//@Override
/*public*/ int AudioTableDataModel::getPreferredWidth(int col)
{
switch (col)
{
case VALUECOL:
return JTextField(50).getPreferredSize().width();
case EDITCOL:
return QPushButton(tr("Edit")).sizeHint().width();
default:
return BeanTableDataModel::getPreferredWidth(col);
}
}
/*public*/ int AutomatTableDataModel::getPreferredWidth(int col) {
switch (col) {
case NAMECOL:
return JTextField(20).sizeHint().width();
case TURNSCOL:
return JTextField(5).sizeHint().width();
case KILLCOL:
return QPushButton(tr("Kill")).sizeHint().width();
default:
log->warn("Unexpected column in getPreferredWidth: " + QString::number(col));
return JTextField(5).sizeHint().width();
}
}
int main (int argc, char * argv[])
{
ULogger::setType(ULogger::kTypeConsole);
ULogger::setLevel(ULogger::kInfo);
ULogger::setPrintTime(false);
ULogger::setPrintWhere(false);
// parse arguments
float rate = 0.0;
std::string inputDatabase;
int driver = 0;
int odomType = rtabmap::Parameters::defaultOdomFeatureType();
bool icp = false;
bool flow = false;
bool mono = false;
int nnType = rtabmap::Parameters::defaultOdomBowNNType();
float nndr = rtabmap::Parameters::defaultOdomBowNNDR();
float distance = rtabmap::Parameters::defaultOdomInlierDistance();
int maxWords = rtabmap::Parameters::defaultOdomMaxFeatures();
int minInliers = rtabmap::Parameters::defaultOdomMinInliers();
float maxDepth = rtabmap::Parameters::defaultOdomMaxDepth();
int iterations = rtabmap::Parameters::defaultOdomIterations();
int resetCountdown = rtabmap::Parameters::defaultOdomResetCountdown();
int decimation = 4;
float voxel = 0.005;
int samples = 10000;
float ratio = 0.7f;
int maxClouds = 10;
int briefBytes = rtabmap::Parameters::defaultBRIEFBytes();
int fastThr = rtabmap::Parameters::defaultFASTThreshold();
float sec = 0.0f;
bool gpu = false;
int localHistory = rtabmap::Parameters::defaultOdomBowLocalHistorySize();
bool p2p = rtabmap::Parameters::defaultOdomPnPEstimation();
for(int i=1; i<argc; ++i)
{
if(strcmp(argv[i], "-driver") == 0)
{
++i;
if(i < argc)
{
driver = std::atoi(argv[i]);
if(driver < 0 || driver > 7)
{
showUsage();
}
}
else
{
showUsage();
}
continue;
}
if(strcmp(argv[i], "-o") == 0)
{
++i;
if(i < argc)
{
odomType = std::atoi(argv[i]);
if(odomType < 0 || odomType > 6)
{
showUsage();
}
}
else
{
showUsage();
}
continue;
}
if(strcmp(argv[i], "-nn") == 0)
{
++i;
if(i < argc)
{
nnType = std::atoi(argv[i]);
if(nnType < 0 || nnType > 4)
{
showUsage();
}
}
else
{
showUsage();
}
continue;
}
if(strcmp(argv[i], "-nndr") == 0)
{
++i;
if(i < argc)
{
nndr = uStr2Float(argv[i]);
if(nndr < 0.0f)
{
showUsage();
}
}
else
{
showUsage();
}
continue;
}
if(strcmp(argv[i], "-hz") == 0)
{
++i;
if(i < argc)
{
rate = uStr2Float(argv[i]);
if(rate < 0)
{
showUsage();
}
}
else
{
showUsage();
}
continue;
}
if(strcmp(argv[i], "-db") == 0)
{
++i;
if(i < argc)
{
inputDatabase = argv[i];
if(UFile::getExtension(inputDatabase).compare("db") != 0)
{
printf("Database path (%s) should end with \"db\" \n", inputDatabase.c_str());
showUsage();
}
}
else
{
showUsage();
}
continue;
}
if(strcmp(argv[i], "-clouds") == 0)
{
++i;
if(i < argc)
{
maxClouds = std::atoi(argv[i]);
if(maxClouds < 0)
{
showUsage();
}
}
else
{
showUsage();
}
continue;
}
if(strcmp(argv[i], "-sec") == 0)
{
++i;
if(i < argc)
{
sec = uStr2Float(argv[i]);
if(sec < 0.0f)
{
showUsage();
}
}
else
{
showUsage();
}
continue;
}
if(strcmp(argv[i], "-in") == 0)
{
++i;
if(i < argc)
{
distance = uStr2Float(argv[i]);
if(distance <= 0)
{
showUsage();
}
}
else
{
showUsage();
}
continue;
}
if(strcmp(argv[i], "-max") == 0)
{
++i;
if(i < argc)
{
maxWords = std::atoi(argv[i]);
if(maxWords < 0)
{
showUsage();
}
}
else
{
showUsage();
}
continue;
}
if(strcmp(argv[i], "-min") == 0)
{
++i;
if(i < argc)
{
minInliers = std::atoi(argv[i]);
if(minInliers < 0)
{
showUsage();
}
}
else
{
showUsage();
}
continue;
}
if(strcmp(argv[i], "-depth") == 0)
{
++i;
if(i < argc)
{
maxDepth = uStr2Float(argv[i]);
if(maxDepth < 0)
{
showUsage();
}
}
else
{
showUsage();
}
continue;
}
if(strcmp(argv[i], "-i") == 0)
{
++i;
if(i < argc)
{
iterations = std::atoi(argv[i]);
if(iterations <= 0)
{
showUsage();
}
}
else
{
showUsage();
}
continue;
}
if(strcmp(argv[i], "-reset") == 0)
{
++i;
if(i < argc)
{
resetCountdown = std::atoi(argv[i]);
if(resetCountdown < 0)
{
showUsage();
}
}
else
{
showUsage();
}
continue;
}
if(strcmp(argv[i], "-d") == 0)
{
++i;
if(i < argc)
{
decimation = std::atoi(argv[i]);
if(decimation < 1)
{
showUsage();
}
}
else
{
showUsage();
}
continue;
}
if(strcmp(argv[i], "-v") == 0)
{
++i;
if(i < argc)
{
voxel = uStr2Float(argv[i]);
if(voxel < 0)
{
showUsage();
}
}
else
{
showUsage();
}
continue;
}
if(strcmp(argv[i], "-s") == 0)
{
++i;
if(i < argc)
{
samples = std::atoi(argv[i]);
if(samples < 0)
{
showUsage();
}
}
else
{
showUsage();
}
continue;
}
if(strcmp(argv[i], "-cr") == 0)
{
++i;
if(i < argc)
{
ratio = uStr2Float(argv[i]);
if(ratio < 0.0f)
{
showUsage();
}
}
else
{
showUsage();
}
continue;
}
if(strcmp(argv[i], "-gpu") == 0)
{
gpu = true;
continue;
}
if(strcmp(argv[i], "-lh") == 0)
{
++i;
if(i < argc)
{
localHistory = std::atoi(argv[i]);
if(localHistory < 0)
{
showUsage();
}
}
else
{
showUsage();
}
continue;
}
if(strcmp(argv[i], "-brief_bytes") == 0)
{
++i;
if(i < argc)
{
briefBytes = std::atoi(argv[i]);
if(briefBytes < 1)
{
showUsage();
}
}
else
{
showUsage();
}
continue;
}
if(strcmp(argv[i], "-fast_thr") == 0)
{
++i;
if(i < argc)
{
fastThr = std::atoi(argv[i]);
if(fastThr < 1)
{
showUsage();
}
}
else
{
showUsage();
}
continue;
}
if(strcmp(argv[i], "-icp") == 0)
{
icp = true;
continue;
}
if(strcmp(argv[i], "-flow") == 0)
{
flow = true;
continue;
}
if(strcmp(argv[i], "-mono") == 0)
{
mono = true;
continue;
}
if(strcmp(argv[i], "-p2p") == 0)
{
p2p = true;
continue;
}
if(strcmp(argv[i], "-debug") == 0)
{
ULogger::setLevel(ULogger::kDebug);
ULogger::setPrintTime(true);
ULogger::setPrintWhere(true);
continue;
}
printf("Unrecognized option : %s\n", argv[i]);
showUsage();
}
if(odomType > 1 && nnType == rtabmap::VWDictionary::kNNFlannKdTree)
{
UERROR("You set \"-o %d\" (binary descriptor), you must use \"-nn 2\" (any \"-nn\" other than kNNFlannKdTree)", odomType);
showUsage();
}
else if(odomType <= 1 && nnType == rtabmap::VWDictionary::kNNFlannLSH)
{
UERROR("You set \"-o %d\" (float descriptor), you must use \"-nn 1\" (any \"-nn\" other than kNNFlannLSH)", odomType);
showUsage();
}
if(inputDatabase.size())
{
UINFO("Using database input \"%s\"", inputDatabase.c_str());
}
else
{
UINFO("Using OpenNI camera");
}
std::string odomName;
if(odomType == 0)
{
odomName = "SURF";
}
else if(odomType == 1)
{
odomName = "SIFT";
}
else if(odomType == 2)
{
odomName = "ORB";
}
else if(odomType == 3)
{
odomName = "FAST+FREAK";
}
else if(odomType == 4)
{
odomName = "FAST+BRIEF";
}
else if(odomType == 5)
{
odomName = "GFTT+FREAK";
}
else if(odomType == 6)
{
odomName = "GFTT+BRIEF";
}
else if(odomType == 7)
{
odomName = "BRISK";
}
if(icp)
{
odomName= "ICP";
}
if(flow)
{
odomName= "Optical Flow";
}
std::string nnName;
if(nnType == 0)
{
nnName = "kNNFlannLinear";
}
else if(nnType == 1)
{
nnName = "kNNFlannKdTree";
}
else if(nnType == 2)
{
nnName= "kNNFlannLSH";
}
else if(nnType == 3)
{
nnName= "kNNBruteForce";
}
else if(nnType == 4)
{
nnName= "kNNBruteForceGPU";
}
UINFO("Odometry used = %s", odomName.c_str());
UINFO("Camera rate = %f Hz", rate);
UINFO("Maximum clouds shown = %d", maxClouds);
UINFO("Delay = %f s", sec);
UINFO("Max depth = %f", maxDepth);
UINFO("Reset odometry coutdown = %d", resetCountdown);
QApplication app(argc, argv);
rtabmap::Odometry * odom = 0;
rtabmap::ParametersMap parameters;
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOdomMaxDepth(), uNumber2Str(maxDepth)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOdomResetCountdown(), uNumber2Str(resetCountdown)));
if(!icp)
{
UINFO("Min inliers = %d", minInliers);
UINFO("Inlier maximum correspondences distance = %f", distance);
UINFO("RANSAC iterations = %d", iterations);
UINFO("Max features = %d", maxWords);
UINFO("GPU = %s", gpu?"true":"false");
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOdomInlierDistance(), uNumber2Str(distance)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOdomMinInliers(), uNumber2Str(minInliers)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOdomIterations(), uNumber2Str(iterations)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOdomMaxFeatures(), uNumber2Str(maxWords)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOdomFeatureType(), uNumber2Str(odomType)));
if(odomType == 0)
{
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kSURFGpuVersion(), uBool2Str(gpu)));
}
if(odomType == 2)
{
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kORBGpu(), uBool2Str(gpu)));
}
if(odomType == 3 || odomType == 4)
{
UINFO("FAST threshold = %d", fastThr);
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kFASTThreshold(), uNumber2Str(fastThr)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kFASTGpu(), uBool2Str(gpu)));
}
if(odomType == 4 || odomType == 6)
{
UINFO("BRIEF bytes = %d", briefBytes);
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kBRIEFBytes(), uNumber2Str(briefBytes)));
}
if(flow)
{
// Optical Flow
odom = new rtabmap::OdometryOpticalFlow(parameters);
}
else
{
//BOW
UINFO("Nearest neighbor = %s", nnName.c_str());
UINFO("Nearest neighbor ratio = %f", nndr);
UINFO("Local history = %d", localHistory);
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOdomBowNNType(), uNumber2Str(nnType)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOdomBowNNDR(), uNumber2Str(nndr)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOdomBowLocalHistorySize(), uNumber2Str(localHistory)));
if(mono)
{
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOdomPnPFlags(), uNumber2Str(0))); //CV_ITERATIVE
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOdomPnPReprojError(), "4.0"));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOdomIterations(), "100"));
odom = new rtabmap::OdometryMono(parameters);
}
else
{
odom = new rtabmap::OdometryBOW(parameters);
}
}
}
else if(icp) // ICP
{
UINFO("ICP maximum correspondences distance = %f", distance);
UINFO("ICP iterations = %d", iterations);
UINFO("Cloud decimation = %d", decimation);
UINFO("Cloud voxel size = %f", voxel);
UINFO("Cloud samples = %d", samples);
UINFO("Cloud correspondence ratio = %f", ratio);
UINFO("Cloud point to plane = %s", p2p?"false":"true");
odom = new rtabmap::OdometryICP(decimation, voxel, samples, distance, iterations, ratio, !p2p);
}
rtabmap::OdometryThread odomThread(odom);
rtabmap::OdometryViewer odomViewer(maxClouds, 2, 0.0, 50);
UEventsManager::addHandler(&odomThread);
UEventsManager::addHandler(&odomViewer);
odomViewer.setWindowTitle("Odometry view");
odomViewer.resize(1280, 480+QPushButton().minimumHeight());
if(inputDatabase.size())
{
rtabmap::DBReader camera(inputDatabase, rate, true);
if(camera.init())
{
odomThread.start();
if(sec > 0)
{
uSleep(sec*1000);
}
camera.start();
app.exec();
camera.join(true);
odomThread.join(true);
}
}
else
{
rtabmap::CameraRGBD * camera = 0;
rtabmap::Transform t=rtabmap::Transform(0,0,1,0, -1,0,0,0, 0,-1,0,0);
if(driver == 0)
{
camera = new rtabmap::CameraOpenni("", rate, t);
}
else if(driver == 1)
{
if(!rtabmap::CameraOpenNI2::available())
{
UERROR("Not built with OpenNI2 support...");
exit(-1);
}
camera = new rtabmap::CameraOpenNI2("", rate, t);
}
else if(driver == 2)
{
if(!rtabmap::CameraFreenect::available())
{
UERROR("Not built with Freenect support...");
exit(-1);
}
camera = new rtabmap::CameraFreenect(0, rate, t);
}
else if(driver == 3)
{
if(!rtabmap::CameraOpenNICV::available())
{
UERROR("Not built with OpenNI from OpenCV support...");
exit(-1);
}
camera = new rtabmap::CameraOpenNICV(false, rate, t);
}
else if(driver == 4)
{
if(!rtabmap::CameraOpenNICV::available())
{
UERROR("Not built with OpenNI from OpenCV support...");
exit(-1);
}
camera = new rtabmap::CameraOpenNICV(true, rate, t);
}
else if(driver == 5)
{
if(!rtabmap::CameraFreenect2::available())
{
UERROR("Not built with Freenect2 support...");
exit(-1);
}
camera = new rtabmap::CameraFreenect2(0, rtabmap::CameraFreenect2::kTypeRGBDepthSD, rate, t);
}
else if(driver == 6)
{
if(!rtabmap::CameraStereoDC1394::available())
{
UERROR("Not built with dc1394 support...");
exit(-1);
}
camera = new rtabmap::CameraStereoDC1394(rate, t);
}
else if(driver == 7)
{
if(!rtabmap::CameraStereoFlyCapture2::available())
{
UERROR("Not built with FlyCapture2/Triclops support...");
exit(-1);
}
camera = new rtabmap::CameraStereoFlyCapture2(rate, t);
}
else
{
UFATAL("Camera driver (%d) not found!", driver);
}
//pcl::console::setVerbosityLevel(pcl::console::L_DEBUG);
if(camera->init())
{
if(camera->isCalibrated())
{
rtabmap::CameraThread cameraThread(camera);
odomThread.start();
cameraThread.start();
odomViewer.exec();
cameraThread.join(true);
odomThread.join(true);
}
else
{
printf("The camera is not calibrated! You should calibrate the camera first.\n");
delete camera;
}
}
else
{
printf("Failed to initialize the camera! Please select another driver (see \"--help\").\n");
delete camera;
}
}
return 0;
}
//! [0]
button = QPushButton(QObject.tr("Ro&ck && Roll"), self)
//! [0]
//! [1]
button.setIcon(QIcon(":/images/print.png"))
button.setShortcut(tr("Alt+F7"))
//! [1]
//! [2]
class MyWidget (QWidget):
#...
def reactToToggle(checked):
if checked:
// Examine the button states.
...
//! [2]
void SScrollWidget::setupOptions()
{
p->hScroll=new QScrollBar(Qt::Horizontal);
p->vScroll=new QScrollBar(Qt::Vertical);
p->frameLayout=new QHBoxLayout();
p->frameLayout->setContentsMargins(0,0,0,0);
p->frameLayout->setSpacing(0);
p->frame = new QFrame();
p->frame->setLayout( p->frameLayout );
p->scrollWidget=new QScrollArea();
p->scrollWidget->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
p->scrollWidget->setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
p->scrollWidget->setFrameShadow(QFrame::Sunken);
p->scrollWidget->setWidgetResizable(true);
p->scrollWidget->setHorizontalScrollBar( p->hScroll );
p->scrollWidget->setVerticalScrollBar( p->vScroll );
p->scrollWidget->setFocusPolicy(Qt::NoFocus);
p->scrollWidget->setWidget( p->frame );
p->scrollWidget->viewport()->setAutoFillBackground( false );
QFont font = QPushButton().font();
font.setBold(true);
p->leftArrow=new QPushButton();
p->leftArrow->setFocusPolicy(Qt::NoFocus);
p->leftArrow->setFont( font );
p->leftArrow->setFlat( true );
p->rightArrow=new QPushButton();
p->rightArrow->setFocusPolicy(Qt::NoFocus);
p->rightArrow->setFont( font );
p->rightArrow->setFlat( true );
p->topArrow=new QPushButton();
p->topArrow->setFocusPolicy(Qt::NoFocus);
p->topArrow->setFlat( true );
p->bottomArrow=new QPushButton();
p->bottomArrow->setFocusPolicy(Qt::NoFocus);
p->bottomArrow->setFlat( true );
setArrowsSize(QSize(20,30));
QIcon left_arrow_icon( SMasterIcons::icon( QSize(48,48) , "arrow-left.png" ) );
QIcon right_arrow_icon( SMasterIcons::icon( QSize(48,48) , "arrow-right.png" ) );
p->leftArrow->setIcon( left_arrow_icon );
p->rightArrow->setIcon( right_arrow_icon );
if( left_arrow_icon.isNull() )
p->leftArrow->setText("<");
if( right_arrow_icon.isNull() )
p->rightArrow->setText(">");
p->hLayout=new QHBoxLayout();
p->hLayout->addWidget(p->leftArrow);
p->hLayout->addWidget(p->scrollWidget);
p->hLayout->addWidget(p->rightArrow);
p->hLayout->setContentsMargins(0,0,0,0);
p->hLayout->setSpacing(0);
p->vLayout=new QVBoxLayout(this);
p->vLayout->addWidget(p->topArrow);
p->vLayout->addLayout(p->hLayout);
p->vLayout->addWidget(p->bottomArrow);
p->vLayout->setAlignment( p->topArrow , Qt::AlignHCenter);
p->vLayout->setAlignment( p->bottomArrow , Qt::AlignHCenter);
p->vLayout->setContentsMargins(0,0,0,0);
p->vLayout->setSpacing(0);
QObject::connect( p->leftArrow ,SIGNAL(clicked()) ,this ,SLOT(leftArrowClick()) );
QObject::connect( p->rightArrow ,SIGNAL(clicked()) ,this ,SLOT(rightArrowClick()) );
QObject::connect( this ,SIGNAL(setHScroll(int)) ,p->hScroll ,SLOT(setValue(int)) );
QObject::connect( p->topArrow ,SIGNAL(clicked()) ,this ,SLOT(topArrowClick()) );
QObject::connect( p->bottomArrow ,SIGNAL(clicked()) ,this ,SLOT(bottomArrowClick()) );
QObject::connect( this ,SIGNAL(setVScroll(int)) ,p->vScroll ,SLOT(setValue(int)) );
}
