rtabmap: PostProcessingDialog.h Source File

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00001 /*
00002 Copyright (c) 2010-2016, 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 RTABMAP_POSTPROCESSINGDIALOG_H_
00029 #define RTABMAP_POSTPROCESSINGDIALOG_H_
00030 
00031 #include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
00032 
00033 #include <QDialog>
00034 #include <QtCore/QSettings>
00035 
00036 #include <rtabmap/core/Optimizer.h>
00037 
00038 class Ui_PostProcessingDialog;
00039 class QAbstractButton;
00040 
00041 namespace rtabmap {
00042 
00043 class RTABMAPGUI_EXP PostProcessingDialog : public QDialog
00044 {
00045         Q_OBJECT
00046 
00047 public:
00048         PostProcessingDialog(QWidget * parent = 0);
00049 
00050         virtual ~PostProcessingDialog();
00051 
00052         void saveSettings(QSettings & settings, const QString & group = "") const;
00053         void loadSettings(QSettings & settings, const QString & group = "");
00054 
00055         //getters
00056         bool isDetectMoreLoopClosures() const;
00057         double clusterRadius() const;
00058         double clusterAngle() const;
00059         int iterations() const;
00060         bool isRefineNeighborLinks() const;
00061         bool isRefineLoopClosureLinks() const;
00062         bool isSBA() const;
00063         int sbaIterations() const;
00064         double sbaVariance() const;
00065         Optimizer::Type sbaType() const;
00066 
00067         //setters
00068         void setDetectMoreLoopClosures(bool on);
00069         void setClusterRadius(double radius);
00070         void setClusterAngle(double angle);
00071         void setIterations(int iterations);
00072         void setRefineNeighborLinks(bool on);
00073         void setRefineLoopClosureLinks(bool on);
00074         void setSBA(bool on);
00075         void setSBAIterations(int iterations);
00076         void setSBAVariance(double variance);
00077         void setSBAType(Optimizer::Type type);
00078 
00079 Q_SIGNALS:
00080         void configChanged();
00081 
00082 public Q_SLOTS:
00083         void restoreDefaults();
00084 
00085 private Q_SLOTS:
00086         void updateVisibility();
00087         void updateButtonBox();
00088 
00089 
00090 private:
00091         Ui_PostProcessingDialog * _ui;
00092 };
00093 
00094 }
00095 
00096 #endif /* POSTPROCESSINGDIALOG_H_ */