rtabmap: PreferencesDialog.h Source File

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00001 /*
00002 Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
00003 All rights reserved.
00004 
00005 Redistribution and use in source and binary forms, with or without
00006 modification, are permitted provided that the following conditions are met:
00007     * Redistributions of source code must retain the above copyright
00008       notice, this list of conditions and the following disclaimer.
00009     * Redistributions in binary form must reproduce the above copyright
00010       notice, this list of conditions and the following disclaimer in the
00011       documentation and/or other materials provided with the distribution.
00012     * Neither the name of the Universite de Sherbrooke nor the
00013       names of its contributors may be used to endorse or promote products
00014       derived from this software without specific prior written permission.
00015 
00016 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00017 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00018 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00019 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
00020 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00021 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00022 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00023 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00024 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00025 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00026 */
00027 
00028 #ifndef PREFERENCESDIALOG_H_
00029 #define PREFERENCESDIALOG_H_
00030 
00031 #include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
00032 
00033 #include <QDialog>
00034 #include <QtCore/QModelIndex>
00035 #include <QtCore/QVector>
00036 #include <set>
00037 
00038 #include "rtabmap/core/Transform.h"
00039 #include "rtabmap/core/Parameters.h"
00040 
00041 class Ui_preferencesDialog;
00042 class QAbstractItemModel;
00043 class QAbstractButton;
00044 class QStandardItemModel;
00045 class QStandardItem;
00046 class QFile;
00047 class QGroupBox;
00048 class QMainWindow;
00049 class QLineEdit;
00050 class QSlider;
00051 class QProgressDialog;
00052 class UPlotCurve;
00053 class QStackedWidget;
00054 class QCheckBox;
00055 class QSpinBox;
00056 class QDoubleSpinBox;
00057 
00058 namespace rtabmap {
00059 
00060 class Signature;
00061 class LoopClosureViewer;
00062 class CameraRGBD;
00063 class CalibrationDialog;
00064 
00065 class RTABMAPGUI_EXP PreferencesDialog : public QDialog
00066 {
00067         Q_OBJECT
00068 
00069 public:
00070         enum PanelFlag {
00071                 kPanelDummy = 0,
00072                 kPanelGeneral = 1,
00073                 kPanelCloudRendering = 2,
00074                 kPanelLogging = 4,
00075                 kPanelSource = 8,
00076                 kPanelAll = 15
00077         };
00078         // TODO, tried to change the name of PANEL_FLAGS to PanelFlags... but signals/slots errors appeared...
00079         Q_DECLARE_FLAGS(PANEL_FLAGS, PanelFlag);
00080 
00081         enum Src {
00082                 kSrcUndef,
00083                 kSrcUsbDevice,
00084                 kSrcImages,
00085                 kSrcVideo,
00086                 kSrcOpenNI_PCL,
00087                 kSrcFreenect,
00088                 kSrcOpenNI_CV,
00089                 kSrcOpenNI_CV_ASUS,
00090                 kSrcOpenNI2,
00091                 kSrcFreenect2,
00092                 kSrcStereoDC1394,
00093                 kSrcStereoFlyCapture2
00094         };
00095 
00096 public:
00097         PreferencesDialog(QWidget * parent = 0);
00098         virtual ~PreferencesDialog();
00099 
00100         virtual QString getIniFilePath() const;
00101         void init();
00102 
00103         // save stuff
00104         void saveSettings();
00105         void saveWindowGeometry(const QWidget * window);
00106         void loadWindowGeometry(QWidget * window);
00107         void saveMainWindowState(const QMainWindow * mainWindow);
00108         void loadMainWindowState(QMainWindow * mainWindow, bool & maximized);
00109         void saveWidgetState(const QWidget * widget);
00110         void loadWidgetState(QWidget * widget);
00111 
00112         void saveCustomConfig(const QString & section, const QString & key, const QString & value);
00113         QString loadCustomConfig(const QString & section, const QString & key);
00114 
00115         rtabmap::ParametersMap getAllParameters();
00116 
00117         //General panel
00118         int getGeneralLoggerLevel() const;
00119         int getGeneralLoggerEventLevel() const;
00120         int getGeneralLoggerPauseLevel() const;
00121         int getGeneralLoggerType() const;
00122         bool getGeneralLoggerPrintTime() const;
00123         bool isVerticalLayoutUsed() const;
00124         bool imageRejectedShown() const;
00125         bool imageHighestHypShown() const;
00126         bool beepOnPause() const;
00127         bool notifyWhenNewGlobalPathIsReceived() const;
00128         int getOdomQualityWarnThr() const;
00129         bool isPosteriorGraphView() const;
00130 
00131         bool isGraphsShown() const;
00132         bool isCloudMeshing() const;
00133         bool isCloudsShown(int index) const;      // 0=map, 1=odom
00134         double getCloudVoxelSize(int index) const; // 0=map, 1=odom
00135         int getCloudDecimation(int index) const;   // 0=map, 1=odom
00136         double getCloudMaxDepth(int index) const;  // 0=map, 1=odom
00137         double getCloudOpacity(int index) const;   // 0=map, 1=odom
00138         int getCloudPointSize(int index) const;    // 0=map, 1=odom
00139 
00140         bool isScansShown(int index) const;       // 0=map, 1=odom
00141         double getScanOpacity(int index) const;    // 0=map, 1=odom
00142         int getScanPointSize(int index) const;     // 0=map, 1=odom
00143 
00144         int getMeshNormalKSearch() const;
00145         double getMeshGP3Radius() const;
00146         bool getMeshSmoothing() const;
00147         double getMeshSmoothingRadius() const;
00148 
00149         bool isCloudFiltering() const;
00150         double getCloudFilteringRadius() const;
00151         double getCloudFilteringAngle() const;
00152 
00153         bool getGridMapShown() const;
00154         double getGridMapResolution() const;
00155         bool isGridMapFrom3DCloud() const;
00156         bool isGridMapEroded() const;
00157         double getGridMapOpacity() const;
00158 
00159         QString getWorkingDirectory() const;
00160 
00161         // source panel
00162         double getGeneralInputRate() const;
00163         bool isSourceMirroring() const;
00164         bool isSourceImageUsed() const;
00165         bool isSourceDatabaseUsed() const;
00166         bool isSourceRGBDUsed() const;
00167         PreferencesDialog::Src getSourceImageType() const;
00168         QString getSourceImageTypeStr() const;
00169         int getSourceWidth() const;
00170         int getSourceHeight() const;
00171         QString getSourceImagesPath() const;    //Images group
00172         QString getSourceImagesSuffix() const;  //Images group
00173         int getSourceImagesSuffixIndex() const; //Images group
00174         int getSourceImagesStartPos() const;    //Images group
00175         bool getSourceImagesRefreshDir() const; //Images group
00176         QString getSourceVideoPath() const;     //Video group
00177         int getSourceUsbDeviceId() const;               //UsbDevice group
00178         QString getSourceDatabasePath() const; //Database group
00179         bool getSourceDatabaseOdometryIgnored() const; //Database group
00180         bool getSourceDatabaseGoalDelayIgnored() const; //Database group
00181         int getSourceDatabaseStartPos() const; //Database group
00182         bool getSourceDatabaseStampsUsed() const;//Database group
00183         Src getSourceRGBD() const;                      // Openni group
00184         bool getSourceOpenni2AutoWhiteBalance() const;  //Openni group
00185         bool getSourceOpenni2AutoExposure() const;  //Openni group
00186         int getSourceOpenni2Exposure() const;  //Openni group
00187         int getSourceOpenni2Gain() const;   //Openni group
00188         bool getSourceOpenni2Mirroring() const; //Openni group
00189         int getSourceFreenect2Format() const; //Openni group
00190         bool isSourceRGBDColorOnly() const;
00191         QString getSourceOpenniDevice() const;            //Openni group
00192         Transform getSourceOpenniLocalTransform() const;    //Openni group
00193         CameraRGBD * createCameraRGBD(bool forCalibration = false); // return camera should be deleted if not null
00194 
00195         int getIgnoredDCComponents() const;
00196 
00197         //
00198         bool isImagesKept() const;
00199         float getTimeLimit() const;
00200         float getDetectionRate() const;
00201         bool isSLAMMode() const;
00202 
00203         //specific
00204         bool isStatisticsPublished() const;
00205         double getLoopThr() const;
00206         double getVpThr() const;
00207         int getOdomStrategy() const;
00208         QString getCameraInfoDir() const; // "workinfDir/camera_info"
00209 
00210         //
00211         void setMonitoringState(bool monitoringState) {_monitoringState = monitoringState;}
00212 
00213 signals:
00214         void settingsChanged(PreferencesDialog::PANEL_FLAGS);
00215         void settingsChanged(rtabmap::ParametersMap);
00216 
00217 public slots:
00218         void setInputRate(double value);
00219         void setDetectionRate(double value);
00220         void setTimeLimit(float value);
00221         void setSLAMMode(bool enabled);
00222         void selectSourceImage(Src src = kSrcUndef);
00223         void selectSourceDatabase(bool user = false);
00224         void selectSourceRGBD(Src src = kSrcUndef);
00225         void calibrate();
00226 
00227 private slots:
00228         void closeDialog ( QAbstractButton * button );
00229         void resetApply ( QAbstractButton * button );
00230         void resetSettings(int panelNumber);
00231         void loadConfigFrom();
00232         bool saveConfigTo();
00233         void resetConfig();
00234         void makeObsoleteGeneralPanel();
00235         void makeObsoleteCloudRenderingPanel();
00236         void makeObsoleteLoggingPanel();
00237         void makeObsoleteSourcePanel();
00238         void clicked(const QModelIndex &index);
00239         void addParameter(int value);
00240         void addParameter(bool value);
00241         void addParameter(double value);
00242         void addParameter(const QString & value);
00243         void updatePredictionPlot();
00244         void updateKpROI();
00245         void changeWorkingDirectory();
00246         void changeDictionaryPath();
00247         void readSettingsEnd();
00248         void setupTreeView();
00249         void updateBasicParameter();
00250         void openDatabaseViewer();
00251         void updateRGBDCameraGroupBoxVisibility();
00252         void testOdometry();
00253         void testRGBDCamera();
00254 
00255 protected:
00256         virtual void showEvent ( QShowEvent * event );
00257         virtual void closeEvent(QCloseEvent *event);
00258 
00259         void setParameter(const std::string & key, const std::string & value);
00260 
00261         virtual QString getParamMessage();
00262 
00263         virtual void readSettings(const QString & filePath = QString());
00264         virtual void readGuiSettings(const QString & filePath = QString());
00265         virtual void readCameraSettings(const QString & filePath = QString());
00266         virtual bool readCoreSettings(const QString & filePath = QString());
00267 
00268         virtual void writeSettings(const QString & filePath = QString());
00269         virtual void writeGuiSettings(const QString & filePath = QString()) const;
00270         virtual void writeCameraSettings(const QString & filePath = QString()) const;
00271         virtual void writeCoreSettings(const QString & filePath = QString()) const;
00272 
00273         virtual QString getTmpIniFilePath() const;
00274 
00275 private:
00276         bool validateForm();
00277         void setupSignals();
00278         void setupKpRoiPanel();
00279         bool parseModel(QList<QGroupBox*> & boxes, QStandardItem * parentItem, int currentLevel, int & absoluteIndex);
00280         void resetSettings(QGroupBox * groupBox);
00281         void addParameter(const QObject * object, int value);
00282         void addParameter(const QObject * object, bool value);
00283         void addParameter(const QObject * object, double value);
00284         void addParameter(const QObject * object, const QString & value);
00285         void addParameters(const QObjectList & children);
00286         void addParameters(const QStackedWidget * stackedWidget);
00287         void addParameters(const QGroupBox * box);
00288         QList<QGroupBox*> getGroupBoxes();
00289         void readSettingsBegin();
00290         void testOdometry(int type);
00291 
00292 protected:
00293         rtabmap::ParametersMap _parameters;
00294         PANEL_FLAGS _obsoletePanels;
00295 
00296 private:
00297         Ui_preferencesDialog * _ui;
00298         QStandardItemModel * _indexModel;
00299         bool _initialized;
00300         bool _monitoringState;
00301 
00302         QProgressDialog * _progressDialog;
00303 
00304         //calibration
00305         CalibrationDialog * _calibrationDialog;
00306 
00307         QVector<QCheckBox*> _3dRenderingShowClouds;
00308         QVector<QDoubleSpinBox*> _3dRenderingVoxelSize;
00309         QVector<QSpinBox*> _3dRenderingDecimation;
00310         QVector<QDoubleSpinBox*> _3dRenderingMaxDepth;
00311         QVector<QDoubleSpinBox*> _3dRenderingOpacity;
00312         QVector<QSpinBox*> _3dRenderingPtSize;
00313         QVector<QCheckBox*> _3dRenderingShowScans;
00314         QVector<QDoubleSpinBox*> _3dRenderingOpacityScan;
00315         QVector<QSpinBox*> _3dRenderingPtSizeScan;
00316 };
00317 
00318 Q_DECLARE_OPERATORS_FOR_FLAGS(PreferencesDialog::PANEL_FLAGS)
00319 
00320 }
00321 
00322 #endif /* PREFERENCESDIALOG_H_ */