThread.start(); _calibrationDialog->exec(); _calibrationDialog->unregisterFromEventsManager(); cameraThread.join(true); } makeObsoleteCalibrationPanel(); } void PreferencesDialog::calibrateSimple() { _createCalibrationDialog->setCameraInfoDir(this->getCameraInfoDir()); if(_createCalibrationDialog->exec() == QMessageBox::Accepted) { _ui->lineEdit_calibrationFile->setText(_createCalibrationDialog->cameraName()); } } void PreferencesDialog::calibrateOdomSensorExtrinsics() { if(this->getSourceType() == kSrcDatabase) { QMessageBox::warning(this, tr("Calibration"), tr("Cannot calibrate database source!")); return; } if(!this->getCameraInfoDir().isEmpty()) { QDir dir(this->getCameraInfoDir()); if (!dir.exists()) { UINFO("Creating camera_info directory: \"%s\"", this->getCameraInfoDir().toStdString().c_str()); if(!dir.mkpath(this->getCameraInfoDir())) { UWARN("Could create camera_info directory: \"%s\"", this->getCameraInfoDir().toStdString().c_str()); } } } Src odomDriver = getOdomSourceDriver(); if(odomDriver == kSrcUndef) { QMessageBox::warning(this, tr("Calibration"), tr("No odometry sensor selected!")); return; } // 3 steps calibration: RGB -> IR -> Extrinsic QMessageBox::StandardButton button = QMessageBox::question(this, tr("Calibration"), tr("We will calibrate the extrinsics. Important: Make sure " "the cameras and the checkerboard don't move and that both " "cameras can see the checkerboard. We will repeat this " "multiple times. Each time, you will have to move the camera (or " "checkerboard) for a different point of view. Do you want to " "continue?"), QMessageBox::Yes | QMessageBox::No, QMessageBox::Yes); if(button == QMessageBox::Yes) { _calibrationDialog->setSavingDirectory(this->getCameraInfoDir()); bool ok = false; int totalSamples = 0; if(button == QMessageBox::Yes) { QDialog dialog(this); QFormLayout form(&dialog); // Add the lineEdits with their respective labels QSpinBox * samples = new QSpinBox(&dialog); samples->setMinimum(1); samples->setMaximum(99); samples->setValue(1); QSpinBox * boardWidth = new QSpinBox(&dialog); boardWidth->setMinimum(2); boardWidth->setMaximum(99); boardWidth->setValue(_calibrationDialog->boardWidth()); QSpinBox * boardHeight = new QSpinBox(&dialog); boardHeight->setMinimum(2); boardHeight->setMaximum(99); boardHeight->setValue(_calibrationDialog->boardHeight()); QDoubleSpinBox * squareSize = new QDoubleSpinBox(&dialog); squareSize->setDecimals(4); squareSize->setMinimum(0.0001); squareSize->setMaximum(9); squareSize->setValue(_calibrationDialog->squareSize()); squareSize->setSuffix(" m"); form.addRow("Samples: ", samples); form.addRow("Checkerboard Width: ", boardWidth); form.addRow("Checkerboard Height: ", boardHeight); form.addRow("Checkerboard Square Size: ", squareSize); // Add some standard buttons (Cancel/Ok) at the bottom of the dialog QDialogButtonBox buttonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel, Qt::Horizontal, &dialog); form.addRow(&buttonBox); QObject::connect(&buttonBox, SIGNAL(accepted()), &dialog, SLOT(accept())); QObject::connect(&buttonBox, SIGNAL(rejected()), &dialog, SLOT(reject())); // Show the dialog as modal if (dialog.exec() == QDialog::Accepted) { _calibrationDialog->setBoardWidth(boardWidth->value()); _calibrationDialog->setBoardHeight(boardHeight->value()); _calibrationDialog->setSquareSize(squareSize->value()); totalSamples = samples->value(); ok = true; } } if(ok) { int count = 0; _calibrationDialog->setStereoMode(true, "camera", "odom_sensor"); // this forces restart _calibrationDialog->setCameraName(""); _calibrationDialog->setModal(true); _calibrationDialog->setProgressVisibility(false); _calibrationDialog->show(); CameraModel cameraModel; CameraModel odomSensorModel; std::string serial; for(;count < totalSamples && button == QMessageBox::Yes; ) { // Step 3: Extrinsics Camera * camera = this->createCamera( odomDriver, _ui->lineEdit_odomSourceDevice->text(), _ui->lineEdit_odom_sensor_path_calibration->text(), false, true, false, true); // Odom sensor if(!camera) { return; } else if(!camera->isCalibrated()) { QMessageBox::warning(_calibrationDialog, tr("Calibration"), tr("Odom sensor is not calibrated. Camera and odometry sensor should be individually calibrated (intrinsics) before calibrating the extrinsics between them. Aborting..."), QMessageBox::Ok); delete camera; return; } SensorData odomSensorData = camera->takeData(); if(odomSensorData.cameraModels().size() == 1) { odomSensorModel = odomSensorData.cameraModels()[0]; } else if(odomSensorData.stereoCameraModels().size() == 1) { odomSensorModel = odomSensorData.stereoCameraModels()[0].left(); } delete camera; int currentIndex = _ui->comboBox_odom_sensor->currentIndex(); _ui->comboBox_odom_sensor->setCurrentIndex(0); camera = this->createCamera(false, true); // Camera _ui->comboBox_odom_sensor->setCurrentIndex(currentIndex); if(!camera) { return; } else if(!camera->isCalibrated()) { QMessageBox::warning(_calibrationDialog, tr("Calibration"), tr("Odom sensor is not calibrated. Camera and odometry sensor should be individually calibrated (intrinsics) before calibrating the extrinsics between them. Aborting..."), QMessageBox::Ok); delete camera; return; } SensorData camData = camera->takeData(); serial = camera->getSerial(); if(camData.cameraModels().size() == 1) { cameraModel = camData.cameraModels()[0]; } else if(camData.stereoCameraModels().size() == 1) { cameraModel = camData.stereoCameraModels()[0].left(); } delete camera; if(!odomSensorData.imageRaw().empty() && !camData.imageRaw().empty()) { int pair = _calibrationDialog->getStereoPairs(); _calibrationDialog->processImages(camData.imageRaw(), odomSensorData.imageRaw(), serial.c_str()); if(_calibrationDialog->getStereoPairs() - pair > 0) { ++count; if(count < totalSamples) { button = QMessageBox::question(_calibrationDialog, tr("Calibration"), tr("A stereo pair has been taken (total=%1/%2). Move the checkerboard or " "camera to another position. Press \"Yes\" when you are ready " "for the next capture.").arg(count).arg(totalSamples), QMessageBox::Yes | QMessageBox::Abort, QMessageBox::Yes); } } else { button = QMessageBox::question(_calibrationDialog, tr("Calibration"), tr("Could not detect the checkerboard on both images or " "the point of view didn't change enough. Try again?"), QMessageBox::Yes | QMessageBox::No, QMessageBox::Yes); } } else { button = QMessageBox::question(_calibrationDialog, tr("Calibration"), tr("Failed to start the camera. Try again?"), QMessageBox::Yes | QMessageBox::No, QMessageBox::Yes); } } if(count == totalSamples && button == QMessageBox::Yes) { // Assume cameras are already rectified! cameraModel = CameraModel("camera", cameraModel.imageSize(), cameraModel.K(), cv::Mat::zeros(1,5,CV_64FC1), cv::Mat(), cv::Mat(), cameraModel.localTransform()); odomSensorModel = CameraModel("odom_sensor", odomSensorModel.imageSize(), odomSensorModel.K(), cv::Mat::zeros(1,5,CV_64FC1), cv::Mat(), cv::Mat(), odomSensorModel.localTransform()); StereoCameraModel stereoModel = _calibrationDialog->stereoCalibration(cameraModel, odomSensorModel, true); stereoModel.setName(stereoModel.name(), "camera", "odom_sensor"); if(stereoModel.stereoTransform().isNull()) { QMessageBox::warning(_calibrationDialog, tr("Calibration"), tr("Extrinsic calibration has failed! Look on the terminal " "for possible error messages."), QMessageBox::Ok); std::cout << "stereoModel: " << stereoModel << std::endl; } else { UINFO("Odom sensor local transform (pose to left cam): %s", odomSensorModel.localTransform().prettyPrint().c_str()); UINFO("Extrinsics (odom left cam to camera left cam): %s", stereoModel.stereoTransform().prettyPrint().c_str()); Transform t = odomSensorModel.localTransform() * stereoModel.stereoTransform() * CameraModel::opticalRotation().inverse(); UINFO("Odom sensor frame to camera frame: %s", t.prettyPrint().c_str()); float x,y,z,roll,pitch,yaw; t.getTranslationAndEulerAngles(x, y, z, roll, pitch, yaw); _ui->lineEdit_odom_sensor_extrinsics->setText(QString("%1 %2 %3 %4 %5 %6") .arg(x).arg(y).arg(z) .arg(roll).arg(pitch).arg(yaw)); QMessageBox::information(_calibrationDialog, tr("Calibration"), tr("Calibration is completed! Extrinsics have been computed: %1. " "You can close the calibration dialog.").arg(t.prettyPrint().c_str()), QMessageBox::Ok); } } } } } void PreferencesDialog::testLidar() { CameraViewer * window = new CameraViewer(this, this->getAllParameters()); window->setWindowTitle(tr("Lidar viewer")); window->setWindowFlags(Qt::Window); window->resize(1280, 480+QPushButton().minimumHeight()); window->registerToEventsManager(); window->setDecimation(1); Lidar * lidar = this->createLidar(); if(lidar) { SensorCaptureThread lidarThread(lidar, this->getAllParameters()); lidarThread.setScanParameters( _ui->checkBox_source_scanFromDepth->isChecked(), _ui->spinBox_source_scanDownsampleStep->value(), _ui->doubleSpinBox_source_scanRangeMin->value(), _ui->doubleSpinBox_source_scanRangeMax->value(), _ui->doubleSpinBox_source_scanVoxelSize->value(), _ui->spinBox_source_scanNormalsK->value(), _ui->doubleSpinBox_source_scanNormalsRadius->value(), (float)_ui->doubleSpinBox_source_scanNormalsForceGroundUp->value(), _ui->checkBox_source_scanDeskewing->isChecked()); UEventsManager::createPipe(&lidarThread, window, "SensorEvent"); lidarThread.start(); window->exec(); delete window; lidarThread.join(true); } else { delete window; } } }