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7fd3d9f331f7f3a5a60572ec6049a6e92439d443
rtabmap/guilib/src/DatabaseViewer.cpp
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moved rtabmap-ros-pkg project in this project
2011-06-05 14:45:39 +00:00
/*
Updated Copyright year and About dialog summary
2016-07-17 21:57:10 -04:00
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
Changed license to BSD
2014-08-11 17:00:55 +00:00
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.
*/
moved rtabmap-ros-pkg project in this project
2011-06-05 14:45:39 +00:00
merged attention branch to trunk
2012-12-11 18:05:05 +00:00
#include "rtabmap/gui/DatabaseViewer.h"
New classes: Link and GraphViewer (TORO graph visualization and laser scans occupancy grid)
2014-02-11 23:04:22 +00:00
#include "rtabmap/gui/CloudViewer.h"
merged attention branch to trunk
2012-12-11 18:05:05 +00:00
#include "ui_DatabaseViewer.h"
Add QT5 Support
2015-03-16 19:51:22 +00:00
#include <QMessageBox>
#include <QFileDialog>
#include <QInputDialog>
#include <QGraphicsLineItem>
DatabaseViewer: ask saving changes to database on Exit
2014-09-21 21:14:17 +00:00
#include <QtGui/QCloseEvent>
Add QT5 Support
2015-03-16 19:51:22 +00:00
#include <QGraphicsOpacityEffect>
moved rtabmap-ros-pkg project in this project
2011-06-05 14:45:39 +00:00
#include <QtCore/QBuffer>
#include <QtCore/QTextStream>
Database update (version 0.8.5): added Node.stamp and Node.label fields
2015-02-27 15:24:15 -05:00
#include <QtCore/QDateTime>
DatabaseViewer: Saving/loading settings, added 3D view, added Grid from 3d projection parameter
2015-03-04 17:27:44 -05:00
#include <QtCore/QSettings>
Included UtiLite library directly in Rtabmap source (to simplify the installation)
2013-04-30 20:16:01 +00:00
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UDirectory.h>
#include <rtabmap/utilite/UConversion.h>
moved rtabmap-ros-pkg project in this project
2011-06-05 14:45:39 +00:00
#include <opencv2/core/core_c.h>
New classes: Link and GraphViewer (TORO graph visualization and laser scans occupancy grid)
2014-02-11 23:04:22 +00:00
#include <opencv2/highgui/highgui.hpp>
Included UtiLite library directly in Rtabmap source (to simplify the installation)
2013-04-30 20:16:01 +00:00
#include <rtabmap/utilite/UTimer.h>
DBViewer: added stereo images extraction
2015-06-24 20:20:27 -04:00
#include <rtabmap/utilite/UFile.h>
moved rtabmap-ros-pkg project in this project
2011-06-05 14:45:39 +00:00
#include "rtabmap/core/DBDriver.h"
Merged Audio branch to trunk
2012-06-24 17:19:34 +00:00
#include "rtabmap/gui/KeypointItem.h"
Fixed crash on startup with vtk6+qt5. All cloud viewers in QDockWidget are now created manually instead of being defined in the *.ui files. The generated ui didn't pass the top level parent window to constructor of CloudViewer, which caused a problem when initializing the QVTKWidget.
2016-05-05 18:25:26 -04:00
#include "rtabmap/gui/CloudViewer.h"
Moved some common include files to public headers folder
2015-08-25 10:32:27 -04:00
#include "rtabmap/utilite/UCv2Qt.h"
Merged pcl_integration branch to trunk
2013-12-11 00:12:44 +00:00
#include "rtabmap/core/util3d.h"
Increased version to 0.9.0. Refactoring: Split util3d.h into multiple files util3d_****.h to reduce compilation time. Also removed all PCL templates to reduce memory used while compiling.
2015-05-13 19:54:23 -04:00
#include "rtabmap/core/util3d_transforms.h"
#include "rtabmap/core/util3d_filtering.h"
#include "rtabmap/core/util3d_surface.h"
#include "rtabmap/core/util3d_registration.h"
#include "rtabmap/core/util3d_mapping.h"
#include "rtabmap/core/util2d.h"
Merged pcl_integration branch to trunk
2013-12-11 00:12:44 +00:00
#include "rtabmap/core/Signature.h"
DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases
2015-10-16 14:54:47 -04:00
#include "rtabmap/core/Memory.h"
Odometry and stereo: added parameter OdomStereo/MaxSlope to filter bad stereo pair matches from cvOpticalFlow
2014-11-04 18:58:40 +00:00
#include "rtabmap/core/Features2d.h"
Moved some util3d methods to Transform.h, Graph.h and Compression.h
2015-01-23 11:17:42 -05:00
#include "rtabmap/core/Compression.h"
#include "rtabmap/core/Graph.h"
Refactoring of the cameraStereoImages and cameraRGBDImages classes (now inheriting from CameraImages) for easy setting of laser scan path, timestamps path and ground truth path.
2015-12-17 14:13:19 -05:00
#include "rtabmap/core/Stereo.h"
Refactoring: Split all graph optimization approaches in multiple files
2015-11-27 11:09:39 -05:00
#include "rtabmap/core/Optimizer.h"
Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used
2015-11-22 18:08:32 -05:00
#include "rtabmap/core/RegistrationVis.h"
#include "rtabmap/core/RegistrationIcp.h"
DatabaseViewer: added regeneration of occupancy grids action and saving back to database on close
2016-08-25 23:47:01 -04:00
#include "rtabmap/core/OccupancyGrid.h"
Increased version to 0.6.2
2014-01-22 19:49:28 +00:00
#include "rtabmap/gui/DataRecorder.h"
Refactoring: Renamed rtabmap::Image to rtabmap::SensorData
2014-08-18 23:14:04 +00:00
#include "rtabmap/core/SensorData.h"
Added GainCompensator class. GUI/3D Rendering: added texturing option.
2016-09-07 12:15:44 -04:00
#include "rtabmap/core/GainCompensator.h"
Increased version to 0.6.2
2014-01-22 19:49:28 +00:00
#include "ExportDialog.h"
Moved some common include files to public headers folder
2015-08-25 10:32:27 -04:00
#include "rtabmap/gui/ProgressDialog.h"
Refactoring of the cameraStereoImages and cameraRGBDImages classes (now inheriting from CameraImages) for easy setting of laser scan path, timestamps path and ground truth path.
2015-12-17 14:13:19 -05:00
#include "ParametersToolBox.h"
Merged pcl_integration branch to trunk
2013-12-11 00:12:44 +00:00
#include <pcl/io/pcd_io.h>
Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used
2015-11-22 18:08:32 -05:00
#include <pcl/io/ply_io.h>
Merged pcl_integration branch to trunk
2013-12-11 00:12:44 +00:00
#include <pcl/filters/voxel_grid.h>
#include <pcl/common/transforms.h>
Increased version to 0.9.0. Refactoring: Split util3d.h into multiple files util3d_****.h to reduce compilation time. Also removed all PCL templates to reduce memory used while compiling.
2015-05-13 19:54:23 -04:00
#include <pcl/common/common.h>
moved rtabmap-ros-pkg project in this project
2011-06-05 14:45:39 +00:00
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
namespace rtabmap {
Refactoring: removed some code duplication about transformation estimation and features (2D-3D) extraction.
2015-12-21 17:27:05 -05:00
DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
moved rtabmap-ros-pkg project in this project
2011-06-05 14:45:39 +00:00
QMainWindow(parent),
DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases
2015-10-16 14:54:47 -04:00
dbDriver_(0),
DatabaseViewer: Saving/loading settings, added 3D view, added Grid from 3d projection parameter
2015-03-04 17:27:44 -05:00
savedMaximized_(false),
Refactoring: removed some code duplication about transformation estimation and features (2D-3D) extraction.
2015-12-21 17:27:05 -05:00
firstCall_(true),
iniFilePath_(ini)
moved rtabmap-ros-pkg project in this project
2011-06-05 14:45:39 +00:00
{
pathDatabase_ = QDir::homePath()+"/Documents/RTAB-Map"; //use home directory by default
if(!UDirectory::exists(pathDatabase_.toStdString()))
{
pathDatabase_ = QDir::homePath();
}
merged attention branch to trunk
2012-12-11 18:05:05 +00:00
ui_ = new Ui_DatabaseViewer();
moved rtabmap-ros-pkg project in this project
2011-06-05 14:45:39 +00:00
ui_->setupUi(this);
Fixed a crash when closing the DatabaseViewer dialog on Mac OS X. Added "Close" button when it is in modal window mode for Mac OS X too
2015-04-28 13:04:35 -04:00
ui_->buttonBox->setVisible(false);
connect(ui_->buttonBox->button(QDialogButtonBox::Close), SIGNAL(clicked()), this, SLOT(close()));
moved rtabmap-ros-pkg project in this project
2011-06-05 14:45:39 +00:00
Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used
2015-11-22 18:08:32 -05:00
ui_->comboBox_logger_level->setVisible(parent==0);
ui_->label_logger_level->setVisible(parent==0);
connect(ui_->comboBox_logger_level, SIGNAL(currentIndexChanged(int)), this, SLOT(updateLoggerLevel()));
Refactoring: removed some code duplication about transformation estimation and features (2D-3D) extraction.
2015-12-21 17:27:05 -05:00
connect(ui_->checkBox_verticalLayout, SIGNAL(stateChanged(int)), this, SLOT(setupMainLayout(int)));
Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used
2015-11-22 18:08:32 -05:00
DatabaseViewer: Saving/loading settings, added 3D view, added Grid from 3d projection parameter
2015-03-04 17:27:44 -05:00
QString title("RTAB-Map Database Viewer[*]");
this->setWindowTitle(title);
New classes: Link and GraphViewer (TORO graph visualization and laser scans occupancy grid)
2014-02-11 23:04:22 +00:00
ui_->dockWidget_constraints->setVisible(false);
ui_->dockWidget_graphView->setVisible(false);
Refactoring of the cameraStereoImages and cameraRGBDImages classes (now inheriting from CameraImages) for easy setting of laser scan path, timestamps path and ground truth path.
2015-12-17 14:13:19 -05:00
ui_->dockWidget_guiparameters->setVisible(false);
ui_->dockWidget_coreparameters->setVisible(false);
Update version 0.10.11:
2015-10-24 17:03:44 -04:00
ui_->dockWidget_info->setVisible(false);
Odometry and stereo: added parameter OdomStereo/MaxSlope to filter bad stereo pair matches from cvOpticalFlow
2014-11-04 18:58:40 +00:00
ui_->dockWidget_stereoView->setVisible(false);
DatabaseViewer: Saving/loading settings, added 3D view, added Grid from 3d projection parameter
2015-03-04 17:27:44 -05:00
ui_->dockWidget_view3d->setVisible(false);
0.11.11: changed Statistics table name to Info and added new Statistics table containing detection statistics. StatisticsToolBox can cache statistics (true by default). DatabaseViewer: new Statistics panel to see all statistics contained in the database.
2016-09-20 11:19:34 -04:00
ui_->dockWidget_statistics->setVisible(false);
DatabaseViewer: Saving/loading settings, added 3D view, added Grid from 3d projection parameter
2015-03-04 17:27:44 -05:00
Fixed crash on startup with vtk6+qt5. All cloud viewers in QDockWidget are now created manually instead of being defined in the *.ui files. The generated ui didn't pass the top level parent window to constructor of CloudViewer, which caused a problem when initializing the QVTKWidget.
2016-05-05 18:25:26 -04:00
// Create cloud viewers
constraintsViewer_ = new CloudViewer(ui_->dockWidgetContents);
cloudViewerA_ = new CloudViewer(ui_->dockWidgetContents_3dviews);
cloudViewerB_ = new CloudViewer(ui_->dockWidgetContents_3dviews);
stereoViewer_ = new CloudViewer(ui_->dockWidgetContents_stereo);
constraintsViewer_->setObjectName("constraintsViewer");
cloudViewerA_->setObjectName("cloudViewerA");
cloudViewerB_->setObjectName("cloudViewerB");
stereoViewer_->setObjectName("stereoViewer");
ui_->layout_constraintsViewer->addWidget(constraintsViewer_);
ui_->horizontalLayout_3dviews->addWidget(cloudViewerA_, 1);
ui_->horizontalLayout_3dviews->addWidget(cloudViewerB_, 1);
ui_->horizontalLayout_stereo->addWidget(stereoViewer_, 1);
constraintsViewer_->setCameraLockZ(false);
constraintsViewer_->setCameraFree();
DatabaseViewer: Saving/loading settings, added 3D view, added Grid from 3d projection parameter
2015-03-04 17:27:44 -05:00
Refactored OdometryOpticalFlow (added optical flow guess using previous odometry transform, merged stereo/depth stuff)
2015-06-15 14:44:44 -04:00
ui_->graphicsView_stereo->setAlpha(255);
Refactoring of the cameraStereoImages and cameraRGBDImages classes (now inheriting from CameraImages) for easy setting of laser scan path, timestamps path and ground truth path.
2015-12-17 14:13:19 -05:00
QSet<QString> ignoredGroups;
ignoredGroups.insert("Rtabmap");
ignoredGroups.insert("Mem");
ignoredGroups.insert("Kp");
ignoredGroups.insert("Odom");
ignoredGroups.insert("OdomBow");
ignoredGroups.insert("OdomFlow");
ignoredGroups.insert("OdomMono");
ignoredGroups.insert("VhEp");
ignoredGroups.insert("StereoBM");
ignoredGroups.insert("RGBD");
ignoredGroups.insert("DbSqlite3");
ignoredGroups.insert("Bayes");
ui_->parameters_toolbox->setupUi(ignoredGroups);
DatabaseViewer: Saving/loading settings, added 3D view, added Grid from 3d projection parameter
2015-03-04 17:27:44 -05:00
this->readSettings();
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
ui_->menuView->addAction(ui_->dockWidget_constraints->toggleViewAction());
New classes: Link and GraphViewer (TORO graph visualization and laser scans occupancy grid)
2014-02-11 23:04:22 +00:00
ui_->menuView->addAction(ui_->dockWidget_graphView->toggleViewAction());
Odometry and stereo: added parameter OdomStereo/MaxSlope to filter bad stereo pair matches from cvOpticalFlow
2014-11-04 18:58:40 +00:00
ui_->menuView->addAction(ui_->dockWidget_stereoView->toggleViewAction());
DatabaseViewer: Saving/loading settings, added 3D view, added Grid from 3d projection parameter
2015-03-04 17:27:44 -05:00
ui_->menuView->addAction(ui_->dockWidget_view3d->toggleViewAction());
Refactoring of the cameraStereoImages and cameraRGBDImages classes (now inheriting from CameraImages) for easy setting of laser scan path, timestamps path and ground truth path.
2015-12-17 14:13:19 -05:00
ui_->menuView->addAction(ui_->dockWidget_guiparameters->toggleViewAction());
ui_->menuView->addAction(ui_->dockWidget_coreparameters->toggleViewAction());
Update version 0.10.11:
2015-10-24 17:03:44 -04:00
ui_->menuView->addAction(ui_->dockWidget_info->toggleViewAction());
0.11.11: changed Statistics table name to Info and added new Statistics table containing detection statistics. StatisticsToolBox can cache statistics (true by default). DatabaseViewer: new Statistics panel to see all statistics contained in the database.
2016-09-20 11:19:34 -04:00
ui_->menuView->addAction(ui_->dockWidget_statistics->toggleViewAction());
New classes: Link and GraphViewer (TORO graph visualization and laser scans occupancy grid)
2014-02-11 23:04:22 +00:00
connect(ui_->dockWidget_graphView->toggleViewAction(), SIGNAL(triggered()), this, SLOT(updateGraphView()));
Refactoring of the cameraStereoImages and cameraRGBDImages classes (now inheriting from CameraImages) for easy setting of laser scan path, timestamps path and ground truth path.
2015-12-17 14:13:19 -05:00
connect(ui_->parameters_toolbox, SIGNAL(parametersChanged(const QStringList &)), this, SLOT(notifyParametersChanged(const QStringList &)));
moved rtabmap-ros-pkg project in this project
2011-06-05 14:45:39 +00:00
connect(ui_->actionQuit, SIGNAL(triggered()), this, SLOT(close()));
// connect actions with custom slots
DatabaseViewer: Saving/loading settings, added 3D view, added Grid from 3d projection parameter
2015-03-04 17:27:44 -05:00
ui_->actionSave_config->setShortcut(QKeySequence::Save);
connect(ui_->actionSave_config, SIGNAL(triggered()), this, SLOT(writeSettings()));
moved rtabmap-ros-pkg project in this project
2011-06-05 14:45:39 +00:00
connect(ui_->actionOpen_database, SIGNAL(triggered()), this, SLOT(openDatabase()));
Increased version to 0.6.2
2014-01-22 19:49:28 +00:00
connect(ui_->actionExport, SIGNAL(triggered()), this, SLOT(exportDatabase()));
New classes: Link and GraphViewer (TORO graph visualization and laser scans occupancy grid)
2014-02-11 23:04:22 +00:00
connect(ui_->actionExtract_images, SIGNAL(triggered()), this, SLOT(extractImages()));
moved rtabmap-ros-pkg project in this project
2011-06-05 14:45:39 +00:00
connect(ui_->actionGenerate_graph_dot, SIGNAL(triggered()), this, SLOT(generateGraph()));
connect(ui_->actionGenerate_local_graph_dot, SIGNAL(triggered()), this, SLOT(generateLocalGraph()));
database viewer: added method generateTOROGraph()
2014-02-27 17:00:46 +00:00
connect(ui_->actionGenerate_TORO_graph_graph, SIGNAL(triggered()), this, SLOT(generateTOROGraph()));
Added parameter "RGBD/OptimizeRobust" (default true) to use Vertigo robust graph optimization (only for g2o and GTSAM optimization strategies). Added GTSAM support.
2015-09-02 17:51:43 -04:00
connect(ui_->actionGenerate_g2o_graph_g2o, SIGNAL(triggered()), this, SLOT(generateG2OGraph()));
New classes: Link and GraphViewer (TORO graph visualization and laser scans occupancy grid)
2014-02-11 23:04:22 +00:00
connect(ui_->actionView_3D_map, SIGNAL(triggered()), this, SLOT(view3DMap()));
Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used
2015-11-22 18:08:32 -05:00
connect(ui_->actionView_3D_laser_scans, SIGNAL(triggered()), this, SLOT(view3DLaserScans()));
Merged pcl_integration branch to trunk
2013-12-11 00:12:44 +00:00
connect(ui_->actionGenerate_3D_map_pcd, SIGNAL(triggered()), this, SLOT(generate3DMap()));
Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used
2015-11-22 18:08:32 -05:00
connect(ui_->actionExport_3D_laser_scans_ply_pcd, SIGNAL(triggered()), this, SLOT(generate3DLaserScans()));
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
connect(ui_->actionDetect_more_loop_closures, SIGNAL(triggered()), this, SLOT(detectMoreLoopClosures()));
connect(ui_->actionRefine_all_neighbor_links, SIGNAL(triggered()), this, SLOT(refineAllNeighborLinks()));
connect(ui_->actionRefine_all_loop_closure_links, SIGNAL(triggered()), this, SLOT(refineAllLoopClosureLinks()));
DatabaseViewer: added action refine links visually
2014-11-03 19:14:02 +00:00
connect(ui_->actionVisual_Refine_all_neighbor_links, SIGNAL(triggered()), this, SLOT(refineVisuallyAllNeighborLinks()));
connect(ui_->actionVisual_Refine_all_loop_closure_links, SIGNAL(triggered()), this, SLOT(refineVisuallyAllLoopClosureLinks()));
DatabaseViewer: added regeneration of occupancy grids action and saving back to database on close
2016-08-25 23:47:01 -04:00
connect(ui_->actionRegenerate_local_grid_maps, SIGNAL(triggered()), this, SLOT(regenerateLocalMaps()));
cloudFromDepth(): fixed roi ratios not used if one value was null. DbViewer: Added occupancy grid clouds to 3d views, add action to regenerate occupancy grids only for the current selected ids.
2016-08-30 21:15:55 -04:00
connect(ui_->actionRegenerate_local_grid_maps_selected, SIGNAL(triggered()), this, SLOT(regenerateCurrentLocalMaps()));
Added notification message box when a global path is computed. Refactoring occupancy grid.
2015-05-05 17:38:38 -04:00
connect(ui_->actionReset_all_changes, SIGNAL(triggered()), this, SLOT(resetAllChanges()));
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
//ICP buttons
connect(ui_->pushButton_refine, SIGNAL(clicked()), this, SLOT(refineConstraint()));
DatabaseViewer: added action refine links visually
2014-11-03 19:14:02 +00:00
connect(ui_->pushButton_refineVisually, SIGNAL(clicked()), this, SLOT(refineConstraintVisually()));
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
connect(ui_->pushButton_add, SIGNAL(clicked()), this, SLOT(addConstraint()));
connect(ui_->pushButton_reset, SIGNAL(clicked()), this, SLOT(resetConstraint()));
connect(ui_->pushButton_reject, SIGNAL(clicked()), this, SLOT(rejectConstraint()));
ui_->pushButton_refine->setEnabled(false);
DatabaseViewer: added action refine links visually
2014-11-03 19:14:02 +00:00
ui_->pushButton_refineVisually->setEnabled(false);
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
ui_->pushButton_add->setEnabled(false);
ui_->pushButton_reset->setEnabled(false);
ui_->pushButton_reject->setEnabled(false);
moved rtabmap-ros-pkg project in this project
2011-06-05 14:45:39 +00:00
database viewer: added method generateTOROGraph()
2014-02-27 17:00:46 +00:00
ui_->actionGenerate_TORO_graph_graph->setEnabled(false);
Added parameter "RGBD/OptimizeRobust" (default true) to use Vertigo robust graph optimization (only for g2o and GTSAM optimization strategies). Added GTSAM support.
2015-09-02 17:51:43 -04:00
ui_->actionGenerate_g2o_graph_g2o->setEnabled(false);
database viewer: added method generateTOROGraph()
2014-02-27 17:00:46 +00:00
moved rtabmap-ros-pkg project in this project
2011-06-05 14:45:39 +00:00
ui_->horizontalSlider_A->setTracking(false);
ui_->horizontalSlider_B->setTracking(false);
ui_->horizontalSlider_A->setEnabled(false);
ui_->horizontalSlider_B->setEnabled(false);
connect(ui_->horizontalSlider_A, SIGNAL(valueChanged(int)), this, SLOT(sliderAValueChanged(int)));
connect(ui_->horizontalSlider_B, SIGNAL(valueChanged(int)), this, SLOT(sliderBValueChanged(int)));
connect(ui_->horizontalSlider_A, SIGNAL(sliderMoved(int)), this, SLOT(sliderAMoved(int)));
connect(ui_->horizontalSlider_B, SIGNAL(sliderMoved(int)), this, SLOT(sliderBMoved(int)));
New classes: Link and GraphViewer (TORO graph visualization and laser scans occupancy grid)
2014-02-11 23:04:22 +00:00
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
connect(ui_->spinBox_mesh_angleTolerance, SIGNAL(valueChanged(int)), this, SLOT(update3dView()));
Added min polygon cluster size option (DbViewer and GUI export)
2016-09-03 18:59:43 -04:00
connect(ui_->spinBox_mesh_minClusterSize, SIGNAL(valueChanged(int)), this, SLOT(update3dView()));
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
connect(ui_->spinBox_mesh_fillDepthHoles, SIGNAL(valueChanged(int)), this, SLOT(update3dView()));
connect(ui_->spinBox_mesh_depthError, SIGNAL(valueChanged(int)), this, SLOT(update3dView()));
connect(ui_->checkBox_mesh_quad, SIGNAL(toggled(bool)), this, SLOT(update3dView()));
connect(ui_->spinBox_mesh_triangleSize, SIGNAL(valueChanged(int)), this, SLOT(update3dView()));
Added min polygon cluster size option (DbViewer and GUI export)
2016-09-03 18:59:43 -04:00
connect(ui_->checkBox_showCloud, SIGNAL(toggled(bool)), this, SLOT(update3dView()));
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
connect(ui_->checkBox_showMesh, SIGNAL(toggled(bool)), this, SLOT(update3dView()));
Added min polygon cluster size option (DbViewer and GUI export)
2016-09-03 18:59:43 -04:00
connect(ui_->checkBox_showScan, SIGNAL(toggled(bool)), this, SLOT(update3dView()));
connect(ui_->checkBox_showMap, SIGNAL(toggled(bool)), this, SLOT(update3dView()));
connect(ui_->checkBox_showGrid, SIGNAL(toggled(bool)), this, SLOT(update3dView()));
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
New classes: Link and GraphViewer (TORO graph visualization and laser scans occupancy grid)
2014-02-11 23:04:22 +00:00
ui_->horizontalSlider_neighbors->setTracking(false);
ui_->horizontalSlider_loops->setTracking(false);
ui_->horizontalSlider_neighbors->setEnabled(false);
ui_->horizontalSlider_loops->setEnabled(false);
connect(ui_->horizontalSlider_neighbors, SIGNAL(valueChanged(int)), this, SLOT(sliderNeighborValueChanged(int)));
connect(ui_->horizontalSlider_loops, SIGNAL(valueChanged(int)), this, SLOT(sliderLoopValueChanged(int)));
connect(ui_->horizontalSlider_neighbors, SIGNAL(sliderMoved(int)), this, SLOT(sliderNeighborValueChanged(int)));
connect(ui_->horizontalSlider_loops, SIGNAL(sliderMoved(int)), this, SLOT(sliderLoopValueChanged(int)));
Updated version to 0.8.0
2014-12-14 16:42:10 -05:00
connect(ui_->checkBox_showOptimized, SIGNAL(stateChanged(int)), this, SLOT(updateConstraintView()));
DatabaseViewer: fixed clouds still shown in constraints view when unchecked
2015-10-07 16:54:36 -04:00
connect(ui_->checkBox_show3Dclouds, SIGNAL(stateChanged(int)), this, SLOT(updateConstraintView()));
connect(ui_->checkBox_show2DScans, SIGNAL(stateChanged(int)), this, SLOT(updateConstraintView()));
Added Monocular SLAM (experimental), Odometry classes refactoring
2015-04-23 22:01:41 -04:00
connect(ui_->checkBox_show3DWords, SIGNAL(stateChanged(int)), this, SLOT(updateConstraintView()));
Updated version to 0.8.0
2014-12-14 16:42:10 -05:00
ui_->checkBox_showOptimized->setEnabled(false);
New classes: Link and GraphViewer (TORO graph visualization and laser scans occupancy grid)
2014-02-11 23:04:22 +00:00
ui_->horizontalSlider_iterations->setTracking(false);
DatabaseViewer: Saving/loading settings, added 3D view, added Grid from 3d projection parameter
2015-03-04 17:27:44 -05:00
ui_->horizontalSlider_iterations->setEnabled(false);
ui_->spinBox_optimizationsFrom->setEnabled(false);
New classes: Link and GraphViewer (TORO graph visualization and laser scans occupancy grid)
2014-02-11 23:04:22 +00:00
connect(ui_->horizontalSlider_iterations, SIGNAL(valueChanged(int)), this, SLOT(sliderIterationsValueChanged(int)));
connect(ui_->horizontalSlider_iterations, SIGNAL(sliderMoved(int)), this, SLOT(sliderIterationsValueChanged(int)));
Added g2o optimization option (along with TORO). Some refactoring: updated graph optimization parameter names, new graph::Optimizer class and new parameter RGBD/OptimizeSlam2d
2015-03-12 17:00:56 -04:00
connect(ui_->spinBox_optimizationsFrom, SIGNAL(editingFinished()), this, SLOT(updateGraphView()));
DbViewer: added new graph optimization options: span to all maps and ignore some links
2015-05-23 13:36:36 -04:00
connect(ui_->checkBox_spanAllMaps, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
DatabaseViewer: added "Ignore pose correction" option
2015-04-01 14:34:43 -04:00
connect(ui_->checkBox_ignorePoseCorrection, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used
2015-11-22 18:08:32 -05:00
connect(ui_->checkBox_ignorePoseCorrection, SIGNAL(stateChanged(int)), this, SLOT(updateConstraintView()));
DbViewer: added new graph optimization options: span to all maps and ignore some links
2015-05-23 13:36:36 -04:00
connect(ui_->checkBox_ignoreGlobalLoop, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
connect(ui_->checkBox_ignoreLocalLoopSpace, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
connect(ui_->checkBox_ignoreLocalLoopTime, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
connect(ui_->checkBox_ignoreUserLoop, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
DatabaseViewer: added graph depth param. Rtabmap: when the robot is not moving, now deleting location "after" retrieval
2015-03-16 18:22:54 -04:00
connect(ui_->spinBox_optimizationDepth, SIGNAL(editingFinished()), this, SLOT(updateGraphView()));
Improved performance of create2DMap() and fixed unknown space filled rotation when laser scans are inverted. Added fill unknown space option to DatabaseViewer.
2015-09-28 15:30:01 -04:00
connect(ui_->checkBox_gridErode, SIGNAL(stateChanged(int)), this, SLOT(updateGrid()));
Added GainCompensator class. GUI/3D Rendering: added texturing option.
2016-09-07 12:15:44 -04:00
connect(ui_->doubleSpinBox_gainCompensationRadius, SIGNAL(valueChanged(double)), this, SLOT(updateConstraintView()));
Grid map: added "erode" option
2015-03-20 14:03:09 -04:00
connect(ui_->groupBox_posefiltering, SIGNAL(clicked(bool)), this, SLOT(updateGraphView()));
connect(ui_->doubleSpinBox_posefilteringRadius, SIGNAL(editingFinished()), this, SLOT(updateGraphView()));
connect(ui_->doubleSpinBox_posefilteringAngle, SIGNAL(editingFinished()), this, SLOT(updateGraphView()));
Added g2o optimization option (along with TORO). Some refactoring: updated graph optimization parameter names, new graph::Optimizer class and new parameter RGBD/OptimizeSlam2d
2015-03-12 17:00:56 -04:00
DatabaseViewer: Saving/loading settings, added 3D view, added Grid from 3d projection parameter
2015-03-04 17:27:44 -05:00
connect(ui_->doubleSpinBox_gridCellSize, SIGNAL(editingFinished()), this, SLOT(updateGrid()));
New classes: Link and GraphViewer (TORO graph visualization and laser scans occupancy grid)
2014-02-11 23:04:22 +00:00
Refactored OdometryOpticalFlow (added optical flow guess using previous odometry transform, merged stereo/depth stuff)
2015-06-15 14:44:44 -04:00
ui_->label_stereo_inliers_name->setStyleSheet("QLabel {color : blue; }");
ui_->label_stereo_flowOutliers_name->setStyleSheet("QLabel {color : red; }");
ui_->label_stereo_slopeOutliers_name->setStyleSheet("QLabel {color : yellow; }");
ui_->label_stereo_disparityOutliers_name->setStyleSheet("QLabel {color : magenta; }");
Added g2o optimization option (along with TORO). Some refactoring: updated graph optimization parameter names, new graph::Optimizer class and new parameter RGBD/OptimizeSlam2d
2015-03-12 17:00:56 -04:00
DatabaseViewer: Saving/loading settings, added 3D view, added Grid from 3d projection parameter
2015-03-04 17:27:44 -05:00
// connect configuration changed
connect(ui_->graphViewer, SIGNAL(configChanged()), this, SLOT(configModified()));
//connect(ui_->graphicsView_A, SIGNAL(configChanged()), this, SLOT(configModified()));
//connect(ui_->graphicsView_B, SIGNAL(configChanged()), this, SLOT(configModified()));
Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used
2015-11-22 18:08:32 -05:00
connect(ui_->comboBox_logger_level, SIGNAL(currentIndexChanged(int)), this, SLOT(configModified()));
Refactoring: removed some code duplication about transformation estimation and features (2D-3D) extraction.
2015-12-21 17:27:05 -05:00
connect(ui_->checkBox_verticalLayout, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
DatabaseViewer: Saving/loading settings, added 3D view, added Grid from 3d projection parameter
2015-03-04 17:27:44 -05:00
// Graph view
DbViewer: added new graph optimization options: span to all maps and ignore some links
2015-05-23 13:36:36 -04:00
connect(ui_->checkBox_spanAllMaps, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->checkBox_ignorePoseCorrection, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->checkBox_ignoreGlobalLoop, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->checkBox_ignoreLocalLoopSpace, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->checkBox_ignoreLocalLoopTime, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->checkBox_ignoreUserLoop, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
DatabaseViewer: added graph depth param. Rtabmap: when the robot is not moving, now deleting location "after" retrieval
2015-03-16 18:22:54 -04:00
connect(ui_->spinBox_optimizationDepth, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
Grid map: added "erode" option
2015-03-20 14:03:09 -04:00
connect(ui_->checkBox_gridErode, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
Added GainCompensator class. GUI/3D Rendering: added texturing option.
2016-09-07 12:15:44 -04:00
connect(ui_->doubleSpinBox_gainCompensationRadius, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
DatabaseViewer: Saving/loading settings, added 3D view, added Grid from 3d projection parameter
2015-03-04 17:27:44 -05:00
connect(ui_->doubleSpinBox_gridCellSize, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
Added g2o optimization option (along with TORO). Some refactoring: updated graph optimization parameter names, new graph::Optimizer class and new parameter RGBD/OptimizeSlam2d
2015-03-12 17:00:56 -04:00
connect(ui_->groupBox_posefiltering, SIGNAL(clicked(bool)), this, SLOT(configModified()));
connect(ui_->doubleSpinBox_posefilteringRadius, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
connect(ui_->doubleSpinBox_posefilteringAngle, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
Refactoring of the cameraStereoImages and cameraRGBDImages classes (now inheriting from CameraImages) for easy setting of laser scan path, timestamps path and ground truth path.
2015-12-17 14:13:19 -05:00
DatabaseViewer: Saving/loading settings, added 3D view, added Grid from 3d projection parameter
2015-03-04 17:27:44 -05:00
connect(ui_->spinBox_icp_decimation, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
connect(ui_->doubleSpinBox_icp_maxDepth, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
0.11.4: API change: added minDepth parameter to cloudFromXXXXX() methods and removed voxel parameter
2016-04-12 15:14:04 -04:00
connect(ui_->doubleSpinBox_icp_minDepth, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
0.11.10: Database update with occupancy grid and laser scan info. Added class LaserScanInfo and OccupancyGrid (incremental 2d grid map). Gui: 2d grid and octomap are udpated using occupancy grids saved in nodes.
2016-08-21 19:33:01 -04:00
connect(ui_->checkBox_icp_from_depth, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
Refactoring of the cameraStereoImages and cameraRGBDImages classes (now inheriting from CameraImages) for easy setting of laser scan path, timestamps path and ground truth path.
2015-12-17 14:13:19 -05:00
DatabaseViewer: Saving/loading settings, added 3D view, added Grid from 3d projection parameter
2015-03-04 17:27:44 -05:00
connect(ui_->doubleSpinBox_detectMore_radius, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
connect(ui_->doubleSpinBox_detectMore_angle, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
connect(ui_->spinBox_detectMore_iterations, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
Added Stereo and StereoDense base classes (with Stereo->StereoOpticalFlow and StereoDense->StereoBM) to handle easily stereo parameters. Added stereoEval tool to test Stereo/OpticalFlow=false or true. Added StereoBM parameters. Refactoring of the Preferences dialog (tree view order and some titles)
2015-12-11 17:44:15 -05:00
DatabaseViewer: Saving/loading settings, added 3D view, added Grid from 3d projection parameter
2015-03-04 17:27:44 -05:00
// dockwidget
QList<QDockWidget*> dockWidgets = this->findChildren<QDockWidget*>();
for(int i=0; i<dockWidgets.size(); ++i)
{
connect(dockWidgets[i], SIGNAL(dockLocationChanged(Qt::DockWidgetArea)), this, SLOT(configModified()));
connect(dockWidgets[i]->toggleViewAction(), SIGNAL(toggled(bool)), this, SLOT(configModified()));
}
ui_->dockWidget_constraints->installEventFilter(this);
ui_->dockWidget_graphView->installEventFilter(this);
ui_->dockWidget_stereoView->installEventFilter(this);
ui_->dockWidget_view3d->installEventFilter(this);
Refactoring of the cameraStereoImages and cameraRGBDImages classes (now inheriting from CameraImages) for easy setting of laser scan path, timestamps path and ground truth path.
2015-12-17 14:13:19 -05:00
ui_->dockWidget_guiparameters->installEventFilter(this);
ui_->dockWidget_coreparameters->installEventFilter(this);
Update version 0.10.11:
2015-10-24 17:03:44 -04:00
ui_->dockWidget_info->installEventFilter(this);
0.11.11: changed Statistics table name to Info and added new Statistics table containing detection statistics. StatisticsToolBox can cache statistics (true by default). DatabaseViewer: new Statistics panel to see all statistics contained in the database.
2016-09-20 11:19:34 -04:00
ui_->dockWidget_statistics->installEventFilter(this);
moved rtabmap-ros-pkg project in this project
2011-06-05 14:45:39 +00:00
}
merged attention branch to trunk
2012-12-11 18:05:05 +00:00
DatabaseViewer::~DatabaseViewer()
moved rtabmap-ros-pkg project in this project
2011-06-05 14:45:39 +00:00
{
delete ui_;
DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases
2015-10-16 14:54:47 -04:00
if(dbDriver_)
moved rtabmap-ros-pkg project in this project
2011-06-05 14:45:39 +00:00
{
DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases
2015-10-16 14:54:47 -04:00
delete dbDriver_;
moved rtabmap-ros-pkg project in this project
2011-06-05 14:45:39 +00:00
}
}
Refactoring: removed some code duplication about transformation estimation and features (2D-3D) extraction.
2015-12-21 17:27:05 -05:00
void DatabaseViewer::setupMainLayout(int vertical)
{
if(vertical)
{
qobject_cast<QHBoxLayout *>(ui_->horizontalLayout_imageViews->layout())->setDirection(QBoxLayout::TopToBottom);
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
qobject_cast<QHBoxLayout *>(ui_->horizontalLayout_3dviews->layout())->setDirection(QBoxLayout::TopToBottom);
Refactoring: removed some code duplication about transformation estimation and features (2D-3D) extraction.
2015-12-21 17:27:05 -05:00
}
else if(!vertical)
{
qobject_cast<QHBoxLayout *>(ui_->horizontalLayout_imageViews->layout())->setDirection(QBoxLayout::LeftToRight);
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
qobject_cast<QHBoxLayout *>(ui_->horizontalLayout_3dviews->layout())->setDirection(QBoxLayout::LeftToRight);
Refactoring: removed some code duplication about transformation estimation and features (2D-3D) extraction.
2015-12-21 17:27:05 -05:00
}
}
Fixed a crash when closing the DatabaseViewer dialog on Mac OS X. Added "Close" button when it is in modal window mode for Mac OS X too
2015-04-28 13:04:35 -04:00
void DatabaseViewer::showCloseButton(bool visible)
{
ui_->buttonBox->setVisible(visible);
}
DatabaseViewer: Saving/loading settings, added 3D view, added Grid from 3d projection parameter
2015-03-04 17:27:44 -05:00
void DatabaseViewer::configModified()
{
this->setWindowModified(true);
}
QString DatabaseViewer::getIniFilePath() const
{
Refactoring: removed some code duplication about transformation estimation and features (2D-3D) extraction.
2015-12-21 17:27:05 -05:00
if(!iniFilePath_.isEmpty())
{
return iniFilePath_;
}
DatabaseViewer: Saving/loading settings, added 3D view, added Grid from 3d projection parameter
2015-03-04 17:27:44 -05:00
QString privatePath = QDir::homePath() + "/.rtabmap";
if(!QDir(privatePath).exists())
{
QDir::home().mkdir(".rtabmap");
}
0.11.1: Added "ground_truth_pose" field to database in Node table. MainWindow: alignment of the map to ground truth (if ground truth is present).
2016-01-07 19:39:21 -05:00
return privatePath + "/rtabmap.ini";
DatabaseViewer: Saving/loading settings, added 3D view, added Grid from 3d projection parameter
2015-03-04 17:27:44 -05:00
}
void DatabaseViewer::readSettings()
{
QString path = getIniFilePath();
QSettings settings(path, QSettings::IniFormat);
settings.beginGroup("DatabaseViewer");
//load window state / geometry
QByteArray bytes;
bytes = settings.value("geometry", QByteArray()).toByteArray();
if(!bytes.isEmpty())
{
this->restoreGeometry(bytes);
}
bytes = settings.value("state", QByteArray()).toByteArray();
if(!bytes.isEmpty())
{
this->restoreState(bytes);
}
savedMaximized_ = settings.value("maximized", false).toBool();
Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used
2015-11-22 18:08:32 -05:00
ui_->comboBox_logger_level->setCurrentIndex(settings.value("loggerLevel", ui_->comboBox_logger_level->currentIndex()).toInt());
Refactoring: removed some code duplication about transformation estimation and features (2D-3D) extraction.
2015-12-21 17:27:05 -05:00
ui_->checkBox_verticalLayout->setChecked(settings.value("verticalLayout", ui_->checkBox_verticalLayout->isChecked()).toBool());
Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used
2015-11-22 18:08:32 -05:00
DatabaseViewer: Saving/loading settings, added 3D view, added Grid from 3d projection parameter
2015-03-04 17:27:44 -05:00
// GraphViewer settings
Added g2o optimization option (along with TORO). Some refactoring: updated graph optimization parameter names, new graph::Optimizer class and new parameter RGBD/OptimizeSlam2d
2015-03-12 17:00:56 -04:00
ui_->graphViewer->loadSettings(settings, "GraphView");
settings.beginGroup("optimization");
DbViewer: added new graph optimization options: span to all maps and ignore some links
2015-05-23 13:36:36 -04:00
ui_->checkBox_spanAllMaps->setChecked(settings.value("spanToAllMaps", ui_->checkBox_spanAllMaps->isChecked()).toBool());
DatabaseViewer: added "Ignore pose correction" option
2015-04-01 14:34:43 -04:00
ui_->checkBox_ignorePoseCorrection->setChecked(settings.value("ignorePoseCorrection", ui_->checkBox_ignorePoseCorrection->isChecked()).toBool());
DbViewer: added new graph optimization options: span to all maps and ignore some links
2015-05-23 13:36:36 -04:00
ui_->checkBox_ignoreGlobalLoop->setChecked(settings.value("ignoreGlobalLoop", ui_->checkBox_ignoreGlobalLoop->isChecked()).toBool());
ui_->checkBox_ignoreLocalLoopSpace->setChecked(settings.value("ignoreLocalLoopSpace", ui_->checkBox_ignoreLocalLoopSpace->isChecked()).toBool());
ui_->checkBox_ignoreLocalLoopTime->setChecked(settings.value("ignoreLocalLoopTime", ui_->checkBox_ignoreLocalLoopTime->isChecked()).toBool());
ui_->checkBox_ignoreUserLoop->setChecked(settings.value("ignoreUserLoop", ui_->checkBox_ignoreUserLoop->isChecked()).toBool());
DatabaseViewer: added graph depth param. Rtabmap: when the robot is not moving, now deleting location "after" retrieval
2015-03-16 18:22:54 -04:00
ui_->spinBox_optimizationDepth->setValue(settings.value("depth", ui_->spinBox_optimizationDepth->value()).toInt());
Grid map: added "erode" option
2015-03-20 14:03:09 -04:00
ui_->checkBox_gridErode->setChecked(settings.value("erode", ui_->checkBox_gridErode->isChecked()).toBool());
Added GainCompensator class. GUI/3D Rendering: added texturing option.
2016-09-07 12:15:44 -04:00
ui_->doubleSpinBox_gainCompensationRadius->setValue(settings.value("gainCompensationRadius", ui_->doubleSpinBox_gainCompensationRadius->value()).toDouble());
Added g2o optimization option (along with TORO). Some refactoring: updated graph optimization parameter names, new graph::Optimizer class and new parameter RGBD/OptimizeSlam2d
2015-03-12 17:00:56 -04:00
settings.endGroup();
settings.beginGroup("grid");
DatabaseViewer: Saving/loading settings, added 3D view, added Grid from 3d projection parameter
2015-03-04 17:27:44 -05:00
ui_->doubleSpinBox_gridCellSize->setValue(settings.value("gridCellSize", ui_->doubleSpinBox_gridCellSize->value()).toDouble());
Added g2o optimization option (along with TORO). Some refactoring: updated graph optimization parameter names, new graph::Optimizer class and new parameter RGBD/OptimizeSlam2d
2015-03-12 17:00:56 -04:00
ui_->groupBox_posefiltering->setChecked(settings.value("poseFiltering", ui_->groupBox_posefiltering->isChecked()).toBool());
ui_->doubleSpinBox_posefilteringRadius->setValue(settings.value("poseFilteringRadius", ui_->doubleSpinBox_posefilteringRadius->value()).toDouble());
ui_->doubleSpinBox_posefilteringAngle->setValue(settings.value("poseFilteringAngle", ui_->doubleSpinBox_posefilteringAngle->value()).toDouble());
DatabaseViewer: Saving/loading settings, added 3D view, added Grid from 3d projection parameter
2015-03-04 17:27:44 -05:00
settings.endGroup();
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
settings.beginGroup("mesh");
ui_->checkBox_mesh_quad->setChecked(settings.value("quad", ui_->checkBox_mesh_quad->isChecked()).toBool());
ui_->spinBox_mesh_angleTolerance->setValue(settings.value("angleTolerance", ui_->spinBox_mesh_angleTolerance->value()).toInt());
Added min polygon cluster size option (DbViewer and GUI export)
2016-09-03 18:59:43 -04:00
ui_->spinBox_mesh_minClusterSize->setValue(settings.value("minClusterSize", ui_->spinBox_mesh_minClusterSize->value()).toInt());
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
ui_->spinBox_mesh_fillDepthHoles->setValue(settings.value("fillDepthHolesSize", ui_->spinBox_mesh_fillDepthHoles->value()).toInt());
ui_->spinBox_mesh_depthError->setValue(settings.value("fillDepthHolesError", ui_->spinBox_mesh_depthError->value()).toInt());
ui_->spinBox_mesh_triangleSize->setValue(settings.value("triangleSize", ui_->spinBox_mesh_triangleSize->value()).toInt());
settings.endGroup();
DatabaseViewer: Saving/loading settings, added 3D view, added Grid from 3d projection parameter
2015-03-04 17:27:44 -05:00
// ImageViews
//ui_->graphicsView_A->loadSettings(settings, "ImageViewA");
//ui_->graphicsView_B->loadSettings(settings, "ImageViewB");
// ICP parameters
settings.beginGroup("icp");
ui_->spinBox_icp_decimation->setValue(settings.value("decimation", ui_->spinBox_icp_decimation->value()).toInt());
ui_->doubleSpinBox_icp_maxDepth->setValue(settings.value("maxDepth", ui_->doubleSpinBox_icp_maxDepth->value()).toDouble());
0.11.4: API change: added minDepth parameter to cloudFromXXXXX() methods and removed voxel parameter
2016-04-12 15:14:04 -04:00
ui_->doubleSpinBox_icp_minDepth->setValue(settings.value("minDepth", ui_->doubleSpinBox_icp_minDepth->value()).toDouble());
0.11.10: Database update with occupancy grid and laser scan info. Added class LaserScanInfo and OccupancyGrid (incremental 2d grid map). Gui: 2d grid and octomap are udpated using occupancy grids saved in nodes.
2016-08-21 19:33:01 -04:00
ui_->checkBox_icp_from_depth->setChecked(settings.value("icpFromDepth", ui_->checkBox_icp_from_depth->isChecked()).toBool());
DatabaseViewer: Saving/loading settings, added 3D view, added Grid from 3d projection parameter
2015-03-04 17:27:44 -05:00
settings.endGroup();
// Visual parameters
settings.beginGroup("visual");
ui_->doubleSpinBox_detectMore_radius->setValue(settings.value("detectMoreRadius", ui_->doubleSpinBox_detectMore_radius->value()).toDouble());
ui_->doubleSpinBox_detectMore_angle->setValue(settings.value("detectMoreAngle", ui_->doubleSpinBox_detectMore_angle->value()).toDouble());
ui_->spinBox_detectMore_iterations->setValue(settings.value("detectMoreIterations", ui_->spinBox_detectMore_iterations->value()).toInt());
settings.endGroup();
settings.endGroup(); // DatabaseViewer
Refactoring of the cameraStereoImages and cameraRGBDImages classes (now inheriting from CameraImages) for easy setting of laser scan path, timestamps path and ground truth path.
2015-12-17 14:13:19 -05:00
ParametersMap parameters;
Parameters::readINI(path.toStdString(), parameters);
for(ParametersMap::iterator iter = parameters.begin(); iter!= parameters.end(); ++iter)
{
ui_->parameters_toolbox->updateParameter(iter->first, iter->second);
}
DatabaseViewer: Saving/loading settings, added 3D view, added Grid from 3d projection parameter
2015-03-04 17:27:44 -05:00
}
void DatabaseViewer::writeSettings()
{
QString path = getIniFilePath();
QSettings settings(path, QSettings::IniFormat);
settings.beginGroup("DatabaseViewer");
//save window state / geometry
if(!this->isMaximized())
{
settings.setValue("geometry", this->saveGeometry());
}
settings.setValue("state", this->saveState());
settings.setValue("maximized", this->isMaximized());
savedMaximized_ = this->isMaximized();
Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used
2015-11-22 18:08:32 -05:00
settings.setValue("loggerLevel", ui_->comboBox_logger_level->currentIndex());
Refactoring: removed some code duplication about transformation estimation and features (2D-3D) extraction.
2015-12-21 17:27:05 -05:00
settings.setValue("verticalLayout", ui_->checkBox_verticalLayout->isChecked());
Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used
2015-11-22 18:08:32 -05:00
DatabaseViewer: Saving/loading settings, added 3D view, added Grid from 3d projection parameter
2015-03-04 17:27:44 -05:00
// save GraphViewer settings
Added g2o optimization option (along with TORO). Some refactoring: updated graph optimization parameter names, new graph::Optimizer class and new parameter RGBD/OptimizeSlam2d
2015-03-12 17:00:56 -04:00
ui_->graphViewer->saveSettings(settings, "GraphView");
// save optimization settings
settings.beginGroup("optimization");
Refactoring of the cameraStereoImages and cameraRGBDImages classes (now inheriting from CameraImages) for easy setting of laser scan path, timestamps path and ground truth path.
2015-12-17 14:13:19 -05:00
//settings.setValue("iterations", ui_->spinBox_iterations->value());
DbViewer: added new graph optimization options: span to all maps and ignore some links
2015-05-23 13:36:36 -04:00
settings.setValue("spanToAllMaps", ui_->checkBox_spanAllMaps->isChecked());
Refactoring of the cameraStereoImages and cameraRGBDImages classes (now inheriting from CameraImages) for easy setting of laser scan path, timestamps path and ground truth path.
2015-12-17 14:13:19 -05:00
//settings.setValue("robust", ui_->checkBox_robust->isChecked());
DatabaseViewer: added "Ignore pose correction" option
2015-04-01 14:34:43 -04:00
settings.setValue("ignorePoseCorrection", ui_->checkBox_ignorePoseCorrection->isChecked());
DbViewer: added new graph optimization options: span to all maps and ignore some links
2015-05-23 13:36:36 -04:00
settings.setValue("ignoreGlobalLoop", ui_->checkBox_ignoreGlobalLoop->isChecked());
settings.setValue("ignoreLocalLoopSpace", ui_->checkBox_ignoreLocalLoopSpace->isChecked());
settings.setValue("ignoreLocalLoopTime", ui_->checkBox_ignoreLocalLoopTime->isChecked());
settings.setValue("ignoreUserLoop", ui_->checkBox_ignoreUserLoop->isChecked());
Refactoring of the cameraStereoImages and cameraRGBDImages classes (now inheriting from CameraImages) for easy setting of laser scan path, timestamps path and ground truth path.
2015-12-17 14:13:19 -05:00
//settings.setValue("strategy", ui_->comboBox_graphOptimizer->currentIndex());
//settings.setValue("slam2d", ui_->checkBox_2dslam->isChecked());
DatabaseViewer: added graph depth param. Rtabmap: when the robot is not moving, now deleting location "after" retrieval
2015-03-16 18:22:54 -04:00
settings.setValue("depth", ui_->spinBox_optimizationDepth->value());
Grid map: added "erode" option
2015-03-20 14:03:09 -04:00
settings.setValue("erode", ui_->checkBox_gridErode->isChecked());
Added GainCompensator class. GUI/3D Rendering: added texturing option.
2016-09-07 12:15:44 -04:00
settings.setValue("gainCompensationRadius", ui_->doubleSpinBox_gainCompensationRadius->value());
Added g2o optimization option (along with TORO). Some refactoring: updated graph optimization parameter names, new graph::Optimizer class and new parameter RGBD/OptimizeSlam2d
2015-03-12 17:00:56 -04:00
settings.endGroup();
// save Grid settings
settings.beginGroup("grid");
DatabaseViewer: Saving/loading settings, added 3D view, added Grid from 3d projection parameter
2015-03-04 17:27:44 -05:00
settings.setValue("gridCellSize", ui_->doubleSpinBox_gridCellSize->value());
Added g2o optimization option (along with TORO). Some refactoring: updated graph optimization parameter names, new graph::Optimizer class and new parameter RGBD/OptimizeSlam2d
2015-03-12 17:00:56 -04:00
settings.setValue("poseFiltering", ui_->groupBox_posefiltering->isChecked());
settings.setValue("poseFilteringRadius", ui_->doubleSpinBox_posefilteringRadius->value());
settings.setValue("poseFilteringAngle", ui_->doubleSpinBox_posefilteringAngle->value());
DatabaseViewer: Saving/loading settings, added 3D view, added Grid from 3d projection parameter
2015-03-04 17:27:44 -05:00
settings.endGroup();
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
settings.beginGroup("mesh");
settings.setValue("quad", ui_->checkBox_mesh_quad->isChecked());
settings.setValue("angleTolerance", ui_->spinBox_mesh_angleTolerance->value());
Added min polygon cluster size option (DbViewer and GUI export)
2016-09-03 18:59:43 -04:00
settings.setValue("minClusterSize", ui_->spinBox_mesh_minClusterSize->value());
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
settings.setValue("fillDepthHolesSize", ui_->spinBox_mesh_fillDepthHoles->value());
settings.setValue("fillDepthHolesError", ui_->spinBox_mesh_depthError->value());
settings.setValue("triangleSize", ui_->spinBox_mesh_triangleSize->value());
settings.endGroup();
DatabaseViewer: Saving/loading settings, added 3D view, added Grid from 3d projection parameter
2015-03-04 17:27:44 -05:00
// ImageViews
//ui_->graphicsView_A->saveSettings(settings, "ImageViewA");
//ui_->graphicsView_B->saveSettings(settings, "ImageViewB");
// save ICP parameters
settings.beginGroup("icp");
settings.setValue("decimation", ui_->spinBox_icp_decimation->value());
settings.setValue("maxDepth", ui_->doubleSpinBox_icp_maxDepth->value());
0.11.4: API change: added minDepth parameter to cloudFromXXXXX() methods and removed voxel parameter
2016-04-12 15:14:04 -04:00
settings.setValue("minDepth", ui_->doubleSpinBox_icp_minDepth->value());
0.11.10: Database update with occupancy grid and laser scan info. Added class LaserScanInfo and OccupancyGrid (incremental 2d grid map). Gui: 2d grid and octomap are udpated using occupancy grids saved in nodes.
2016-08-21 19:33:01 -04:00
settings.setValue("icpFromDepth", ui_->checkBox_icp_from_depth->isChecked());
DatabaseViewer: Saving/loading settings, added 3D view, added Grid from 3d projection parameter
2015-03-04 17:27:44 -05:00
settings.endGroup();
Refactoring of the cameraStereoImages and cameraRGBDImages classes (now inheriting from CameraImages) for easy setting of laser scan path, timestamps path and ground truth path.
2015-12-17 14:13:19 -05:00
DatabaseViewer: Saving/loading settings, added 3D view, added Grid from 3d projection parameter
2015-03-04 17:27:44 -05:00
// save Visual parameters
settings.beginGroup("visual");
settings.setValue("detectMoreRadius", ui_->doubleSpinBox_detectMore_radius->value());
settings.setValue("detectMoreAngle", ui_->doubleSpinBox_detectMore_angle->value());
settings.setValue("detectMoreIterations", ui_->spinBox_detectMore_iterations->value());
settings.endGroup();
settings.endGroup(); // DatabaseViewer
Database: added "parameters" field in Statistics table. GUI: detecting if parameters in database are different from the Preferences, if so ask user to update them.
2016-06-13 17:34:17 -04:00
ParametersMap parameters = ui_->parameters_toolbox->getParameters();
for(ParametersMap::iterator iter=parameters.begin(); iter!=parameters.end();)
{
if(!ui_->parameters_toolbox->getParameterWidget(iter->first.c_str()))
{
parameters.erase(iter++);
}
else
{
++iter;
}
}
Refactoring of the cameraStereoImages and cameraRGBDImages classes (now inheriting from CameraImages) for easy setting of laser scan path, timestamps path and ground truth path.
2015-12-17 14:13:19 -05:00
Parameters::writeINI(path.toStdString(), parameters);
DatabaseViewer: Saving/loading settings, added 3D view, added Grid from 3d projection parameter
2015-03-04 17:27:44 -05:00
this->setWindowModified(false);
}
merged attention branch to trunk
2012-12-11 18:05:05 +00:00
void DatabaseViewer::openDatabase()
moved rtabmap-ros-pkg project in this project
2011-06-05 14:45:39 +00:00
{
merged attention branch to trunk
2012-12-11 18:05:05 +00:00
QString path = QFileDialog::getOpenFileName(this, tr("Select file"), pathDatabase_, tr("Databases (*.db)"));
if(!path.isEmpty())
moved rtabmap-ros-pkg project in this project
2011-06-05 14:45:39 +00:00
{
merged attention branch to trunk
2012-12-11 18:05:05 +00:00
openDatabase(path);
moved rtabmap-ros-pkg project in this project
2011-06-05 14:45:39 +00:00
}
}
merged attention branch to trunk
2012-12-11 18:05:05 +00:00
bool DatabaseViewer::openDatabase(const QString & path)
{
UDEBUG("Open database \"%s\"", path.toStdString().c_str());
if(QFile::exists(path))
{
DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases
2015-10-16 14:54:47 -04:00
if(dbDriver_)
merged attention branch to trunk
2012-12-11 18:05:05 +00:00
{
DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases
2015-10-16 14:54:47 -04:00
delete dbDriver_;
dbDriver_ = 0;
merged attention branch to trunk
2012-12-11 18:05:05 +00:00
ids_.clear();
removed ImagesDbExtractor tool (already inside databaseViewer)
2014-02-28 22:11:36 +00:00
idToIndex_.clear();
neighborLinks_.clear();
loopLinks_.clear();
graphes_.clear();
DbViewer: added new graph optimization options: span to all maps and ignore some links
2015-05-23 13:36:36 -04:00
graphLinks_.clear();
removed ImagesDbExtractor tool (already inside databaseViewer)
2014-02-28 22:11:36 +00:00
poses_.clear();
0.11.1: Added "ground_truth_pose" field to database in Node table. MainWindow: alignment of the map to ground truth (if ground truth is present).
2016-01-07 19:39:21 -05:00
groundTruthPoses_.clear();
GraphViewer: Added intra/inter session loop closure color option.
2015-05-22 15:06:05 -04:00
mapIds_.clear();
removed ImagesDbExtractor tool (already inside databaseViewer)
2014-02-28 22:11:36 +00:00
links_.clear();
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
linksAdded_.clear();
linksRefined_.clear();
linksRemoved_.clear();
DatabaseViewer: Saving/loading settings, added 3D view, added Grid from 3d projection parameter
2015-03-04 17:27:44 -05:00
localMaps_.clear();
DatabaseViewer: added regeneration of occupancy grids action and saving back to database on close
2016-08-25 23:47:01 -04:00
generatedLocalMaps_.clear();
generatedLocalMapsInfo_.clear();
Added parameter "RGBD/OptimizeRobust" (default true) to use Vertigo robust graph optimization (only for g2o and GTSAM optimization strategies). Added GTSAM support.
2015-09-02 17:51:43 -04:00
ui_->graphViewer->clearAll();
removed ImagesDbExtractor tool (already inside databaseViewer)
2014-02-28 22:11:36 +00:00
ui_->actionGenerate_TORO_graph_graph->setEnabled(false);
Added parameter "RGBD/OptimizeRobust" (default true) to use Vertigo robust graph optimization (only for g2o and GTSAM optimization strategies). Added GTSAM support.
2015-09-02 17:51:43 -04:00
ui_->actionGenerate_g2o_graph_g2o->setEnabled(false);
Updated version to 0.8.0
2014-12-14 16:42:10 -05:00
ui_->checkBox_showOptimized->setEnabled(false);
DBViewer: added stereo images extraction
2015-06-24 20:20:27 -04:00
databaseFileName_.clear();
merged attention branch to trunk
2012-12-11 18:05:05 +00:00
}
std::string driverType = "sqlite3";
DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases
2015-10-16 14:54:47 -04:00
dbDriver_ = DBDriver::create();
merged attention branch to trunk
2012-12-11 18:05:05 +00:00
DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases
2015-10-16 14:54:47 -04:00
if(!dbDriver_->openConnection(path.toStdString()))
merged attention branch to trunk
2012-12-11 18:05:05 +00:00
{
QMessageBox::warning(this, "Database error", tr("Can't open database \"%1\"").arg(path));
}
else
{
pathDatabase_ = UDirectory::getDir(path.toStdString()).c_str();
DBViewer: added stereo images extraction
2015-06-24 20:20:27 -04:00
databaseFileName_ = UFile::getName(path.toStdString());
Database: added "parameters" field in Statistics table. GUI: detecting if parameters in database are different from the Preferences, if so ask user to update them.
2016-06-13 17:34:17 -04:00
// look if there are saved parameters
ParametersMap parameters = dbDriver_->getLastParameters();
if(parameters.size())
{
const ParametersMap & currentParameters = ui_->parameters_toolbox->getParameters();
ParametersMap differentParameters;
for(ParametersMap::iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
{
ParametersMap::const_iterator jter = currentParameters.find(iter->first);
if(jter!=currentParameters.end() &&
ui_->parameters_toolbox->getParameterWidget(QString(iter->first.c_str())) != 0 &&
iter->second.compare(jter->second) != 0 &&
iter->first.compare(Parameters::kRtabmapWorkingDirectory()) != 0)
{
CloudViewer: added occupancy grid support for PCL < 1.7.2
2016-08-26 12:34:19 -04:00
bool different = true;
if(Parameters::getType(iter->first).compare("double") ==0 ||
Parameters::getType(iter->first).compare("float") == 0)
{
if(uStr2Double(iter->second) == uStr2Double(jter->second))
{
different = false;
}
}
if(different)
{
differentParameters.insert(*iter);
QString msg = tr("Parameter \"%1\": database=\"%2\" Preferences=\"%3\"")
.arg(iter->first.c_str())
.arg(iter->second.c_str())
.arg(jter->second.c_str());
UWARN(msg.toStdString().c_str());
}
Database: added "parameters" field in Statistics table. GUI: detecting if parameters in database are different from the Preferences, if so ask user to update them.
2016-06-13 17:34:17 -04:00
}
}
if(differentParameters.size())
{
int r = QMessageBox::question(this,
tr("Update parameters..."),
tr("The database is using %1 different parameter(s) than "
"those currently set in Core parameters panel. Do you want "
"to use database's parameters?").arg(differentParameters.size()),
QMessageBox::Yes | QMessageBox::No,
QMessageBox::Yes);
if(r == QMessageBox::Yes)
{
CloudViewer: added occupancy grid support for PCL < 1.7.2
2016-08-26 12:34:19 -04:00
QStringList str;
Database: added "parameters" field in Statistics table. GUI: detecting if parameters in database are different from the Preferences, if so ask user to update them.
2016-06-13 17:34:17 -04:00
for(rtabmap::ParametersMap::const_iterator iter = differentParameters.begin(); iter!=differentParameters.end(); ++iter)
{
ui_->parameters_toolbox->updateParameter(iter->first, iter->second);
CloudViewer: added occupancy grid support for PCL < 1.7.2
2016-08-26 12:34:19 -04:00
str.push_back(iter->first.c_str());
Database: added "parameters" field in Statistics table. GUI: detecting if parameters in database are different from the Preferences, if so ask user to update them.
2016-06-13 17:34:17 -04:00
}
CloudViewer: added occupancy grid support for PCL < 1.7.2
2016-08-26 12:34:19 -04:00
notifyParametersChanged(str);
Database: added "parameters" field in Statistics table. GUI: detecting if parameters in database are different from the Preferences, if so ask user to update them.
2016-06-13 17:34:17 -04:00
}
}
}
merged attention branch to trunk
2012-12-11 18:05:05 +00:00
updateIds();
return true;
}
}
else
{
QMessageBox::warning(this, "Database error", tr("Database \"%1\" does not exist.").arg(path));
}
return false;
}
DatabaseViewer: ask saving changes to database on Exit
2014-09-21 21:14:17 +00:00
void DatabaseViewer::closeEvent(QCloseEvent* event)
{
DatabaseViewer: Saving/loading settings, added 3D view, added Grid from 3d projection parameter
2015-03-04 17:27:44 -05:00
//write settings before quit?
bool save = false;
if(this->isWindowModified())
{
QMessageBox::Button b=QMessageBox::question(this,
tr("Database Viewer"),
tr("There are unsaved changed settings. Save them?"),
QMessageBox::Save | QMessageBox::Cancel | QMessageBox::Discard);
if(b == QMessageBox::Save)
{
save = true;
}
else if(b != QMessageBox::Discard)
{
event->ignore();
return;
}
}
if(save)
{
writeSettings();
}
DatabaseViewer: added regeneration of occupancy grids action and saving back to database on close
2016-08-25 23:47:01 -04:00
event->accept();
DatabaseViewer: ask saving changes to database on Exit
2014-09-21 21:14:17 +00:00
if(linksAdded_.size() || linksRefined_.size() || linksRemoved_.size())
{
QMessageBox::StandardButton button = QMessageBox::question(this,
tr("Links modified"),
tr("Some links are modified (%1 added, %2 refined, %3 removed), do you want to save them?")
.arg(linksAdded_.size()).arg(linksRefined_.size()).arg(linksRemoved_.size()),
QMessageBox::Cancel | QMessageBox::Yes | QMessageBox::No,
QMessageBox::Cancel);
if(button == QMessageBox::Yes)
{
// Added links
for(std::multimap<int, rtabmap::Link>::iterator iter=linksAdded_.begin(); iter!=linksAdded_.end(); ++iter)
{
Added rtabmap::computePath() using a pose goal instead of node Id. Graph methods moved in rtabmap::graph namespace
2015-02-06 13:52:02 -05:00
std::multimap<int, rtabmap::Link>::iterator refinedIter = rtabmap::graph::findLink(linksRefined_, iter->second.from(), iter->second.to());
DatabaseViewer: ask saving changes to database on Exit
2014-09-21 21:14:17 +00:00
if(refinedIter != linksRefined_.end())
{
DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases
2015-10-16 14:54:47 -04:00
dbDriver_->addLink(refinedIter->second);
dbDriver_->addLink(refinedIter->second.inverse());
DatabaseViewer: ask saving changes to database on Exit
2014-09-21 21:14:17 +00:00
}
else
{
DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases
2015-10-16 14:54:47 -04:00
dbDriver_->addLink(iter->second);
dbDriver_->addLink(iter->second.inverse());
DatabaseViewer: ask saving changes to database on Exit
2014-09-21 21:14:17 +00:00
}
}
//Refined links
for(std::multimap<int, rtabmap::Link>::iterator iter=linksRefined_.begin(); iter!=linksRefined_.end(); ++iter)
{
if(!containsLink(linksAdded_, iter->second.from(), iter->second.to()))
{
DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases
2015-10-16 14:54:47 -04:00
dbDriver_->updateLink(iter->second);
dbDriver_->updateLink(iter->second.inverse());
DatabaseViewer: ask saving changes to database on Exit
2014-09-21 21:14:17 +00:00
}
}
// Rejected links
for(std::multimap<int, rtabmap::Link>::iterator iter=linksRemoved_.begin(); iter!=linksRemoved_.end(); ++iter)
{
DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases
2015-10-16 14:54:47 -04:00
dbDriver_->removeLink(iter->second.to(), iter->second.from());
dbDriver_->removeLink(iter->second.from(), iter->second.to());
DatabaseViewer: ask saving changes to database on Exit
2014-09-21 21:14:17 +00:00
}
DatabaseViewer: added regeneration of occupancy grids action and saving back to database on close
2016-08-25 23:47:01 -04:00
linksAdded_.clear();
linksRefined_.clear();
linksRemoved_.clear();
DatabaseViewer: ask saving changes to database on Exit
2014-09-21 21:14:17 +00:00
}
DatabaseViewer: added regeneration of occupancy grids action and saving back to database on close
2016-08-25 23:47:01 -04:00
if(button != QMessageBox::Yes && button != QMessageBox::No)
DatabaseViewer: ask saving changes to database on Exit
2014-09-21 21:14:17 +00:00
{
event->ignore();
}
}
DatabaseViewer: added regeneration of occupancy grids action and saving back to database on close
2016-08-25 23:47:01 -04:00
if(event->isAccepted() && generatedLocalMaps_.size())
DatabaseViewer: ask saving changes to database on Exit
2014-09-21 21:14:17 +00:00
{
DatabaseViewer: added regeneration of occupancy grids action and saving back to database on close
2016-08-25 23:47:01 -04:00
QMessageBox::StandardButton button = QMessageBox::question(this,
tr("Local occupancy grid maps modified"),
tr("%1 occupancy grid maps are modified, do you want to "
"save them? This will overwrite occupancy grids saved in the database.")
.arg(generatedLocalMaps_.size()),
QMessageBox::Cancel | QMessageBox::Yes | QMessageBox::No,
QMessageBox::Cancel);
if(button == QMessageBox::Yes)
{
// Rejected links
UASSERT(generatedLocalMaps_.size() == generatedLocalMapsInfo_.size());
std::map<int, std::pair<cv::Mat, cv::Mat> >::iterator mapIter = generatedLocalMaps_.begin();
std::map<int, std::pair<float, cv::Point3f> >::iterator infoIter = generatedLocalMapsInfo_.begin();
for(; mapIter!=generatedLocalMaps_.end(); ++mapIter, ++infoIter)
{
UASSERT(mapIter->first == infoIter->first);
dbDriver_->updateOccupancyGrid(
mapIter->first,
mapIter->second.first,
mapIter->second.second,
infoIter->second.first,
infoIter->second.second);
}
generatedLocalMaps_.clear();
generatedLocalMapsInfo_.clear();
localMaps_.clear();
}
if(button != QMessageBox::Yes && button != QMessageBox::No)
{
event->ignore();
}
DatabaseViewer: ask saving changes to database on Exit
2014-09-21 21:14:17 +00:00
}
-Updated File menu with new actions "New database...", "Open database", "Close database" and "Edit database". Each new session will be automatically saved when closing the database. The "play" action cannot be activated until a new database is created or a previous session database is opened.
2014-10-28 01:20:57 +00:00
if(event->isAccepted())
{
0.11.11: changed Statistics table name to Info and added new Statistics table containing detection statistics. StatisticsToolBox can cache statistics (true by default). DatabaseViewer: new Statistics panel to see all statistics contained in the database.
2016-09-20 11:19:34 -04:00
ui_->toolBox_statistics->closeFigures();
DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases
2015-10-16 14:54:47 -04:00
if(dbDriver_)
-Updated File menu with new actions "New database...", "Open database", "Close database" and "Edit database". Each new session will be automatically saved when closing the database. The "play" action cannot be activated until a new database is created or a previous session database is opened.
2014-10-28 01:20:57 +00:00
{
DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases
2015-10-16 14:54:47 -04:00
delete dbDriver_;
dbDriver_ = 0;
-Updated File menu with new actions "New database...", "Open database", "Close database" and "Edit database". Each new session will be automatically saved when closing the database. The "play" action cannot be activated until a new database is created or a previous session database is opened.
2014-10-28 01:20:57 +00:00
}
}
DatabaseViewer: ask saving changes to database on Exit
2014-09-21 21:14:17 +00:00
}
Memory efficiency: changed std::vector<unsigned char> bytes arrays to cv::Mat to avoid multiple copies when Signature objects are copied.
2014-10-28 19:57:21 +00:00
void DatabaseViewer::showEvent(QShowEvent* anEvent)
{
DatabaseViewer: Saving/loading settings, added 3D view, added Grid from 3d projection parameter
2015-03-04 17:27:44 -05:00
this->setWindowModified(false);
Added notification message box when a global path is computed. Refactoring occupancy grid.
2015-05-05 17:38:38 -04:00
if(ui_->graphViewer->isVisible() && graphes_.size() && localMaps_.size()==0)
{
sliderIterationsValueChanged((int)graphes_.size()-1);
}
DatabaseViewer: Saving/loading settings, added 3D view, added Grid from 3d projection parameter
2015-03-04 17:27:44 -05:00
}
void DatabaseViewer::moveEvent(QMoveEvent* anEvent)
{
if(this->isVisible())
{
// HACK, there is a move event when the window is shown the first time.
if(!firstCall_)
{
this->configModified();
}
firstCall_ = false;
}
Memory efficiency: changed std::vector<unsigned char> bytes arrays to cv::Mat to avoid multiple copies when Signature objects are copied.
2014-10-28 19:57:21 +00:00
}
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
void DatabaseViewer::resizeEvent(QResizeEvent* anEvent)
{
DatabaseViewer: Saving/loading settings, added 3D view, added Grid from 3d projection parameter
2015-03-04 17:27:44 -05:00
if(this->isVisible())
{
this->configModified();
}
}
bool DatabaseViewer::eventFilter(QObject *obj, QEvent *event)
{
if (event->type() == QEvent::Resize && qobject_cast<QDockWidget*>(obj))
{
this->setWindowModified(true);
}
return QWidget::eventFilter(obj, event);
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
}
Increased version to 0.6.2
2014-01-22 19:49:28 +00:00
void DatabaseViewer::exportDatabase()
{
DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases
2015-10-16 14:54:47 -04:00
if(!dbDriver_ || ids_.size() == 0)
Increased version to 0.6.2
2014-01-22 19:49:28 +00:00
{
return;
}
rtabmap::ExportDialog dialog;
if(dialog.exec())
{
if(!dialog.outputPath().isEmpty())
{
int framesIgnored = dialog.framesIgnored();
Updated version to 0.8.11. Added param RGBD/LocalLoopDetectionPathOdomPosesUsed. DatabaseViewer: export option at a specified framerate. DBReader: option to read database at a rate specified by the stamps saved. Database: Added new column "data2d_max_pts" in Depth table
2015-05-01 07:30:09 -04:00
double frameRate = dialog.targetFramerate();
Added session selection id in ExportDialog
2015-04-16 13:44:54 -04:00
int sessionExported = dialog.sessionExported();
Increased version to 0.6.2
2014-01-22 19:49:28 +00:00
QString path = dialog.outputPath();
rtabmap::DataRecorder recorder;
Added session selection id in ExportDialog
2015-04-16 13:44:54 -04:00
QList<int> ids;
Updated version to 0.8.11. Added param RGBD/LocalLoopDetectionPathOdomPosesUsed. DatabaseViewer: export option at a specified framerate. DBReader: option to read database at a rate specified by the stamps saved. Database: Added new column "data2d_max_pts" in Depth table
2015-05-01 07:30:09 -04:00
double previousStamp = 0;
Increased database version to 0.8.11 (new Depth.data2d_max_pts column). Updated how local loop closure detection in space is done. Update GraphViewer with local radius ellipse and current goal node color. MainWindow saving/loading figures automatically accordingly to the previous session saved.
2015-05-03 18:16:55 -04:00
std::vector<double> delays(ids_.size());
int oi=0;
Added multi-camera feature
2015-05-29 14:46:48 -04:00
std::map<int, Transform> poses;
0.11.1: Added "ground_truth_pose" field to database in Node table. MainWindow: alignment of the map to ground truth (if ground truth is present).
2016-01-07 19:39:21 -05:00
std::map<int, double> stamps;
std::map<int, Transform> groundTruths;
Updated version to 0.8.11. Added param RGBD/LocalLoopDetectionPathOdomPosesUsed. DatabaseViewer: export option at a specified framerate. DBReader: option to read database at a rate specified by the stamps saved. Database: Added new column "data2d_max_pts" in Depth table
2015-05-01 07:30:09 -04:00
for(int i=0; i<ids_.size(); i+=1+framesIgnored)
Added session selection id in ExportDialog
2015-04-16 13:44:54 -04:00
{
0.11.1: Added "ground_truth_pose" field to database in Node table. MainWindow: alignment of the map to ground truth (if ground truth is present).
2016-01-07 19:39:21 -05:00
Transform odomPose, groundTruth;
Updated version to 0.8.11. Added param RGBD/LocalLoopDetectionPathOdomPosesUsed. DatabaseViewer: export option at a specified framerate. DBReader: option to read database at a rate specified by the stamps saved. Database: Added new column "data2d_max_pts" in Depth table
2015-05-01 07:30:09 -04:00
int weight = -1;
int mapId = -1;
std::string label;
double stamp = 0;
0.11.1: Added "ground_truth_pose" field to database in Node table. MainWindow: alignment of the map to ground truth (if ground truth is present).
2016-01-07 19:39:21 -05:00
if(dbDriver_->getNodeInfo(ids_[i], odomPose, mapId, weight, label, stamp, groundTruth))
Added session selection id in ExportDialog
2015-04-16 13:44:54 -04:00
{
Updated version to 0.8.11. Added param RGBD/LocalLoopDetectionPathOdomPosesUsed. DatabaseViewer: export option at a specified framerate. DBReader: option to read database at a rate specified by the stamps saved. Database: Added new column "data2d_max_pts" in Depth table
2015-05-01 07:30:09 -04:00
if(frameRate == 0 ||
previousStamp == 0 ||
stamp == 0 ||
stamp - previousStamp >= 1.0/frameRate)
Added session selection id in ExportDialog
2015-04-16 13:44:54 -04:00
{
Updated version to 0.8.11. Added param RGBD/LocalLoopDetectionPathOdomPosesUsed. DatabaseViewer: export option at a specified framerate. DBReader: option to read database at a rate specified by the stamps saved. Database: Added new column "data2d_max_pts" in Depth table
2015-05-01 07:30:09 -04:00
if(sessionExported < 0 || sessionExported == mapId)
Added session selection id in ExportDialog
2015-04-16 13:44:54 -04:00
{
ids.push_back(ids_[i]);
DatabaseViewer: fixed frame rate stats when exporting a specified session of a database
2015-05-04 18:17:12 -04:00
if(previousStamp && stamp)
{
delays[oi++] = stamp - previousStamp;
}
previousStamp = stamp;
Added multi-camera feature
2015-05-29 14:46:48 -04:00
poses.insert(std::make_pair(ids_[i], odomPose));
0.11.1: Added "ground_truth_pose" field to database in Node table. MainWindow: alignment of the map to ground truth (if ground truth is present).
2016-01-07 19:39:21 -05:00
stamps.insert(std::make_pair(ids_[i], stamp));
groundTruths.insert(std::make_pair(ids_[i], groundTruth));
Added session selection id in ExportDialog
2015-04-16 13:44:54 -04:00
}
Updated version to 0.8.11. Added param RGBD/LocalLoopDetectionPathOdomPosesUsed. DatabaseViewer: export option at a specified framerate. DBReader: option to read database at a rate specified by the stamps saved. Database: Added new column "data2d_max_pts" in Depth table
2015-05-01 07:30:09 -04:00
}
if(sessionExported >= 0 && mapId > sessionExported)
{
break;
Added session selection id in ExportDialog
2015-04-16 13:44:54 -04:00
}
}
}
Increased database version to 0.8.11 (new Depth.data2d_max_pts column). Updated how local loop closure detection in space is done. Update GraphViewer with local radius ellipse and current goal node color. MainWindow saving/loading figures automatically accordingly to the previous session saved.
2015-05-03 18:16:55 -04:00
delays.resize(oi);
Increased version to 0.6.2
2014-01-22 19:49:28 +00:00
if(recorder.init(path, false))
{
Moved some common include files to public headers folder
2015-08-25 10:32:27 -04:00
rtabmap::ProgressDialog * progressDialog = new rtabmap::ProgressDialog(this);
Increased database version to 0.8.11 (new Depth.data2d_max_pts column). Updated how local loop closure detection in space is done. Update GraphViewer with local radius ellipse and current goal node color. MainWindow saving/loading figures automatically accordingly to the previous session saved.
2015-05-03 18:16:55 -04:00
progressDialog->setAttribute(Qt::WA_DeleteOnClose);
progressDialog->setMaximumSteps(ids.size());
progressDialog->show();
Update version 0.10.11:
2015-10-24 17:03:44 -04:00
UINFO("Decompress: rgb=%d depth=%d scan=%d userData=%d",
dialog.isRgbExported()?1:0,
dialog.isDepthExported()?1:0,
dialog.isDepth2dExported()?1:0,
dialog.isUserDataExported()?1:0);
Increased version to 0.6.2
2014-01-22 19:49:28 +00:00
Updated version to 0.8.11. Added param RGBD/LocalLoopDetectionPathOdomPosesUsed. DatabaseViewer: export option at a specified framerate. DBReader: option to read database at a rate specified by the stamps saved. Database: Added new column "data2d_max_pts" in Depth table
2015-05-01 07:30:09 -04:00
for(int i=0; i<ids.size(); ++i)
Increased version to 0.6.2
2014-01-22 19:49:28 +00:00
{
Added session selection id in ExportDialog
2015-04-16 13:44:54 -04:00
int id = ids.at(i);
Increased version to 0.6.2
2014-01-22 19:49:28 +00:00
DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases
2015-10-16 14:54:47 -04:00
SensorData data;
dbDriver_->getNodeData(id, data);
Update version 0.10.11:
2015-10-24 17:03:44 -04:00
cv::Mat depth, rgb, scan, userData;
data.uncompressDataConst(
!dialog.isRgbExported()?0:&rgb,
!dialog.isDepthExported()?0:&depth,
!dialog.isDepth2dExported()?0:&scan,
!dialog.isUserDataExported()?0:&userData);
Added multi-camera feature
2015-05-29 14:46:48 -04:00
cv::Mat covariance = cv::Mat::eye(6,6,CV_64FC1);
fixed DatabaseViewer Export's options
2015-05-06 13:05:32 -04:00
if(dialog.isOdomExported())
DatabaseViewer: added exporting of a specific session with or without user_data. MainWindow: added action to send goal to rtabmap. Rtabmap: Saving goals in user_data of the current signature, modified parameter Mem/RehearsedNodesKept to Mem/NotLinkedNodesKept. DBReader: added sending goals when detected while playing back a database.
2015-04-17 18:30:12 -04:00
{
DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases
2015-10-16 14:54:47 -04:00
std::map<int, Link> links;
dbDriver_->loadLinks(id, links, Link::kNeighbor);
if(links.size() && links.begin()->first < id)
Added multi-camera feature
2015-05-29 14:46:48 -04:00
{
DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases
2015-10-16 14:54:47 -04:00
covariance = links.begin()->second.infMatrix().inv();
Added multi-camera feature
2015-05-29 14:46:48 -04:00
}
DatabaseViewer: added exporting of a specific session with or without user_data. MainWindow: added action to send goal to rtabmap. Rtabmap: Saving goals in user_data of the current signature, modified parameter Mem/RehearsedNodesKept to Mem/NotLinkedNodesKept. DBReader: added sending goals when detected while playing back a database.
2015-04-17 18:30:12 -04:00
}
fixed DatabaseViewer Export's options
2015-05-06 13:05:32 -04:00
Added multi-camera feature
2015-05-29 14:46:48 -04:00
rtabmap::SensorData sensorData;
if(data.cameraModels().size())
{
sensorData = rtabmap::SensorData(
Update version 0.10.11:
2015-10-24 17:03:44 -04:00
scan,
0.11.10: Database update with occupancy grid and laser scan info. Added class LaserScanInfo and OccupancyGrid (incremental 2d grid map). Gui: 2d grid and octomap are udpated using occupancy grids saved in nodes.
2016-08-21 19:33:01 -04:00
LaserScanInfo(dialog.isDepth2dExported()?data.laserScanInfo().maxPoints():0,
dialog.isDepth2dExported()?data.laserScanInfo().maxRange():0,
dialog.isDepth2dExported()?data.laserScanInfo().localTransform():Transform::getIdentity()),
Update version 0.10.11:
2015-10-24 17:03:44 -04:00
rgb,
depth,
Added multi-camera feature
2015-05-29 14:46:48 -04:00
data.cameraModels(),
0.11.1: Added "ground_truth_pose" field to database in Node table. MainWindow: alignment of the map to ground truth (if ground truth is present).
2016-01-07 19:39:21 -05:00
id,
stamps.at(id),
Update version 0.10.11:
2015-10-24 17:03:44 -04:00
userData);
Added multi-camera feature
2015-05-29 14:46:48 -04:00
}
else
{
sensorData = rtabmap::SensorData(
Update version 0.10.11:
2015-10-24 17:03:44 -04:00
scan,
0.11.10: Database update with occupancy grid and laser scan info. Added class LaserScanInfo and OccupancyGrid (incremental 2d grid map). Gui: 2d grid and octomap are udpated using occupancy grids saved in nodes.
2016-08-21 19:33:01 -04:00
LaserScanInfo(dialog.isDepth2dExported()?data.laserScanInfo().maxPoints():0,
dialog.isDepth2dExported()?data.laserScanInfo().maxRange():0,
dialog.isDepth2dExported()?data.laserScanInfo().localTransform():Transform::getIdentity()),
Update version 0.10.11:
2015-10-24 17:03:44 -04:00
rgb,
depth,
Added multi-camera feature
2015-05-29 14:46:48 -04:00
data.stereoCameraModel(),
0.11.1: Added "ground_truth_pose" field to database in Node table. MainWindow: alignment of the map to ground truth (if ground truth is present).
2016-01-07 19:39:21 -05:00
id,
stamps.at(id),
Update version 0.10.11:
2015-10-24 17:03:44 -04:00
userData);
Added multi-camera feature
2015-05-29 14:46:48 -04:00
}
0.11.1: Added "ground_truth_pose" field to database in Node table. MainWindow: alignment of the map to ground truth (if ground truth is present).
2016-01-07 19:39:21 -05:00
sensorData.setGroundTruth(groundTruths.at(id));
Added multi-camera feature
2015-05-29 14:46:48 -04:00
recorder.addData(sensorData, dialog.isOdomExported()?poses.at(id):Transform(), covariance);
Increased version to 0.6.2
2014-01-22 19:49:28 +00:00
Increased database version to 0.8.11 (new Depth.data2d_max_pts column). Updated how local loop closure detection in space is done. Update GraphViewer with local radius ellipse and current goal node color. MainWindow saving/loading figures automatically accordingly to the previous session saved.
2015-05-03 18:16:55 -04:00
progressDialog->appendText(tr("Exported node %1").arg(id));
progressDialog->incrementStep();
Increased version to 0.6.2
2014-01-22 19:49:28 +00:00
QApplication::processEvents();
}
Increased database version to 0.8.11 (new Depth.data2d_max_pts column). Updated how local loop closure detection in space is done. Update GraphViewer with local radius ellipse and current goal node color. MainWindow saving/loading figures automatically accordingly to the previous session saved.
2015-05-03 18:16:55 -04:00
progressDialog->setValue(progressDialog->maximumSteps());
if(delays.size())
{
progressDialog->appendText(tr("Average frame rate=%1 Hz (Min=%2, Max=%3)")
.arg(1.0/uMean(delays)).arg(1.0/uMax(delays)).arg(1.0/uMin(delays)));
}
progressDialog->appendText(tr("Export finished to \"%1\"!").arg(path));
Increased version to 0.6.2
2014-01-22 19:49:28 +00:00
}
else
{
UERROR("DataRecorder init failed?!");
}
}
else
{
QMessageBox::warning(this, tr("Cannot export database"), tr("An output path must be set!"));
}
}
}
New classes: Link and GraphViewer (TORO graph visualization and laser scans occupancy grid)
2014-02-11 23:04:22 +00:00
void DatabaseViewer::extractImages()
{
DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases
2015-10-16 14:54:47 -04:00
if(!dbDriver_ || ids_.size() == 0)
New classes: Link and GraphViewer (TORO graph visualization and laser scans occupancy grid)
2014-02-11 23:04:22 +00:00
{
return;
}
Fixed #42
2016-07-17 17:44:12 -04:00
QStringList formats;
formats.push_back("jpg");
formats.push_back("png");
bool ok;
QString ext = QInputDialog::getItem(this, tr("Which RGB format?"), tr("Format:"), formats, 0, false, &ok);
if(!ok)
{
return;
}
New classes: Link and GraphViewer (TORO graph visualization and laser scans occupancy grid)
2014-02-11 23:04:22 +00:00
QString path = QFileDialog::getExistingDirectory(this, tr("Select directory where to save images..."), QDir::homePath());
Export Images: fixed images still saved when cancelling the dialog
2016-10-25 14:54:02 -04:00
if(!path.isEmpty())
New classes: Link and GraphViewer (TORO graph visualization and laser scans occupancy grid)
2014-02-11 23:04:22 +00:00
{
DBViewer: added stereo images extraction
2015-06-24 20:20:27 -04:00
if(ids_.size())
{
int id = ids_.at(0);
DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases
2015-10-16 14:54:47 -04:00
SensorData data;
dbDriver_->getNodeData(id, data);
data.uncompressData();
DBViewer: added stereo images extraction
2015-06-24 20:20:27 -04:00
if(!data.imageRaw().empty() && !data.rightRaw().empty())
{
QDir dir;
dir.mkdir(QString("%1/left").arg(path));
dir.mkdir(QString("%1/right").arg(path));
if(databaseFileName_.empty())
{
UERROR("Cannot save calibration file, database name is empty!");
}
Changed CameraModel::isValid() to CameraModel::isValidForProjection() for clarity (in contrast to CameraModel::isValidForRectification())
2016-01-19 21:01:56 -05:00
else if(data.stereoCameraModel().isValidForProjection())
DBViewer: added stereo images extraction
2015-06-24 20:20:27 -04:00
{
std::string cameraName = uSplit(databaseFileName_, '.').front();
StereoCameraModel model(
cameraName,
data.imageRaw().size(),
data.stereoCameraModel().left().K(),
data.stereoCameraModel().left().D(),
data.stereoCameraModel().left().R(),
data.stereoCameraModel().left().P(),
data.rightRaw().size(),
data.stereoCameraModel().right().K(),
data.stereoCameraModel().right().D(),
data.stereoCameraModel().right().R(),
data.stereoCameraModel().right().P(),
data.stereoCameraModel().R(),
data.stereoCameraModel().T(),
data.stereoCameraModel().E(),
data.stereoCameraModel().F(),
data.stereoCameraModel().left().localTransform());
Added CameraRGBDImages class (read RGB-D images from a folder)
2015-07-30 14:17:29 -04:00
if(model.save(path.toStdString()))
DBViewer: added stereo images extraction
2015-06-24 20:20:27 -04:00
{
UINFO("Saved stereo calibration \"%s\"", (path.toStdString()+"/"+cameraName).c_str());
}
else
{
UERROR("Failed saving calibration \"%s\"", (path.toStdString()+"/"+cameraName).c_str());
}
}
}
DatabaseViewer -> "Extract images...": support extraction of depth images
2015-08-04 11:35:55 -04:00
else if(!data.imageRaw().empty())
{
if(!data.depthRaw().empty())
{
QDir dir;
dir.mkdir(QString("%1/rgb").arg(path));
dir.mkdir(QString("%1/depth").arg(path));
}
if(databaseFileName_.empty())
{
UERROR("Cannot save calibration file, database name is empty!");
}
else if(data.cameraModels().size() > 1)
{
UERROR("Only one camera calibration can be saved at this time (%d detected)", (int)data.cameraModels().size());
}
Changed CameraModel::isValid() to CameraModel::isValidForProjection() for clarity (in contrast to CameraModel::isValidForRectification())
2016-01-19 21:01:56 -05:00
else if(data.cameraModels().size() == 1 && data.cameraModels().front().isValidForProjection())
DatabaseViewer -> "Extract images...": support extraction of depth images
2015-08-04 11:35:55 -04:00
{
std::string cameraName = uSplit(databaseFileName_, '.').front();
CameraModel model(cameraName,
data.imageRaw().size(),
data.cameraModels().front().K(),
data.cameraModels().front().D(),
data.cameraModels().front().R(),
data.cameraModels().front().P(),
data.cameraModels().front().localTransform());
if(model.save(path.toStdString()))
{
UINFO("Saved calibration \"%s\"", (path.toStdString()+"/"+cameraName).c_str());
}
else
{
UERROR("Failed saving calibration \"%s\"", (path.toStdString()+"/"+cameraName).c_str());
}
}
}
DBViewer: added stereo images extraction
2015-06-24 20:20:27 -04:00
}
DB Viewer: added message box at the end of extracting images
2016-10-23 18:32:07 -04:00
int imagesExported = 0;
DBViewer: added stereo images extraction
2015-06-24 20:20:27 -04:00
for(int i=0; i<ids_.size(); ++i)
New classes: Link and GraphViewer (TORO graph visualization and laser scans occupancy grid)
2014-02-11 23:04:22 +00:00
{
int id = ids_.at(i);
DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases
2015-10-16 14:54:47 -04:00
SensorData data;
dbDriver_->getNodeData(id, data);
data.uncompressData();
DBViewer: added stereo images extraction
2015-06-24 20:20:27 -04:00
if(!data.imageRaw().empty() && !data.rightRaw().empty())
New classes: Link and GraphViewer (TORO graph visualization and laser scans occupancy grid)
2014-02-11 23:04:22 +00:00
{
Fixed #42
2016-07-17 17:44:12 -04:00
cv::imwrite(QString("%1/left/%2.%3").arg(path).arg(id).arg(ext).toStdString(), data.imageRaw());
cv::imwrite(QString("%1/right/%2.%3").arg(path).arg(id).arg(ext).toStdString(), data.rightRaw());
UINFO(QString("Saved left/%1.%2 and right/%1.%2").arg(id).arg(ext).toStdString().c_str());
DB Viewer: added message box at the end of extracting images
2016-10-23 18:32:07 -04:00
++imagesExported;
DBViewer: added stereo images extraction
2015-06-24 20:20:27 -04:00
}
DatabaseViewer -> "Extract images...": support extraction of depth images
2015-08-04 11:35:55 -04:00
else if(!data.imageRaw().empty() && !data.depthRaw().empty())
{
Fixed #42
2016-07-17 17:44:12 -04:00
cv::imwrite(QString("%1/rgb/%2.%3").arg(path).arg(id).arg(ext).toStdString(), data.imageRaw());
DatabaseViewer -> "Extract images...": support extraction of depth images
2015-08-04 11:35:55 -04:00
cv::imwrite(QString("%1/depth/%2.png").arg(path).arg(id).toStdString(), data.depthRaw());
Fixed #42
2016-07-17 17:44:12 -04:00
UINFO(QString("Saved rgb/%1.%2 and depth/%1.png").arg(id).arg(ext).toStdString().c_str());
DB Viewer: added message box at the end of extracting images
2016-10-23 18:32:07 -04:00
++imagesExported;
DatabaseViewer -> "Extract images...": support extraction of depth images
2015-08-04 11:35:55 -04:00
}
DBViewer: added stereo images extraction
2015-06-24 20:20:27 -04:00
else if(!data.imageRaw().empty())
{
Fixed #42
2016-07-17 17:44:12 -04:00
cv::imwrite(QString("%1/%2.%3").arg(path).arg(id).arg(ext).toStdString(), data.imageRaw());
UINFO(QString("Saved %1.%2").arg(id).arg(ext).toStdString().c_str());
DB Viewer: added message box at the end of extracting images
2016-10-23 18:32:07 -04:00
++imagesExported;
New classes: Link and GraphViewer (TORO graph visualization and laser scans occupancy grid)
2014-02-11 23:04:22 +00:00
}
}
DB Viewer: added message box at the end of extracting images
2016-10-23 18:32:07 -04:00
QMessageBox::information(this, tr("Exporting"), tr("%1 images exported!").arg(imagesExported));
New classes: Link and GraphViewer (TORO graph visualization and laser scans occupancy grid)
2014-02-11 23:04:22 +00:00
}
}
merged attention branch to trunk
2012-12-11 18:05:05 +00:00
void DatabaseViewer::updateIds()
moved rtabmap-ros-pkg project in this project
2011-06-05 14:45:39 +00:00
{
DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases
2015-10-16 14:54:47 -04:00
if(!dbDriver_)
moved rtabmap-ros-pkg project in this project
2011-06-05 14:45:39 +00:00
{
return;
}
Update version 0.10.11:
2015-10-24 17:03:44 -04:00
UINFO("Loading all IDs...");
DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases
2015-10-16 14:54:47 -04:00
std::set<int> ids;
dbDriver_->getAllNodeIds(ids);
moved rtabmap-ros-pkg project in this project
2011-06-05 14:45:39 +00:00
ids_ = QList<int>::fromStdList(std::list<int>(ids.begin(), ids.end()));
New classes: Link and GraphViewer (TORO graph visualization and laser scans occupancy grid)
2014-02-11 23:04:22 +00:00
idToIndex_.clear();
GraphViewer: Added intra/inter session loop closure color option.
2015-05-22 15:06:05 -04:00
mapIds_.clear();
DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases
2015-10-16 14:54:47 -04:00
poses_.clear();
0.11.1: Added "ground_truth_pose" field to database in Node table. MainWindow: alignment of the map to ground truth (if ground truth is present).
2016-01-07 19:39:21 -05:00
groundTruthPoses_.clear();
DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases
2015-10-16 14:54:47 -04:00
links_.clear();
linksAdded_.clear();
linksRefined_.clear();
linksRemoved_.clear();
ui_->label_optimizeFrom->setText(tr("Optimize from"));
Update version 0.10.11:
2015-10-24 17:03:44 -04:00
std::multimap<int, Link> links;
dbDriver_->getAllLinks(links, true);
UDEBUG("%d total links loaded", (int)links.size());
double totalOdom = 0.0;
Transform previousPose;
int sessions = ids_.size()?1:0;
DBViewer: added total time info
2015-10-27 13:39:29 -04:00
double totalTime = 0.0;
double previousStamp = 0.0;
DBDriver: added ignoreBadSignatures param to getAllNodeIds()
2015-10-28 16:50:18 -04:00
std::set<int> idsWithoutBad;
dbDriver_->getAllNodeIds(idsWithoutBad, false, true);
int badcountInLTM = 0;
int badCountInGraph = 0;
0.11.11: changed Statistics table name to Info and added new Statistics table containing detection statistics. StatisticsToolBox can cache statistics (true by default). DatabaseViewer: new Statistics panel to see all statistics contained in the database.
2016-09-20 11:19:34 -04:00
double firstStamp = 0.0;
New classes: Link and GraphViewer (TORO graph visualization and laser scans occupancy grid)
2014-02-11 23:04:22 +00:00
for(int i=0; i<ids_.size(); ++i)
{
idToIndex_.insert(ids_[i], i);
GraphViewer: Added intra/inter session loop closure color option.
2015-05-22 15:06:05 -04:00
0.11.1: Added "ground_truth_pose" field to database in Node table. MainWindow: alignment of the map to ground truth (if ground truth is present).
2016-01-07 19:39:21 -05:00
Transform p, g;
GraphViewer: Added intra/inter session loop closure color option.
2015-05-22 15:06:05 -04:00
int w;
std::string l;
double s;
int mapId;
0.11.1: Added "ground_truth_pose" field to database in Node table. MainWindow: alignment of the map to ground truth (if ground truth is present).
2016-01-07 19:39:21 -05:00
dbDriver_->getNodeInfo(ids_[i], p, mapId, w, l, s, g);
GraphViewer: Added intra/inter session loop closure color option.
2015-05-22 15:06:05 -04:00
mapIds_.insert(std::make_pair(ids_[i], mapId));
DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases
2015-10-16 14:54:47 -04:00
0.11.11: changed Statistics table name to Info and added new Statistics table containing detection statistics. StatisticsToolBox can cache statistics (true by default). DatabaseViewer: new Statistics panel to see all statistics contained in the database.
2016-09-20 11:19:34 -04:00
double stamp=0.0;
std::map<std::string, float> statistics = dbDriver_->getStatistics(ids_[i], stamp);
if(firstStamp==0.0)
{
firstStamp = stamp;
}
for(std::map<std::string, float>::iterator iter=statistics.begin(); iter!=statistics.end(); ++iter)
{
ui_->toolBox_statistics->updateStat(iter->first.c_str(), float(stamp-firstStamp), iter->second, true);
}
Update version 0.10.11:
2015-10-24 17:03:44 -04:00
if(i>0)
DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases
2015-10-16 14:54:47 -04:00
{
Update version 0.10.11:
2015-10-24 17:03:44 -04:00
if(mapIds_.at(ids_[i-1]) == mapId)
DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases
2015-10-16 14:54:47 -04:00
{
Update version 0.10.11:
2015-10-24 17:03:44 -04:00
if(!p.isNull() && !previousPose.isNull())
{
totalOdom += p.getDistance(previousPose);
}
DBViewer: added total time info
2015-10-27 13:39:29 -04:00
if(previousStamp > 0.0 && s > 0.0)
{
totalTime += s-previousStamp;
}
Update version 0.10.11:
2015-10-24 17:03:44 -04:00
}
else
{
++sessions;
DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases
2015-10-16 14:54:47 -04:00
}
}
DBViewer: added total time info
2015-10-27 13:39:29 -04:00
previousStamp=s;
Update version 0.10.11:
2015-10-24 17:03:44 -04:00
previousPose=p;
//links
DBViewer: fixed some missing links/poses. GraphViewer: fixed global path color context menu action, now small links are ignored
2015-10-26 17:52:02 -04:00
bool addPose = false;
Fixed warnings on Windows
2015-11-03 12:49:03 -05:00
for(std::multimap<int, Link>::iterator jter=links.find(ids_[i]); jter!=links.end() && jter->first == ids_[i]; ++jter)
Update version 0.10.11:
2015-10-24 17:03:44 -04:00
{
Fixed warnings on Windows
2015-11-03 12:49:03 -05:00
std::multimap<int, Link>::iterator invertedLinkIter = graph::findLink(links, jter->second.to(), jter->second.from(), false);
Update version 0.10.11:
2015-10-24 17:03:44 -04:00
if( jter->second.isValid() && // null transform means a rehearsed location
ids.find(jter->second.from()) != ids.end() &&
ids.find(jter->second.to()) != ids.end() &&
graph::findLink(links_, jter->second.from(), jter->second.to()) == links_.end() &&
graph::findLink(links, jter->second.from(), jter->second.to(), false) != links.end() &&
Some fixes:
2015-10-26 12:59:20 -04:00
invertedLinkIter != links.end())
Update version 0.10.11:
2015-10-24 17:03:44 -04:00
{
Some fixes:
2015-10-26 12:59:20 -04:00
// check if user_data is set in opposite direction
if(jter->second.userDataCompressed().cols == 0 &&
invertedLinkIter->second.userDataCompressed().cols != 0)
{
links_.insert(std::make_pair(invertedLinkIter->second.from(), invertedLinkIter->second));
}
else
{
links_.insert(std::make_pair(ids_[i], jter->second));
}
DBViewer: fixed some missing links/poses. GraphViewer: fixed global path color context menu action, now small links are ignored
2015-10-26 17:52:02 -04:00
addPose = true;
}
else if(graph::findLink(links_, jter->second.from(), jter->second.to()) != links_.end())
{
addPose = true;
Update version 0.10.11:
2015-10-24 17:03:44 -04:00
}
}
DBViewer: fixed some missing links/poses. GraphViewer: fixed global path color context menu action, now small links are ignored
2015-10-26 17:52:02 -04:00
if(addPose)
Update version 0.10.11:
2015-10-24 17:03:44 -04:00
{
poses_.insert(std::make_pair(ids_[i], p));
0.11.1: Added "ground_truth_pose" field to database in Node table. MainWindow: alignment of the map to ground truth (if ground truth is present).
2016-01-07 19:39:21 -05:00
if(!g.isNull())
{
groundTruthPoses_.insert(std::make_pair(ids_[i], g));
}
Update version 0.10.11:
2015-10-24 17:03:44 -04:00
}
DBDriver: added ignoreBadSignatures param to getAllNodeIds()
2015-10-28 16:50:18 -04:00
if(idsWithoutBad.find(ids_[i]) == idsWithoutBad.end())
{
++badcountInLTM;
if(addPose)
{
++badCountInGraph;
}
}
New classes: Link and GraphViewer (TORO graph visualization and laser scans occupancy grid)
2014-02-11 23:04:22 +00:00
}
Update version 0.10.11:
2015-10-24 17:03:44 -04:00
UINFO("Loaded %d ids, %d poses and %d links", (int)ids_.size(), (int)poses_.size(), (int)links_.size());
New classes: Link and GraphViewer (TORO graph visualization and laser scans occupancy grid)
2014-02-11 23:04:22 +00:00
DBViewer: added total time info
2015-10-27 13:39:29 -04:00
UINFO("Update database info...");
ui_->textEdit_info->clear();
ui_->textEdit_info->append(tr("Version:\t\t%1").arg(dbDriver_->getDatabaseVersion().c_str()));
ui_->textEdit_info->append(tr("Sessions:\t\t%1").arg(sessions));
ui_->textEdit_info->append(tr("Total odometry length:\t%1 m").arg(totalOdom));
ui_->textEdit_info->append(tr("Total time:\t\t%1").arg(QDateTime::fromMSecsSinceEpoch(totalTime*1000).toUTC().toString("hh:mm:ss.zzz")));
ui_->textEdit_info->append(tr("LTM:\t\t%1 nodes and %2 words").arg(ids.size()).arg(dbDriver_->getTotalDictionarySize()));
ui_->textEdit_info->append(tr("WM:\t\t%1 nodes and %2 words").arg(dbDriver_->getLastNodesSize()).arg(dbDriver_->getLastDictionarySize()));
ui_->textEdit_info->append(tr("Global graph:\t%1 poses and %2 links").arg(poses_.size()).arg(links_.size()));
0.11.1: Added "ground_truth_pose" field to database in Node table. MainWindow: alignment of the map to ground truth (if ground truth is present).
2016-01-07 19:39:21 -05:00
ui_->textEdit_info->append(tr("Ground truth:\t%1 poses").arg(groundTruthPoses_.size()));
DBViewer: added total time info
2015-10-27 13:39:29 -04:00
ui_->textEdit_info->append("");
ui_->textEdit_info->append(tr("Database size:\t%1 MB").arg(dbDriver_->getMemoryUsed()/1000000));
ui_->textEdit_info->append(tr("Images size:\t%1 MB").arg(dbDriver_->getImagesMemoryUsed()/1000000));
ui_->textEdit_info->append(tr("Depths size:\t%1 MB").arg(dbDriver_->getDepthImagesMemoryUsed()/1000000));
ui_->textEdit_info->append(tr("Scans size:\t\t%1 MB").arg(dbDriver_->getLaserScansMemoryUsed()/1000000));
ui_->textEdit_info->append(tr("User data size:\t%1 bytes").arg(dbDriver_->getUserDataMemoryUsed()));
ui_->textEdit_info->append(tr("Dictionary size:\t%1 bytes").arg(dbDriver_->getWordsMemoryUsed()));
DBDriver: added ignoreBadSignatures param to getAllNodeIds()
2015-10-28 16:50:18 -04:00
ui_->textEdit_info->append("");
ui_->textEdit_info->append(tr("%1 bad signatures in LTM").arg(badcountInLTM));
ui_->textEdit_info->append(tr("%1 bad signatures in the global graph").arg(badCountInGraph));
Added util3d::transformLaserScan(). OdomF2F: filling local scan map field with key frame scane in odom info. DbViewer: Print database parameters in Info view.
2016-08-08 14:35:39 -04:00
ui_->textEdit_info->append("");
ParametersMap parameters = dbDriver_->getLastParameters();
QFontMetrics metrics(ui_->textEdit_info->font());
int tabW = ui_->textEdit_info->tabStopWidth();
for(ParametersMap::iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
{
int strW = metrics.width(QString(iter->first.c_str()) + "=");
ui_->textEdit_info->append(tr("%1=%2%3")
.arg(iter->first.c_str())
.arg(strW < tabW?"\t\t\t\t":strW < tabW*2?"\t\t\t":strW < tabW*3?"\t\t":"\t")
.arg(iter->second.c_str()));
}
// move back the cursor at the beginning
ui_->textEdit_info->moveCursor(QTextCursor::Start) ;
ui_->textEdit_info->ensureCursorVisible() ;
DBViewer: added total time info
2015-10-27 13:39:29 -04:00
DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases
2015-10-16 14:54:47 -04:00
if(ids.size())
New classes: Link and GraphViewer (TORO graph visualization and laser scans occupancy grid)
2014-02-11 23:04:22 +00:00
{
fixed odometry "empty image?" error when reading from database with
2015-01-08 16:12:45 -05:00
if(poses_.size())
{
bool nullPoses = poses_.begin()->second.isNull();
for(std::map<int,Transform>::iterator iter=poses_.begin(); iter!=poses_.end(); ++iter)
{
if((!iter->second.isNull() && nullPoses) ||
(iter->second.isNull() && !nullPoses))
{
added some debug infos
2015-02-03 17:20:17 -05:00
if(iter->second.isNull())
{
UWARN("Pose %d is null!", iter->first);
}
fixed odometry "empty image?" error when reading from database with
2015-01-08 16:12:45 -05:00
UWARN("Mixed valid and null poses! Ignoring graph...");
poses_.clear();
links_.clear();
break;
}
}
if(nullPoses)
{
poses_.clear();
links_.clear();
}
Update version 0.10.11:
2015-10-24 17:03:44 -04:00
if(poses_.size())
{
ui_->spinBox_optimizationsFrom->setRange(poses_.begin()->first, poses_.rbegin()->first);
ui_->spinBox_optimizationsFrom->setValue(poses_.begin()->first);
ui_->label_optimizeFrom->setText(tr("Optimize from [%1, %2]").arg(poses_.begin()->first).arg(poses_.rbegin()->first));
}
fixed odometry "empty image?" error when reading from database with
2015-01-08 16:12:45 -05:00
}
New classes: Link and GraphViewer (TORO graph visualization and laser scans occupancy grid)
2014-02-11 23:04:22 +00:00
}
database viewer: added method generateTOROGraph()
2014-02-27 17:00:46 +00:00
ui_->actionGenerate_TORO_graph_graph->setEnabled(false);
Added parameter "RGBD/OptimizeRobust" (default true) to use Vertigo robust graph optimization (only for g2o and GTSAM optimization strategies). Added GTSAM support.
2015-09-02 17:51:43 -04:00
ui_->actionGenerate_g2o_graph_g2o->setEnabled(false);
database viewer: added method generateTOROGraph()
2014-02-27 17:00:46 +00:00
graphes_.clear();
DbViewer: added new graph optimization options: span to all maps and ignore some links
2015-05-23 13:36:36 -04:00
graphLinks_.clear();
New classes: Link and GraphViewer (TORO graph visualization and laser scans occupancy grid)
2014-02-11 23:04:22 +00:00
neighborLinks_.clear();
loopLinks_.clear();
for(std::multimap<int, rtabmap::Link>::iterator iter = links_.begin(); iter!=links_.end(); ++iter)
{
if(!iter->second.transform().isNull())
{
Update version 0.10.11:
2015-10-24 17:03:44 -04:00
if(iter->second.type() == rtabmap::Link::kNeighbor ||
iter->second.type() == rtabmap::Link::kNeighborMerged)
New classes: Link and GraphViewer (TORO graph visualization and laser scans occupancy grid)
2014-02-11 23:04:22 +00:00
{
neighborLinks_.append(iter->second);
}
else
{
loopLinks_.append(iter->second);
}
}
else
{
UERROR("Transform null for link from %d to %d", iter->first, iter->second.to());
}
}
moved rtabmap-ros-pkg project in this project
2011-06-05 14:45:39 +00:00
if(ids_.size())
{
ui_->horizontalSlider_A->setMinimum(0);
ui_->horizontalSlider_B->setMinimum(0);
ui_->horizontalSlider_A->setMaximum(ids_.size()-1);
ui_->horizontalSlider_B->setMaximum(ids_.size()-1);
ui_->horizontalSlider_A->setEnabled(true);
ui_->horizontalSlider_B->setEnabled(true);
Merged pcl_integration branch to trunk
2013-12-11 00:12:44 +00:00
ui_->horizontalSlider_A->setSliderPosition(0);
ui_->horizontalSlider_B->setSliderPosition(0);
sliderAValueChanged(0);
sliderBValueChanged(0);
moved rtabmap-ros-pkg project in this project
2011-06-05 14:45:39 +00:00
}
else
{
ui_->horizontalSlider_A->setEnabled(false);
ui_->horizontalSlider_B->setEnabled(false);
ui_->label_idA->setText("NaN");
ui_->label_idB->setText("NaN");
}
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
New classes: Link and GraphViewer (TORO graph visualization and laser scans occupancy grid)
2014-02-11 23:04:22 +00:00
if(neighborLinks_.size())
{
ui_->horizontalSlider_neighbors->setMinimum(0);
ui_->horizontalSlider_neighbors->setMaximum(neighborLinks_.size()-1);
ui_->horizontalSlider_neighbors->setEnabled(true);
ui_->horizontalSlider_neighbors->setSliderPosition(0);
}
else
{
ui_->horizontalSlider_neighbors->setEnabled(false);
}
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
Refactored Odometry class:
2014-10-13 19:10:22 +00:00
if(ids_.size())
{
updateLoopClosuresSlider();
DatabaseViewer: fixed "Graph not created" error when clicking on export map/graph actions
2015-11-27 15:36:57 -05:00
if(ui_->graphViewer->isVisible())
{
updateGraphView();
}
Refactored Odometry class:
2014-10-13 19:10:22 +00:00
}
moved rtabmap-ros-pkg project in this project
2011-06-05 14:45:39 +00:00
}
merged attention branch to trunk
2012-12-11 18:05:05 +00:00
void DatabaseViewer::generateGraph()
moved rtabmap-ros-pkg project in this project
2011-06-05 14:45:39 +00:00
{
DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases
2015-10-16 14:54:47 -04:00
if(!dbDriver_)
moved rtabmap-ros-pkg project in this project
2011-06-05 14:45:39 +00:00
{
QMessageBox::warning(this, tr("Cannot generate a graph"), tr("A database must must loaded first...\nUse File->Open database."));
return;
}
QString path = QFileDialog::getSaveFileName(this, tr("Save File"), pathDatabase_+"/Graph.dot", tr("Graphiz file (*.dot)"));
if(!path.isEmpty())
{
DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases
2015-10-16 14:54:47 -04:00
dbDriver_->generateGraph(path.toStdString());
moved rtabmap-ros-pkg project in this project
2011-06-05 14:45:39 +00:00
}
}
merged attention branch to trunk
2012-12-11 18:05:05 +00:00
void DatabaseViewer::generateLocalGraph()
moved rtabmap-ros-pkg project in this project
2011-06-05 14:45:39 +00:00
{
DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases
2015-10-16 14:54:47 -04:00
if(!ids_.size() || !dbDriver_)
moved rtabmap-ros-pkg project in this project
2011-06-05 14:45:39 +00:00
{
QMessageBox::warning(this, tr("Cannot generate a graph"), tr("The database is empty..."));
return;
}
bool ok = false;
int id = QInputDialog::getInt(this, tr("Around which location?"), tr("Location ID"), ids_.first(), ids_.first(), ids_.last(), 1, &ok);
if(ok)
{
int margin = QInputDialog::getInt(this, tr("Depth around the location?"), tr("Margin"), 4, 1, 100, 1, &ok);
if(ok)
{
QString path = QFileDialog::getSaveFileName(this, tr("Save File"), pathDatabase_+"/Graph" + QString::number(id) + ".dot", tr("Graphiz file (*.dot)"));
DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases
2015-10-16 14:54:47 -04:00
if(!path.isEmpty() && id>0)
moved rtabmap-ros-pkg project in this project
2011-06-05 14:45:39 +00:00
{
DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases
2015-10-16 14:54:47 -04:00
std::map<int, int> ids;
std::list<int> curentMarginList;
std::set<int> currentMargin;
std::set<int> nextMargin;
nextMargin.insert(id);
int m = 0;
while((margin == 0 || m < margin) && nextMargin.size())
{
curentMarginList = std::list<int>(nextMargin.rbegin(), nextMargin.rend());
nextMargin.clear();
for(std::list<int>::iterator jter = curentMarginList.begin(); jter!=curentMarginList.end(); ++jter)
{
if(ids.find(*jter) == ids.end())
{
std::map<int, Link> links;
ids.insert(std::pair<int, int>(*jter, m));
UTimer timer;
dbDriver_->loadLinks(*jter, links);
// links
for(std::map<int, Link>::const_iterator iter=links.begin(); iter!=links.end(); ++iter)
{
if( !uContains(ids, iter->first))
{
UASSERT(iter->second.type() != Link::kUndef);
Update version 0.10.11:
2015-10-24 17:03:44 -04:00
if(iter->second.type() == Link::kNeighbor ||
iter->second.type() == Link::kNeighborMerged)
DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases
2015-10-16 14:54:47 -04:00
{
nextMargin.insert(iter->first);
}
else
{
// loop closures are on same margin
if(currentMargin.insert(iter->first).second)
{
curentMarginList.push_back(iter->first);
}
}
}
}
}
}
++m;
}
Merged Audio branch to trunk
2012-06-24 17:19:34 +00:00
if(ids.size() > 0)
moved rtabmap-ros-pkg project in this project
2011-06-05 14:45:39 +00:00
{
Merged Audio branch to trunk
2012-06-24 17:19:34 +00:00
ids.insert(std::pair<int,int>(id, 0));
std::set<int> idsSet;
for(std::map<int, int>::iterator iter = ids.begin(); iter!=ids.end(); ++iter)
MERGE branch STM 325:449 into trunk
2012-03-03 01:46:30 +00:00
{
Merged Audio branch to trunk
2012-06-24 17:19:34 +00:00
idsSet.insert(idsSet.end(), iter->first);
UINFO("Node %d", iter->first);
MERGE branch STM 325:449 into trunk
2012-03-03 01:46:30 +00:00
}
Merged Audio branch to trunk
2012-06-24 17:19:34 +00:00
UINFO("idsSet=%d", idsSet.size());
DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases
2015-10-16 14:54:47 -04:00
dbDriver_->generateGraph(path.toStdString(), idsSet);
MERGE branch STM 325:449 into trunk
2012-03-03 01:46:30 +00:00
}
else
{
Merged Audio branch to trunk
2012-06-24 17:19:34 +00:00
QMessageBox::critical(this, tr("Error"), tr("No neighbors found for signature %1.").arg(id));
moved rtabmap-ros-pkg project in this project
2011-06-05 14:45:39 +00:00
}
}
}
}
}
database viewer: added method generateTOROGraph()
2014-02-27 17:00:46 +00:00
void DatabaseViewer::generateTOROGraph()
{
DatabaseViewer: fixed "Graph not created" error when clicking on export map/graph actions
2015-11-27 15:36:57 -05:00
if(graphes_.empty())
{
this->updateGraphView();
if(graphes_.empty() || ui_->horizontalSlider_iterations->maximum() != (int)graphes_.size()-1)
{
QMessageBox::warning(this, tr("Cannot generate a graph"), tr("No graph in database?!"));
return;
}
}
DbViewer: added new graph optimization options: span to all maps and ignore some links
2015-05-23 13:36:36 -04:00
if(!graphes_.size() || !graphLinks_.size())
database viewer: added method generateTOROGraph()
2014-02-27 17:00:46 +00:00
{
QMessageBox::warning(this, tr("Cannot generate a TORO graph"), tr("No poses or no links..."));
return;
}
bool ok = false;
Fixed Windows build, implemented wifi mapping example in Windows
2015-03-25 16:30:05 -04:00
int id = QInputDialog::getInt(this, tr("Which iteration?"), tr("Iteration (0 -> %1)").arg((int)graphes_.size()-1), (int)graphes_.size()-1, 0, (int)graphes_.size()-1, 1, &ok);
database viewer: added method generateTOROGraph()
2014-02-27 17:00:46 +00:00
if(ok)
{
QString path = QFileDialog::getSaveFileName(this, tr("Save File"), pathDatabase_+"/constraints" + QString::number(id) + ".graph", tr("TORO file (*.graph)"));
if(!path.isEmpty())
{
Refactoring of the cameraStereoImages and cameraRGBDImages classes (now inheriting from CameraImages) for easy setting of laser scan path, timestamps path and ground truth path.
2015-12-17 14:13:19 -05:00
bool varianceIgnored = uStr2Bool(ui_->parameters_toolbox->getParameters().at(Parameters::kOptimizerVarianceIgnored()));
if(varianceIgnored)
Added parameter "RGBD/OptimizeRobust" (default true) to use Vertigo robust graph optimization (only for g2o and GTSAM optimization strategies). Added GTSAM support.
2015-09-02 17:51:43 -04:00
{
std::multimap<int, rtabmap::Link> links = graphLinks_;
for(std::multimap<int, rtabmap::Link>::iterator iter=links.begin(); iter!=links.end(); ++iter)
{
databaseViewer: Fixed link's covariance modified when pose correction was disabled. Link: setVariance() and setInfMatrix are now private, to force re-cloning the link if we want to change these info.
2016-07-24 13:23:22 -04:00
// reset to identity covariance
iter->second = Link(iter->second.from(),
iter->second.to(),
iter->second.type(),
iter->second.transform());
Added parameter "RGBD/OptimizeRobust" (default true) to use Vertigo robust graph optimization (only for g2o and GTSAM optimization strategies). Added GTSAM support.
2015-09-02 17:51:43 -04:00
}
Refactoring: Split all graph optimization approaches in multiple files
2015-11-27 11:09:39 -05:00
graph::exportPoses(path.toStdString(), 3, uValueAt(graphes_, id), links);
Added parameter "RGBD/OptimizeRobust" (default true) to use Vertigo robust graph optimization (only for g2o and GTSAM optimization strategies). Added GTSAM support.
2015-09-02 17:51:43 -04:00
}
else
{
Refactoring: Split all graph optimization approaches in multiple files
2015-11-27 11:09:39 -05:00
graph::exportPoses(path.toStdString(), 3, uValueAt(graphes_, id), graphLinks_);
Added parameter "RGBD/OptimizeRobust" (default true) to use Vertigo robust graph optimization (only for g2o and GTSAM optimization strategies). Added GTSAM support.
2015-09-02 17:51:43 -04:00
}
}
}
}
void DatabaseViewer::generateG2OGraph()
{
DatabaseViewer: fixed "Graph not created" error when clicking on export map/graph actions
2015-11-27 15:36:57 -05:00
if(graphes_.empty())
{
this->updateGraphView();
if(graphes_.empty() || ui_->horizontalSlider_iterations->maximum() != (int)graphes_.size()-1)
{
QMessageBox::warning(this, tr("Cannot generate a graph"), tr("No graph in database?!"));
return;
}
}
Added parameter "RGBD/OptimizeRobust" (default true) to use Vertigo robust graph optimization (only for g2o and GTSAM optimization strategies). Added GTSAM support.
2015-09-02 17:51:43 -04:00
if(!graphes_.size() || !graphLinks_.size())
{
QMessageBox::warning(this, tr("Cannot generate a g2o graph"), tr("No poses or no links..."));
return;
}
bool ok = false;
int id = QInputDialog::getInt(this, tr("Which iteration?"), tr("Iteration (0 -> %1)").arg((int)graphes_.size()-1), (int)graphes_.size()-1, 0, (int)graphes_.size()-1, 1, &ok);
if(ok)
{
QString path = QFileDialog::getSaveFileName(this, tr("Save File"), pathDatabase_+"/constraints" + QString::number(id) + ".g2o", tr("g2o file (*.g2o)"));
if(!path.isEmpty())
{
Refactoring of the cameraStereoImages and cameraRGBDImages classes (now inheriting from CameraImages) for easy setting of laser scan path, timestamps path and ground truth path.
2015-12-17 14:13:19 -05:00
bool varianceIgnored = uStr2Bool(ui_->parameters_toolbox->getParameters().at(Parameters::kOptimizerVarianceIgnored()));
bool robust = uStr2Bool(ui_->parameters_toolbox->getParameters().at(Parameters::kOptimizerRobust()));
if(varianceIgnored)
Added parameter "RGBD/OptimizeRobust" (default true) to use Vertigo robust graph optimization (only for g2o and GTSAM optimization strategies). Added GTSAM support.
2015-09-02 17:51:43 -04:00
{
std::multimap<int, rtabmap::Link> links = graphLinks_;
for(std::multimap<int, rtabmap::Link>::iterator iter=links.begin(); iter!=links.end(); ++iter)
{
databaseViewer: Fixed link's covariance modified when pose correction was disabled. Link: setVariance() and setInfMatrix are now private, to force re-cloning the link if we want to change these info.
2016-07-24 13:23:22 -04:00
// reset to identity covariance
iter->second = Link(iter->second.from(),
iter->second.to(),
iter->second.type(),
iter->second.transform());
Added parameter "RGBD/OptimizeRobust" (default true) to use Vertigo robust graph optimization (only for g2o and GTSAM optimization strategies). Added GTSAM support.
2015-09-02 17:51:43 -04:00
}
Refactoring of the cameraStereoImages and cameraRGBDImages classes (now inheriting from CameraImages) for easy setting of laser scan path, timestamps path and ground truth path.
2015-12-17 14:13:19 -05:00
graph::exportPoses(path.toStdString(), 4, uValueAt(graphes_, id), links, std::map<int, double>(), robust);
Added parameter "RGBD/OptimizeRobust" (default true) to use Vertigo robust graph optimization (only for g2o and GTSAM optimization strategies). Added GTSAM support.
2015-09-02 17:51:43 -04:00
}
else
{
Refactoring of the cameraStereoImages and cameraRGBDImages classes (now inheriting from CameraImages) for easy setting of laser scan path, timestamps path and ground truth path.
2015-12-17 14:13:19 -05:00
graph::exportPoses(path.toStdString(), 4, uValueAt(graphes_, id), graphLinks_, std::map<int, double>(), robust);
Added parameter "RGBD/OptimizeRobust" (default true) to use Vertigo robust graph optimization (only for g2o and GTSAM optimization strategies). Added GTSAM support.
2015-09-02 17:51:43 -04:00
}
database viewer: added method generateTOROGraph()
2014-02-27 17:00:46 +00:00
}
}
}
DatabaseViewer: added regeneration of occupancy grids action and saving back to database on close
2016-08-25 23:47:01 -04:00
void DatabaseViewer::regenerateLocalMaps()
{
UTimer time;
OccupancyGrid grid(ui_->parameters_toolbox->getParameters());
Grid/DetectFlatObstacles default true. segmentObstaclesFromGround(): Fixed not used indices still kept in obstacles output
2016-08-26 11:41:35 -04:00
generatedLocalMaps_.clear();
generatedLocalMapsInfo_.clear();
DatabaseViewer: added regeneration of occupancy grids action and saving back to database on close
2016-08-25 23:47:01 -04:00
rtabmap::ProgressDialog progressDialog(this);
progressDialog.setMaximumSteps(ids_.size());
progressDialog.show();
for(int i =0; i<ids_.size(); ++i)
{
SensorData data;
dbDriver_->getNodeData(ids_.at(i), data);
data.uncompressData();
int mapId, weight;
Transform odomPose, groundTruth;
std::string label;
double stamp;
QString msg;
if(dbDriver_->getNodeInfo(data.id(), odomPose, mapId, weight, label, stamp, groundTruth))
{
Signature s = data;
s.setPose(odomPose);
cv::Mat ground, obstacles;
cv::Point3f viewpoint;
grid.createLocalMap(s, ground, obstacles, viewpoint);
uInsert(generatedLocalMaps_, std::make_pair(data.id(), std::make_pair(ground, obstacles)));
uInsert(generatedLocalMapsInfo_, std::make_pair(data.id(), std::make_pair(grid.getCellSize(), viewpoint)));
msg = QString("Generated local occupancy grid map %1/%2 (%3s)").arg(i+1).arg((int)ids_.size()).arg(time.ticks());
}
progressDialog.appendText(msg);
progressDialog.incrementStep();
QApplication::processEvents();
}
progressDialog.setValue(progressDialog.maximumSteps());
updateGrid();
}
cloudFromDepth(): fixed roi ratios not used if one value was null. DbViewer: Added occupancy grid clouds to 3d views, add action to regenerate occupancy grids only for the current selected ids.
2016-08-30 21:15:55 -04:00
void DatabaseViewer::regenerateCurrentLocalMaps()
{
UTimer time;
OccupancyGrid grid(ui_->parameters_toolbox->getParameters());
if(ids_.size() == 0)
{
UWARN("ids_ is empty!");
return;
}
QSet<int> idsSet;
idsSet.insert(ids_.at(ui_->horizontalSlider_A->value()));
idsSet.insert(ids_.at(ui_->horizontalSlider_B->value()));
QList<int> ids = idsSet.toList();
rtabmap::ProgressDialog progressDialog(this);
progressDialog.setMaximumSteps(ids.size());
progressDialog.show();
for(int i =0; i<ids.size(); ++i)
{
generatedLocalMaps_.erase(ids.at(i));
generatedLocalMapsInfo_.erase(ids.at(i));
SensorData data;
dbDriver_->getNodeData(ids.at(i), data);
data.uncompressData();
int mapId, weight;
Transform odomPose, groundTruth;
std::string label;
double stamp;
QString msg;
if(dbDriver_->getNodeInfo(data.id(), odomPose, mapId, weight, label, stamp, groundTruth))
{
Signature s = data;
s.setPose(odomPose);
cv::Mat ground, obstacles;
cv::Point3f viewpoint;
grid.createLocalMap(s, ground, obstacles, viewpoint);
uInsert(generatedLocalMaps_, std::make_pair(data.id(), std::make_pair(ground, obstacles)));
uInsert(generatedLocalMapsInfo_, std::make_pair(data.id(), std::make_pair(grid.getCellSize(), viewpoint)));
msg = QString("Generated local occupancy grid map %1/%2 (%3s)").arg(i+1).arg((int)ids.size()).arg(time.ticks());
}
progressDialog.appendText(msg);
progressDialog.incrementStep();
QApplication::processEvents();
}
progressDialog.setValue(progressDialog.maximumSteps());
updateGrid();
}
New classes: Link and GraphViewer (TORO graph visualization and laser scans occupancy grid)
2014-02-11 23:04:22 +00:00
void DatabaseViewer::view3DMap()
Updated version to 0.8.0
2014-12-14 16:42:10 -05:00
{
DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases
2015-10-16 14:54:47 -04:00
if(!ids_.size() || !dbDriver_)
Updated version to 0.8.0
2014-12-14 16:42:10 -05:00
{
QMessageBox::warning(this, tr("Cannot view 3D map"), tr("The database is empty..."));
return;
}
Update version 0.10.11:
2015-10-24 17:03:44 -04:00
Updated version to 0.8.0
2014-12-14 16:42:10 -05:00
if(graphes_.empty())
{
this->updateGraphView();
if(graphes_.empty() || ui_->horizontalSlider_iterations->maximum() != (int)graphes_.size()-1)
{
QMessageBox::warning(this, tr("Cannot generate a graph"), tr("No graph in database?!"));
return;
}
}
bool ok = false;
QStringList items;
items.append("1");
items.append("2");
items.append("4");
items.append("8");
items.append("16");
Image Decimation can now be negative, meaning that decimation is done from RGB size instead of depth. If Depth size is smaller than RGB, it may be upsampled depending on the decimation value. Export Dialog: Fixed MLS not done even when checked.
2016-10-30 16:03:23 -04:00
items.append("-2");
items.append("-4");
items.append("-8");
items.append("-16");
QString item = QInputDialog::getItem(this, tr("Decimation?"), tr("Image decimation. Negative decimation is done from RGB size instead of depth size (if depth is smaller than RGB, it may be interpolated depending of the decimation value)."), items, 2, false, &ok);
Updated version to 0.8.0
2014-12-14 16:42:10 -05:00
if(ok)
{
Fixed crash on startup with vtk6+qt5. All cloud viewers in QDockWidget are now created manually instead of being defined in the *.ui files. The generated ui didn't pass the top level parent window to constructor of CloudViewer, which caused a problem when initializing the QVTKWidget.
2016-05-05 18:25:26 -04:00
int decimation = item.toInt();
double maxDepth = QInputDialog::getDouble(this, tr("Camera depth?"), tr("Maximum depth (m, 0=no max):"), 4.0, 0, 100, 2, &ok);
Updated version to 0.8.0
2014-12-14 16:42:10 -05:00
if(ok)
{
DatabaseViewer: added graph depth param. Rtabmap: when the robot is not moving, now deleting location "after" retrieval
2015-03-16 18:22:54 -04:00
std::map<int, Transform> optimizedPoses = uValueAt(graphes_, ui_->horizontalSlider_iterations->value());
if(ui_->groupBox_posefiltering->isChecked())
{
optimizedPoses = graph::radiusPosesFiltering(optimizedPoses,
ui_->doubleSpinBox_posefilteringRadius->value(),
ui_->doubleSpinBox_posefilteringAngle->value()*CV_PI/180.0);
}
Updated version to 0.8.0
2014-12-14 16:42:10 -05:00
if(optimizedPoses.size() > 0)
{
Moved some common include files to public headers folder
2015-08-25 10:32:27 -04:00
rtabmap::ProgressDialog progressDialog(this);
Fixed Windows build, implemented wifi mapping example in Windows
2015-03-25 16:30:05 -04:00
progressDialog.setMaximumSteps((int)optimizedPoses.size());
Updated version to 0.8.0
2014-12-14 16:42:10 -05:00
progressDialog.show();
// create a window
QDialog * window = new QDialog(this, Qt::Window);
window->setModal(this->isModal());
window->setWindowTitle(tr("3D Map"));
window->setMinimumWidth(800);
window->setMinimumHeight(600);
rtabmap::CloudViewer * viewer = new rtabmap::CloudViewer(window);
QVBoxLayout *layout = new QVBoxLayout();
layout->addWidget(viewer);
viewer->setCameraLockZ(false);
window->setLayout(layout);
connect(window, SIGNAL(finished(int)), viewer, SLOT(clear()));
window->show();
for(std::map<int, Transform>::const_iterator iter = optimizedPoses.begin(); iter!=optimizedPoses.end(); ++iter)
{
rtabmap::Transform pose = iter->second;
if(!pose.isNull())
{
DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases
2015-10-16 14:54:47 -04:00
SensorData data;
dbDriver_->getNodeData(iter->first, data);
data.uncompressData();
Updated version to 0.8.0
2014-12-14 16:42:10 -05:00
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
Added multi-camera feature
2015-05-29 14:46:48 -04:00
UASSERT(data.imageRaw().empty() || data.imageRaw().type()==CV_8UC3 || data.imageRaw().type() == CV_8UC1);
UASSERT(data.depthOrRightRaw().empty() || data.depthOrRightRaw().type()==CV_8UC1 || data.depthOrRightRaw().type() == CV_16UC1 || data.depthOrRightRaw().type() == CV_32FC1);
0.11.7: Added ZED sdk support
2016-05-31 19:09:49 -04:00
cloud = util3d::cloudRGBFromSensorData(data, decimation, maxDepth, 0, 0, ui_->parameters_toolbox->getParameters());
Added multi-camera feature
2015-05-29 14:46:48 -04:00
if(cloud->size())
Updated version to 0.8.0
2014-12-14 16:42:10 -05:00
{
Added multi-camera feature
2015-05-29 14:46:48 -04:00
QColor color = Qt::red;
int mapId, weight;
0.11.1: Added "ground_truth_pose" field to database in Node table. MainWindow: alignment of the map to ground truth (if ground truth is present).
2016-01-07 19:39:21 -05:00
Transform odomPose, groundTruth;
Added multi-camera feature
2015-05-29 14:46:48 -04:00
std::string label;
double stamp;
0.11.1: Added "ground_truth_pose" field to database in Node table. MainWindow: alignment of the map to ground truth (if ground truth is present).
2016-01-07 19:39:21 -05:00
if(dbDriver_->getNodeInfo(iter->first, odomPose, mapId, weight, label, stamp, groundTruth))
Updated version to 0.8.0
2014-12-14 16:42:10 -05:00
{
Added multi-camera feature
2015-05-29 14:46:48 -04:00
color = (Qt::GlobalColor)(mapId % 12 + 7 );
Updated version to 0.8.0
2014-12-14 16:42:10 -05:00
}
Added multi-camera feature
2015-05-29 14:46:48 -04:00
viewer->addCloud(uFormat("cloud%d", iter->first), cloud, pose, color);
UINFO("Generated %d (%d points)", iter->first, cloud->size());
progressDialog.appendText(QString("Generated %1 (%2 points)").arg(iter->first).arg(cloud->size()));
Updated version to 0.8.0
2014-12-14 16:42:10 -05:00
}
else
{
Added multi-camera feature
2015-05-29 14:46:48 -04:00
UINFO("Empty cloud %d", iter->first);
progressDialog.appendText(QString("Empty cloud %1").arg(iter->first));
Updated version to 0.8.0
2014-12-14 16:42:10 -05:00
}
progressDialog.incrementStep();
QApplication::processEvents();
}
}
progressDialog.setValue(progressDialog.maximumSteps());
}
else
{
QMessageBox::critical(this, tr("Error"), tr("No neighbors found for node %1.").arg(ui_->spinBox_optimizationsFrom->value()));
}
}
}
}
Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used
2015-11-22 18:08:32 -05:00
void DatabaseViewer::view3DLaserScans()
{
if(!ids_.size() || !dbDriver_)
{
QMessageBox::warning(this, tr("Cannot view 3D laser scans"), tr("The database is empty..."));
return;
}
if(graphes_.empty())
{
this->updateGraphView();
if(graphes_.empty() || ui_->horizontalSlider_iterations->maximum() != (int)graphes_.size()-1)
{
QMessageBox::warning(this, tr("Cannot generate a graph"), tr("No graph in database?!"));
return;
}
}
bool ok = false;
int downsamplingStepSize = QInputDialog::getInt(this, tr("Downsampling?"), tr("Downsample step size (1 = no filtering)"), 1, 1, 99999, 1, &ok);
if(ok)
{
std::map<int, Transform> optimizedPoses = uValueAt(graphes_, ui_->horizontalSlider_iterations->value());
if(ui_->groupBox_posefiltering->isChecked())
{
optimizedPoses = graph::radiusPosesFiltering(optimizedPoses,
ui_->doubleSpinBox_posefilteringRadius->value(),
ui_->doubleSpinBox_posefilteringAngle->value()*CV_PI/180.0);
}
if(optimizedPoses.size() > 0)
{
rtabmap::ProgressDialog progressDialog(this);
progressDialog.setMaximumSteps((int)optimizedPoses.size());
progressDialog.show();
// create a window
QDialog * window = new QDialog(this, Qt::Window);
window->setModal(this->isModal());
window->setWindowTitle(tr("3D Laser Scans"));
window->setMinimumWidth(800);
window->setMinimumHeight(600);
rtabmap::CloudViewer * viewer = new rtabmap::CloudViewer(window);
QVBoxLayout *layout = new QVBoxLayout();
layout->addWidget(viewer);
viewer->setCameraLockZ(false);
window->setLayout(layout);
connect(window, SIGNAL(finished(int)), viewer, SLOT(clear()));
window->show();
for(std::map<int, Transform>::const_iterator iter = optimizedPoses.begin(); iter!=optimizedPoses.end(); ++iter)
{
rtabmap::Transform pose = iter->second;
if(!pose.isNull())
{
SensorData data;
dbDriver_->getNodeData(iter->first, data);
cv::Mat scan;
data.uncompressDataConst(0, 0, &scan);
DatabaseViewer: showing normals if scans have 6 channels
2016-09-07 17:14:09 -04:00
if(!scan.empty())
Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used
2015-11-22 18:08:32 -05:00
{
DatabaseViewer: showing normals if scans have 6 channels
2016-09-07 17:14:09 -04:00
if(downsamplingStepSize>1)
{
scan = util3d::downsample(scan, downsamplingStepSize);
}
Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used
2015-11-22 18:08:32 -05:00
QColor color = Qt::red;
int mapId, weight;
0.11.1: Added "ground_truth_pose" field to database in Node table. MainWindow: alignment of the map to ground truth (if ground truth is present).
2016-01-07 19:39:21 -05:00
Transform odomPose, groundTruth;
Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used
2015-11-22 18:08:32 -05:00
std::string label;
double stamp;
0.11.1: Added "ground_truth_pose" field to database in Node table. MainWindow: alignment of the map to ground truth (if ground truth is present).
2016-01-07 19:39:21 -05:00
if(dbDriver_->getNodeInfo(iter->first, odomPose, mapId, weight, label, stamp, groundTruth))
Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used
2015-11-22 18:08:32 -05:00
{
color = (Qt::GlobalColor)(mapId % 12 + 7 );
}
DatabaseViewer: showing normals if scans have 6 channels
2016-09-07 17:14:09 -04:00
if(scan.channels() == 6)
{
pcl::PointCloud<pcl::PointNormal>::Ptr cloud;
cloud = util3d::laserScanToPointCloudNormal(scan, data.laserScanInfo().localTransform());
viewer->addCloud(uFormat("cloud%d", iter->first), cloud, pose, color);
}
else
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud;
cloud = util3d::laserScanToPointCloud(scan, data.laserScanInfo().localTransform());
viewer->addCloud(uFormat("cloud%d", iter->first), cloud, pose, color);
}
UINFO("Generated %d (%d points)", iter->first, scan.cols);
progressDialog.appendText(QString("Generated %1 (%2 points)").arg(iter->first).arg(scan.cols));
Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used
2015-11-22 18:08:32 -05:00
}
else
{
DatabaseViewer: showing normals if scans have 6 channels
2016-09-07 17:14:09 -04:00
UINFO("Empty scan %d", iter->first);
progressDialog.appendText(QString("Empty scan %1").arg(iter->first));
Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used
2015-11-22 18:08:32 -05:00
}
progressDialog.incrementStep();
QApplication::processEvents();
}
}
progressDialog.setValue(progressDialog.maximumSteps());
}
else
{
QMessageBox::critical(this, tr("Error"), tr("No neighbors found for node %1.").arg(ui_->spinBox_optimizationsFrom->value()));
}
}
}
Updated version to 0.8.0
2014-12-14 16:42:10 -05:00
void DatabaseViewer::generate3DMap()
MERGE branch STM 325:449 into trunk
2012-03-03 01:46:30 +00:00
{
DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases
2015-10-16 14:54:47 -04:00
if(!ids_.size() || !dbDriver_)
MERGE branch STM 325:449 into trunk
2012-03-03 01:46:30 +00:00
{
Merged pcl_integration branch to trunk
2013-12-11 00:12:44 +00:00
QMessageBox::warning(this, tr("Cannot generate a graph"), tr("The database is empty..."));
MERGE branch STM 325:449 into trunk
2012-03-03 01:46:30 +00:00
return;
}
DatabaseViewer: fixed "Graph not created" error when clicking on export map/graph actions
2015-11-27 15:36:57 -05:00
if(graphes_.empty())
{
this->updateGraphView();
if(graphes_.empty() || ui_->horizontalSlider_iterations->maximum() != (int)graphes_.size()-1)
{
QMessageBox::warning(this, tr("Cannot generate a graph"), tr("No graph in database?!"));
return;
}
}
Merged pcl_integration branch to trunk
2013-12-11 00:12:44 +00:00
bool ok = false;
Updated version to 0.8.0
2014-12-14 16:42:10 -05:00
QStringList items;
items.append("1");
items.append("2");
items.append("4");
items.append("8");
items.append("16");
Image Decimation can now be negative, meaning that decimation is done from RGB size instead of depth. If Depth size is smaller than RGB, it may be upsampled depending on the decimation value. Export Dialog: Fixed MLS not done even when checked.
2016-10-30 16:03:23 -04:00
items.append("-2");
items.append("-4");
items.append("-8");
items.append("-16");
QString item = QInputDialog::getItem(this, tr("Decimation?"), tr("Image decimation. Negative decimation is done from RGB size instead of depth size (if depth is smaller than RGB, it may be interpolated depending of the decimation value)."), items, 2, false, &ok);
Merged pcl_integration branch to trunk
2013-12-11 00:12:44 +00:00
if(ok)
MERGE branch STM 325:449 into trunk
2012-03-03 01:46:30 +00:00
{
Fixed crash on startup with vtk6+qt5. All cloud viewers in QDockWidget are now created manually instead of being defined in the *.ui files. The generated ui didn't pass the top level parent window to constructor of CloudViewer, which caused a problem when initializing the QVTKWidget.
2016-05-05 18:25:26 -04:00
int decimation = item.toInt();
Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used
2015-11-22 18:08:32 -05:00
double maxDepth = QInputDialog::getDouble(this, tr("Camera depth?"), tr("Maximum depth (m, 0=no max):"), 4.0, 0, 100, 2, &ok);
Merged pcl_integration branch to trunk
2013-12-11 00:12:44 +00:00
if(ok)
{
Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used
2015-11-22 18:08:32 -05:00
QMessageBox::StandardButton b = QMessageBox::question(
this,
tr("Assembling?"),
tr("Do you want to assemble all the point clouds (creating only one file with a density of 1pt/cm)?"),
QMessageBox::Yes|QMessageBox::No,
QMessageBox::Yes);
bool assemble = b == QMessageBox::Yes;
QString path;
if(assemble)
{
path = QFileDialog::getSaveFileName(this, tr("Save point cloud"),
pathDatabase_+QDir::separator()+"cloud.ply",
tr("Point Cloud (*.ply *.pcd)"));
}
else
{
path = QFileDialog::getExistingDirectory(this, tr("Save directory"), pathDatabase_);
}
Updated version to 0.8.0
2014-12-14 16:42:10 -05:00
if(!path.isEmpty())
Merged pcl_integration branch to trunk
2013-12-11 00:12:44 +00:00
{
DatabaseViewer: added graph depth param. Rtabmap: when the robot is not moving, now deleting location "after" retrieval
2015-03-16 18:22:54 -04:00
std::map<int, Transform> optimizedPoses = uValueAt(graphes_, ui_->horizontalSlider_iterations->value());
if(ui_->groupBox_posefiltering->isChecked())
{
optimizedPoses = graph::radiusPosesFiltering(optimizedPoses,
ui_->doubleSpinBox_posefilteringRadius->value(),
ui_->doubleSpinBox_posefilteringAngle->value()*CV_PI/180.0);
}
Updated version to 0.8.0
2014-12-14 16:42:10 -05:00
if(optimizedPoses.size() > 0)
Merged pcl_integration branch to trunk
2013-12-11 00:12:44 +00:00
{
Moved some common include files to public headers folder
2015-08-25 10:32:27 -04:00
rtabmap::ProgressDialog progressDialog;
Updated version to 0.8.0
2014-12-14 16:42:10 -05:00
progressDialog.setMaximumSteps((int)optimizedPoses.size());
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
progressDialog.show();
Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used
2015-11-22 18:08:32 -05:00
pcl::PointCloud<pcl::PointXYZRGB>::Ptr assembledCloud(new pcl::PointCloud<pcl::PointXYZRGB>);
Updated version to 0.8.0
2014-12-14 16:42:10 -05:00
for(std::map<int, Transform>::const_iterator iter = optimizedPoses.begin(); iter!=optimizedPoses.end(); ++iter)
Merged pcl_integration branch to trunk
2013-12-11 00:12:44 +00:00
{
Updated version to 0.8.0
2014-12-14 16:42:10 -05:00
const rtabmap::Transform & pose = iter->second;
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
if(!pose.isNull())
Merged pcl_integration branch to trunk
2013-12-11 00:12:44 +00:00
{
DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases
2015-10-16 14:54:47 -04:00
SensorData data;
dbDriver_->getNodeData(iter->first, data);
data.uncompressData();
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
Added multi-camera feature
2015-05-29 14:46:48 -04:00
UASSERT(data.imageRaw().empty() || data.imageRaw().type()==CV_8UC3 || data.imageRaw().type() == CV_8UC1);
UASSERT(data.depthOrRightRaw().empty() || data.depthOrRightRaw().type()==CV_8UC1 || data.depthOrRightRaw().type() == CV_16UC1 || data.depthOrRightRaw().type() == CV_32FC1);
0.11.4: API change: added minDepth parameter to cloudFromXXXXX() methods and removed voxel parameter
2016-04-12 15:14:04 -04:00
pcl::IndicesPtr validIndices(new std::vector<int>);
0.11.7: Added ZED sdk support
2016-05-31 19:09:49 -04:00
cloud = util3d::cloudRGBFromSensorData(data, decimation, maxDepth, 0, validIndices.get(), ui_->parameters_toolbox->getParameters());
Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used
2015-11-22 18:08:32 -05:00
if(assemble)
Refactored Odometry class:
2014-10-13 19:10:22 +00:00
{
Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used
2015-11-22 18:08:32 -05:00
if(cloud->size())
{
0.11.4: API change: added minDepth parameter to cloudFromXXXXX() methods and removed voxel parameter
2016-04-12 15:14:04 -04:00
cloud = util3d::voxelize(cloud, validIndices, 0.01);
if(cloud->size())
Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used
2015-11-22 18:08:32 -05:00
{
0.11.4: API change: added minDepth parameter to cloudFromXXXXX() methods and removed voxel parameter
2016-04-12 15:14:04 -04:00
cloud = rtabmap::util3d::transformPointCloud(cloud, pose);
if(assembledCloud->size() == 0)
{
*assembledCloud = *cloud;
}
else
{
*assembledCloud += *cloud;
}
Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used
2015-11-22 18:08:32 -05:00
}
}
UINFO("Created cloud %d (%d points)", iter->first, (int)cloud->size());
progressDialog.appendText(QString("Created cloud %1 (%2 points)").arg(iter->first).arg(cloud->size()));
Refactored Odometry class:
2014-10-13 19:10:22 +00:00
}
else
{
Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used
2015-11-22 18:08:32 -05:00
std::string name = uFormat("%s/node%d.pcd", path.toStdString().c_str(), iter->first);
if(cloud->size())
{
cloud = rtabmap::util3d::transformPointCloud(cloud, pose);
pcl::io::savePCDFile(name, *cloud);
UINFO("Saved %s (%d points)", name.c_str(), cloud->size());
progressDialog.appendText(QString("Saved %1 (%2 points)").arg(name.c_str()).arg(cloud->size()));
}
else
{
UINFO("Ignored empty cloud %s", name.c_str());
progressDialog.appendText(QString("Ignored empty cloud %1").arg(name.c_str()));
}
Refactored Odometry class:
2014-10-13 19:10:22 +00:00
}
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
progressDialog.incrementStep();
QApplication::processEvents();
Merged pcl_integration branch to trunk
2013-12-11 00:12:44 +00:00
}
New classes: Link and GraphViewer (TORO graph visualization and laser scans occupancy grid)
2014-02-11 23:04:22 +00:00
}
Updated version to 0.8.0
2014-12-14 16:42:10 -05:00
Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used
2015-11-22 18:08:32 -05:00
if(assemble && assembledCloud->size())
{
//voxelize by default to 1 cm
progressDialog.appendText(QString("Voxelize assembled cloud (%1 points)").arg(assembledCloud->size()));
QApplication::processEvents();
assembledCloud = util3d::voxelize(assembledCloud, 0.01);
if(QFileInfo(path).suffix() == "ply")
{
pcl::io::savePLYFile(path.toStdString(), *assembledCloud);
}
else
{
pcl::io::savePCDFile(path.toStdString(), *assembledCloud);
}
progressDialog.appendText(QString("Saved %1 (%2 points)").arg(path).arg(assembledCloud->size()));
QApplication::processEvents();
}
Updated version to 0.8.0
2014-12-14 16:42:10 -05:00
QMessageBox::information(this, tr("Finished"), tr("%1 clouds generated to %2.").arg(optimizedPoses.size()).arg(path));
Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used
2015-11-22 18:08:32 -05:00
progressDialog.setValue(progressDialog.maximumSteps());
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
}
else
{
QMessageBox::critical(this, tr("Error"), tr("No neighbors found for node %1.").arg(ui_->spinBox_optimizationsFrom->value()));
New classes: Link and GraphViewer (TORO graph visualization and laser scans occupancy grid)
2014-02-11 23:04:22 +00:00
}
}
}
}
}
Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used
2015-11-22 18:08:32 -05:00
void DatabaseViewer::generate3DLaserScans()
{
if(!ids_.size() || !dbDriver_)
{
QMessageBox::warning(this, tr("Cannot generate a graph"), tr("The database is empty..."));
return;
}
bool ok = false;
int downsamplingStepSize = QInputDialog::getInt(this, tr("Downsampling?"), tr("Downsample step size (1 = no filtering)"), 1, 1, 99999, 1, &ok);
if(ok)
{
QString path = QFileDialog::getSaveFileName(this, tr("Save point cloud"),
pathDatabase_+QDir::separator()+"cloud.ply",
tr("Point Cloud (*.ply *.pcd)"));
if(!path.isEmpty())
{
std::map<int, Transform> optimizedPoses = uValueAt(graphes_, ui_->horizontalSlider_iterations->value());
if(ui_->groupBox_posefiltering->isChecked())
{
optimizedPoses = graph::radiusPosesFiltering(optimizedPoses,
ui_->doubleSpinBox_posefilteringRadius->value(),
ui_->doubleSpinBox_posefilteringAngle->value()*CV_PI/180.0);
}
if(optimizedPoses.size() > 0)
{
rtabmap::ProgressDialog progressDialog;
progressDialog.setMaximumSteps((int)optimizedPoses.size());
progressDialog.show();
pcl::PointCloud<pcl::PointXYZ>::Ptr assembledCloud(new pcl::PointCloud<pcl::PointXYZ>);
for(std::map<int, Transform>::const_iterator iter = optimizedPoses.begin(); iter!=optimizedPoses.end(); ++iter)
{
const rtabmap::Transform & pose = iter->second;
if(!pose.isNull())
{
SensorData data;
dbDriver_->getNodeData(iter->first, data);
cv::Mat scan;
data.uncompressDataConst(0, 0, &scan);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud;
UASSERT(scan.empty() || scan.type()==CV_32FC2 || scan.type() == CV_32FC3);
if(downsamplingStepSize > 1)
{
scan = util3d::downsample(scan, downsamplingStepSize);
}
RegistrationICP: fixed local scan transform issue
2016-08-24 12:15:32 -04:00
cloud = util3d::laserScanToPointCloud(scan, data.laserScanInfo().localTransform());
Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used
2015-11-22 18:08:32 -05:00
if(cloud->size())
{
cloud = rtabmap::util3d::transformPointCloud(cloud, pose);
if(assembledCloud->size() == 0)
{
*assembledCloud = *cloud;
}
else
{
*assembledCloud += *cloud;
}
}
UINFO("Created cloud %d (%d points)", iter->first, (int)cloud->size());
progressDialog.appendText(QString("Created cloud %1 (%2 points)").arg(iter->first).arg(cloud->size()));
progressDialog.incrementStep();
QApplication::processEvents();
}
}
if(assembledCloud->size())
{
//voxelize by default to 1 cm
progressDialog.appendText(QString("Voxelize assembled cloud (%1 points)").arg(assembledCloud->size()));
QApplication::processEvents();
assembledCloud = util3d::voxelize(assembledCloud, 0.01);
if(QFileInfo(path).suffix() == "ply")
{
pcl::io::savePLYFile(path.toStdString(), *assembledCloud);
}
else
{
pcl::io::savePCDFile(path.toStdString(), *assembledCloud);
}
progressDialog.appendText(QString("Saved %1 (%2 points)").arg(path).arg(assembledCloud->size()));
QApplication::processEvents();
}
QMessageBox::information(this, tr("Finished"), tr("%1 clouds generated to %2.").arg(optimizedPoses.size()).arg(path));
progressDialog.setValue(progressDialog.maximumSteps());
}
else
{
QMessageBox::critical(this, tr("Error"), tr("No neighbors found for node %1.").arg(ui_->spinBox_optimizationsFrom->value()));
}
}
}
}
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
void DatabaseViewer::detectMoreLoopClosures()
{
DatabaseViewer: fixed "Graph not created" error when clicking on export map/graph actions
2015-11-27 15:36:57 -05:00
if(graphes_.empty())
{
this->updateGraphView();
if(graphes_.empty() || ui_->horizontalSlider_iterations->maximum() != (int)graphes_.size()-1)
{
QMessageBox::warning(this, tr("Cannot generate a graph"), tr("No graph in database?!"));
return;
}
}
Updated version to 0.8.0
2014-12-14 16:42:10 -05:00
const std::map<int, Transform> & optimizedPoses = graphes_.back();
GUI: Added "Edit->Post processing..." action to detect more loop closures and/or refine all links in the graph with ICP 3D.
2014-10-30 14:43:43 +00:00
DatabaseViewer: Saving/loading settings, added 3D view, added Grid from 3d projection parameter
2015-03-04 17:27:44 -05:00
int iterations = ui_->spinBox_detectMore_iterations->value();
GUI: Added "Edit->Post processing..." action to detect more loop closures and/or refine all links in the graph with ICP 3D.
2014-10-30 14:43:43 +00:00
UASSERT(iterations > 0);
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
int added = 0;
GUI: Added "Edit->Post processing..." action to detect more loop closures and/or refine all links in the graph with ICP 3D.
2014-10-30 14:43:43 +00:00
for(int n=0; n<iterations; ++n)
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
{
GUI: Added "Edit->Post processing..." action to detect more loop closures and/or refine all links in the graph with ICP 3D.
2014-10-30 14:43:43 +00:00
UINFO("iteration %d/%d", n+1, iterations);
Added rtabmap::computePath() using a pose goal instead of node Id. Graph methods moved in rtabmap::graph namespace
2015-02-06 13:52:02 -05:00
std::multimap<int, int> clusters = rtabmap::graph::radiusPosesClustering(
GUI: Added "Edit->Post processing..." action to detect more loop closures and/or refine all links in the graph with ICP 3D.
2014-10-30 14:43:43 +00:00
optimizedPoses,
ui_->doubleSpinBox_detectMore_radius->value(),
ui_->doubleSpinBox_detectMore_angle->value()*CV_PI/180.0);
std::set<int> addedLinks;
for(std::multimap<int, int>::iterator iter=clusters.begin(); iter!= clusters.end(); ++iter)
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
{
GUI: Added "Edit->Post processing..." action to detect more loop closures and/or refine all links in the graph with ICP 3D.
2014-10-30 14:43:43 +00:00
int from = iter->first;
int to = iter->second;
if(from < to)
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
{
GUI: Added "Edit->Post processing..." action to detect more loop closures and/or refine all links in the graph with ICP 3D.
2014-10-30 14:43:43 +00:00
from = iter->second;
to = iter->first;
}
if(!findActiveLink(from, to).isValid() && !containsLink(linksRemoved_, from, to) &&
addedLinks.find(from) == addedLinks.end() && addedLinks.find(to) == addedLinks.end())
{
Updated version to 0.8.0
2014-12-14 16:42:10 -05:00
if(addConstraint(from, to, true, false))
GUI: Added "Edit->Post processing..." action to detect more loop closures and/or refine all links in the graph with ICP 3D.
2014-10-30 14:43:43 +00:00
{
UINFO("Added new loop closure between %d and %d.", from, to);
++added;
addedLinks.insert(from);
addedLinks.insert(to);
}
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
}
}
GUI: Added "Edit->Post processing..." action to detect more loop closures and/or refine all links in the graph with ICP 3D.
2014-10-30 14:43:43 +00:00
UINFO("Iteration %d/%d: added %d loop closures.", n+1, iterations, (int)addedLinks.size()/2);
if(addedLinks.size() == 0)
{
break;
}
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
}
Updated version to 0.8.0
2014-12-14 16:42:10 -05:00
if(added)
{
this->updateGraphView();
}
GUI: Added "Edit->Post processing..." action to detect more loop closures and/or refine all links in the graph with ICP 3D.
2014-10-30 14:43:43 +00:00
UINFO("Total added %d loop closures.", added);
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
}
void DatabaseViewer::refineAllNeighborLinks()
{
if(neighborLinks_.size())
{
Moved some common include files to public headers folder
2015-08-25 10:32:27 -04:00
rtabmap::ProgressDialog progressDialog(this);
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
progressDialog.setMaximumSteps(neighborLinks_.size());
progressDialog.show();
for(int i=0; i<neighborLinks_.size(); ++i)
{
int from = neighborLinks_[i].from();
int to = neighborLinks_[i].to();
Increased database version to 0.8.11 (new Depth.data2d_max_pts column). Updated how local loop closure detection in space is done. Update GraphViewer with local radius ellipse and current goal node color. MainWindow saving/loading figures automatically accordingly to the previous session saved.
2015-05-03 18:16:55 -04:00
this->refineConstraint(neighborLinks_[i].from(), neighborLinks_[i].to(), true, false);
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
progressDialog.appendText(tr("Refined link %1->%2 (%3/%4)").arg(from).arg(to).arg(i+1).arg(neighborLinks_.size()));
progressDialog.incrementStep();
QApplication::processEvents();
}
Updated version to 0.8.0
2014-12-14 16:42:10 -05:00
this->updateGraphView();
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
progressDialog.setValue(progressDialog.maximumSteps());
progressDialog.appendText("Refining links finished!");
}
}
void DatabaseViewer::refineAllLoopClosureLinks()
{
if(loopLinks_.size())
{
Moved some common include files to public headers folder
2015-08-25 10:32:27 -04:00
rtabmap::ProgressDialog progressDialog(this);
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
progressDialog.setMaximumSteps(loopLinks_.size());
progressDialog.show();
for(int i=0; i<loopLinks_.size(); ++i)
{
int from = loopLinks_[i].from();
int to = loopLinks_[i].to();
Increased database version to 0.8.11 (new Depth.data2d_max_pts column). Updated how local loop closure detection in space is done. Update GraphViewer with local radius ellipse and current goal node color. MainWindow saving/loading figures automatically accordingly to the previous session saved.
2015-05-03 18:16:55 -04:00
this->refineConstraint(loopLinks_[i].from(), loopLinks_[i].to(), true, false);
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
progressDialog.appendText(tr("Refined link %1->%2 (%3/%4)").arg(from).arg(to).arg(i+1).arg(loopLinks_.size()));
progressDialog.incrementStep();
QApplication::processEvents();
}
Updated version to 0.8.0
2014-12-14 16:42:10 -05:00
this->updateGraphView();
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
progressDialog.setValue(progressDialog.maximumSteps());
progressDialog.appendText("Refining links finished!");
}
}
DatabaseViewer: added action refine links visually
2014-11-03 19:14:02 +00:00
void DatabaseViewer::refineVisuallyAllNeighborLinks()
{
if(neighborLinks_.size())
{
Moved some common include files to public headers folder
2015-08-25 10:32:27 -04:00
rtabmap::ProgressDialog progressDialog(this);
DatabaseViewer: added action refine links visually
2014-11-03 19:14:02 +00:00
progressDialog.setMaximumSteps(neighborLinks_.size());
progressDialog.show();
for(int i=0; i<neighborLinks_.size(); ++i)
{
int from = neighborLinks_[i].from();
int to = neighborLinks_[i].to();
Increased database version to 0.8.11 (new Depth.data2d_max_pts column). Updated how local loop closure detection in space is done. Update GraphViewer with local radius ellipse and current goal node color. MainWindow saving/loading figures automatically accordingly to the previous session saved.
2015-05-03 18:16:55 -04:00
this->refineConstraintVisually(neighborLinks_[i].from(), neighborLinks_[i].to(), true, false);
DatabaseViewer: added action refine links visually
2014-11-03 19:14:02 +00:00
progressDialog.appendText(tr("Refined link %1->%2 (%3/%4)").arg(from).arg(to).arg(i+1).arg(neighborLinks_.size()));
progressDialog.incrementStep();
QApplication::processEvents();
}
Updated version to 0.8.0
2014-12-14 16:42:10 -05:00
this->updateGraphView();
DatabaseViewer: added action refine links visually
2014-11-03 19:14:02 +00:00
progressDialog.setValue(progressDialog.maximumSteps());
progressDialog.appendText("Refining links finished!");
}
}
void DatabaseViewer::refineVisuallyAllLoopClosureLinks()
{
if(loopLinks_.size())
{
Moved some common include files to public headers folder
2015-08-25 10:32:27 -04:00
rtabmap::ProgressDialog progressDialog(this);
DatabaseViewer: added action refine links visually
2014-11-03 19:14:02 +00:00
progressDialog.setMaximumSteps(loopLinks_.size());
progressDialog.show();
for(int i=0; i<loopLinks_.size(); ++i)
{
int from = loopLinks_[i].from();
int to = loopLinks_[i].to();
Increased database version to 0.8.11 (new Depth.data2d_max_pts column). Updated how local loop closure detection in space is done. Update GraphViewer with local radius ellipse and current goal node color. MainWindow saving/loading figures automatically accordingly to the previous session saved.
2015-05-03 18:16:55 -04:00
this->refineConstraintVisually(loopLinks_[i].from(), loopLinks_[i].to(), true, false);
DatabaseViewer: added action refine links visually
2014-11-03 19:14:02 +00:00
progressDialog.appendText(tr("Refined link %1->%2 (%3/%4)").arg(from).arg(to).arg(i+1).arg(loopLinks_.size()));
progressDialog.incrementStep();
QApplication::processEvents();
}
Updated version to 0.8.0
2014-12-14 16:42:10 -05:00
this->updateGraphView();
DatabaseViewer: added action refine links visually
2014-11-03 19:14:02 +00:00
progressDialog.setValue(progressDialog.maximumSteps());
progressDialog.appendText("Refining links finished!");
}
}
Added notification message box when a global path is computed. Refactoring occupancy grid.
2015-05-05 17:38:38 -04:00
void DatabaseViewer::resetAllChanges()
{
linksAdded_.clear();
linksRefined_.clear();
linksRemoved_.clear();
DatabaseViewer: added regeneration of occupancy grids action and saving back to database on close
2016-08-25 23:47:01 -04:00
generatedLocalMaps_.clear();
generatedLocalMapsInfo_.clear();
Added notification message box when a global path is computed. Refactoring occupancy grid.
2015-05-05 17:38:38 -04:00
updateLoopClosuresSlider();
this->updateGraphView();
}
merged attention branch to trunk
2012-12-11 18:05:05 +00:00
void DatabaseViewer::sliderAValueChanged(int value)
moved rtabmap-ros-pkg project in this project
2011-06-05 14:45:39 +00:00
{
Merged Audio branch to trunk
2012-06-24 17:19:34 +00:00
this->update(value,
ui_->label_indexA,
ui_->label_parentsA,
ui_->label_childrenA,
Database update (version 0.8.5): added Node.stamp and Node.label fields
2015-02-27 15:24:15 -05:00
ui_->label_weightA,
ui_->label_labelA,
ui_->label_stampA,
Merged Audio branch to trunk
2012-06-24 17:19:34 +00:00
ui_->graphicsView_A,
Fixed crash on startup with vtk6+qt5. All cloud viewers in QDockWidget are now created manually instead of being defined in the *.ui files. The generated ui didn't pass the top level parent window to constructor of CloudViewer, which caused a problem when initializing the QVTKWidget.
2016-05-05 18:25:26 -04:00
cloudViewerA_,
Increased database version to 0.8.11 (new Depth.data2d_max_pts column). Updated how local loop closure detection in space is done. Update GraphViewer with local radius ellipse and current goal node color. MainWindow saving/loading figures automatically accordingly to the previous session saved.
2015-05-03 18:16:55 -04:00
ui_->label_idA,
ui_->label_mapA,
Added pose label in databaseViewer
2015-05-20 18:07:10 -04:00
ui_->label_poseA,
DbViewer: Added calibration info
2016-04-07 12:15:58 -04:00
ui_->label_calibA,
Increased database version to 0.8.11 (new Depth.data2d_max_pts column). Updated how local loop closure detection in space is done. Update GraphViewer with local radius ellipse and current goal node color. MainWindow saving/loading figures automatically accordingly to the previous session saved.
2015-05-03 18:16:55 -04:00
true);
moved rtabmap-ros-pkg project in this project
2011-06-05 14:45:39 +00:00
}
merged attention branch to trunk
2012-12-11 18:05:05 +00:00
void DatabaseViewer::sliderBValueChanged(int value)
moved rtabmap-ros-pkg project in this project
2011-06-05 14:45:39 +00:00
{
Merged Audio branch to trunk
2012-06-24 17:19:34 +00:00
this->update(value,
ui_->label_indexB,
ui_->label_parentsB,
ui_->label_childrenB,
Database update (version 0.8.5): added Node.stamp and Node.label fields
2015-02-27 15:24:15 -05:00
ui_->label_weightB,
ui_->label_labelB,
ui_->label_stampB,
Merged Audio branch to trunk
2012-06-24 17:19:34 +00:00
ui_->graphicsView_B,
Fixed crash on startup with vtk6+qt5. All cloud viewers in QDockWidget are now created manually instead of being defined in the *.ui files. The generated ui didn't pass the top level parent window to constructor of CloudViewer, which caused a problem when initializing the QVTKWidget.
2016-05-05 18:25:26 -04:00
cloudViewerB_,
Increased database version to 0.8.11 (new Depth.data2d_max_pts column). Updated how local loop closure detection in space is done. Update GraphViewer with local radius ellipse and current goal node color. MainWindow saving/loading figures automatically accordingly to the previous session saved.
2015-05-03 18:16:55 -04:00
ui_->label_idB,
ui_->label_mapB,
Added pose label in databaseViewer
2015-05-20 18:07:10 -04:00
ui_->label_poseB,
DbViewer: Added calibration info
2016-04-07 12:15:58 -04:00
ui_->label_calibB,
Increased database version to 0.8.11 (new Depth.data2d_max_pts column). Updated how local loop closure detection in space is done. Update GraphViewer with local radius ellipse and current goal node color. MainWindow saving/loading figures automatically accordingly to the previous session saved.
2015-05-03 18:16:55 -04:00
true);
Merged Audio branch to trunk
2012-06-24 17:19:34 +00:00
}
merged attention branch to trunk
2012-12-11 18:05:05 +00:00
void DatabaseViewer::update(int value,
Merged Audio branch to trunk
2012-06-24 17:19:34 +00:00
QLabel * labelIndex,
QLabel * labelParents,
QLabel * labelChildren,
Database update (version 0.8.5): added Node.stamp and Node.label fields
2015-02-27 15:24:15 -05:00
QLabel * weight,
QLabel * label,
QLabel * stamp,
Merged pcl_integration branch to trunk
2013-12-11 00:12:44 +00:00
rtabmap::ImageView * view,
DatabaseViewer: Saving/loading settings, added 3D view, added Grid from 3d projection parameter
2015-03-04 17:27:44 -05:00
rtabmap::CloudViewer * view3D,
databaseViewer: updated default ICP parameters, and optimized view of the constraints while refining
2014-10-14 21:06:30 +00:00
QLabel * labelId,
Increased database version to 0.8.11 (new Depth.data2d_max_pts column). Updated how local loop closure detection in space is done. Update GraphViewer with local radius ellipse and current goal node color. MainWindow saving/loading figures automatically accordingly to the previous session saved.
2015-05-03 18:16:55 -04:00
QLabel * labelMapId,
Added pose label in databaseViewer
2015-05-20 18:07:10 -04:00
QLabel * labelPose,
DbViewer: Added calibration info
2016-04-07 12:15:58 -04:00
QLabel * labelCalib,
databaseViewer: updated default ICP parameters, and optimized view of the constraints while refining
2014-10-14 21:06:30 +00:00
bool updateConstraintView)
Merged Audio branch to trunk
2012-06-24 17:19:34 +00:00
{
UTimer timer;
labelIndex->setText(QString::number(value));
labelParents->clear();
labelChildren->clear();
Database update (version 0.8.5): added Node.stamp and Node.label fields
2015-02-27 15:24:15 -05:00
weight->clear();
label->clear();
Increased database version to 0.8.11 (new Depth.data2d_max_pts column). Updated how local loop closure detection in space is done. Update GraphViewer with local radius ellipse and current goal node color. MainWindow saving/loading figures automatically accordingly to the previous session saved.
2015-05-03 18:16:55 -04:00
labelMapId->clear();
Added pose label in databaseViewer
2015-05-20 18:07:10 -04:00
labelPose->clear();
Database update (version 0.8.5): added Node.stamp and Node.label fields
2015-02-27 15:24:15 -05:00
stamp->clear();
DbViewer: Added calibration info
2016-04-07 12:15:58 -04:00
labelCalib->clear();
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
QRectF rect;
moved rtabmap-ros-pkg project in this project
2011-06-05 14:45:39 +00:00
if(value >= 0 && value < ids_.size())
{
Merged pcl_integration branch to trunk
2013-12-11 00:12:44 +00:00
view->clear();
moved rtabmap-ros-pkg project in this project
2011-06-05 14:45:39 +00:00
int id = ids_.at(value);
DbViewer: added mapId
2014-07-14 19:16:26 +00:00
int mapId = -1;
Merged Audio branch to trunk
2012-06-24 17:19:34 +00:00
labelId->setText(QString::number(id));
moved rtabmap-ros-pkg project in this project
2011-06-05 14:45:39 +00:00
if(id>0)
{
MERGE branch STM 325:449 into trunk
2012-03-03 01:46:30 +00:00
//image
moved rtabmap-ros-pkg project in this project
2011-06-05 14:45:39 +00:00
QImage img;
Merged pcl_integration branch to trunk
2013-12-11 00:12:44 +00:00
QImage imgDepth;
DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases
2015-10-16 14:54:47 -04:00
if(dbDriver_)
moved rtabmap-ros-pkg project in this project
2011-06-05 14:45:39 +00:00
{
DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases
2015-10-16 14:54:47 -04:00
SensorData data;
dbDriver_->getNodeData(id, data);
data.uncompressData();
Added multi-camera feature
2015-05-29 14:46:48 -04:00
if(!data.imageRaw().empty())
moved rtabmap-ros-pkg project in this project
2011-06-05 14:45:39 +00:00
{
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
img = uCvMat2QImage(ui_->label_indexB==labelIndex?data.imageRaw():data.imageRaw());
moved rtabmap-ros-pkg project in this project
2011-06-05 14:45:39 +00:00
}
Added multi-camera feature
2015-05-29 14:46:48 -04:00
if(!data.depthOrRightRaw().empty())
Merged pcl_integration branch to trunk
2013-12-11 00:12:44 +00:00
{
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
cv::Mat depth =data.depthOrRightRaw();
if(!data.depthRaw().empty())
{
if(ui_->spinBox_mesh_fillDepthHoles->value() > 0)
{
depth = util2d::fillDepthHoles(depth, ui_->spinBox_mesh_fillDepthHoles->value(), float(ui_->spinBox_mesh_depthError->value())/100.0f);
}
}
imgDepth = uCvMat2QImage(depth);
Merged pcl_integration branch to trunk
2013-12-11 00:12:44 +00:00
}
MERGE branch STM 325:449 into trunk
2012-03-03 01:46:30 +00:00
DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases
2015-10-16 14:54:47 -04:00
std::list<int> ids;
ids.push_back(id);
std::list<Signature*> signatures;
dbDriver_->loadSignatures(ids, signatures);
Added multi-camera feature
2015-05-29 14:46:48 -04:00
DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases
2015-10-16 14:54:47 -04:00
if(signatures.size() && signatures.front()!=0 && signatures.front()->getWords().size())
MERGE branch STM 325:449 into trunk
2012-03-03 01:46:30 +00:00
{
DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases
2015-10-16 14:54:47 -04:00
view->setFeatures(signatures.front()->getWords(), data.depthOrRightRaw().type() == CV_8UC1?cv::Mat():data.depthOrRightRaw(), Qt::yellow);
MERGE branch STM 325:449 into trunk
2012-03-03 01:46:30 +00:00
}
DbViewer: added mapId
2014-07-14 19:16:26 +00:00
0.11.1: Added "ground_truth_pose" field to database in Node table. MainWindow: alignment of the map to ground truth (if ground truth is present).
2016-01-07 19:39:21 -05:00
Transform odomPose, g;
Added Memory::getAllLabels(), added labels to statistics and added DBDriver::getNodeInfo()
2015-03-06 16:14:09 -05:00
int w;
std::string l;
double s;
0.11.1: Added "ground_truth_pose" field to database in Node table. MainWindow: alignment of the map to ground truth (if ground truth is present).
2016-01-07 19:39:21 -05:00
dbDriver_->getNodeInfo(id, odomPose, mapId, w, l, s, g);
Odometry and stereo: added parameter OdomStereo/MaxSlope to filter bad stereo pair matches from cvOpticalFlow
2014-11-04 18:58:40 +00:00
Added multi-camera feature
2015-05-29 14:46:48 -04:00
weight->setNum(w);
label->setText(l.c_str());
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
float x,y,z,roll,pitch,yaw;
odomPose.getTranslationAndEulerAngles(x,y,z,roll, pitch,yaw);
labelPose->setText(QString("%1xyz=(%2,%3,%4)\nrpy=(%5,%6,%7)").arg(odomPose.isIdentity()?"* ":"").arg(x).arg(y).arg(z).arg(roll).arg(pitch).arg(yaw));
Added multi-camera feature
2015-05-29 14:46:48 -04:00
if(s!=0.0)
Database update (version 0.8.5): added Node.stamp and Node.label fields
2015-02-27 15:24:15 -05:00
{
Added multi-camera feature
2015-05-29 14:46:48 -04:00
stamp->setText(QDateTime::fromMSecsSinceEpoch(s*1000.0).toString("dd.MM.yyyy hh:mm:ss.zzz"));
Database update (version 0.8.5): added Node.stamp and Node.label fields
2015-02-27 15:24:15 -05:00
}
DbViewer: Added calibration info
2016-04-07 12:15:58 -04:00
if(data.cameraModels().size() || data.stereoCameraModel().isValidForProjection())
{
if(data.cameraModels().size())
{
if(!data.depthRaw().empty() && data.depthRaw().cols!=data.imageRaw().cols && data.imageRaw().cols)
{
labelCalib->setText(tr("%1 %2x%3 [%8x%9] fx=%4 fy=%5 cx=%6 cy=%7")
.arg(data.cameraModels().size())
.arg(data.cameraModels()[0].imageWidth()>0?data.cameraModels()[0].imageWidth():data.imageRaw().cols/data.cameraModels().size())
.arg(data.cameraModels()[0].imageHeight()>0?data.cameraModels()[0].imageHeight():data.imageRaw().rows)
.arg(data.cameraModels()[0].fx())
.arg(data.cameraModels()[0].fy())
.arg(data.cameraModels()[0].cx())
.arg(data.cameraModels()[0].cy())
.arg(data.depthRaw().cols/data.cameraModels().size())
.arg(data.depthRaw().rows));
}
else
{
labelCalib->setText(tr("%1 %2x%3 fx=%4 fy=%5 cx=%6 cy=%7")
.arg(data.cameraModels().size())
.arg(data.cameraModels()[0].imageWidth()>0?data.cameraModels()[0].imageWidth():data.imageRaw().cols/data.cameraModels().size())
.arg(data.cameraModels()[0].imageHeight()>0?data.cameraModels()[0].imageHeight():data.imageRaw().rows)
.arg(data.cameraModels()[0].fx())
.arg(data.cameraModels()[0].fy())
.arg(data.cameraModels()[0].cx())
.arg(data.cameraModels()[0].cy()));
}
}
else
{
//stereo
labelCalib->setText(tr("%1x%2 fx=%3 fy=%4 cx=%5 cy=%6 baseline=%7m")
.arg(data.stereoCameraModel().left().imageWidth()>0?data.stereoCameraModel().left().imageWidth():data.imageRaw().cols)
.arg(data.stereoCameraModel().left().imageHeight()>0?data.stereoCameraModel().left().imageHeight():data.imageRaw().rows)
.arg(data.stereoCameraModel().left().fx())
.arg(data.stereoCameraModel().left().fy())
.arg(data.stereoCameraModel().left().cx())
.arg(data.stereoCameraModel().left().cy())
.arg(data.stereoCameraModel().baseline()));
}
}
else
{
labelCalib->setText("NA");
}
Database update (version 0.8.5): added Node.stamp and Node.label fields
2015-02-27 15:24:15 -05:00
Odometry and stereo: added parameter OdomStereo/MaxSlope to filter bad stereo pair matches from cvOpticalFlow
2014-11-04 18:58:40 +00:00
//stereo
Added multi-camera feature
2015-05-29 14:46:48 -04:00
if(!data.depthOrRightRaw().empty() && data.depthOrRightRaw().type() == CV_8UC1)
Odometry and stereo: added parameter OdomStereo/MaxSlope to filter bad stereo pair matches from cvOpticalFlow
2014-11-04 18:58:40 +00:00
{
this->updateStereo(&data);
}
Refactored OdometryOpticalFlow (added optical flow guess using previous odometry transform, merged stereo/depth stuff)
2015-06-15 14:44:44 -04:00
else
{
Fixed crash on startup with vtk6+qt5. All cloud viewers in QDockWidget are now created manually instead of being defined in the *.ui files. The generated ui didn't pass the top level parent window to constructor of CloudViewer, which caused a problem when initializing the QVTKWidget.
2016-05-05 18:25:26 -04:00
stereoViewer_->clear();
Refactored OdometryOpticalFlow (added optical flow guess using previous odometry transform, merged stereo/depth stuff)
2015-06-15 14:44:44 -04:00
ui_->graphicsView_stereo->clear();
}
DatabaseViewer: Saving/loading settings, added 3D view, added Grid from 3d projection parameter
2015-03-04 17:27:44 -05:00
// 3d view
Added min polygon cluster size option (DbViewer and GUI export)
2016-09-03 18:59:43 -04:00
if(view3D->isVisible())
DatabaseViewer: Saving/loading settings, added 3D view, added Grid from 3d projection parameter
2015-03-04 17:27:44 -05:00
{
OccupancyGrid: added Grid/Footprint*** parameters, templated segmentCloud() function, added Grid/ClusterRadius parameter. Parameters: fixed getDefaultParameters(group) function to correctly compare groups.
2016-08-30 18:22:29 -04:00
Transform pose = Transform::getIdentity();
if(signatures.size())
{
float x, y, z, roll, pitch, yaw;
(*signatures.begin())->getPose().getTranslationAndEulerAngles(x, y, z, roll, pitch, yaw);
pose = Transform(0,0,z,roll,pitch,0);
}
DatabaseViewer: cloud in 3D view is now in base frame instead of camera frame
2016-08-05 15:30:38 -04:00
view3D->removeAllFrustums();
Added min polygon cluster size option (DbViewer and GUI export)
2016-09-03 18:59:43 -04:00
view3D->removeCloud("mesh");
view3D->removeCloud("cloud");
view3D->removeCloud("scan");
DatabaseViewer: added occupancy grid to 3D view
2016-08-26 13:02:00 -04:00
view3D->removeCloud("map");
cloudFromDepth(): fixed roi ratios not used if one value was null. DbViewer: Added occupancy grid clouds to 3d views, add action to regenerate occupancy grids only for the current selected ids.
2016-08-30 21:15:55 -04:00
view3D->removeCloud("ground");
view3D->removeCloud("obstacles");
Added min polygon cluster size option (DbViewer and GUI export)
2016-09-03 18:59:43 -04:00
if(ui_->checkBox_showCloud->isChecked() || ui_->checkBox_showMesh->isChecked())
DatabaseViewer: Saving/loading settings, added 3D view, added Grid from 3d projection parameter
2015-03-04 17:27:44 -05:00
{
Added min polygon cluster size option (DbViewer and GUI export)
2016-09-03 18:59:43 -04:00
if(!data.depthOrRightRaw().empty())
Update version 0.10.11:
2015-10-24 17:03:44 -04:00
{
Added min polygon cluster size option (DbViewer and GUI export)
2016-09-03 18:59:43 -04:00
if(!data.imageRaw().empty())
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
{
Added min polygon cluster size option (DbViewer and GUI export)
2016-09-03 18:59:43 -04:00
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
if(!data.depthRaw().empty() && data.cameraModels().size()==1)
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
{
Added min polygon cluster size option (DbViewer and GUI export)
2016-09-03 18:59:43 -04:00
cv::Mat depth = data.depthRaw();
if(ui_->spinBox_mesh_fillDepthHoles->value() > 0)
{
depth = util2d::fillDepthHoles(depth, ui_->spinBox_mesh_fillDepthHoles->value(), float(ui_->spinBox_mesh_depthError->value())/100.0f);
}
cloud = util3d::cloudFromDepthRGB(
data.imageRaw(),
depth,
data.cameraModels()[0]);
if(cloud->size())
{
cloud = util3d::transformPointCloud(cloud, data.cameraModels()[0].localTransform());
}
DatabaseViewer: cloud in 3D view is now in base frame instead of camera frame
2016-08-05 15:30:38 -04:00
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
}
else
{
Added min polygon cluster size option (DbViewer and GUI export)
2016-09-03 18:59:43 -04:00
cloud = util3d::cloudRGBFromSensorData(data, 1, 0, 0, 0, ui_->parameters_toolbox->getParameters());
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
}
Added min polygon cluster size option (DbViewer and GUI export)
2016-09-03 18:59:43 -04:00
if(cloud->size())
{
if(ui_->checkBox_showMesh->isChecked() && !cloud->is_dense)
{
Eigen::Vector3f viewpoint(0.0f,0.0f,0.0f);
if(data.cameraModels().size() && !data.cameraModels()[0].localTransform().isNull())
{
viewpoint[0] = data.cameraModels()[0].localTransform().x();
viewpoint[1] = data.cameraModels()[0].localTransform().y();
viewpoint[2] = data.cameraModels()[0].localTransform().z();
}
else if(!data.stereoCameraModel().localTransform().isNull())
{
viewpoint[0] = data.stereoCameraModel().localTransform().x();
viewpoint[1] = data.stereoCameraModel().localTransform().y();
viewpoint[2] = data.stereoCameraModel().localTransform().z();
}
std::vector<pcl::Vertices> polygons = util3d::organizedFastMesh(
cloud,
float(ui_->spinBox_mesh_angleTolerance->value())*M_PI/180.0f,
ui_->checkBox_mesh_quad->isChecked(),
ui_->spinBox_mesh_triangleSize->value(),
viewpoint);
if(ui_->spinBox_mesh_minClusterSize->value())
{
// filter polygons
std::vector<std::set<int> > neighbors;
std::vector<std::set<int> > vertexToPolygons;
util3d::createPolygonIndexes(polygons,
cloud->size(),
neighbors,
vertexToPolygons);
std::list<std::list<int> > clusters = util3d::clusterPolygons(
neighbors,
ui_->spinBox_mesh_minClusterSize->value());
std::vector<pcl::Vertices> filteredPolygons(polygons.size());
int oi=0;
for(std::list<std::list<int> >::iterator iter=clusters.begin(); iter!=clusters.end(); ++iter)
{
for(std::list<int>::iterator jter=iter->begin(); jter!=iter->end(); ++jter)
{
filteredPolygons[oi++] = polygons.at(*jter);
}
}
filteredPolygons.resize(oi);
polygons = filteredPolygons;
}
view3D->addCloudMesh("mesh", cloud, polygons, pose);
}
if(ui_->checkBox_showCloud->isChecked())
{
view3D->addCloud("cloud", cloud, pose);
}
}
view3D->updateCameraFrustums(pose, data.cameraModels());
Update version 0.10.11:
2015-10-24 17:03:44 -04:00
}
Added min polygon cluster size option (DbViewer and GUI export)
2016-09-03 18:59:43 -04:00
else if(ui_->checkBox_showCloud->isChecked())
Update version 0.10.11:
2015-10-24 17:03:44 -04:00
{
Added min polygon cluster size option (DbViewer and GUI export)
2016-09-03 18:59:43 -04:00
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud;
cloud = util3d::cloudFromSensorData(data, 1, 0, 0, 0, ui_->parameters_toolbox->getParameters());
if(cloud->size())
{
view3D->addCloud("cloud", cloud, pose);
view3D->updateCameraFrustum(pose, data.stereoCameraModel());
}
Update version 0.10.11:
2015-10-24 17:03:44 -04:00
}
}
DatabaseViewer: Saving/loading settings, added 3D view, added Grid from 3d projection parameter
2015-03-04 17:27:44 -05:00
}
Updated version to 0.8.11. Added param RGBD/LocalLoopDetectionPathOdomPosesUsed. DatabaseViewer: export option at a specified framerate. DBReader: option to read database at a rate specified by the stamps saved. Database: Added new column "data2d_max_pts" in Depth table
2015-05-01 07:30:09 -04:00
//add scan
DatabaseViewer: showing normals if scans have 6 channels
2016-09-07 17:14:09 -04:00
if(ui_->checkBox_showScan->isChecked() && data.laserScanRaw().cols)
Added multi-camera feature
2015-05-29 14:46:48 -04:00
{
DatabaseViewer: showing normals if scans have 6 channels
2016-09-07 17:14:09 -04:00
if(data.laserScanRaw().channels() == 6)
Added min polygon cluster size option (DbViewer and GUI export)
2016-09-03 18:59:43 -04:00
{
DatabaseViewer: showing normals if scans have 6 channels
2016-09-07 17:14:09 -04:00
pcl::PointCloud<pcl::PointNormal>::Ptr scan = util3d::laserScanToPointCloudNormal(data.laserScanRaw(), data.laserScanInfo().localTransform());
view3D->addCloud("scan", scan, pose, Qt::yellow);
}
else
{
pcl::PointCloud<pcl::PointXYZ>::Ptr scan = util3d::laserScanToPointCloud(data.laserScanRaw(), data.laserScanInfo().localTransform());
Added min polygon cluster size option (DbViewer and GUI export)
2016-09-03 18:59:43 -04:00
view3D->addCloud("scan", scan, pose, Qt::yellow);
}
Added multi-camera feature
2015-05-29 14:46:48 -04:00
}
Updated version to 0.8.11. Added param RGBD/LocalLoopDetectionPathOdomPosesUsed. DatabaseViewer: export option at a specified framerate. DBReader: option to read database at a rate specified by the stamps saved. Database: Added new column "data2d_max_pts" in Depth table
2015-05-01 07:30:09 -04:00
DatabaseViewer: added occupancy grid to 3D view
2016-08-26 13:02:00 -04:00
//add occupancy grid
Added min polygon cluster size option (DbViewer and GUI export)
2016-09-03 18:59:43 -04:00
if(ui_->checkBox_showMap->isChecked() || ui_->checkBox_showGrid->isChecked())
DatabaseViewer: added occupancy grid to 3D view
2016-08-26 13:02:00 -04:00
{
Added min polygon cluster size option (DbViewer and GUI export)
2016-09-03 18:59:43 -04:00
std::map<int, std::pair<cv::Mat, cv::Mat> > localMaps;
if(generatedLocalMaps_.find(data.id()) != generatedLocalMaps_.end())
DatabaseViewer: added occupancy grid to 3D view
2016-08-26 13:02:00 -04:00
{
Added min polygon cluster size option (DbViewer and GUI export)
2016-09-03 18:59:43 -04:00
localMaps.insert(*generatedLocalMaps_.find(data.id()));
DatabaseViewer: added occupancy grid to 3D view
2016-08-26 13:02:00 -04:00
}
Added min polygon cluster size option (DbViewer and GUI export)
2016-09-03 18:59:43 -04:00
else if(!data.gridGroundCellsRaw().empty() && !data.gridObstacleCellsRaw().empty())
{
localMaps.insert(std::make_pair(data.id(), std::make_pair(data.gridGroundCellsRaw(), data.gridObstacleCellsRaw())));
}
if(!localMaps.empty())
{
std::map<int, Transform> poses;
poses.insert(std::make_pair(data.id(), Transform::getIdentity()));
cloudFromDepth(): fixed roi ratios not used if one value was null. DbViewer: Added occupancy grid clouds to 3d views, add action to regenerate occupancy grids only for the current selected ids.
2016-08-30 21:15:55 -04:00
Added min polygon cluster size option (DbViewer and GUI export)
2016-09-03 18:59:43 -04:00
if(ui_->checkBox_showMap->isChecked())
{
float xMin=0.0f, yMin=0.0f;
cv::Mat map8S = util3d::create2DMapFromOccupancyLocalMaps(
poses,
localMaps,
ui_->doubleSpinBox_gridCellSize->value(),
xMin, yMin);
if(!map8S.empty())
{
//convert to gray scaled map
cv::Mat map8U = util3d::convertMap2Image8U(map8S);
view3D->addOccupancyGridMap(map8U, ui_->doubleSpinBox_gridCellSize->value(), xMin, yMin, 1);
}
}
if(ui_->checkBox_showGrid->isChecked())
{
// occupancy cloud
view3D->addCloud("ground",
util3d::laserScanToPointCloud(localMaps.begin()->second.first),
Transform::getIdentity(),
Qt::green);
view3D->addCloud("obstacles",
util3d::laserScanToPointCloud(localMaps.begin()->second.second),
Transform::getIdentity(),
Qt::red);
view3D->setCloudPointSize("ground", 5);
view3D->setCloudPointSize("obstacles", 5);
}
}
DatabaseViewer: added occupancy grid to 3D view
2016-08-26 13:02:00 -04:00
}
DatabaseViewer: Saving/loading settings, added 3D view, added Grid from 3d projection parameter
2015-03-04 17:27:44 -05:00
view3D->update();
}
Added min polygon cluster size option (DbViewer and GUI export)
2016-09-03 18:59:43 -04:00
OccupancyGrid: added Grid/Footprint*** parameters, templated segmentCloud() function, added Grid/ClusterRadius parameter. Parameters: fixed getDefaultParameters(group) function to correctly compare groups.
2016-08-30 18:22:29 -04:00
if(signatures.size())
{
UASSERT(signatures.front() != 0 && signatures.size() == 1);
delete signatures.front();
signatures.clear();
}
moved rtabmap-ros-pkg project in this project
2011-06-05 14:45:39 +00:00
}
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
if(!img.isNull())
{
view->setImage(img);
rect = img.rect();
}
else
{
ULOGGER_DEBUG("Image is empty");
}
MERGE branch STM 325:449 into trunk
2012-03-03 01:46:30 +00:00
Fixed cloudFromDepth() method when depth image is not the same size as the calibration file. That fixes projection map created from Tango databases (where depth size != rgb size)
2016-07-08 12:47:23 -04:00
if(!imgDepth.isNull())
{
view->setImageDepth(imgDepth);
cloudFromDepthRGB() iterating over depth image size instead of RGB image size. DbViewer: fixed scale of image view when depth is smaller than rgb.
2016-09-01 16:42:34 -04:00
if(img.isNull())
Fixed cloudFromDepth() method when depth image is not the same size as the calibration file. That fixes projection map created from Tango databases (where depth size != rgb size)
2016-07-08 12:47:23 -04:00
{
rect = imgDepth.rect();
}
}
else
{
ULOGGER_DEBUG("Image depth is empty");
}
MERGE branch STM 325:449 into trunk
2012-03-03 01:46:30 +00:00
// loops
DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases
2015-10-16 14:54:47 -04:00
std::map<int, rtabmap::Link> links;
dbDriver_->loadLinks(id, links);
if(links.size())
MERGE branch STM 325:449 into trunk
2012-03-03 01:46:30 +00:00
{
Updated version to 0.8.0
2014-12-14 16:42:10 -05:00
QString strParents, strChildren;
DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases
2015-10-16 14:54:47 -04:00
for(std::map<int, rtabmap::Link>::iterator iter=links.begin(); iter!=links.end(); ++iter)
MERGE branch STM 325:449 into trunk
2012-03-03 01:46:30 +00:00
{
Update version 0.10.11:
2015-10-24 17:03:44 -04:00
if(iter->second.type() != Link::kNeighbor &&
iter->second.type() != Link::kNeighborMerged)
Updated version to 0.8.0
2014-12-14 16:42:10 -05:00
{
DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases
2015-10-16 14:54:47 -04:00
if(iter->first < id)
{
strChildren.append(QString("%1 ").arg(iter->first));
}
else
{
strParents.append(QString("%1 ").arg(iter->first));
}
Updated version to 0.8.0
2014-12-14 16:42:10 -05:00
}
MERGE branch STM 325:449 into trunk
2012-03-03 01:46:30 +00:00
}
Updated version to 0.8.0
2014-12-14 16:42:10 -05:00
labelParents->setText(strParents);
labelChildren->setText(strChildren);
MERGE branch STM 325:449 into trunk
2012-03-03 01:46:30 +00:00
}
moved rtabmap-ros-pkg project in this project
2011-06-05 14:45:39 +00:00
}
DbViewer: added mapId
2014-07-14 19:16:26 +00:00
if(mapId>=0)
{
Increased database version to 0.8.11 (new Depth.data2d_max_pts column). Updated how local loop closure detection in space is done. Update GraphViewer with local radius ellipse and current goal node color. MainWindow saving/loading figures automatically accordingly to the previous session saved.
2015-05-03 18:16:55 -04:00
labelMapId->setText(QString::number(mapId));
DbViewer: added mapId
2014-07-14 19:16:26 +00:00
}
moved rtabmap-ros-pkg project in this project
2011-06-05 14:45:39 +00:00
}
else
{
ULOGGER_ERROR("Slider index out of range ?");
}
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
updateConstraintButtons();
updateWordsMatching();
CloudViewer: Added addOrUpdateCoordinate() method (working only with PCL >= 1.7.2)
2015-07-24 16:29:45 -04:00
if(updateConstraintView && ui_->dockWidget_constraints->isVisible())
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
{
databaseViewer: updated default ICP parameters, and optimized view of the constraints while refining
2014-10-14 21:06:30 +00:00
// update constraint view
int from = ids_.at(ui_->horizontalSlider_A->value());
int to = ids_.at(ui_->horizontalSlider_B->value());
bool set = false;
for(int i=0; i<loopLinks_.size() || i<neighborLinks_.size(); ++i)
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
{
databaseViewer: updated default ICP parameters, and optimized view of the constraints while refining
2014-10-14 21:06:30 +00:00
if(i < loopLinks_.size())
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
{
databaseViewer: updated default ICP parameters, and optimized view of the constraints while refining
2014-10-14 21:06:30 +00:00
if((loopLinks_[i].from() == from && loopLinks_[i].to() == to) ||
(loopLinks_[i].from() == to && loopLinks_[i].to() == from))
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
{
databaseViewer: updated default ICP parameters, and optimized view of the constraints while refining
2014-10-14 21:06:30 +00:00
if(i != ui_->horizontalSlider_loops->value())
{
DatabaseViewer: fixed update of constraintView when moving the image sliders.
2014-11-17 22:31:04 +00:00
ui_->horizontalSlider_loops->blockSignals(true);
databaseViewer: updated default ICP parameters, and optimized view of the constraints while refining
2014-10-14 21:06:30 +00:00
ui_->horizontalSlider_loops->setValue(i);
DatabaseViewer: fixed update of constraintView when moving the image sliders.
2014-11-17 22:31:04 +00:00
ui_->horizontalSlider_loops->blockSignals(false);
CloudViewer: Added addOrUpdateCoordinate() method (working only with PCL >= 1.7.2)
2015-07-24 16:29:45 -04:00
this->updateConstraintView(loopLinks_[i].from() == from?loopLinks_.at(i):loopLinks_.at(i).inverse(), false);
databaseViewer: updated default ICP parameters, and optimized view of the constraints while refining
2014-10-14 21:06:30 +00:00
}
ui_->horizontalSlider_neighbors->blockSignals(true);
ui_->horizontalSlider_neighbors->setValue(0);
ui_->horizontalSlider_neighbors->blockSignals(false);
set = true;
break;
}
}
if(i < neighborLinks_.size())
{
if((neighborLinks_[i].from() == from && neighborLinks_[i].to() == to) ||
(neighborLinks_[i].from() == to && neighborLinks_[i].to() == from))
{
if(i != ui_->horizontalSlider_neighbors->value())
{
DatabaseViewer: fixed update of constraintView when moving the image sliders.
2014-11-17 22:31:04 +00:00
ui_->horizontalSlider_neighbors->blockSignals(true);
databaseViewer: updated default ICP parameters, and optimized view of the constraints while refining
2014-10-14 21:06:30 +00:00
ui_->horizontalSlider_neighbors->setValue(i);
DatabaseViewer: fixed update of constraintView when moving the image sliders.
2014-11-17 22:31:04 +00:00
ui_->horizontalSlider_neighbors->blockSignals(false);
CloudViewer: Added addOrUpdateCoordinate() method (working only with PCL >= 1.7.2)
2015-07-24 16:29:45 -04:00
this->updateConstraintView(neighborLinks_[i].from() == from?neighborLinks_.at(i):neighborLinks_.at(i).inverse(), false);
databaseViewer: updated default ICP parameters, and optimized view of the constraints while refining
2014-10-14 21:06:30 +00:00
}
ui_->horizontalSlider_loops->blockSignals(true);
ui_->horizontalSlider_loops->setValue(0);
ui_->horizontalSlider_loops->blockSignals(false);
set = true;
break;
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
}
}
}
databaseViewer: updated default ICP parameters, and optimized view of the constraints while refining
2014-10-14 21:06:30 +00:00
if(!set)
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
{
databaseViewer: updated default ICP parameters, and optimized view of the constraints while refining
2014-10-14 21:06:30 +00:00
ui_->horizontalSlider_loops->blockSignals(true);
ui_->horizontalSlider_neighbors->blockSignals(true);
ui_->horizontalSlider_loops->setValue(0);
ui_->horizontalSlider_neighbors->setValue(0);
ui_->horizontalSlider_loops->blockSignals(false);
ui_->horizontalSlider_neighbors->blockSignals(false);
CloudViewer: Added addOrUpdateCoordinate() method (working only with PCL >= 1.7.2)
2015-07-24 16:29:45 -04:00
Fixed crash on startup with vtk6+qt5. All cloud viewers in QDockWidget are now created manually instead of being defined in the *.ui files. The generated ui didn't pass the top level parent window to constructor of CloudViewer, which caused a problem when initializing the QVTKWidget.
2016-05-05 18:25:26 -04:00
constraintsViewer_->removeAllClouds();
CloudViewer: Added addOrUpdateCoordinate() method (working only with PCL >= 1.7.2)
2015-07-24 16:29:45 -04:00
// make a fake link using globally optimized poses
if(graphes_.size())
{
std::map<int, Transform> optimizedPoses = uValueAt(graphes_, ui_->horizontalSlider_iterations->value());
if(optimizedPoses.size() > 0)
{
std::map<int, Transform>::iterator fromIter = optimizedPoses.find(from);
std::map<int, Transform>::iterator toIter = optimizedPoses.find(to);
if(fromIter != optimizedPoses.end() &&
toIter != optimizedPoses.end())
{
Link link(from, to, Link::kUndef, fromIter->second.inverse() * toIter->second);
this->updateConstraintView(link, false);
}
}
}
Fixed crash on startup with vtk6+qt5. All cloud viewers in QDockWidget are now created manually instead of being defined in the *.ui files. The generated ui didn't pass the top level parent window to constructor of CloudViewer, which caused a problem when initializing the QVTKWidget.
2016-05-05 18:25:26 -04:00
constraintsViewer_->update();
CloudViewer: Added addOrUpdateCoordinate() method (working only with PCL >= 1.7.2)
2015-07-24 16:29:45 -04:00
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
}
}
if(rect.isValid())
{
view->setSceneRect(rect);
}
}
Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used
2015-11-22 18:08:32 -05:00
void DatabaseViewer::updateLoggerLevel()
{
if(this->parent() == 0)
{
ULogger::setLevel((ULogger::Level)ui_->comboBox_logger_level->currentIndex());
}
}
Fixed crash on startup with vtk6+qt5. All cloud viewers in QDockWidget are now created manually instead of being defined in the *.ui files. The generated ui didn't pass the top level parent window to constructor of CloudViewer, which caused a problem when initializing the QVTKWidget.
2016-05-05 18:25:26 -04:00
Refactored OdometryOpticalFlow (added optical flow guess using previous odometry transform, merged stereo/depth stuff)
2015-06-15 14:44:44 -04:00
void DatabaseViewer::updateStereo()
{
if(ui_->horizontalSlider_A->maximum())
{
int id = ids_.at(ui_->horizontalSlider_A->value());
DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases
2015-10-16 14:54:47 -04:00
SensorData data;
dbDriver_->getNodeData(id, data);
data.uncompressData();
Refactored OdometryOpticalFlow (added optical flow guess using previous odometry transform, merged stereo/depth stuff)
2015-06-15 14:44:44 -04:00
updateStereo(&data);
}
}
Fixed crash on startup with vtk6+qt5. All cloud viewers in QDockWidget are now created manually instead of being defined in the *.ui files. The generated ui didn't pass the top level parent window to constructor of CloudViewer, which caused a problem when initializing the QVTKWidget.
2016-05-05 18:25:26 -04:00
void DatabaseViewer::updateStereo(const SensorData * data)
Odometry and stereo: added parameter OdomStereo/MaxSlope to filter bad stereo pair matches from cvOpticalFlow
2014-11-04 18:58:40 +00:00
{
Added multi-camera feature
2015-05-29 14:46:48 -04:00
if(data &&
ui_->dockWidget_stereoView->isVisible() &&
!data->imageRaw().empty() &&
!data->depthOrRightRaw().empty() &&
data->depthOrRightRaw().type() == CV_8UC1 &&
Changed CameraModel::isValid() to CameraModel::isValidForProjection() for clarity (in contrast to CameraModel::isValidForRectification())
2016-01-19 21:01:56 -05:00
data->stereoCameraModel().isValidForProjection())
Odometry and stereo: added parameter OdomStereo/MaxSlope to filter bad stereo pair matches from cvOpticalFlow
2014-11-04 18:58:40 +00:00
{
cv::Mat leftMono;
Added multi-camera feature
2015-05-29 14:46:48 -04:00
if(data->imageRaw().channels() == 3)
Odometry and stereo: added parameter OdomStereo/MaxSlope to filter bad stereo pair matches from cvOpticalFlow
2014-11-04 18:58:40 +00:00
{
Added multi-camera feature
2015-05-29 14:46:48 -04:00
cv::cvtColor(data->imageRaw(), leftMono, CV_BGR2GRAY);
Odometry and stereo: added parameter OdomStereo/MaxSlope to filter bad stereo pair matches from cvOpticalFlow
2014-11-04 18:58:40 +00:00
}
else
{
Added multi-camera feature
2015-05-29 14:46:48 -04:00
leftMono = data->imageRaw();
Odometry and stereo: added parameter OdomStereo/MaxSlope to filter bad stereo pair matches from cvOpticalFlow
2014-11-04 18:58:40 +00:00
}
UTimer timer;
Refactoring of the cameraStereoImages and cameraRGBDImages classes (now inheriting from CameraImages) for easy setting of laser scan path, timestamps path and ground truth path.
2015-12-17 14:13:19 -05:00
ParametersMap parameters = ui_->parameters_toolbox->getParameters();
bool opticalFlow = uStr2Bool(parameters.at(Parameters::kStereoOpticalFlow()));
Stereo * stereo = 0;
if(opticalFlow)
{
stereo = new StereoOpticalFlow(parameters);
}
else
{
stereo = new Stereo(parameters);
}
Odometry and stereo: added parameter OdomStereo/MaxSlope to filter bad stereo pair matches from cvOpticalFlow
2014-11-04 18:58:40 +00:00
// generate kpts
std::vector<cv::KeyPoint> kpts;
Refactoring: removed some code duplication about transformation estimation and features (2D-3D) extraction.
2015-12-21 17:27:05 -05:00
uInsert(parameters, ParametersPair(Parameters::kKpMaxFeatures(), parameters.at(Parameters::kVisMaxFeatures())));
Stereo: Fixed min/max depth filtering
2016-03-13 16:58:36 -04:00
uInsert(parameters, ParametersPair(Parameters::kKpMinDepth(), parameters.at(Parameters::kVisMinDepth())));
uInsert(parameters, ParametersPair(Parameters::kKpMaxDepth(), parameters.at(Parameters::kVisMaxDepth())));
uInsert(parameters, ParametersPair(Parameters::kKpDetectorStrategy(), parameters.at(Parameters::kVisFeatureType())));
uInsert(parameters, ParametersPair(Parameters::kKpRoiRatios(), parameters.at(Parameters::kVisRoiRatios())));
uInsert(parameters, ParametersPair(Parameters::kKpSubPixEps(), parameters.at(Parameters::kVisSubPixEps())));
uInsert(parameters, ParametersPair(Parameters::kKpSubPixIterations(), parameters.at(Parameters::kVisSubPixIterations())));
uInsert(parameters, ParametersPair(Parameters::kKpSubPixWinSize(), parameters.at(Parameters::kVisSubPixWinSize())));
Refactoring of the cameraStereoImages and cameraRGBDImages classes (now inheriting from CameraImages) for easy setting of laser scan path, timestamps path and ground truth path.
2015-12-17 14:13:19 -05:00
Feature2D * kptDetector = Feature2D::create(parameters);
Refactoring: removed some code duplication about transformation estimation and features (2D-3D) extraction.
2015-12-21 17:27:05 -05:00
kpts = kptDetector->generateKeypoints(leftMono);
Odometry and stereo: added parameter OdomStereo/MaxSlope to filter bad stereo pair matches from cvOpticalFlow
2014-11-04 18:58:40 +00:00
delete kptDetector;
float timeKpt = timer.ticks();
std::vector<cv::Point2f> leftCorners;
cv::KeyPoint::convert(kpts, leftCorners);
Added Stereo and StereoDense base classes (with Stereo->StereoOpticalFlow and StereoDense->StereoBM) to handle easily stereo parameters. Added stereoEval tool to test Stereo/OpticalFlow=false or true. Added StereoBM parameters. Refactoring of the Preferences dialog (tree view order and some titles)
2015-12-11 17:44:15 -05:00
// Find features in the new right image
Odometry and stereo: added parameter OdomStereo/MaxSlope to filter bad stereo pair matches from cvOpticalFlow
2014-11-04 18:58:40 +00:00
std::vector<unsigned char> status;
std::vector<cv::Point2f> rightCorners;
Refactoring of the cameraStereoImages and cameraRGBDImages classes (now inheriting from CameraImages) for easy setting of laser scan path, timestamps path and ground truth path.
2015-12-17 14:13:19 -05:00
rightCorners = stereo->computeCorrespondences(
leftMono,
data->rightRaw(),
leftCorners,
status);
delete stereo;
float timeStereo = timer.ticks();
Odometry and stereo: added parameter OdomStereo/MaxSlope to filter bad stereo pair matches from cvOpticalFlow
2014-11-04 18:58:40 +00:00
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
cloud->resize(kpts.size());
float bad_point = std::numeric_limits<float>::quiet_NaN ();
UASSERT(status.size() == kpts.size());
int oi = 0;
Refactored OdometryOpticalFlow (added optical flow guess using previous odometry transform, merged stereo/depth stuff)
2015-06-15 14:44:44 -04:00
int inliers = 0;
int flowOutliers= 0;
int slopeOutliers= 0;
int negativeDisparityOutliers = 0;
Odometry and stereo: added parameter OdomStereo/MaxSlope to filter bad stereo pair matches from cvOpticalFlow
2014-11-04 18:58:40 +00:00
for(unsigned int i=0; i<status.size(); ++i)
{
Refactoring: removed some code duplication about transformation estimation and features (2D-3D) extraction.
2015-12-21 17:27:05 -05:00
cv::Point3f pt(bad_point, bad_point, bad_point);
Odometry and stereo: added parameter OdomStereo/MaxSlope to filter bad stereo pair matches from cvOpticalFlow
2014-11-04 18:58:40 +00:00
if(status[i])
{
float disparity = leftCorners[i].x - rightCorners[i].x;
if(disparity > 0.0f)
{
Refactoring: removed some code duplication about transformation estimation and features (2D-3D) extraction.
2015-12-21 17:27:05 -05:00
cv::Point3f tmpPt = util3d::projectDisparityTo3D(
Refactoring of the cameraStereoImages and cameraRGBDImages classes (now inheriting from CameraImages) for easy setting of laser scan path, timestamps path and ground truth path.
2015-12-17 14:13:19 -05:00
leftCorners[i],
disparity,
data->stereoCameraModel());
Odometry and stereo: added parameter OdomStereo/MaxSlope to filter bad stereo pair matches from cvOpticalFlow
2014-11-04 18:58:40 +00:00
Refactoring: removed some code duplication about transformation estimation and features (2D-3D) extraction.
2015-12-21 17:27:05 -05:00
if(util3d::isFinite(tmpPt))
Fixed crash on startup with vtk6+qt5. All cloud viewers in QDockWidget are now created manually instead of being defined in the *.ui files. The generated ui didn't pass the top level parent window to constructor of CloudViewer, which caused a problem when initializing the QVTKWidget.
2016-05-05 18:25:26 -04:00
{
Refactoring: removed some code duplication about transformation estimation and features (2D-3D) extraction.
2015-12-21 17:27:05 -05:00
pt = util3d::transformPoint(tmpPt, data->stereoCameraModel().left().localTransform());
Refactoring of the cameraStereoImages and cameraRGBDImages classes (now inheriting from CameraImages) for easy setting of laser scan path, timestamps path and ground truth path.
2015-12-17 14:13:19 -05:00
status[i] = 100; //blue
Fixed crash on startup with vtk6+qt5. All cloud viewers in QDockWidget are now created manually instead of being defined in the *.ui files. The generated ui didn't pass the top level parent window to constructor of CloudViewer, which caused a problem when initializing the QVTKWidget.
2016-05-05 18:25:26 -04:00
++inliers;
Refactoring: removed some code duplication about transformation estimation and features (2D-3D) extraction.
2015-12-21 17:27:05 -05:00
cloud->at(oi++) = pcl::PointXYZ(pt.x, pt.y, pt.z);
Odometry and stereo: added parameter OdomStereo/MaxSlope to filter bad stereo pair matches from cvOpticalFlow
2014-11-04 18:58:40 +00:00
}
}
else
{
status[i] = 102; //magenta
Refactored OdometryOpticalFlow (added optical flow guess using previous odometry transform, merged stereo/depth stuff)
2015-06-15 14:44:44 -04:00
++negativeDisparityOutliers;
Odometry and stereo: added parameter OdomStereo/MaxSlope to filter bad stereo pair matches from cvOpticalFlow
2014-11-04 18:58:40 +00:00
}
}
Refactored OdometryOpticalFlow (added optical flow guess using previous odometry transform, merged stereo/depth stuff)
2015-06-15 14:44:44 -04:00
else
{
++flowOutliers;
}
Odometry and stereo: added parameter OdomStereo/MaxSlope to filter bad stereo pair matches from cvOpticalFlow
2014-11-04 18:58:40 +00:00
}
cloud->resize(oi);
Refactoring of the cameraStereoImages and cameraRGBDImages classes (now inheriting from CameraImages) for easy setting of laser scan path, timestamps path and ground truth path.
2015-12-17 14:13:19 -05:00
UINFO("correspondences = %d/%d (%f) (time kpt=%fs stereo=%fs)",
(int)cloud->size(), (int)leftCorners.size(), float(cloud->size())/float(leftCorners.size()), timeKpt, timeStereo);
Odometry and stereo: added parameter OdomStereo/MaxSlope to filter bad stereo pair matches from cvOpticalFlow
2014-11-04 18:58:40 +00:00
Fixed crash on startup with vtk6+qt5. All cloud viewers in QDockWidget are now created manually instead of being defined in the *.ui files. The generated ui didn't pass the top level parent window to constructor of CloudViewer, which caused a problem when initializing the QVTKWidget.
2016-05-05 18:25:26 -04:00
stereoViewer_->updateCameraTargetPosition(Transform::getIdentity());
stereoViewer_->addCloud("stereo", cloud);
stereoViewer_->update();
Odometry and stereo: added parameter OdomStereo/MaxSlope to filter bad stereo pair matches from cvOpticalFlow
2014-11-04 18:58:40 +00:00
Refactored OdometryOpticalFlow (added optical flow guess using previous odometry transform, merged stereo/depth stuff)
2015-06-15 14:44:44 -04:00
ui_->label_stereo_inliers->setNum(inliers);
ui_->label_stereo_flowOutliers->setNum(flowOutliers);
ui_->label_stereo_slopeOutliers->setNum(slopeOutliers);
ui_->label_stereo_disparityOutliers->setNum(negativeDisparityOutliers);
Odometry and stereo: added parameter OdomStereo/MaxSlope to filter bad stereo pair matches from cvOpticalFlow
2014-11-04 18:58:40 +00:00
std::vector<cv::KeyPoint> rightKpts;
cv::KeyPoint::convert(rightCorners, rightKpts);
std::vector<cv::DMatch> good_matches(kpts.size());
for(unsigned int i=0; i<good_matches.size(); ++i)
{
good_matches[i].trainIdx = i;
good_matches[i].queryIdx = i;
}
//
//cv::Mat imageMatches;
//cv::drawMatches( leftMono, kpts, data->getDepthRaw(), rightKpts,
// good_matches, imageMatches, cv::Scalar::all(-1), cv::Scalar::all(-1),
// std::vector<char>(), cv::DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS );
//ui_->graphicsView_stereo->setImage(uCvMat2QImage(imageMatches));
Updated ImageView with GraphicsView mode disabled by default. Updated DataRecorder.
2015-03-30 10:47:38 -04:00
ui_->graphicsView_stereo->clear();
Odometry and stereo: added parameter OdomStereo/MaxSlope to filter bad stereo pair matches from cvOpticalFlow
2014-11-04 18:58:40 +00:00
ui_->graphicsView_stereo->setLinesShown(true);
ui_->graphicsView_stereo->setFeaturesShown(false);
Updated ImageView with GraphicsView mode disabled by default. Updated DataRecorder.
2015-03-30 10:47:38 -04:00
ui_->graphicsView_stereo->setImageDepthShown(true);
Odometry and stereo: added parameter OdomStereo/MaxSlope to filter bad stereo pair matches from cvOpticalFlow
2014-11-04 18:58:40 +00:00
Added multi-camera feature
2015-05-29 14:46:48 -04:00
ui_->graphicsView_stereo->setImage(uCvMat2QImage(data->imageRaw()));
ui_->graphicsView_stereo->setImageDepth(uCvMat2QImage(data->depthOrRightRaw()));
Odometry and stereo: added parameter OdomStereo/MaxSlope to filter bad stereo pair matches from cvOpticalFlow
2014-11-04 18:58:40 +00:00
// Draw lines between corresponding features...
for(unsigned int i=0; i<kpts.size(); ++i)
{
Added Stereo and StereoDense base classes (with Stereo->StereoOpticalFlow and StereoDense->StereoBM) to handle easily stereo parameters. Added stereoEval tool to test Stereo/OpticalFlow=false or true. Added StereoBM parameters. Refactoring of the Preferences dialog (tree view order and some titles)
2015-12-11 17:44:15 -05:00
if(rightKpts[i].pt.x > 0 && rightKpts[i].pt.y > 0)
Odometry and stereo: added parameter OdomStereo/MaxSlope to filter bad stereo pair matches from cvOpticalFlow
2014-11-04 18:58:40 +00:00
{
Added Stereo and StereoDense base classes (with Stereo->StereoOpticalFlow and StereoDense->StereoBM) to handle easily stereo parameters. Added stereoEval tool to test Stereo/OpticalFlow=false or true. Added StereoBM parameters. Refactoring of the Preferences dialog (tree view order and some titles)
2015-12-11 17:44:15 -05:00
QColor c = Qt::green;
if(status[i] == 0)
{
c = Qt::red;
}
else if(status[i] == 100)
{
c = Qt::blue;
}
else if(status[i] == 101)
{
c = Qt::yellow;
}
else if(status[i] == 102)
{
c = Qt::magenta;
}
else if(status[i] == 110)
{
c = Qt::cyan;
}
ui_->graphicsView_stereo->addLine(
kpts[i].pt.x,
kpts[i].pt.y,
rightKpts[i].pt.x,
rightKpts[i].pt.y,
c,
QString("%1: (%2,%3) -> (%4,%5)").arg(i).arg(kpts[i].pt.x).arg(kpts[i].pt.y).arg(rightKpts[i].pt.x).arg(rightKpts[i].pt.y));
Odometry and stereo: added parameter OdomStereo/MaxSlope to filter bad stereo pair matches from cvOpticalFlow
2014-11-04 18:58:40 +00:00
}
}
Updated ImageView with GraphicsView mode disabled by default. Updated DataRecorder.
2015-03-30 10:47:38 -04:00
ui_->graphicsView_stereo->update();
Odometry and stereo: added parameter OdomStereo/MaxSlope to filter bad stereo pair matches from cvOpticalFlow
2014-11-04 18:58:40 +00:00
}
}
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
void DatabaseViewer::updateWordsMatching()
{
int from = ids_.at(ui_->horizontalSlider_A->value());
int to = ids_.at(ui_->horizontalSlider_B->value());
if(from && to)
{
int alpha = 70;
ui_->graphicsView_A->clearLines();
ui_->graphicsView_A->setFeaturesColor(QColor(255, 255, 0, alpha)); // yellow
ui_->graphicsView_B->clearLines();
ui_->graphicsView_B->setFeaturesColor(QColor(255, 255, 0, alpha)); // yellow
const QMultiMap<int, KeypointItem*> & wordsA = ui_->graphicsView_A->getFeatures();
const QMultiMap<int, KeypointItem*> & wordsB = ui_->graphicsView_B->getFeatures();
if(wordsA.size() && wordsB.size())
{
QList<int> ids = wordsA.uniqueKeys();
for(int i=0; i<ids.size(); ++i)
{
if(wordsA.count(ids[i]) == 1 && wordsB.count(ids[i]) == 1)
{
// PINK features
Updated ImageView with GraphicsView mode disabled by default. Updated DataRecorder.
2015-03-30 10:47:38 -04:00
ui_->graphicsView_A->setFeatureColor(ids[i], Qt::magenta);
ui_->graphicsView_B->setFeatureColor(ids[i], Qt::magenta);
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
// Add lines
// Draw lines between corresponding features...
Updated ImageView with GraphicsView mode disabled by default. Updated DataRecorder.
2015-03-30 10:47:38 -04:00
float scaleX = ui_->graphicsView_A->viewScale();
Refactoring: removed some code duplication about transformation estimation and features (2D-3D) extraction.
2015-12-21 17:27:05 -05:00
float deltaX = 0;
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
float deltaY = 0;
Refactoring: removed some code duplication about transformation estimation and features (2D-3D) extraction.
2015-12-21 17:27:05 -05:00
if(ui_->checkBox_verticalLayout->isChecked())
{
deltaY = ui_->graphicsView_A->height()/scaleX;
}
else
{
deltaX = ui_->graphicsView_A->width()/scaleX;
}
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
const KeypointItem * kptA = wordsA.value(ids[i]);
const KeypointItem * kptB = wordsB.value(ids[i]);
Updated ImageView with GraphicsView mode disabled by default. Updated DataRecorder.
2015-03-30 10:47:38 -04:00
ui_->graphicsView_A->addLine(
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
kptA->rect().x()+kptA->rect().width()/2,
kptA->rect().y()+kptA->rect().height()/2,
kptB->rect().x()+kptB->rect().width()/2+deltaX,
kptB->rect().y()+kptB->rect().height()/2+deltaY,
Updated ImageView with GraphicsView mode disabled by default. Updated DataRecorder.
2015-03-30 10:47:38 -04:00
Qt::cyan);
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
Updated ImageView with GraphicsView mode disabled by default. Updated DataRecorder.
2015-03-30 10:47:38 -04:00
ui_->graphicsView_B->addLine(
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
kptA->rect().x()+kptA->rect().width()/2-deltaX,
kptA->rect().y()+kptA->rect().height()/2-deltaY,
kptB->rect().x()+kptB->rect().width()/2,
kptB->rect().y()+kptB->rect().height()/2,
Updated ImageView with GraphicsView mode disabled by default. Updated DataRecorder.
2015-03-30 10:47:38 -04:00
Qt::cyan);
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
}
}
Updated ImageView with GraphicsView mode disabled by default. Updated DataRecorder.
2015-03-30 10:47:38 -04:00
ui_->graphicsView_A->update();
ui_->graphicsView_B->update();
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
}
}
moved rtabmap-ros-pkg project in this project
2011-06-05 14:45:39 +00:00
}
merged attention branch to trunk
2012-12-11 18:05:05 +00:00
void DatabaseViewer::sliderAMoved(int value)
moved rtabmap-ros-pkg project in this project
2011-06-05 14:45:39 +00:00
{
ui_->label_indexA->setText(QString::number(value));
if(value>=0 && value < ids_.size())
{
ui_->label_idA->setText(QString::number(ids_.at(value)));
}
else
{
ULOGGER_ERROR("Slider index out of range ?");
}
}
merged attention branch to trunk
2012-12-11 18:05:05 +00:00
void DatabaseViewer::sliderBMoved(int value)
moved rtabmap-ros-pkg project in this project
2011-06-05 14:45:39 +00:00
{
ui_->label_indexB->setText(QString::number(value));
if(value>=0 && value < ids_.size())
{
ui_->label_idB->setText(QString::number(ids_.at(value)));
}
else
{
ULOGGER_ERROR("Slider index out of range ?");
}
}
New classes: Link and GraphViewer (TORO graph visualization and laser scans occupancy grid)
2014-02-11 23:04:22 +00:00
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
void DatabaseViewer::update3dView()
{
if(ui_->dockWidget_view3d->isVisible())
{
sliderAValueChanged(ui_->horizontalSlider_A->value());
sliderBValueChanged(ui_->horizontalSlider_B->value());
}
}
New classes: Link and GraphViewer (TORO graph visualization and laser scans occupancy grid)
2014-02-11 23:04:22 +00:00
void DatabaseViewer::sliderNeighborValueChanged(int value)
{
this->updateConstraintView(neighborLinks_.at(value));
}
void DatabaseViewer::sliderLoopValueChanged(int value)
{
this->updateConstraintView(loopLinks_.at(value));
}
Updated version to 0.8.0
2014-12-14 16:42:10 -05:00
// only called when ui_->checkBox_showOptimized state changed
void DatabaseViewer::updateConstraintView()
{
Increased database version to 0.8.11 (new Depth.data2d_max_pts column). Updated how local loop closure detection in space is done. Update GraphViewer with local radius ellipse and current goal node color. MainWindow saving/loading figures automatically accordingly to the previous session saved.
2015-05-03 18:16:55 -04:00
if(ids_.size())
Added Monocular SLAM (experimental), Odometry classes refactoring
2015-04-23 22:01:41 -04:00
{
Increased database version to 0.8.11 (new Depth.data2d_max_pts column). Updated how local loop closure detection in space is done. Update GraphViewer with local radius ellipse and current goal node color. MainWindow saving/loading figures automatically accordingly to the previous session saved.
2015-05-03 18:16:55 -04:00
Link link = this->findActiveLink(ids_.at(ui_->horizontalSlider_A->value()), ids_.at(ui_->horizontalSlider_B->value()));
if(link.isValid())
Updated version to 0.8.11. Added param RGBD/LocalLoopDetectionPathOdomPosesUsed. DatabaseViewer: export option at a specified framerate. DBReader: option to read database at a rate specified by the stamps saved. Database: Added new column "data2d_max_pts" in Depth table
2015-05-01 07:30:09 -04:00
{
Update version 0.10.11:
2015-10-24 17:03:44 -04:00
if(link.type() == Link::kNeighbor ||
link.type() == Link::kNeighborMerged)
Increased database version to 0.8.11 (new Depth.data2d_max_pts column). Updated how local loop closure detection in space is done. Update GraphViewer with local radius ellipse and current goal node color. MainWindow saving/loading figures automatically accordingly to the previous session saved.
2015-05-03 18:16:55 -04:00
{
this->updateConstraintView(neighborLinks_.at(ui_->horizontalSlider_neighbors->value()), false);
}
else
{
this->updateConstraintView(loopLinks_.at(ui_->horizontalSlider_loops->value()), false);
}
Updated version to 0.8.11. Added param RGBD/LocalLoopDetectionPathOdomPosesUsed. DatabaseViewer: export option at a specified framerate. DBReader: option to read database at a rate specified by the stamps saved. Database: Added new column "data2d_max_pts" in Depth table
2015-05-01 07:30:09 -04:00
}
Added Monocular SLAM (experimental), Odometry classes refactoring
2015-04-23 22:01:41 -04:00
}
Updated version to 0.8.0
2014-12-14 16:42:10 -05:00
}
Removed parameter "LccIcp/HighTransitionalVariance" (Identity covariance is set directly on pose correction and local loop closure detection in space)
2015-02-25 17:06:52 -05:00
void DatabaseViewer::updateConstraintView(
const rtabmap::Link & linkIn,
bool updateImageSliders,
databaseViewer: updated default ICP parameters, and optimized view of the constraints while refining
2014-10-14 21:06:30 +00:00
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloudFrom,
DatabaseViewer: fixed update of constraintView when moving the image sliders.
2014-11-17 22:31:04 +00:00
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloudTo,
Removed parameter "LccIcp/HighTransitionalVariance" (Identity covariance is set directly on pose correction and local loop closure detection in space)
2015-02-25 17:06:52 -05:00
const pcl::PointCloud<pcl::PointXYZ>::Ptr & scanFrom,
const pcl::PointCloud<pcl::PointXYZ>::Ptr & scanTo)
New classes: Link and GraphViewer (TORO graph visualization and laser scans occupancy grid)
2014-02-11 23:04:22 +00:00
{
Increased version to 0.10.10. Database: added user_data field for links. DatabaseViewer: showing all scans of a local loop closure. Added parameters RGBD/PlanLinearVelocity and RGBD/PlanAngularVelocity. Updated how variance is set on links. MainWindow: added Send Waypoints action and goal can be either an ID or a label.
2015-10-13 12:50:25 -04:00
std::multimap<int, Link>::iterator iterLink = rtabmap::graph::findLink(linksRefined_, linkIn.from(), linkIn.to());
Updated version to 0.8.0
2014-12-14 16:42:10 -05:00
rtabmap::Link link = linkIn;
databaseViewer: Fixed link's covariance modified when pose correction was disabled. Link: setVariance() and setInfMatrix are now private, to force re-cloning the link if we want to change these info.
2016-07-24 13:23:22 -04:00
Increased version to 0.10.10. Database: added user_data field for links. DatabaseViewer: showing all scans of a local loop closure. Added parameters RGBD/PlanLinearVelocity and RGBD/PlanAngularVelocity. Updated how variance is set on links. MainWindow: added Send Waypoints action and goal can be either an ID or a label.
2015-10-13 12:50:25 -04:00
if(iterLink != linksRefined_.end())
New classes: Link and GraphViewer (TORO graph visualization and laser scans occupancy grid)
2014-02-11 23:04:22 +00:00
{
Increased version to 0.10.10. Database: added user_data field for links. DatabaseViewer: showing all scans of a local loop closure. Added parameters RGBD/PlanLinearVelocity and RGBD/PlanAngularVelocity. Updated how variance is set on links. MainWindow: added Send Waypoints action and goal can be either an ID or a label.
2015-10-13 12:50:25 -04:00
link = iterLink->second;
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
}
Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used
2015-11-22 18:08:32 -05:00
else if(ui_->checkBox_ignorePoseCorrection->isChecked())
{
if(link.type() == Link::kNeighbor ||
link.type() == Link::kNeighborMerged)
{
Transform poseFrom = uValue(poses_, link.from(), Transform());
Transform poseTo = uValue(poses_, link.to(), Transform());
if(!poseFrom.isNull() && !poseTo.isNull())
{
databaseViewer: Fixed link's covariance modified when pose correction was disabled. Link: setVariance() and setInfMatrix are now private, to force re-cloning the link if we want to change these info.
2016-07-24 13:23:22 -04:00
// recompute raw odom transformation and
// reset to identity covariance
link = Link(link.from(),
link.to(),
link.type(),
poseFrom.inverse() * poseTo);
Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used
2015-11-22 18:08:32 -05:00
}
}
}
Updated version to 0.8.0
2014-12-14 16:42:10 -05:00
rtabmap::Transform t = link.transform();
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
ui_->label_constraint->clear();
Updated version to 0.8.0
2014-12-14 16:42:10 -05:00
ui_->label_constraint_opt->clear();
ui_->checkBox_showOptimized->setEnabled(false);
DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases
2015-10-16 14:54:47 -04:00
UASSERT(!t.isNull() && dbDriver_);
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
Update version 0.10.11:
2015-10-24 17:03:44 -04:00
ui_->label_type->setText(tr("%1 (%2)")
.arg(link.type())
Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used
2015-11-22 18:08:32 -05:00
.arg(link.type()==Link::kNeighbor?"Neighbor":
Added bilateral filtering option. CloudViewer: lighting and edge visibility options.
2016-11-03 17:04:31 -04:00
link.type()==Link::kNeighborMerged?"Merged neighbor":
typo...
2015-10-27 15:56:46 -04:00
link.type()==Link::kGlobalClosure?"Loop closure":
Update version 0.10.11:
2015-10-24 17:03:44 -04:00
link.type()==Link::kLocalSpaceClosure?"Space proximity link":
link.type()==Link::kLocalTimeClosure?"Time proximity link":
link.type()==Link::kUserClosure?"User link":
link.type()==Link::kVirtualClosure?"Virtual link":"Undefined"));
Added multi-camera feature
2015-05-29 14:46:48 -04:00
ui_->label_variance->setText(QString("%1, %2")
.arg(sqrt(link.rotVariance()))
.arg(sqrt(link.transVariance())));
DatabaseViewer: we can optimize graph from any node in database, so we can show different maps if they are not connected
2015-02-27 16:55:47 -05:00
ui_->label_constraint->setText(QString("%1").arg(t.prettyPrint().c_str()).replace(" ", "\n"));
Update version 0.10.11:
2015-10-24 17:03:44 -04:00
if((link.type() == Link::kNeighbor || link.type() == Link::kNeighborMerged) &&
Updated version to 0.8.0
2014-12-14 16:42:10 -05:00
graphes_.size() &&
(int)graphes_.size()-1 == ui_->horizontalSlider_iterations->maximum())
{
std::map<int, rtabmap::Transform> & graph = uValueAt(graphes_, ui_->horizontalSlider_iterations->value());
Update version 0.10.11:
2015-10-24 17:03:44 -04:00
if(link.type() == Link::kNeighbor || link.type() == Link::kNeighborMerged)
Updated version to 0.8.0
2014-12-14 16:42:10 -05:00
{
std::map<int, rtabmap::Transform>::iterator iterFrom = graph.find(link.from());
std::map<int, rtabmap::Transform>::iterator iterTo = graph.find(link.to());
if(iterFrom != graph.end() && iterTo != graph.end())
{
ui_->checkBox_showOptimized->setEnabled(true);
Transform topt = iterFrom->second.inverse()*iterTo->second;
Removed parameter "LccIcp/HighTransitionalVariance" (Identity covariance is set directly on pose correction and local loop closure detection in space)
2015-02-25 17:06:52 -05:00
float diff = topt.getDistance(t);
Updated version to 0.8.0
2014-12-14 16:42:10 -05:00
Transform v1 = t.rotation()*Transform(1,0,0,0,0,0);
Transform v2 = topt.rotation()*Transform(1,0,0,0,0,0);
float a = pcl::getAngle3D(Eigen::Vector4f(v1.x(), v1.y(), v1.z(), 0), Eigen::Vector4f(v2.x(), v2.y(), v2.z(), 0));
a = (a *180.0f) / CV_PI;
DatabaseViewer: we can optimize graph from any node in database, so we can show different maps if they are not connected
2015-02-27 16:55:47 -05:00
ui_->label_constraint_opt->setText(QString("%1\n(error=%2% a=%3)").arg(QString(topt.prettyPrint().c_str()).replace(" ", "\n")).arg((diff/t.getNorm())*100.0f).arg(a));
Updated version to 0.8.0
2014-12-14 16:42:10 -05:00
if(ui_->checkBox_showOptimized->isChecked())
{
t = topt;
}
}
}
}
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
DatabaseViewer: fixed update of constraintView when moving the image sliders.
2014-11-17 22:31:04 +00:00
if(updateImageSliders)
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
{
DatabaseViewer: fixed update of constraintView when moving the image sliders.
2014-11-17 22:31:04 +00:00
ui_->horizontalSlider_A->blockSignals(true);
ui_->horizontalSlider_B->blockSignals(true);
DatabaseViewer: fixed switched words after adding new loop closures
2015-04-25 18:13:31 -04:00
// set from on left and to on right {
ui_->horizontalSlider_A->setValue(idToIndex_.value(link.from()));
ui_->horizontalSlider_B->setValue(idToIndex_.value(link.to()));
DatabaseViewer: fixed update of constraintView when moving the image sliders.
2014-11-17 22:31:04 +00:00
ui_->horizontalSlider_A->blockSignals(false);
ui_->horizontalSlider_B->blockSignals(false);
DatabaseViewer: fixed switched words after adding new loop closures
2015-04-25 18:13:31 -04:00
this->update(idToIndex_.value(link.from()),
ui_->label_indexA,
ui_->label_parentsA,
ui_->label_childrenA,
ui_->label_weightA,
ui_->label_labelA,
ui_->label_stampA,
ui_->graphicsView_A,
Fixed crash on startup with vtk6+qt5. All cloud viewers in QDockWidget are now created manually instead of being defined in the *.ui files. The generated ui didn't pass the top level parent window to constructor of CloudViewer, which caused a problem when initializing the QVTKWidget.
2016-05-05 18:25:26 -04:00
cloudViewerA_,
DatabaseViewer: fixed switched words after adding new loop closures
2015-04-25 18:13:31 -04:00
ui_->label_idA,
Increased database version to 0.8.11 (new Depth.data2d_max_pts column). Updated how local loop closure detection in space is done. Update GraphViewer with local radius ellipse and current goal node color. MainWindow saving/loading figures automatically accordingly to the previous session saved.
2015-05-03 18:16:55 -04:00
ui_->label_mapA,
Added pose label in databaseViewer
2015-05-20 18:07:10 -04:00
ui_->label_poseA,
DbViewer: Added calibration info
2016-04-07 12:15:58 -04:00
ui_->label_calibA,
DatabaseViewer: fixed switched words after adding new loop closures
2015-04-25 18:13:31 -04:00
false); // don't update constraints view!
this->update(idToIndex_.value(link.to()),
ui_->label_indexB,
ui_->label_parentsB,
ui_->label_childrenB,
ui_->label_weightB,
ui_->label_labelB,
ui_->label_stampB,
ui_->graphicsView_B,
Fixed crash on startup with vtk6+qt5. All cloud viewers in QDockWidget are now created manually instead of being defined in the *.ui files. The generated ui didn't pass the top level parent window to constructor of CloudViewer, which caused a problem when initializing the QVTKWidget.
2016-05-05 18:25:26 -04:00
cloudViewerB_,
DatabaseViewer: fixed switched words after adding new loop closures
2015-04-25 18:13:31 -04:00
ui_->label_idB,
Increased database version to 0.8.11 (new Depth.data2d_max_pts column). Updated how local loop closure detection in space is done. Update GraphViewer with local radius ellipse and current goal node color. MainWindow saving/loading figures automatically accordingly to the previous session saved.
2015-05-03 18:16:55 -04:00
ui_->label_mapB,
Added pose label in databaseViewer
2015-05-20 18:07:10 -04:00
ui_->label_poseB,
DbViewer: Added calibration info
2016-04-07 12:15:58 -04:00
ui_->label_calibB,
DatabaseViewer: fixed switched words after adding new loop closures
2015-04-25 18:13:31 -04:00
false); // don't update constraints view!
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
}
New classes: Link and GraphViewer (TORO graph visualization and laser scans occupancy grid)
2014-02-11 23:04:22 +00:00
Fixed crash on startup with vtk6+qt5. All cloud viewers in QDockWidget are now created manually instead of being defined in the *.ui files. The generated ui didn't pass the top level parent window to constructor of CloudViewer, which caused a problem when initializing the QVTKWidget.
2016-05-05 18:25:26 -04:00
if(constraintsViewer_->isVisible())
Refactored Odometry class:
2014-10-13 19:10:22 +00:00
{
Added multi-camera feature
2015-05-29 14:46:48 -04:00
SensorData dataFrom, dataTo;
Removed parameter "LccIcp/HighTransitionalVariance" (Identity covariance is set directly on pose correction and local loop closure detection in space)
2015-02-25 17:06:52 -05:00
DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases
2015-10-16 14:54:47 -04:00
dbDriver_->getNodeData(link.from(), dataFrom);
dataFrom.uncompressData();
Added multi-camera feature
2015-05-29 14:46:48 -04:00
UASSERT(dataFrom.imageRaw().empty() || dataFrom.imageRaw().type()==CV_8UC3 || dataFrom.imageRaw().type() == CV_8UC1);
UASSERT(dataFrom.depthOrRightRaw().empty() || dataFrom.depthOrRightRaw().type()==CV_8UC1 || dataFrom.depthOrRightRaw().type() == CV_16UC1 || dataFrom.depthOrRightRaw().type() == CV_32FC1);
Removed parameter "LccIcp/HighTransitionalVariance" (Identity covariance is set directly on pose correction and local loop closure detection in space)
2015-02-25 17:06:52 -05:00
DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases
2015-10-16 14:54:47 -04:00
dbDriver_->getNodeData(link.to(), dataTo);
dataTo.uncompressData();
Added multi-camera feature
2015-05-29 14:46:48 -04:00
UASSERT(dataTo.imageRaw().empty() || dataTo.imageRaw().type()==CV_8UC3 || dataTo.imageRaw().type() == CV_8UC1);
UASSERT(dataTo.depthOrRightRaw().empty() || dataTo.depthOrRightRaw().type()==CV_8UC1 || dataTo.depthOrRightRaw().type() == CV_16UC1 || dataTo.depthOrRightRaw().type() == CV_32FC1);
Removed parameter "LccIcp/HighTransitionalVariance" (Identity covariance is set directly on pose correction and local loop closure detection in space)
2015-02-25 17:06:52 -05:00
GUI: Added "Edit->Post processing..." action to detect more loop closures and/or refine all links in the graph with ICP 3D.
2014-10-30 14:43:43 +00:00
if(cloudFrom->size() == 0 && cloudTo->size() == 0)
Refactored Odometry class:
2014-10-13 19:10:22 +00:00
{
GUI: Added "Edit->Post processing..." action to detect more loop closures and/or refine all links in the graph with ICP 3D.
2014-10-30 14:43:43 +00:00
//cloud 3d
CloudViewer: Added addOrUpdateCoordinate() method (working only with PCL >= 1.7.2)
2015-07-24 16:29:45 -04:00
if(ui_->checkBox_show3Dclouds->isChecked())
GUI: Added "Edit->Post processing..." action to detect more loop closures and/or refine all links in the graph with ICP 3D.
2014-10-30 14:43:43 +00:00
{
Added multi-camera feature
2015-05-29 14:46:48 -04:00
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudFrom, cloudTo;
Added GainCompensator class. GUI/3D Rendering: added texturing option.
2016-09-07 12:15:44 -04:00
pcl::IndicesPtr indicesFrom(new std::vector<int>);
pcl::IndicesPtr indicesTo(new std::vector<int>);
Update version 0.10.11:
2015-10-24 17:03:44 -04:00
if(!dataFrom.imageRaw().empty() && !dataFrom.depthOrRightRaw().empty())
{
Added GainCompensator class. GUI/3D Rendering: added texturing option.
2016-09-07 12:15:44 -04:00
cloudFrom=util3d::cloudRGBFromSensorData(dataFrom, 1, 0, 0, indicesFrom.get(), ui_->parameters_toolbox->getParameters());
Update version 0.10.11:
2015-10-24 17:03:44 -04:00
}
if(!dataTo.imageRaw().empty() && !dataTo.depthOrRightRaw().empty())
{
Added GainCompensator class. GUI/3D Rendering: added texturing option.
2016-09-07 12:15:44 -04:00
cloudTo=util3d::cloudRGBFromSensorData(dataTo, 1, 0, 0, indicesTo.get(), ui_->parameters_toolbox->getParameters());
}
if(cloudTo.get() && cloudTo->size())
{
cloudTo = rtabmap::util3d::transformPointCloud(cloudTo, t);
}
// Gain compensation
if(ui_->doubleSpinBox_gainCompensationRadius->value()>0.0 &&
cloudFrom.get() && cloudFrom->size() &&
cloudTo.get() && cloudTo->size())
{
UTimer t;
GainCompensator compensator(ui_->doubleSpinBox_gainCompensationRadius->value());
compensator.feed(cloudFrom, indicesFrom, cloudTo, indicesTo, Transform::getIdentity());
compensator.apply(0, cloudFrom, indicesFrom);
compensator.apply(1, cloudTo, indicesTo);
UINFO("Gain compensation time = %fs", t.ticks());
Update version 0.10.11:
2015-10-24 17:03:44 -04:00
}
added EpipolarGeometry::triangulatePoints() (LS and iterative LS)
2014-11-07 20:04:04 +00:00
Update version 0.10.11:
2015-10-24 17:03:44 -04:00
if(cloudFrom.get() && cloudFrom->size())
added EpipolarGeometry::triangulatePoints() (LS and iterative LS)
2014-11-07 20:04:04 +00:00
{
Fixed crash on startup with vtk6+qt5. All cloud viewers in QDockWidget are now created manually instead of being defined in the *.ui files. The generated ui didn't pass the top level parent window to constructor of CloudViewer, which caused a problem when initializing the QVTKWidget.
2016-05-05 18:25:26 -04:00
constraintsViewer_->addCloud("cloud0", cloudFrom, Transform::getIdentity(), Qt::red);
added EpipolarGeometry::triangulatePoints() (LS and iterative LS)
2014-11-07 20:04:04 +00:00
}
Update version 0.10.11:
2015-10-24 17:03:44 -04:00
if(cloudTo.get() && cloudTo->size())
added EpipolarGeometry::triangulatePoints() (LS and iterative LS)
2014-11-07 20:04:04 +00:00
{
Fixed crash on startup with vtk6+qt5. All cloud viewers in QDockWidget are now created manually instead of being defined in the *.ui files. The generated ui didn't pass the top level parent window to constructor of CloudViewer, which caused a problem when initializing the QVTKWidget.
2016-05-05 18:25:26 -04:00
constraintsViewer_->addCloud("cloud1", cloudTo, Transform::getIdentity(), Qt::cyan);
added EpipolarGeometry::triangulatePoints() (LS and iterative LS)
2014-11-07 20:04:04 +00:00
}
GUI: Added "Edit->Post processing..." action to detect more loop closures and/or refine all links in the graph with ICP 3D.
2014-10-30 14:43:43 +00:00
}
DatabaseViewer: fixed clouds still shown in constraints view when unchecked
2015-10-07 16:54:36 -04:00
else
{
Fixed crash on startup with vtk6+qt5. All cloud viewers in QDockWidget are now created manually instead of being defined in the *.ui files. The generated ui didn't pass the top level parent window to constructor of CloudViewer, which caused a problem when initializing the QVTKWidget.
2016-05-05 18:25:26 -04:00
constraintsViewer_->removeCloud("cloud0");
constraintsViewer_->removeCloud("cloud1");
DatabaseViewer: fixed clouds still shown in constraints view when unchecked
2015-10-07 16:54:36 -04:00
}
CloudViewer: Added addOrUpdateCoordinate() method (working only with PCL >= 1.7.2)
2015-07-24 16:29:45 -04:00
if(ui_->checkBox_show3DWords->isChecked())
GUI: Added "Edit->Post processing..." action to detect more loop closures and/or refine all links in the graph with ICP 3D.
2014-10-30 14:43:43 +00:00
{
DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases
2015-10-16 14:54:47 -04:00
std::list<int> ids;
ids.push_back(link.from());
ids.push_back(link.to());
std::list<Signature*> signatures;
dbDriver_->loadSignatures(ids, signatures);
if(signatures.size() == 2)
added EpipolarGeometry::triangulatePoints() (LS and iterative LS)
2014-11-07 20:04:04 +00:00
{
DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases
2015-10-16 14:54:47 -04:00
const Signature * sFrom = signatures.front();
const Signature * sTo = signatures.back();
UASSERT(sFrom && sTo);
added EpipolarGeometry::triangulatePoints() (LS and iterative LS)
2014-11-07 20:04:04 +00:00
pcl::PointCloud<pcl::PointXYZ>::Ptr cloudFrom(new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloudTo(new pcl::PointCloud<pcl::PointXYZ>);
cloudFrom->resize(sFrom->getWords3().size());
cloudTo->resize(sTo->getWords3().size());
int i=0;
Refactoring: removed some code duplication about transformation estimation and features (2D-3D) extraction.
2015-12-21 17:27:05 -05:00
for(std::multimap<int, cv::Point3f>::const_iterator iter=sFrom->getWords3().begin();
added EpipolarGeometry::triangulatePoints() (LS and iterative LS)
2014-11-07 20:04:04 +00:00
iter!=sFrom->getWords3().end();
++iter)
{
Refactoring: removed some code duplication about transformation estimation and features (2D-3D) extraction.
2015-12-21 17:27:05 -05:00
cloudFrom->at(i++) = pcl::PointXYZ(iter->second.x, iter->second.y, iter->second.z);
added EpipolarGeometry::triangulatePoints() (LS and iterative LS)
2014-11-07 20:04:04 +00:00
}
i=0;
Refactoring: removed some code duplication about transformation estimation and features (2D-3D) extraction.
2015-12-21 17:27:05 -05:00
for(std::multimap<int, cv::Point3f>::const_iterator iter=sTo->getWords3().begin();
added EpipolarGeometry::triangulatePoints() (LS and iterative LS)
2014-11-07 20:04:04 +00:00
iter!=sTo->getWords3().end();
++iter)
{
Refactoring: removed some code duplication about transformation estimation and features (2D-3D) extraction.
2015-12-21 17:27:05 -05:00
cloudTo->at(i++) = pcl::PointXYZ(iter->second.x, iter->second.y, iter->second.z);
added EpipolarGeometry::triangulatePoints() (LS and iterative LS)
2014-11-07 20:04:04 +00:00
}
GUI: Added "Edit->Post processing..." action to detect more loop closures and/or refine all links in the graph with ICP 3D.
2014-10-30 14:43:43 +00:00
added EpipolarGeometry::triangulatePoints() (LS and iterative LS)
2014-11-07 20:04:04 +00:00
if(cloudFrom->size())
{
Increased version to 0.9.0. Refactoring: Split util3d.h into multiple files util3d_****.h to reduce compilation time. Also removed all PCL templates to reduce memory used while compiling.
2015-05-13 19:54:23 -04:00
cloudFrom = rtabmap::util3d::removeNaNFromPointCloud(cloudFrom);
added EpipolarGeometry::triangulatePoints() (LS and iterative LS)
2014-11-07 20:04:04 +00:00
}
if(cloudTo->size())
{
Increased version to 0.9.0. Refactoring: Split util3d.h into multiple files util3d_****.h to reduce compilation time. Also removed all PCL templates to reduce memory used while compiling.
2015-05-13 19:54:23 -04:00
cloudTo = rtabmap::util3d::removeNaNFromPointCloud(cloudTo);
Updated version to 0.8.11. Added param RGBD/LocalLoopDetectionPathOdomPosesUsed. DatabaseViewer: export option at a specified framerate. DBReader: option to read database at a rate specified by the stamps saved. Database: Added new column "data2d_max_pts" in Depth table
2015-05-01 07:30:09 -04:00
if(cloudTo->size())
{
Increased version to 0.9.0. Refactoring: Split util3d.h into multiple files util3d_****.h to reduce compilation time. Also removed all PCL templates to reduce memory used while compiling.
2015-05-13 19:54:23 -04:00
cloudTo = rtabmap::util3d::transformPointCloud(cloudTo, t);
Updated version to 0.8.11. Added param RGBD/LocalLoopDetectionPathOdomPosesUsed. DatabaseViewer: export option at a specified framerate. DBReader: option to read database at a rate specified by the stamps saved. Database: Added new column "data2d_max_pts" in Depth table
2015-05-01 07:30:09 -04:00
}
added EpipolarGeometry::triangulatePoints() (LS and iterative LS)
2014-11-07 20:04:04 +00:00
}
GUI: Added "Edit->Post processing..." action to detect more loop closures and/or refine all links in the graph with ICP 3D.
2014-10-30 14:43:43 +00:00
added EpipolarGeometry::triangulatePoints() (LS and iterative LS)
2014-11-07 20:04:04 +00:00
if(cloudFrom->size())
{
Fixed crash on startup with vtk6+qt5. All cloud viewers in QDockWidget are now created manually instead of being defined in the *.ui files. The generated ui didn't pass the top level parent window to constructor of CloudViewer, which caused a problem when initializing the QVTKWidget.
2016-05-05 18:25:26 -04:00
constraintsViewer_->addCloud("words0", cloudFrom, Transform::getIdentity(), Qt::red);
added EpipolarGeometry::triangulatePoints() (LS and iterative LS)
2014-11-07 20:04:04 +00:00
}
else
{
UWARN("Empty 3D words for node %d", link.from());
Fixed crash on startup with vtk6+qt5. All cloud viewers in QDockWidget are now created manually instead of being defined in the *.ui files. The generated ui didn't pass the top level parent window to constructor of CloudViewer, which caused a problem when initializing the QVTKWidget.
2016-05-05 18:25:26 -04:00
constraintsViewer_->removeCloud("words0");
added EpipolarGeometry::triangulatePoints() (LS and iterative LS)
2014-11-07 20:04:04 +00:00
}
if(cloudTo->size())
{
Fixed crash on startup with vtk6+qt5. All cloud viewers in QDockWidget are now created manually instead of being defined in the *.ui files. The generated ui didn't pass the top level parent window to constructor of CloudViewer, which caused a problem when initializing the QVTKWidget.
2016-05-05 18:25:26 -04:00
constraintsViewer_->addCloud("words1", cloudTo, Transform::getIdentity(), Qt::cyan);
added EpipolarGeometry::triangulatePoints() (LS and iterative LS)
2014-11-07 20:04:04 +00:00
}
else
{
UWARN("Empty 3D words for node %d", link.to());
Fixed crash on startup with vtk6+qt5. All cloud viewers in QDockWidget are now created manually instead of being defined in the *.ui files. The generated ui didn't pass the top level parent window to constructor of CloudViewer, which caused a problem when initializing the QVTKWidget.
2016-05-05 18:25:26 -04:00
constraintsViewer_->removeCloud("words1");
added EpipolarGeometry::triangulatePoints() (LS and iterative LS)
2014-11-07 20:04:04 +00:00
}
}
else
{
UERROR("Not found signature %d or %d in RAM", link.from(), link.to());
Fixed crash on startup with vtk6+qt5. All cloud viewers in QDockWidget are now created manually instead of being defined in the *.ui files. The generated ui didn't pass the top level parent window to constructor of CloudViewer, which caused a problem when initializing the QVTKWidget.
2016-05-05 18:25:26 -04:00
constraintsViewer_->removeCloud("words0");
constraintsViewer_->removeCloud("words1");
added EpipolarGeometry::triangulatePoints() (LS and iterative LS)
2014-11-07 20:04:04 +00:00
}
DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases
2015-10-16 14:54:47 -04:00
//cleanup
for(std::list<Signature*>::iterator iter=signatures.begin(); iter!=signatures.end(); ++iter)
{
delete *iter;
}
GUI: Added "Edit->Post processing..." action to detect more loop closures and/or refine all links in the graph with ICP 3D.
2014-10-30 14:43:43 +00:00
}
DatabaseViewer: fixed clouds still shown in constraints view when unchecked
2015-10-07 16:54:36 -04:00
else
{
Fixed crash on startup with vtk6+qt5. All cloud viewers in QDockWidget are now created manually instead of being defined in the *.ui files. The generated ui didn't pass the top level parent window to constructor of CloudViewer, which caused a problem when initializing the QVTKWidget.
2016-05-05 18:25:26 -04:00
constraintsViewer_->removeCloud("words0");
constraintsViewer_->removeCloud("words1");
DatabaseViewer: fixed clouds still shown in constraints view when unchecked
2015-10-07 16:54:36 -04:00
}
Refactored Odometry class:
2014-10-13 19:10:22 +00:00
}
else
{
GUI: Added "Edit->Post processing..." action to detect more loop closures and/or refine all links in the graph with ICP 3D.
2014-10-30 14:43:43 +00:00
if(cloudFrom->size())
{
Fixed crash on startup with vtk6+qt5. All cloud viewers in QDockWidget are now created manually instead of being defined in the *.ui files. The generated ui didn't pass the top level parent window to constructor of CloudViewer, which caused a problem when initializing the QVTKWidget.
2016-05-05 18:25:26 -04:00
constraintsViewer_->addCloud("cloud0", cloudFrom, Transform::getIdentity(), Qt::red);
GUI: Added "Edit->Post processing..." action to detect more loop closures and/or refine all links in the graph with ICP 3D.
2014-10-30 14:43:43 +00:00
}
if(cloudTo->size())
{
Fixed crash on startup with vtk6+qt5. All cloud viewers in QDockWidget are now created manually instead of being defined in the *.ui files. The generated ui didn't pass the top level parent window to constructor of CloudViewer, which caused a problem when initializing the QVTKWidget.
2016-05-05 18:25:26 -04:00
constraintsViewer_->addCloud("cloud1", cloudTo, Transform::getIdentity(), Qt::cyan);
Removed parameter "LccIcp/HighTransitionalVariance" (Identity covariance is set directly on pose correction and local loop closure detection in space)
2015-02-25 17:06:52 -05:00
}
}
if(scanFrom->size() == 0 && scanTo->size() == 0)
{
CloudViewer: Added addOrUpdateCoordinate() method (working only with PCL >= 1.7.2)
2015-07-24 16:29:45 -04:00
if(ui_->checkBox_show2DScans->isChecked())
Removed parameter "LccIcp/HighTransitionalVariance" (Identity covariance is set directly on pose correction and local loop closure detection in space)
2015-02-25 17:06:52 -05:00
{
CloudViewer: Added addOrUpdateCoordinate() method (working only with PCL >= 1.7.2)
2015-07-24 16:29:45 -04:00
//cloud 2d
Increased version to 0.10.10. Database: added user_data field for links. DatabaseViewer: showing all scans of a local loop closure. Added parameters RGBD/PlanLinearVelocity and RGBD/PlanAngularVelocity. Updated how variance is set on links. MainWindow: added Send Waypoints action and goal can be either an ID or a label.
2015-10-13 12:50:25 -04:00
Fixed crash on startup with vtk6+qt5. All cloud viewers in QDockWidget are now created manually instead of being defined in the *.ui files. The generated ui didn't pass the top level parent window to constructor of CloudViewer, which caused a problem when initializing the QVTKWidget.
2016-05-05 18:25:26 -04:00
constraintsViewer_->removeCloud("scan2");
constraintsViewer_->removeGraph("scan2graph");
Some fixes:
2015-10-26 12:59:20 -04:00
if(link.type() == Link::kLocalSpaceClosure &&
!link.userDataCompressed().empty())
Increased version to 0.10.10. Database: added user_data field for links. DatabaseViewer: showing all scans of a local loop closure. Added parameters RGBD/PlanLinearVelocity and RGBD/PlanAngularVelocity. Updated how variance is set on links. MainWindow: added Send Waypoints action and goal can be either an ID or a label.
2015-10-13 12:50:25 -04:00
{
std::vector<int> ids;
cv::Mat userData = link.uncompressUserDataConst();
if(userData.type() == CV_8SC1 &&
userData.rows == 1 &&
userData.cols >= 8 && // including null str ending
userData.at<char>(userData.cols-1) == 0 &&
memcmp(userData.data, "SCANS:", 6) == 0)
{
std::string scansStr = (const char *)userData.data;
Local scan matching: set larger scan points for max scan points when it is not set. Fixed missing scan Ids in links' user data to correctly visualize proximity links by space in DatabaseViewer. CloudViewer: using line instead of arrow between the referential and the frustum. removed parameter "RGBD/ProximityPathScansMerged" as visual proximity by space already does that.
2016-05-20 11:44:50 -04:00
UINFO("Detected \"%s\" in links's user data", scansStr.c_str());
Increased version to 0.10.10. Database: added user_data field for links. DatabaseViewer: showing all scans of a local loop closure. Added parameters RGBD/PlanLinearVelocity and RGBD/PlanAngularVelocity. Updated how variance is set on links. MainWindow: added Send Waypoints action and goal can be either an ID or a label.
2015-10-13 12:50:25 -04:00
if(!scansStr.empty())
{
std::list<std::string> strs = uSplit(scansStr, ':');
if(strs.size() == 2)
{
std::list<std::string> strIds = uSplit(strs.rbegin()->c_str(), ';');
for(std::list<std::string>::iterator iter=strIds.begin(); iter!=strIds.end(); ++iter)
{
ids.push_back(atoi(iter->c_str()));
if(ids.back() == link.from())
{
ids.pop_back();
}
}
}
}
}
if(ids.size())
{
//add other scans matching
//optimize the path's poses locally
std::map<int, rtabmap::Transform> poses;
for(unsigned int i=0; i<ids.size(); ++i)
{
if(uContains(poses_, ids[i]))
{
poses.insert(*poses_.find(ids[i]));
}
else
{
UERROR("Not found %d node!", ids[i]);
}
}
if(poses.size())
{
Refactoring of the cameraStereoImages and cameraRGBDImages classes (now inheriting from CameraImages) for easy setting of laser scan path, timestamps path and ground truth path.
2015-12-17 14:13:19 -05:00
Optimizer * optimizer = Optimizer::create(ui_->parameters_toolbox->getParameters());
Refactoring: Split all graph optimization approaches in multiple files
2015-11-27 11:09:39 -05:00
Increased version to 0.10.10. Database: added user_data field for links. DatabaseViewer: showing all scans of a local loop closure. Added parameters RGBD/PlanLinearVelocity and RGBD/PlanAngularVelocity. Updated how variance is set on links. MainWindow: added Send Waypoints action and goal can be either an ID or a label.
2015-10-13 12:50:25 -04:00
UASSERT(uContains(poses, link.to()));
std::map<int, rtabmap::Transform> posesOut;
std::multimap<int, rtabmap::Link> linksOut;
optimizer->getConnectedGraph(
link.to(),
poses,
updateLinksWithModifications(links_),
posesOut,
linksOut);
Local scan matching: set larger scan points for max scan points when it is not set. Fixed missing scan Ids in links' user data to correctly visualize proximity links by space in DatabaseViewer. CloudViewer: using line instead of arrow between the referential and the frustum. removed parameter "RGBD/ProximityPathScansMerged" as visual proximity by space already does that.
2016-05-20 11:44:50 -04:00
if(poses.size() != posesOut.size())
{
UWARN("Scan poses input and output are different! %d vs %d", (int)poses.size(), (int)posesOut.size());
UWARN("Input poses: ");
for(std::map<int, Transform>::iterator iter=poses.begin(); iter!=poses.end(); ++iter)
{
UWARN(" %d", iter->first);
}
UWARN("Input links: ");
std::multimap<int, Link> modifiedLinks = updateLinksWithModifications(links_);
for(std::multimap<int, Link>::iterator iter=modifiedLinks.begin(); iter!=modifiedLinks.end(); ++iter)
{
UWARN(" %d->%d", iter->second.from(), iter->second.to());
}
}
Increased version to 0.10.10. Database: added user_data field for links. DatabaseViewer: showing all scans of a local loop closure. Added parameters RGBD/PlanLinearVelocity and RGBD/PlanAngularVelocity. Updated how variance is set on links. MainWindow: added Send Waypoints action and goal can be either an ID or a label.
2015-10-13 12:50:25 -04:00
QTime time;
time.start();
std::map<int, rtabmap::Transform> finalPoses = optimizer->optimize(link.to(), posesOut, linksOut);
delete optimizer;
// transform local poses in loop referential
Transform u = t * finalPoses.at(link.to()).inverse();
pcl::PointCloud<pcl::PointXYZ>::Ptr assembledScans(new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZ>::Ptr graph(new pcl::PointCloud<pcl::PointXYZ>);
for(std::map<int, Transform>::iterator iter=finalPoses.begin(); iter!=finalPoses.end(); ++iter)
{
iter->second = u * iter->second;
if(iter->first != link.to()) // already added to view
{
//create scan
DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases
2015-10-16 14:54:47 -04:00
SensorData data;
dbDriver_->getNodeData(iter->first, data);
Increased version to 0.10.10. Database: added user_data field for links. DatabaseViewer: showing all scans of a local loop closure. Added parameters RGBD/PlanLinearVelocity and RGBD/PlanAngularVelocity. Updated how variance is set on links. MainWindow: added Send Waypoints action and goal can be either an ID or a label.
2015-10-13 12:50:25 -04:00
cv::Mat scan;
data.uncompressDataConst(0, 0, &scan, 0);
if(!scan.empty())
{
RegistrationICP: fixed local scan transform issue
2016-08-24 12:15:32 -04:00
pcl::PointCloud<pcl::PointXYZ>::Ptr scanCloud = util3d::laserScanToPointCloud(scan, data.laserScanInfo().localTransform());
Increased version to 0.10.10. Database: added user_data field for links. DatabaseViewer: showing all scans of a local loop closure. Added parameters RGBD/PlanLinearVelocity and RGBD/PlanAngularVelocity. Updated how variance is set on links. MainWindow: added Send Waypoints action and goal can be either an ID or a label.
2015-10-13 12:50:25 -04:00
if(assembledScans->size() == 0)
{
assembledScans = util3d::transformPointCloud(scanCloud, iter->second);
}
else
{
*assembledScans += *util3d::transformPointCloud(scanCloud, iter->second);
}
}
}
graph->push_back(pcl::PointXYZ(iter->second.x(), iter->second.y(), iter->second.z()));
}
if(assembledScans->size())
{
Fixed crash on startup with vtk6+qt5. All cloud viewers in QDockWidget are now created manually instead of being defined in the *.ui files. The generated ui didn't pass the top level parent window to constructor of CloudViewer, which caused a problem when initializing the QVTKWidget.
2016-05-05 18:25:26 -04:00
constraintsViewer_->addCloud("scan2", assembledScans, Transform::getIdentity(), Qt::cyan);
Increased version to 0.10.10. Database: added user_data field for links. DatabaseViewer: showing all scans of a local loop closure. Added parameters RGBD/PlanLinearVelocity and RGBD/PlanAngularVelocity. Updated how variance is set on links. MainWindow: added Send Waypoints action and goal can be either an ID or a label.
2015-10-13 12:50:25 -04:00
}
if(graph->size())
{
Fixed crash on startup with vtk6+qt5. All cloud viewers in QDockWidget are now created manually instead of being defined in the *.ui files. The generated ui didn't pass the top level parent window to constructor of CloudViewer, which caused a problem when initializing the QVTKWidget.
2016-05-05 18:25:26 -04:00
constraintsViewer_->addOrUpdateGraph("scan2graph", graph, Qt::cyan);
Increased version to 0.10.10. Database: added user_data field for links. DatabaseViewer: showing all scans of a local loop closure. Added parameters RGBD/PlanLinearVelocity and RGBD/PlanAngularVelocity. Updated how variance is set on links. MainWindow: added Send Waypoints action and goal can be either an ID or a label.
2015-10-13 12:50:25 -04:00
}
}
}
}
// Added loop closure scans
DatabaseViewer: showing normals if scans have 6 channels
2016-09-07 17:14:09 -04:00
constraintsViewer_->removeCloud("scan0");
constraintsViewer_->removeCloud("scan1");
if(dataFrom.laserScanRaw().channels() == 6)
CloudViewer: Added addOrUpdateCoordinate() method (working only with PCL >= 1.7.2)
2015-07-24 16:29:45 -04:00
{
DatabaseViewer: showing normals if scans have 6 channels
2016-09-07 17:14:09 -04:00
pcl::PointCloud<pcl::PointNormal>::Ptr scan;
scan = rtabmap::util3d::laserScanToPointCloudNormal(dataFrom.laserScanRaw(), dataFrom.laserScanInfo().localTransform());
constraintsViewer_->addCloud("scan0", scan, Transform::getIdentity(), Qt::yellow);
CloudViewer: Added addOrUpdateCoordinate() method (working only with PCL >= 1.7.2)
2015-07-24 16:29:45 -04:00
}
else
{
DatabaseViewer: showing normals if scans have 6 channels
2016-09-07 17:14:09 -04:00
pcl::PointCloud<pcl::PointXYZ>::Ptr scan;
scan = rtabmap::util3d::laserScanToPointCloud(dataFrom.laserScanRaw(), dataFrom.laserScanInfo().localTransform());
constraintsViewer_->addCloud("scan0", scan, Transform::getIdentity(), Qt::yellow);
CloudViewer: Added addOrUpdateCoordinate() method (working only with PCL >= 1.7.2)
2015-07-24 16:29:45 -04:00
}
DatabaseViewer: showing normals if scans have 6 channels
2016-09-07 17:14:09 -04:00
if(dataTo.laserScanRaw().channels() == 6)
CloudViewer: Added addOrUpdateCoordinate() method (working only with PCL >= 1.7.2)
2015-07-24 16:29:45 -04:00
{
DatabaseViewer: showing normals if scans have 6 channels
2016-09-07 17:14:09 -04:00
pcl::PointCloud<pcl::PointNormal>::Ptr scan;
scan = rtabmap::util3d::laserScanToPointCloudNormal(dataTo.laserScanRaw(), t*dataTo.laserScanInfo().localTransform());
constraintsViewer_->addCloud("scan1", scan, Transform::getIdentity(), Qt::magenta);
CloudViewer: Added addOrUpdateCoordinate() method (working only with PCL >= 1.7.2)
2015-07-24 16:29:45 -04:00
}
else
{
DatabaseViewer: showing normals if scans have 6 channels
2016-09-07 17:14:09 -04:00
pcl::PointCloud<pcl::PointXYZ>::Ptr scan;
scan = rtabmap::util3d::laserScanToPointCloud(dataTo.laserScanRaw(), t*dataTo.laserScanInfo().localTransform());
constraintsViewer_->addCloud("scan1", scan, Transform::getIdentity(), Qt::magenta);
CloudViewer: Added addOrUpdateCoordinate() method (working only with PCL >= 1.7.2)
2015-07-24 16:29:45 -04:00
}
Increased database version to 0.8.11 (new Depth.data2d_max_pts column). Updated how local loop closure detection in space is done. Update GraphViewer with local radius ellipse and current goal node color. MainWindow saving/loading figures automatically accordingly to the previous session saved.
2015-05-03 18:16:55 -04:00
}
DatabaseViewer: fixed clouds still shown in constraints view when unchecked
2015-10-07 16:54:36 -04:00
else
{
Fixed crash on startup with vtk6+qt5. All cloud viewers in QDockWidget are now created manually instead of being defined in the *.ui files. The generated ui didn't pass the top level parent window to constructor of CloudViewer, which caused a problem when initializing the QVTKWidget.
2016-05-05 18:25:26 -04:00
constraintsViewer_->removeCloud("scan0");
constraintsViewer_->removeCloud("scan1");
constraintsViewer_->removeCloud("scan2");
DatabaseViewer: fixed clouds still shown in constraints view when unchecked
2015-10-07 16:54:36 -04:00
}
Removed parameter "LccIcp/HighTransitionalVariance" (Identity covariance is set directly on pose correction and local loop closure detection in space)
2015-02-25 17:06:52 -05:00
}
else
{
if(scanFrom->size())
{
Fixed crash on startup with vtk6+qt5. All cloud viewers in QDockWidget are now created manually instead of being defined in the *.ui files. The generated ui didn't pass the top level parent window to constructor of CloudViewer, which caused a problem when initializing the QVTKWidget.
2016-05-05 18:25:26 -04:00
constraintsViewer_->addCloud("scan0", scanFrom, Transform::getIdentity(), Qt::yellow);
Removed parameter "LccIcp/HighTransitionalVariance" (Identity covariance is set directly on pose correction and local loop closure detection in space)
2015-02-25 17:06:52 -05:00
}
Increased database version to 0.8.11 (new Depth.data2d_max_pts column). Updated how local loop closure detection in space is done. Update GraphViewer with local radius ellipse and current goal node color. MainWindow saving/loading figures automatically accordingly to the previous session saved.
2015-05-03 18:16:55 -04:00
else
{
Fixed crash on startup with vtk6+qt5. All cloud viewers in QDockWidget are now created manually instead of being defined in the *.ui files. The generated ui didn't pass the top level parent window to constructor of CloudViewer, which caused a problem when initializing the QVTKWidget.
2016-05-05 18:25:26 -04:00
constraintsViewer_->removeCloud("scan0");
Increased database version to 0.8.11 (new Depth.data2d_max_pts column). Updated how local loop closure detection in space is done. Update GraphViewer with local radius ellipse and current goal node color. MainWindow saving/loading figures automatically accordingly to the previous session saved.
2015-05-03 18:16:55 -04:00
}
Removed parameter "LccIcp/HighTransitionalVariance" (Identity covariance is set directly on pose correction and local loop closure detection in space)
2015-02-25 17:06:52 -05:00
if(scanTo->size())
{
Fixed crash on startup with vtk6+qt5. All cloud viewers in QDockWidget are now created manually instead of being defined in the *.ui files. The generated ui didn't pass the top level parent window to constructor of CloudViewer, which caused a problem when initializing the QVTKWidget.
2016-05-05 18:25:26 -04:00
constraintsViewer_->addCloud("scan1", scanTo, Transform::getIdentity(), Qt::magenta);
GUI: Added "Edit->Post processing..." action to detect more loop closures and/or refine all links in the graph with ICP 3D.
2014-10-30 14:43:43 +00:00
}
Increased database version to 0.8.11 (new Depth.data2d_max_pts column). Updated how local loop closure detection in space is done. Update GraphViewer with local radius ellipse and current goal node color. MainWindow saving/loading figures automatically accordingly to the previous session saved.
2015-05-03 18:16:55 -04:00
else
{
Fixed crash on startup with vtk6+qt5. All cloud viewers in QDockWidget are now created manually instead of being defined in the *.ui files. The generated ui didn't pass the top level parent window to constructor of CloudViewer, which caused a problem when initializing the QVTKWidget.
2016-05-05 18:25:26 -04:00
constraintsViewer_->removeCloud("scan1");
Increased database version to 0.8.11 (new Depth.data2d_max_pts column). Updated how local loop closure detection in space is done. Update GraphViewer with local radius ellipse and current goal node color. MainWindow saving/loading figures automatically accordingly to the previous session saved.
2015-05-03 18:16:55 -04:00
}
Fixed crash on startup with vtk6+qt5. All cloud viewers in QDockWidget are now created manually instead of being defined in the *.ui files. The generated ui didn't pass the top level parent window to constructor of CloudViewer, which caused a problem when initializing the QVTKWidget.
2016-05-05 18:25:26 -04:00
constraintsViewer_->removeCloud("scan2");
Refactored Odometry class:
2014-10-13 19:10:22 +00:00
}
Updated version to 0.8.0
2014-12-14 16:42:10 -05:00
CloudViewer: Added addOrUpdateCoordinate() method (working only with PCL >= 1.7.2)
2015-07-24 16:29:45 -04:00
//update coordinate
Fixed crash on startup with vtk6+qt5. All cloud viewers in QDockWidget are now created manually instead of being defined in the *.ui files. The generated ui didn't pass the top level parent window to constructor of CloudViewer, which caused a problem when initializing the QVTKWidget.
2016-05-05 18:25:26 -04:00
constraintsViewer_->addOrUpdateCoordinate("from_coordinate", Transform::getIdentity(), 0.2);
constraintsViewer_->addOrUpdateCoordinate("to_coordinate", t, 0.2);
DbViewer: added ground truth coordinate (when available) in constraints view
2016-01-10 13:07:42 -05:00
if(uContains(groundTruthPoses_, link.from()) && uContains(groundTruthPoses_, link.to()))
{
Fixed crash on startup with vtk6+qt5. All cloud viewers in QDockWidget are now created manually instead of being defined in the *.ui files. The generated ui didn't pass the top level parent window to constructor of CloudViewer, which caused a problem when initializing the QVTKWidget.
2016-05-05 18:25:26 -04:00
constraintsViewer_->addOrUpdateCoordinate("to_coordinate_gt",
DbViewer: added ground truth coordinate (when available) in constraints view
2016-01-10 13:07:42 -05:00
groundTruthPoses_.at(link.from()).inverse()*groundTruthPoses_.at(link.to()), 0.1);
}
CloudViewer: Added addOrUpdateCoordinate() method (working only with PCL >= 1.7.2)
2015-07-24 16:29:45 -04:00
Fixed crash on startup with vtk6+qt5. All cloud viewers in QDockWidget are now created manually instead of being defined in the *.ui files. The generated ui didn't pass the top level parent window to constructor of CloudViewer, which caused a problem when initializing the QVTKWidget.
2016-05-05 18:25:26 -04:00
constraintsViewer_->clearTrajectory();
Updated version to 0.8.0
2014-12-14 16:42:10 -05:00
Fixed crash on startup with vtk6+qt5. All cloud viewers in QDockWidget are now created manually instead of being defined in the *.ui files. The generated ui didn't pass the top level parent window to constructor of CloudViewer, which caused a problem when initializing the QVTKWidget.
2016-05-05 18:25:26 -04:00
constraintsViewer_->update();
Refactored Odometry class:
2014-10-13 19:10:22 +00:00
}
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
// update buttons
updateConstraintButtons();
}
void DatabaseViewer::updateConstraintButtons()
{
ui_->pushButton_refine->setEnabled(false);
DatabaseViewer: added action refine links visually
2014-11-03 19:14:02 +00:00
ui_->pushButton_refineVisually->setEnabled(false);
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
ui_->pushButton_reset->setEnabled(false);
ui_->pushButton_add->setEnabled(false);
ui_->pushButton_reject->setEnabled(false);
int from = ids_.at(ui_->horizontalSlider_A->value());
int to = ids_.at(ui_->horizontalSlider_B->value());
if(from!=to && from && to)
{
if((!containsLink(links_, from ,to) && !containsLink(linksAdded_, from ,to)) ||
containsLink(linksRemoved_, from ,to))
{
ui_->pushButton_add->setEnabled(true);
}
}
Link currentLink = findActiveLink(from ,to);
if(currentLink.isValid() &&
((currentLink.from() == from && currentLink.to() == to) || (currentLink.from() == to && currentLink.to() == from)))
{
if(!containsLink(linksRemoved_, from ,to))
{
Update version 0.10.11:
2015-10-24 17:03:44 -04:00
ui_->pushButton_reject->setEnabled(
currentLink.type() != Link::kNeighbor &&
currentLink.type() != Link::kNeighborMerged);
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
}
//check for modified link
bool modified = false;
Added rtabmap::computePath() using a pose goal instead of node Id. Graph methods moved in rtabmap::graph namespace
2015-02-06 13:52:02 -05:00
std::multimap<int, Link>::iterator iter = rtabmap::graph::findLink(linksRefined_, currentLink.from(), currentLink.to());
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
if(iter != linksRefined_.end())
{
currentLink = iter->second;
ui_->pushButton_reset->setEnabled(true);
modified = true;
}
if(!modified)
{
ui_->pushButton_reset->setEnabled(false);
}
ui_->pushButton_refine->setEnabled(true);
DatabaseViewer: added action refine links visually
2014-11-03 19:14:02 +00:00
ui_->pushButton_refineVisually->setEnabled(true);
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
}
New classes: Link and GraphViewer (TORO graph visualization and laser scans occupancy grid)
2014-02-11 23:04:22 +00:00
}
void DatabaseViewer::sliderIterationsValueChanged(int value)
{
DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases
2015-10-16 14:54:47 -04:00
if(dbDriver_ && value >=0 && value < (int)graphes_.size())
New classes: Link and GraphViewer (TORO graph visualization and laser scans occupancy grid)
2014-02-11 23:04:22 +00:00
{
Improved performance of create2DMap() and fixed unknown space filled rotation when laser scans are inverted. Added fill unknown space option to DatabaseViewer.
2015-09-28 15:30:01 -04:00
std::map<int, rtabmap::Transform> & graph = uValueAt(graphes_, value);
increased graph::getConnectedGraph() performance
2015-10-14 10:03:36 -04:00
std::map<int, rtabmap::Transform> graphFiltered = graph;
if(ui_->groupBox_posefiltering->isChecked())
{
graphFiltered = graph::radiusPosesFiltering(graph,
ui_->doubleSpinBox_posefilteringRadius->value(),
ui_->doubleSpinBox_posefilteringAngle->value()*CV_PI/180.0);
}
DatabaseViewer: added regeneration of occupancy grids action and saving back to database on close
2016-08-25 23:47:01 -04:00
std::map<int, std::pair<cv::Mat, cv::Mat> > localMaps;
increased graph::getConnectedGraph() performance
2015-10-14 10:03:36 -04:00
if(ui_->dockWidget_graphView->isVisible())
New classes: Link and GraphViewer (TORO graph visualization and laser scans occupancy grid)
2014-02-11 23:04:22 +00:00
{
//update scans
DatabaseViewer: Saving/loading settings, added 3D view, added Grid from 3d projection parameter
2015-03-04 17:27:44 -05:00
UINFO("Update local maps list...");
increased graph::getConnectedGraph() performance
2015-10-14 10:03:36 -04:00
std::vector<int> ids = uKeys(graphFiltered);
Improved performance of create2DMap() and fixed unknown space filled rotation when laser scans are inverted. Added fill unknown space option to DatabaseViewer.
2015-09-28 15:30:01 -04:00
for(unsigned int i=0; i<ids.size(); ++i)
New classes: Link and GraphViewer (TORO graph visualization and laser scans occupancy grid)
2014-02-11 23:04:22 +00:00
{
DatabaseViewer: added regeneration of occupancy grids action and saving back to database on close
2016-08-25 23:47:01 -04:00
if(generatedLocalMaps_.find(ids[i]) != generatedLocalMaps_.end())
New classes: Link and GraphViewer (TORO graph visualization and laser scans occupancy grid)
2014-02-11 23:04:22 +00:00
{
DatabaseViewer: added regeneration of occupancy grids action and saving back to database on close
2016-08-25 23:47:01 -04:00
localMaps.insert(*generatedLocalMaps_.find(ids[i]));
}
else if(localMaps_.find(ids[i]) != localMaps_.end())
{
localMaps.insert(*localMaps_.find(ids.at(i)));
}
else
{
SensorData data;
dbDriver_->getNodeData(ids.at(i), data);
cv::Mat ground, obstacles;
data.uncompressData(0, 0, 0, 0, &ground, &obstacles);
localMaps_.insert(std::make_pair(ids.at(i), std::make_pair(ground, obstacles)));
New classes: Link and GraphViewer (TORO graph visualization and laser scans occupancy grid)
2014-02-11 23:04:22 +00:00
}
}
Improved DatabaseViewer memory usage (by not keeping uncompressed data in cache)
2015-10-14 11:02:36 -04:00
//cleanup
for(std::map<int, std::pair<cv::Mat, cv::Mat> >::iterator iter=localMaps_.begin(); iter!=localMaps_.end();)
{
if(graphFiltered.find(iter->first) == graphFiltered.end())
{
localMaps_.erase(iter++);
}
else
{
++iter;
}
}
DatabaseViewer: Saving/loading settings, added 3D view, added Grid from 3d projection parameter
2015-03-04 17:27:44 -05:00
UINFO("Update local maps list... done");
New classes: Link and GraphViewer (TORO graph visualization and laser scans occupancy grid)
2014-02-11 23:04:22 +00:00
}
Improved performance of create2DMap() and fixed unknown space filled rotation when laser scans are inverted. Added fill unknown space option to DatabaseViewer.
2015-09-28 15:30:01 -04:00
0.11.1: Added "ground_truth_pose" field to database in Node table. MainWindow: alignment of the map to ground truth (if ground truth is present).
2016-01-07 19:39:21 -05:00
ui_->graphViewer->updateGTGraph(groundTruthPoses_);
DbViewer: added new graph optimization options: span to all maps and ignore some links
2015-05-23 13:36:36 -04:00
ui_->graphViewer->updateGraph(graph, graphLinks_, mapIds_);
DatabaseViewer: added regeneration of occupancy grids action and saving back to database on close
2016-08-25 23:47:01 -04:00
if(graph.size() && localMaps.size() && ui_->graphViewer->isGridMapVisible())
-Added the grid map in the 3D map view (pcl::TextureMesh, available only when pcl>=1.7.2). Refactored how 2d maps are created.
2014-07-29 21:48:37 +00:00
{
float xMin, yMin;
DatabaseViewer: Saving/loading settings, added 3D view, added Grid from 3d projection parameter
2015-03-04 17:27:44 -05:00
float cell = ui_->doubleSpinBox_gridCellSize->value();
Added g2o optimization option (along with TORO). Some refactoring: updated graph optimization parameter names, new graph::Optimizer class and new parameter RGBD/OptimizeSlam2d
2015-03-12 17:00:56 -04:00
cv::Mat map;
Grid map: added "erode" option
2015-03-20 14:03:09 -04:00
QTime time;
time.start();
DatabaseViewer: added regeneration of occupancy grids action and saving back to database on close
2016-08-25 23:47:01 -04:00
map = rtabmap::util3d::create2DMapFromOccupancyLocalMaps(graphFiltered, localMaps, cell, xMin, yMin, 0, ui_->checkBox_gridErode->isChecked());
Added g2o optimization option (along with TORO). Some refactoring: updated graph optimization parameter names, new graph::Optimizer class and new parameter RGBD/OptimizeSlam2d
2015-03-12 17:00:56 -04:00
if(!map.empty())
{
ui_->graphViewer->updateMap(rtabmap::util3d::convertMap2Image8U(map), cell, xMin, yMin);
}
Grid map: added "erode" option
2015-03-20 14:03:09 -04:00
ui_->label_timeGrid->setNum(double(time.elapsed())/1000.0);
-Added the grid map in the 3D map view (pcl::TextureMesh, available only when pcl>=1.7.2). Refactored how 2d maps are created.
2014-07-29 21:48:37 +00:00
}
Added g2o optimization option (along with TORO). Some refactoring: updated graph optimization parameter names, new graph::Optimizer class and new parameter RGBD/OptimizeSlam2d
2015-03-12 17:00:56 -04:00
ui_->graphViewer->update();
New classes: Link and GraphViewer (TORO graph visualization and laser scans occupancy grid)
2014-02-11 23:04:22 +00:00
ui_->label_iterations->setNum(value);
DatabaseViewer: Added total path length under the Graph view
2014-06-09 22:05:52 +00:00
//compute total length (neighbor links)
float length = 0.0f;
DbViewer: added new graph optimization options: span to all maps and ignore some links
2015-05-23 13:36:36 -04:00
for(std::multimap<int, rtabmap::Link>::const_iterator iter=graphLinks_.begin(); iter!=graphLinks_.end(); ++iter)
DatabaseViewer: Added total path length under the Graph view
2014-06-09 22:05:52 +00:00
{
std::map<int, rtabmap::Transform>::const_iterator jterA = graph.find(iter->first);
std::map<int, rtabmap::Transform>::const_iterator jterB = graph.find(iter->second.to());
if(jterA != graph.end() && jterB != graph.end())
{
const rtabmap::Transform & poseA = jterA->second;
const rtabmap::Transform & poseB = jterB->second;
Update version 0.10.11:
2015-10-24 17:03:44 -04:00
if(iter->second.type() == rtabmap::Link::kNeighbor ||
iter->second.type() == rtabmap::Link::kNeighborMerged)
DatabaseViewer: Added total path length under the Graph view
2014-06-09 22:05:52 +00:00
{
Eigen::Vector3f vA, vB;
API achange (0.11.8): computeNormals returns only pcl::Normal cloud, not pcl::PointNormal or pcl::PointXYZRGBNormal types. MainWindow: Normals are not kept in cache to save RAM. ProgressDialog: check if auto-close is still checked when close() slot is called.
2016-06-12 13:51:49 -04:00
float x,y,z;
poseA.getTranslation(x,y,z);
vA[0] = x; vA[1] = y; vA[2] = z;
poseB.getTranslation(x,y,z);
vB[0] = x; vB[1] = y; vB[2] = z;
DatabaseViewer: Added total path length under the Graph view
2014-06-09 22:05:52 +00:00
length += (vB - vA).norm();
}
}
}
ui_->label_pathLength->setNum(length);
New classes: Link and GraphViewer (TORO graph visualization and laser scans occupancy grid)
2014-02-11 23:04:22 +00:00
}
}
void DatabaseViewer::updateGraphView()
{
DbViewer: added new graph optimization options: span to all maps and ignore some links
2015-05-23 13:36:36 -04:00
ui_->label_loopClosures->clear();
Update version 0.10.11:
2015-10-24 17:03:44 -04:00
ui_->label_poses->clear();
0.11.1: Added "ground_truth_pose" field to database in Node table. MainWindow: alignment of the map to ground truth (if ground truth is present).
2016-01-07 19:39:21 -05:00
Updated version to 0.8.0
2014-12-14 16:42:10 -05:00
if(poses_.size())
New classes: Link and GraphViewer (TORO graph visualization and laser scans occupancy grid)
2014-02-11 23:04:22 +00:00
{
DbViewer: added new graph optimization options: span to all maps and ignore some links
2015-05-23 13:36:36 -04:00
int fromId = ui_->spinBox_optimizationsFrom->value();
if(!uContains(poses_, fromId))
New classes: Link and GraphViewer (TORO graph visualization and laser scans occupancy grid)
2014-02-11 23:04:22 +00:00
{
QMessageBox::warning(this, tr(""), tr("Graph optimization from id (%1) for which node is not linked to graph.\n Minimum=%2, Maximum=%3")
DbViewer: added new graph optimization options: span to all maps and ignore some links
2015-05-23 13:36:36 -04:00
.arg(fromId)
New classes: Link and GraphViewer (TORO graph visualization and laser scans occupancy grid)
2014-02-11 23:04:22 +00:00
.arg(poses_.begin()->first)
.arg(poses_.rbegin()->first));
return;
}
graphes_.clear();
DbViewer: added new graph optimization options: span to all maps and ignore some links
2015-05-23 13:36:36 -04:00
graphLinks_.clear();
std::map<int, rtabmap::Transform> poses = poses_;
// filter current map if not spanning to all maps
if(!ui_->checkBox_spanAllMaps->isChecked() && uContains(mapIds_, fromId) && mapIds_.at(fromId) >= 0)
{
int currentMapId = mapIds_.at(fromId);
for(std::map<int, rtabmap::Transform>::iterator iter=poses.begin(); iter!=poses.end();)
{
if(!uContains(mapIds_, iter->first) ||
mapIds_.at(iter->first) != currentMapId)
{
fixed map erase error on ubuntu
2015-05-23 14:58:11 -04:00
poses.erase(iter++);
DbViewer: added new graph optimization options: span to all maps and ignore some links
2015-05-23 13:36:36 -04:00
}
else
{
++iter;
}
}
}
graphes_.push_back(poses);
New classes: Link and GraphViewer (TORO graph visualization and laser scans occupancy grid)
2014-02-11 23:04:22 +00:00
database viewer: added method generateTOROGraph()
2014-02-27 17:00:46 +00:00
ui_->actionGenerate_TORO_graph_graph->setEnabled(true);
Added parameter "RGBD/OptimizeRobust" (default true) to use Vertigo robust graph optimization (only for g2o and GTSAM optimization strategies). Added GTSAM support.
2015-09-02 17:51:43 -04:00
ui_->actionGenerate_g2o_graph_g2o->setEnabled(true);
DbViewer: added new graph optimization options: span to all maps and ignore some links
2015-05-23 13:36:36 -04:00
std::multimap<int, rtabmap::Link> links = links_;
// filter current map if not spanning to all maps
if(!ui_->checkBox_spanAllMaps->isChecked() && uContains(mapIds_, fromId) && mapIds_.at(fromId) >= 0)
{
int currentMapId = mapIds_.at(fromId);
for(std::multimap<int, rtabmap::Link>::iterator iter=links.begin(); iter!=links.end();)
{
if(!uContains(mapIds_, iter->second.from()) ||
!uContains(mapIds_, iter->second.to()) ||
mapIds_.at(iter->second.from()) != currentMapId ||
mapIds_.at(iter->second.to()) != currentMapId)
{
fixed map erase error on ubuntu
2015-05-23 14:58:11 -04:00
links.erase(iter++);
DbViewer: added new graph optimization options: span to all maps and ignore some links
2015-05-23 13:36:36 -04:00
}
else
{
++iter;
}
}
}
DatabaseViewer: added "Ignore pose correction" option
2015-04-01 14:34:43 -04:00
if(ui_->checkBox_ignorePoseCorrection->isChecked())
{
DbViewer: added new graph optimization options: span to all maps and ignore some links
2015-05-23 13:36:36 -04:00
std::multimap<int, Link> tmp = links;
databaseViewer: Fixed link's covariance modified when pose correction was disabled. Link: setVariance() and setInfMatrix are now private, to force re-cloning the link if we want to change these info.
2016-07-24 13:23:22 -04:00
std::multimap<int, Link>::iterator jter=links.begin();
for(std::multimap<int, Link>::iterator iter=tmp.begin(); iter!=tmp.end(); ++iter, ++jter)
DatabaseViewer: added "Ignore pose correction" option
2015-04-01 14:34:43 -04:00
{
Update version 0.10.11:
2015-10-24 17:03:44 -04:00
if(iter->second.type() == Link::kNeighbor ||
iter->second.type() == Link::kNeighborMerged)
DatabaseViewer: added "Ignore pose correction" option
2015-04-01 14:34:43 -04:00
{
DbViewer: added new graph optimization options: span to all maps and ignore some links
2015-05-23 13:36:36 -04:00
Transform poseFrom = uValue(poses, iter->second.from(), Transform());
Transform poseTo = uValue(poses, iter->second.to(), Transform());
DatabaseViewer: added "Ignore pose correction" option
2015-04-01 14:34:43 -04:00
if(!poseFrom.isNull() && !poseTo.isNull())
{
databaseViewer: Fixed link's covariance modified when pose correction was disabled. Link: setVariance() and setInfMatrix are now private, to force re-cloning the link if we want to change these info.
2016-07-24 13:23:22 -04:00
// reset to identity covariance
iter->second = Link(
iter->second.from(),
iter->second.to(),
iter->second.type(),
poseFrom.inverse() * poseTo);
DatabaseViewer: added "Ignore pose correction" option
2015-04-01 14:34:43 -04:00
}
}
}
links = updateLinksWithModifications(tmp);
}
else
{
DbViewer: added new graph optimization options: span to all maps and ignore some links
2015-05-23 13:36:36 -04:00
links = updateLinksWithModifications(links);
DatabaseViewer: added "Ignore pose correction" option
2015-04-01 14:34:43 -04:00
}
DbViewer: added new graph optimization options: span to all maps and ignore some links
2015-05-23 13:36:36 -04:00
// filter links
Update version 0.10.11:
2015-10-24 17:03:44 -04:00
int totalNeighbor = 0;
int totalNeighborMerged = 0;
DbViewer: added new graph optimization options: span to all maps and ignore some links
2015-05-23 13:36:36 -04:00
int totalGlobal = 0;
int totalLocalTime = 0;
int totalLocalSpace = 0;
int totalUser = 0;
for(std::multimap<int, rtabmap::Link>::iterator iter=links.begin(); iter!=links.end();)
{
Update version 0.10.11:
2015-10-24 17:03:44 -04:00
if(iter->second.type() == Link::kNeighbor)
{
++totalNeighbor;
}
else if(iter->second.type() == Link::kNeighborMerged)
{
++totalNeighborMerged;
}
else if(iter->second.type() == Link::kGlobalClosure)
DbViewer: added new graph optimization options: span to all maps and ignore some links
2015-05-23 13:36:36 -04:00
{
if(ui_->checkBox_ignoreGlobalLoop->isChecked())
{
fixed map erase error on ubuntu
2015-05-23 14:58:11 -04:00
links.erase(iter++);
DbViewer: added new graph optimization options: span to all maps and ignore some links
2015-05-23 13:36:36 -04:00
continue;
}
++totalGlobal;
}
else if(iter->second.type() == Link::kLocalSpaceClosure)
{
if(ui_->checkBox_ignoreLocalLoopSpace->isChecked())
{
fixed map erase error on ubuntu
2015-05-23 14:58:11 -04:00
links.erase(iter++);
DbViewer: added new graph optimization options: span to all maps and ignore some links
2015-05-23 13:36:36 -04:00
continue;
}
++totalLocalSpace;
}
else if(iter->second.type() == Link::kLocalTimeClosure)
{
if(ui_->checkBox_ignoreLocalLoopTime->isChecked())
{
fixed map erase error on ubuntu
2015-05-23 14:58:11 -04:00
links.erase(iter++);
DbViewer: added new graph optimization options: span to all maps and ignore some links
2015-05-23 13:36:36 -04:00
continue;
}
++totalLocalTime;
}
else if(iter->second.type() == Link::kUserClosure)
{
if(ui_->checkBox_ignoreUserLoop->isChecked())
{
fixed map erase error on ubuntu
2015-05-23 14:58:11 -04:00
links.erase(iter++);
DbViewer: added new graph optimization options: span to all maps and ignore some links
2015-05-23 13:36:36 -04:00
continue;
}
++totalUser;
}
++iter;
}
Update version 0.10.11:
2015-10-24 17:03:44 -04:00
ui_->label_loopClosures->setText(tr("(%1, %2, %3, %4, %5, %6)")
.arg(totalNeighbor)
.arg(totalNeighborMerged)
.arg(totalGlobal)
.arg(totalLocalSpace)
.arg(totalLocalTime)
.arg(totalUser));
DbViewer: added new graph optimization options: span to all maps and ignore some links
2015-05-23 13:36:36 -04:00
Refactoring of the cameraStereoImages and cameraRGBDImages classes (now inheriting from CameraImages) for easy setting of laser scan path, timestamps path and ground truth path.
2015-12-17 14:13:19 -05:00
Optimizer * optimizer = Optimizer::create(ui_->parameters_toolbox->getParameters());
Refactoring: Split all graph optimization approaches in multiple files
2015-11-27 11:09:39 -05:00
Added g2o optimization option (along with TORO). Some refactoring: updated graph optimization parameter names, new graph::Optimizer class and new parameter RGBD/OptimizeSlam2d
2015-03-12 17:00:56 -04:00
std::map<int, rtabmap::Transform> posesOut;
std::multimap<int, rtabmap::Link> linksOut;
Update version 0.10.11:
2015-10-24 17:03:44 -04:00
UINFO("Get connected graph from %d (%d poses, %d links)", fromId, (int)poses.size(), (int)links.size());
Added g2o optimization option (along with TORO). Some refactoring: updated graph optimization parameter names, new graph::Optimizer class and new parameter RGBD/OptimizeSlam2d
2015-03-12 17:00:56 -04:00
optimizer->getConnectedGraph(
fromId,
DbViewer: added new graph optimization options: span to all maps and ignore some links
2015-05-23 13:36:36 -04:00
poses,
Added g2o optimization option (along with TORO). Some refactoring: updated graph optimization parameter names, new graph::Optimizer class and new parameter RGBD/OptimizeSlam2d
2015-03-12 17:00:56 -04:00
links,
posesOut,
DatabaseViewer: added graph depth param. Rtabmap: when the robot is not moving, now deleting location "after" retrieval
2015-03-16 18:22:54 -04:00
linksOut,
ui_->spinBox_optimizationDepth->value());
increased graph::getConnectedGraph() performance
2015-10-14 10:03:36 -04:00
UINFO("Connected graph of %d poses and %d links", (int)posesOut.size(), (int)linksOut.size());
Added g2o optimization option (along with TORO). Some refactoring: updated graph optimization parameter names, new graph::Optimizer class and new parameter RGBD/OptimizeSlam2d
2015-03-12 17:00:56 -04:00
QTime time;
time.start();
DbViewer: added new graph optimization options: span to all maps and ignore some links
2015-05-23 13:36:36 -04:00
std::map<int, rtabmap::Transform> finalPoses = optimizer->optimize(fromId, posesOut, linksOut, &graphes_);
Added g2o optimization option (along with TORO). Some refactoring: updated graph optimization parameter names, new graph::Optimizer class and new parameter RGBD/OptimizeSlam2d
2015-03-12 17:00:56 -04:00
ui_->label_timeOptimization->setNum(double(time.elapsed())/1000.0);
New classes: Link and GraphViewer (TORO graph visualization and laser scans occupancy grid)
2014-02-11 23:04:22 +00:00
graphes_.push_back(finalPoses);
DbViewer: added new graph optimization options: span to all maps and ignore some links
2015-05-23 13:36:36 -04:00
graphLinks_ = linksOut;
Update version 0.10.11:
2015-10-24 17:03:44 -04:00
ui_->label_poses->setNum((int)finalPoses.size());
Added g2o optimization option (along with TORO). Some refactoring: updated graph optimization parameter names, new graph::Optimizer class and new parameter RGBD/OptimizeSlam2d
2015-03-12 17:00:56 -04:00
delete optimizer;
Added parameter "RGBD/OptimizeRobust" (default true) to use Vertigo robust graph optimization (only for g2o and GTSAM optimization strategies). Added GTSAM support.
2015-09-02 17:51:43 -04:00
if(posesOut.size() && finalPoses.empty())
{
QMessageBox::warning(this, tr("Graph optimization error!"), tr("Graph optimization has failed. See the terminal for potential errors."));
}
0.11.1: Added "ground_truth_pose" field to database in Node table. MainWindow: alignment of the map to ground truth (if ground truth is present).
2016-01-07 19:39:21 -05:00
if(uContains(groundTruthPoses_, fromId) && uContains(posesOut, fromId))
{
// adjust the ground truth to fit the root
Transform t = posesOut.at(fromId) * groundTruthPoses_.at(fromId).inverse();
for(std::map<int, Transform>::iterator iter=groundTruthPoses_.begin(); iter!=groundTruthPoses_.end(); ++iter)
{
iter->second = t * iter->second;
}
}
else if(groundTruthPoses_.size())
{
UWARN("Could not find ground truth for root node %d", fromId);
}
New classes: Link and GraphViewer (TORO graph visualization and laser scans occupancy grid)
2014-02-11 23:04:22 +00:00
}
if(graphes_.size())
{
Fixed Windows build, implemented wifi mapping example in Windows
2015-03-25 16:30:05 -04:00
ui_->horizontalSlider_iterations->setMaximum((int)graphes_.size()-1);
ui_->horizontalSlider_iterations->setValue((int)graphes_.size()-1);
DatabaseViewer: Saving/loading settings, added 3D view, added Grid from 3d projection parameter
2015-03-04 17:27:44 -05:00
ui_->horizontalSlider_iterations->setEnabled(true);
ui_->spinBox_optimizationsFrom->setEnabled(true);
Fixed Windows build, implemented wifi mapping example in Windows
2015-03-25 16:30:05 -04:00
sliderIterationsValueChanged((int)graphes_.size()-1);
New classes: Link and GraphViewer (TORO graph visualization and laser scans occupancy grid)
2014-02-11 23:04:22 +00:00
}
else
{
DatabaseViewer: Saving/loading settings, added 3D view, added Grid from 3d projection parameter
2015-03-04 17:27:44 -05:00
ui_->horizontalSlider_iterations->setEnabled(false);
ui_->spinBox_optimizationsFrom->setEnabled(false);
}
}
void DatabaseViewer::updateGrid()
{
DatabaseViewer: added occupancy grid to 3D view
2016-08-26 13:02:00 -04:00
update3dView();
DatabaseViewer: added regeneration of occupancy grids action and saving back to database on close
2016-08-25 23:47:01 -04:00
updateGraphView();
New classes: Link and GraphViewer (TORO graph visualization and laser scans occupancy grid)
2014-02-11 23:04:22 +00:00
}
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
Link DatabaseViewer::findActiveLink(int from, int to)
{
Link link;
Added rtabmap::computePath() using a pose goal instead of node Id. Graph methods moved in rtabmap::graph namespace
2015-02-06 13:52:02 -05:00
std::multimap<int, Link>::iterator findIter = rtabmap::graph::findLink(linksRefined_, from ,to);
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
if(findIter != linksRefined_.end())
{
link = findIter->second;
}
else
{
Added rtabmap::computePath() using a pose goal instead of node Id. Graph methods moved in rtabmap::graph namespace
2015-02-06 13:52:02 -05:00
findIter = rtabmap::graph::findLink(linksAdded_, from ,to);
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
if(findIter != linksAdded_.end())
{
link = findIter->second;
}
else if(!containsLink(linksRemoved_, from ,to))
{
Added rtabmap::computePath() using a pose goal instead of node Id. Graph methods moved in rtabmap::graph namespace
2015-02-06 13:52:02 -05:00
findIter = rtabmap::graph::findLink(links_, from ,to);
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
if(findIter != links_.end())
{
link = findIter->second;
}
}
}
return link;
}
bool DatabaseViewer::containsLink(std::multimap<int, Link> & links, int from, int to)
{
Added rtabmap::computePath() using a pose goal instead of node Id. Graph methods moved in rtabmap::graph namespace
2015-02-06 13:52:02 -05:00
return rtabmap::graph::findLink(links, from, to) != links.end();
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
}
void DatabaseViewer::refineConstraint()
{
int from = ids_.at(ui_->horizontalSlider_A->value());
int to = ids_.at(ui_->horizontalSlider_B->value());
Increased database version to 0.8.11 (new Depth.data2d_max_pts column). Updated how local loop closure detection in space is done. Update GraphViewer with local radius ellipse and current goal node color. MainWindow saving/loading figures automatically accordingly to the previous session saved.
2015-05-03 18:16:55 -04:00
refineConstraint(from, to, false, true);
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
}
Increased database version to 0.8.11 (new Depth.data2d_max_pts column). Updated how local loop closure detection in space is done. Update GraphViewer with local radius ellipse and current goal node color. MainWindow saving/loading figures automatically accordingly to the previous session saved.
2015-05-03 18:16:55 -04:00
void DatabaseViewer::refineConstraint(int from, int to, bool silent, bool updateGraph)
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
{
if(from == to)
{
UWARN("Cannot refine link to same node");
return;
}
Link currentLink = findActiveLink(from, to);
if(!currentLink.isValid())
{
UERROR("Not found link! (%d->%d)", from, to);
return;
}
Updated version to 0.8.0
2014-12-14 16:42:10 -05:00
Transform t = currentLink.transform();
if(ui_->checkBox_showOptimized->isChecked() &&
Update version 0.10.11:
2015-10-24 17:03:44 -04:00
(currentLink.type() == Link::kNeighbor || currentLink.type() == Link::kNeighborMerged) &&
Updated version to 0.8.0
2014-12-14 16:42:10 -05:00
graphes_.size() &&
(int)graphes_.size()-1 == ui_->horizontalSlider_iterations->maximum())
{
std::map<int, rtabmap::Transform> & graph = uValueAt(graphes_, ui_->horizontalSlider_iterations->value());
Update version 0.10.11:
2015-10-24 17:03:44 -04:00
if(currentLink.type() == Link::kNeighbor || currentLink.type() == Link::kNeighborMerged)
Updated version to 0.8.0
2014-12-14 16:42:10 -05:00
{
std::map<int, rtabmap::Transform>::iterator iterFrom = graph.find(currentLink.from());
std::map<int, rtabmap::Transform>::iterator iterTo = graph.find(currentLink.to());
if(iterFrom != graph.end() && iterTo != graph.end())
{
Transform topt = iterFrom->second.inverse()*iterTo->second;
t = topt;
}
}
}
Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used
2015-11-22 18:08:32 -05:00
else if(ui_->checkBox_ignorePoseCorrection->isChecked() &&
graph::findLink(linksRefined_, from, to) == linksRefined_.end())
{
if(currentLink.type() == Link::kNeighbor ||
currentLink.type() == Link::kNeighborMerged)
{
Transform poseFrom = uValue(poses_, currentLink.from(), Transform());
Transform poseTo = uValue(poses_, currentLink.to(), Transform());
if(!poseFrom.isNull() && !poseTo.isNull())
{
t = poseFrom.inverse() * poseTo; // recompute raw odom transformation
}
}
}
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
DatabaseViewer: ask saving changes to database on Exit
2014-09-21 21:14:17 +00:00
Transform transform;
Refactoring Registration: added RegistrationInfo class, pipeline registration. Camera source: create laser scan from depth image. Removed OdometryICP as the same behavior can be achieved with OdometryF2F and "Reg/Strategy" = 1 (ICP) or 2 (Vis+ICP).
2016-01-06 17:26:55 -05:00
RegistrationInfo info;
DatabaseViewer: ask saving changes to database on Exit
2014-09-21 21:14:17 +00:00
Added multi-camera feature
2015-05-29 14:46:48 -04:00
SensorData dataFrom, dataTo;
DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases
2015-10-16 14:54:47 -04:00
dbDriver_->getNodeData(currentLink.from(), dataFrom);
dbDriver_->getNodeData(currentLink.to(), dataTo);
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
Refactoring of the cameraStereoImages and cameraRGBDImages classes (now inheriting from CameraImages) for easy setting of laser scan path, timestamps path and ground truth path.
2015-12-17 14:13:19 -05:00
ParametersMap parameters = ui_->parameters_toolbox->getParameters();
Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used
2015-11-22 18:08:32 -05:00
UTimer timer;
0.11.10: Database update with occupancy grid and laser scan info. Added class LaserScanInfo and OccupancyGrid (incremental 2d grid map). Gui: 2d grid and octomap are udpated using occupancy grids saved in nodes.
2016-08-21 19:33:01 -04:00
if(ui_->checkBox_icp_from_depth->isChecked())
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
{
Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used
2015-11-22 18:08:32 -05:00
// generate laser scans from depth image
cv::Mat tmpA, tmpB, tmpC, tmpD;
dataFrom.uncompressData(&tmpA, &tmpB, 0);
dataTo.uncompressData(&tmpC, &tmpD, 0);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloudFrom = util3d::cloudFromSensorData(
dataFrom,
Image Decimation can now be negative, meaning that decimation is done from RGB size instead of depth. If Depth size is smaller than RGB, it may be upsampled depending on the decimation value. Export Dialog: Fixed MLS not done even when checked.
2016-10-30 16:03:23 -04:00
ui_->spinBox_icp_decimation->value()==0?1:ui_->spinBox_icp_decimation->value(),
0.11.4: API change: added minDepth parameter to cloudFromXXXXX() methods and removed voxel parameter
2016-04-12 15:14:04 -04:00
ui_->doubleSpinBox_icp_maxDepth->value(),
0.11.7: Added ZED sdk support
2016-05-31 19:09:49 -04:00
ui_->doubleSpinBox_icp_minDepth->value(),
0,
ui_->parameters_toolbox->getParameters());
Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used
2015-11-22 18:08:32 -05:00
pcl::PointCloud<pcl::PointXYZ>::Ptr cloudTo = util3d::cloudFromSensorData(
dataTo,
Image Decimation can now be negative, meaning that decimation is done from RGB size instead of depth. If Depth size is smaller than RGB, it may be upsampled depending on the decimation value. Export Dialog: Fixed MLS not done even when checked.
2016-10-30 16:03:23 -04:00
ui_->spinBox_icp_decimation->value()==0?1:ui_->spinBox_icp_decimation->value(),
0.11.4: API change: added minDepth parameter to cloudFromXXXXX() methods and removed voxel parameter
2016-04-12 15:14:04 -04:00
ui_->doubleSpinBox_icp_maxDepth->value(),
0.11.7: Added ZED sdk support
2016-05-31 19:09:49 -04:00
ui_->doubleSpinBox_icp_minDepth->value(),
0,
ui_->parameters_toolbox->getParameters());
Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used
2015-11-22 18:08:32 -05:00
int maxLaserScans = cloudFrom->size();
0.11.10: Database update with occupancy grid and laser scan info. Added class LaserScanInfo and OccupancyGrid (incremental 2d grid map). Gui: 2d grid and octomap are udpated using occupancy grids saved in nodes.
2016-08-21 19:33:01 -04:00
dataFrom.setLaserScanRaw(util3d::laserScanFromPointCloud(*util3d::removeNaNFromPointCloud(cloudFrom), Transform()), LaserScanInfo(maxLaserScans, 0));
dataTo.setLaserScanRaw(util3d::laserScanFromPointCloud(*util3d::removeNaNFromPointCloud(cloudTo), Transform()), LaserScanInfo(maxLaserScans, 0));
DbViewer: fixed reversed "Generate laser scan from depth" option
2016-01-10 12:57:49 -05:00
if(!dataFrom.laserScanCompressed().empty() || !dataTo.laserScanCompressed().empty())
{
UWARN("There are laser scans in data, but generate laser scan from "
"depth image option is activated. Ignoring saved laser scans...");
}
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
}
else
{
Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used
2015-11-22 18:08:32 -05:00
cv::Mat tmpA, tmpB;
dataFrom.uncompressData(0, 0, &tmpA);
dataTo.uncompressData(0, 0, &tmpB);
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
}
Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used
2015-11-22 18:08:32 -05:00
UINFO("Uncompress time: %f s", timer.ticks());
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used
2015-11-22 18:08:32 -05:00
RegistrationIcp registration(parameters);
Refactoring Registration: added RegistrationInfo class, pipeline registration. Camera source: create laser scan from depth image. Removed OdometryICP as the same behavior can be achieved with OdometryF2F and "Reg/Strategy" = 1 (ICP) or 2 (Vis+ICP).
2016-01-06 17:26:55 -05:00
transform = registration.computeTransformation(dataFrom, dataTo, t, &info);
Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used
2015-11-22 18:08:32 -05:00
UINFO("Icp time: %f s", timer.ticks());
if(!transform.isNull())
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
{
Refactoring Registration: added RegistrationInfo class, pipeline registration. Camera source: create laser scan from depth image. Removed OdometryICP as the same behavior can be achieved with OdometryF2F and "Reg/Strategy" = 1 (ICP) or 2 (Vis+ICP).
2016-01-06 17:26:55 -05:00
Link newLink(currentLink.from(), currentLink.to(), currentLink.type(), transform, info.variance, info.variance);
Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used
2015-11-22 18:08:32 -05:00
bool updated = false;
std::multimap<int, Link>::iterator iter = linksRefined_.find(currentLink.from());
while(iter != linksRefined_.end() && iter->first == currentLink.from())
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
{
Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used
2015-11-22 18:08:32 -05:00
if(iter->second.to() == currentLink.to() &&
iter->second.type() == currentLink.type())
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
{
Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used
2015-11-22 18:08:32 -05:00
iter->second = newLink;
updated = true;
break;
}
++iter;
}
if(!updated)
{
linksRefined_.insert(std::make_pair(newLink.from(), newLink));
if(updateGraph)
{
this->updateGraphView();
Updated version to 0.8.0
2014-12-14 16:42:10 -05:00
}
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
}
Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used
2015-11-22 18:08:32 -05:00
if(ui_->dockWidget_constraints->isVisible())
databaseViewer: updated default ICP parameters, and optimized view of the constraints while refining
2014-10-14 21:06:30 +00:00
{
Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used
2015-11-22 18:08:32 -05:00
this->updateConstraintView(newLink, true);
databaseViewer: updated default ICP parameters, and optimized view of the constraints while refining
2014-10-14 21:06:30 +00:00
}
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
}
Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used
2015-11-22 18:08:32 -05:00
Increased database version to 0.8.11 (new Depth.data2d_max_pts column). Updated how local loop closure detection in space is done. Update GraphViewer with local radius ellipse and current goal node color. MainWindow saving/loading figures automatically accordingly to the previous session saved.
2015-05-03 18:16:55 -04:00
else if(!silent)
{
QMessageBox::warning(this,
tr("Refine link"),
tr("Cannot find a transformation between nodes %1 and %2").arg(from).arg(to));
}
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
}
DatabaseViewer: added action refine links visually
2014-11-03 19:14:02 +00:00
void DatabaseViewer::refineConstraintVisually()
{
int from = ids_.at(ui_->horizontalSlider_A->value());
int to = ids_.at(ui_->horizontalSlider_B->value());
Increased database version to 0.8.11 (new Depth.data2d_max_pts column). Updated how local loop closure detection in space is done. Update GraphViewer with local radius ellipse and current goal node color. MainWindow saving/loading figures automatically accordingly to the previous session saved.
2015-05-03 18:16:55 -04:00
refineConstraintVisually(from, to, false, true);
DatabaseViewer: added action refine links visually
2014-11-03 19:14:02 +00:00
}
Increased database version to 0.8.11 (new Depth.data2d_max_pts column). Updated how local loop closure detection in space is done. Update GraphViewer with local radius ellipse and current goal node color. MainWindow saving/loading figures automatically accordingly to the previous session saved.
2015-05-03 18:16:55 -04:00
void DatabaseViewer::refineConstraintVisually(int from, int to, bool silent, bool updateGraph)
DatabaseViewer: added action refine links visually
2014-11-03 19:14:02 +00:00
{
Refactoring of the cameraStereoImages and cameraRGBDImages classes (now inheriting from CameraImages) for easy setting of laser scan path, timestamps path and ground truth path.
2015-12-17 14:13:19 -05:00
UDEBUG("");
DatabaseViewer: added action refine links visually
2014-11-03 19:14:02 +00:00
if(from == to)
{
UWARN("Cannot refine link to same node");
return;
}
Link currentLink = findActiveLink(from, to);
if(!currentLink.isValid())
{
UERROR("Not found link! (%d->%d)", from, to);
return;
}
Refactoring of the cameraStereoImages and cameraRGBDImages classes (now inheriting from CameraImages) for easy setting of laser scan path, timestamps path and ground truth path.
2015-12-17 14:13:19 -05:00
ParametersMap parameters = ui_->parameters_toolbox->getParameters();
DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases
2015-10-16 14:54:47 -04:00
DatabaseViewer: added action refine links visually
2014-11-03 19:14:02 +00:00
Transform t;
Refactoring Registration: added RegistrationInfo class, pipeline registration. Camera source: create laser scan from depth image. Removed OdometryICP as the same behavior can be achieved with OdometryF2F and "Reg/Strategy" = 1 (ICP) or 2 (Vis+ICP).
2016-01-06 17:26:55 -05:00
RegistrationInfo info;
Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used
2015-11-22 18:08:32 -05:00
Refactoring of the cameraStereoImages and cameraRGBDImages classes (now inheriting from CameraImages) for easy setting of laser scan path, timestamps path and ground truth path.
2015-12-17 14:13:19 -05:00
// Add sensor data to generate features
SensorData dataFrom;
dbDriver_->getNodeData(from, dataFrom);
dataFrom.uncompressData();
SensorData dataTo;
dbDriver_->getNodeData(to, dataTo);
dataTo.uncompressData();
DatabaseViewer: added action refine links visually
2014-11-03 19:14:02 +00:00
Refactoring of the cameraStereoImages and cameraRGBDImages classes (now inheriting from CameraImages) for easy setting of laser scan path, timestamps path and ground truth path.
2015-12-17 14:13:19 -05:00
UDEBUG("");
RegistrationVis reg(parameters);
Refactoring: removed some code duplication about transformation estimation and features (2D-3D) extraction.
2015-12-21 17:27:05 -05:00
Signature fromS(dataFrom);
Signature toS(dataTo);
Refactoring Registration: added RegistrationInfo class, pipeline registration. Camera source: create laser scan from depth image. Removed OdometryICP as the same behavior can be achieved with OdometryF2F and "Reg/Strategy" = 1 (ICP) or 2 (Vis+ICP).
2016-01-06 17:26:55 -05:00
t = reg.computeTransformationMod(fromS, toS, currentLink.transform(), &info);
Refactoring of the cameraStereoImages and cameraRGBDImages classes (now inheriting from CameraImages) for easy setting of laser scan path, timestamps path and ground truth path.
2015-12-17 14:13:19 -05:00
UDEBUG("");
DatabaseViewer: added action refine links visually
2014-11-03 19:14:02 +00:00
Refactoring: removed some code duplication about transformation estimation and features (2D-3D) extraction.
2015-12-21 17:27:05 -05:00
if(!silent)
{
ui_->graphicsView_A->setFeatures(fromS.getWords(), dataFrom.depthRaw());
ui_->graphicsView_B->setFeatures(toS.getWords(), dataTo.depthRaw());
updateWordsMatching();
}
DatabaseViewer: added action refine links visually
2014-11-03 19:14:02 +00:00
if(!t.isNull())
{
Refactoring Registration: added RegistrationInfo class, pipeline registration. Camera source: create laser scan from depth image. Removed OdometryICP as the same behavior can be achieved with OdometryF2F and "Reg/Strategy" = 1 (ICP) or 2 (Vis+ICP).
2016-01-06 17:26:55 -05:00
Link newLink(currentLink.from(), currentLink.to(), currentLink.type(), t, info.variance, info.variance);
DatabaseViewer: added action refine links visually
2014-11-03 19:14:02 +00:00
bool updated = false;
std::multimap<int, Link>::iterator iter = linksRefined_.find(currentLink.from());
while(iter != linksRefined_.end() && iter->first == currentLink.from())
{
if(iter->second.to() == currentLink.to() &&
iter->second.type() == currentLink.type())
{
iter->second = newLink;
updated = true;
break;
}
++iter;
}
if(!updated)
{
Added parameter "RGBD/OptimizeRobust" (default true) to use Vertigo robust graph optimization (only for g2o and GTSAM optimization strategies). Added GTSAM support.
2015-09-02 17:51:43 -04:00
linksRefined_.insert(std::make_pair(newLink.from(), newLink));
Updated version to 0.8.0
2014-12-14 16:42:10 -05:00
if(updateGraph)
{
this->updateGraphView();
}
DatabaseViewer: added action refine links visually
2014-11-03 19:14:02 +00:00
}
if(ui_->dockWidget_constraints->isVisible())
{
Refactoring: removed some code duplication about transformation estimation and features (2D-3D) extraction.
2015-12-21 17:27:05 -05:00
this->updateConstraintView(newLink, false);
DatabaseViewer: added action refine links visually
2014-11-03 19:14:02 +00:00
}
}
Increased database version to 0.8.11 (new Depth.data2d_max_pts column). Updated how local loop closure detection in space is done. Update GraphViewer with local radius ellipse and current goal node color. MainWindow saving/loading figures automatically accordingly to the previous session saved.
2015-05-03 18:16:55 -04:00
else if(!silent)
{
QMessageBox::warning(this,
tr("Add link"),
Refactoring Odometry
2016-01-07 13:59:21 -05:00
tr("Cannot find a transformation between nodes %1 and %2: %3").arg(from).arg(to).arg(info.rejectedMsg.c_str()));
Increased database version to 0.8.11 (new Depth.data2d_max_pts column). Updated how local loop closure detection in space is done. Update GraphViewer with local radius ellipse and current goal node color. MainWindow saving/loading figures automatically accordingly to the previous session saved.
2015-05-03 18:16:55 -04:00
}
DatabaseViewer: added action refine links visually
2014-11-03 19:14:02 +00:00
}
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
void DatabaseViewer::addConstraint()
{
int from = ids_.at(ui_->horizontalSlider_A->value());
int to = ids_.at(ui_->horizontalSlider_B->value());
Updated version to 0.8.0
2014-12-14 16:42:10 -05:00
addConstraint(from, to, false, true);
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
}
Updated version to 0.8.0
2014-12-14 16:42:10 -05:00
bool DatabaseViewer::addConstraint(int from, int to, bool silent, bool updateGraph)
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
{
if(from == to)
{
UWARN("Cannot add link to same node");
return false;
}
bool updateSlider = false;
if(!containsLink(linksAdded_, from, to) &&
!containsLink(links_, from, to))
{
UASSERT(!containsLink(linksRemoved_, from, to));
UASSERT(!containsLink(linksRefined_, from, to));
Refactoring of the cameraStereoImages and cameraRGBDImages classes (now inheriting from CameraImages) for easy setting of laser scan path, timestamps path and ground truth path.
2015-12-17 14:13:19 -05:00
ParametersMap parameters = ui_->parameters_toolbox->getParameters();
DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases
2015-10-16 14:54:47 -04:00
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
Transform t;
Refactoring Registration: added RegistrationInfo class, pipeline registration. Camera source: create laser scan from depth image. Removed OdometryICP as the same behavior can be achieved with OdometryF2F and "Reg/Strategy" = 1 (ICP) or 2 (Vis+ICP).
2016-01-06 17:26:55 -05:00
RegistrationInfo info;
Refactoring of the cameraStereoImages and cameraRGBDImages classes (now inheriting from CameraImages) for easy setting of laser scan path, timestamps path and ground truth path.
2015-12-17 14:13:19 -05:00
// Add sensor data to generate features
SensorData dataFrom;
dbDriver_->getNodeData(from, dataFrom);
dataFrom.uncompressData();
SensorData dataTo;
dbDriver_->getNodeData(to, dataTo);
dataTo.uncompressData();
DatabaseViewer: using DBDriver directly instead of Memory to save RAM on large databases
2015-10-16 14:54:47 -04:00
Refactoring: removed some code duplication about transformation estimation and features (2D-3D) extraction.
2015-12-21 17:27:05 -05:00
UDEBUG("");
RegistrationVis reg(parameters);
Signature fromS(dataFrom);
Signature toS(dataTo);
Refactoring Registration: added RegistrationInfo class, pipeline registration. Camera source: create laser scan from depth image. Removed OdometryICP as the same behavior can be achieved with OdometryF2F and "Reg/Strategy" = 1 (ICP) or 2 (Vis+ICP).
2016-01-06 17:26:55 -05:00
t = reg.computeTransformationMod(fromS, toS, Transform::getIdentity(), &info);
Refactoring: removed some code duplication about transformation estimation and features (2D-3D) extraction.
2015-12-21 17:27:05 -05:00
UDEBUG("");
Refactoring of the cameraStereoImages and cameraRGBDImages classes (now inheriting from CameraImages) for easy setting of laser scan path, timestamps path and ground truth path.
2015-12-17 14:13:19 -05:00
if(!silent)
{
Refactoring: removed some code duplication about transformation estimation and features (2D-3D) extraction.
2015-12-21 17:27:05 -05:00
ui_->graphicsView_A->setFeatures(fromS.getWords(), dataFrom.depthRaw());
ui_->graphicsView_B->setFeatures(toS.getWords(), dataTo.depthRaw());
Refactoring of the cameraStereoImages and cameraRGBDImages classes (now inheriting from CameraImages) for easy setting of laser scan path, timestamps path and ground truth path.
2015-12-17 14:13:19 -05:00
updateWordsMatching();
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
}
Refactoring: removed some code duplication about transformation estimation and features (2D-3D) extraction.
2015-12-21 17:27:05 -05:00
Increased database version to 0.8.11 (new Depth.data2d_max_pts column). Updated how local loop closure detection in space is done. Update GraphViewer with local radius ellipse and current goal node color. MainWindow saving/loading figures automatically accordingly to the previous session saved.
2015-05-03 18:16:55 -04:00
if(!t.isNull())
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
{
// transform is valid, make a link
DatabaseViewer: fixed switched words after adding new loop closures
2015-04-25 18:13:31 -04:00
if(from>to)
{
Refactoring Registration: added RegistrationInfo class, pipeline registration. Camera source: create laser scan from depth image. Removed OdometryICP as the same behavior can be achieved with OdometryF2F and "Reg/Strategy" = 1 (ICP) or 2 (Vis+ICP).
2016-01-06 17:26:55 -05:00
linksAdded_.insert(std::make_pair(from, Link(from, to, Link::kUserClosure, t, info.variance, info.variance)));
DatabaseViewer: fixed switched words after adding new loop closures
2015-04-25 18:13:31 -04:00
}
else
{
Refactoring Registration: added RegistrationInfo class, pipeline registration. Camera source: create laser scan from depth image. Removed OdometryICP as the same behavior can be achieved with OdometryF2F and "Reg/Strategy" = 1 (ICP) or 2 (Vis+ICP).
2016-01-06 17:26:55 -05:00
linksAdded_.insert(std::make_pair(to, Link(to, from, Link::kUserClosure, t.inverse(), info.variance, info.variance)));
DatabaseViewer: fixed switched words after adding new loop closures
2015-04-25 18:13:31 -04:00
}
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
updateSlider = true;
}
Increased database version to 0.8.11 (new Depth.data2d_max_pts column). Updated how local loop closure detection in space is done. Update GraphViewer with local radius ellipse and current goal node color. MainWindow saving/loading figures automatically accordingly to the previous session saved.
2015-05-03 18:16:55 -04:00
else if(!silent)
{
QMessageBox::warning(this,
tr("Add link"),
Refactoring Odometry
2016-01-07 13:59:21 -05:00
tr("Cannot find a transformation between nodes %1 and %2: %3").arg(from).arg(to).arg(info.rejectedMsg.c_str()));
Increased database version to 0.8.11 (new Depth.data2d_max_pts column). Updated how local loop closure detection in space is done. Update GraphViewer with local radius ellipse and current goal node color. MainWindow saving/loading figures automatically accordingly to the previous session saved.
2015-05-03 18:16:55 -04:00
}
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
}
else if(containsLink(linksRemoved_, from, to))
{
//simply remove from linksRemoved
Added rtabmap::computePath() using a pose goal instead of node Id. Graph methods moved in rtabmap::graph namespace
2015-02-06 13:52:02 -05:00
linksRemoved_.erase(rtabmap::graph::findLink(linksRemoved_, from, to));
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
updateSlider = true;
}
if(updateSlider)
{
updateLoopClosuresSlider(from, to);
Updated version to 0.8.0
2014-12-14 16:42:10 -05:00
if(updateGraph)
{
this->updateGraphView();
}
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
}
return updateSlider;
}
void DatabaseViewer::resetConstraint()
{
int from = ids_.at(ui_->horizontalSlider_A->value());
int to = ids_.at(ui_->horizontalSlider_B->value());
if(from < to)
{
int tmp = to;
to = from;
from = tmp;
}
if(from == to)
{
UWARN("Cannot reset link to same node");
return;
}
Added rtabmap::computePath() using a pose goal instead of node Id. Graph methods moved in rtabmap::graph namespace
2015-02-06 13:52:02 -05:00
std::multimap<int, Link>::iterator iter = rtabmap::graph::findLink(linksRefined_, from, to);
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
if(iter != linksRefined_.end())
{
linksRefined_.erase(iter);
Updated version to 0.8.0
2014-12-14 16:42:10 -05:00
this->updateGraphView();
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
}
Added rtabmap::computePath() using a pose goal instead of node Id. Graph methods moved in rtabmap::graph namespace
2015-02-06 13:52:02 -05:00
iter = rtabmap::graph::findLink(links_, from, to);
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
if(iter != links_.end())
{
this->updateConstraintView(iter->second);
}
Added rtabmap::computePath() using a pose goal instead of node Id. Graph methods moved in rtabmap::graph namespace
2015-02-06 13:52:02 -05:00
iter = rtabmap::graph::findLink(linksAdded_, from, to);
DatabaseViewer: ask saving changes to database on Exit
2014-09-21 21:14:17 +00:00
if(iter != linksAdded_.end())
{
this->updateConstraintView(iter->second);
}
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
}
void DatabaseViewer::rejectConstraint()
{
int from = ids_.at(ui_->horizontalSlider_A->value());
int to = ids_.at(ui_->horizontalSlider_B->value());
if(from < to)
{
int tmp = to;
to = from;
from = tmp;
}
if(from == to)
{
UWARN("Cannot reject link to same node");
return;
}
Updated version to 0.8.0
2014-12-14 16:42:10 -05:00
bool removed = false;
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
// find the original one
std::multimap<int, Link>::iterator iter;
Added rtabmap::computePath() using a pose goal instead of node Id. Graph methods moved in rtabmap::graph namespace
2015-02-06 13:52:02 -05:00
iter = rtabmap::graph::findLink(links_, from, to);
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
if(iter != links_.end())
{
Update version 0.10.11:
2015-10-24 17:03:44 -04:00
if(iter->second.type() == Link::kNeighbor || iter->second.type() == Link::kNeighborMerged)
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
{
UWARN("Cannot reject neighbor links (%d->%d)", from, to);
return;
}
linksRemoved_.insert(*iter);
Updated version to 0.8.0
2014-12-14 16:42:10 -05:00
removed = true;
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
}
// remove from refined and added
Added rtabmap::computePath() using a pose goal instead of node Id. Graph methods moved in rtabmap::graph namespace
2015-02-06 13:52:02 -05:00
iter = rtabmap::graph::findLink(linksRefined_, from, to);
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
if(iter != linksRefined_.end())
{
linksRefined_.erase(iter);
Updated version to 0.8.0
2014-12-14 16:42:10 -05:00
removed = true;
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
}
Added rtabmap::computePath() using a pose goal instead of node Id. Graph methods moved in rtabmap::graph namespace
2015-02-06 13:52:02 -05:00
iter = rtabmap::graph::findLink(linksAdded_, from, to);
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
if(iter != linksAdded_.end())
{
linksAdded_.erase(iter);
Updated version to 0.8.0
2014-12-14 16:42:10 -05:00
removed = true;
}
if(removed)
{
this->updateGraphView();
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
}
updateLoopClosuresSlider();
}
std::multimap<int, rtabmap::Link> DatabaseViewer::updateLinksWithModifications(
const std::multimap<int, rtabmap::Link> & edgeConstraints)
{
std::multimap<int, rtabmap::Link> links;
for(std::multimap<int, rtabmap::Link>::const_iterator iter=edgeConstraints.begin();
iter!=edgeConstraints.end();
++iter)
{
std::multimap<int, rtabmap::Link>::iterator findIter;
Added rtabmap::computePath() using a pose goal instead of node Id. Graph methods moved in rtabmap::graph namespace
2015-02-06 13:52:02 -05:00
findIter = rtabmap::graph::findLink(linksRemoved_, iter->second.from(), iter->second.to());
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
if(findIter != linksRemoved_.end())
{
if(!(iter->second.from() == findIter->second.from() &&
iter->second.to() == findIter->second.to() &&
iter->second.type() == findIter->second.type()))
{
UWARN("Links (%d->%d,%d) and (%d->%d,%d) are not equal!?",
iter->second.from(), iter->second.to(), iter->second.type(),
findIter->second.from(), findIter->second.to(), findIter->second.type());
}
else
{
//UINFO("Removed link (%d->%d, %d)", iter->second.from(), iter->second.to(), iter->second.type());
continue; // don't add this link
}
}
Added rtabmap::computePath() using a pose goal instead of node Id. Graph methods moved in rtabmap::graph namespace
2015-02-06 13:52:02 -05:00
findIter = rtabmap::graph::findLink(linksRefined_, iter->second.from(), iter->second.to());
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
if(findIter!=linksRefined_.end())
{
if(iter->second.from() == findIter->second.from() &&
iter->second.to() == findIter->second.to() &&
iter->second.type() == findIter->second.type())
{
links.insert(*findIter); // add the refined link
//UINFO("Updated link (%d->%d, %d)", iter->second.from(), iter->second.to(), iter->second.type());
continue;
}
else
{
UWARN("Links (%d->%d,%d) and (%d->%d,%d) are not equal!?",
iter->second.from(), iter->second.to(), iter->second.type(),
findIter->second.from(), findIter->second.to(), findIter->second.type());
}
}
links.insert(*iter); // add original link
}
//look for added links
for(std::multimap<int, rtabmap::Link>::const_iterator iter=linksAdded_.begin();
iter!=linksAdded_.end();
++iter)
{
//UINFO("Added link (%d->%d, %d)", iter->second.from(), iter->second.to(), iter->second.type());
links.insert(*iter);
}
return links;
}
void DatabaseViewer::updateLoopClosuresSlider(int from, int to)
{
int size = loopLinks_.size();
loopLinks_.clear();
std::multimap<int, Link> links = updateLinksWithModifications(links_);
int position = ui_->horizontalSlider_loops->value();
for(std::multimap<int, rtabmap::Link>::iterator iter = links.begin(); iter!=links.end(); ++iter)
{
if(!iter->second.transform().isNull())
{
Update version 0.10.11:
2015-10-24 17:03:44 -04:00
if(iter->second.type() != rtabmap::Link::kNeighbor &&
iter->second.type() != rtabmap::Link::kNeighborMerged)
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
{
if((iter->second.from() == from && iter->second.to() == to) ||
(iter->second.to() == from && iter->second.from() == to))
{
position = loopLinks_.size();
}
loopLinks_.append(iter->second);
}
}
else
{
UERROR("Transform null for link from %d to %d", iter->first, iter->second.to());
}
}
if(loopLinks_.size())
{
Added Monocular SLAM (experimental), Odometry classes refactoring
2015-04-23 22:01:41 -04:00
if(loopLinks_.size() == 1)
{
// just to be able to move the cursor of the loop slider
loopLinks_.push_back(loopLinks_.front());
}
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
ui_->horizontalSlider_loops->setMinimum(0);
ui_->horizontalSlider_loops->setMaximum(loopLinks_.size()-1);
ui_->horizontalSlider_loops->setEnabled(true);
if(position != ui_->horizontalSlider_loops->value())
{
ui_->horizontalSlider_loops->setValue(position);
}
else if(size != loopLinks_.size())
{
this->updateConstraintView(loopLinks_.at(position));
}
}
else
{
ui_->horizontalSlider_loops->setEnabled(false);
Fixed crash on startup with vtk6+qt5. All cloud viewers in QDockWidget are now created manually instead of being defined in the *.ui files. The generated ui didn't pass the top level parent window to constructor of CloudViewer, which caused a problem when initializing the QVTKWidget.
2016-05-05 18:25:26 -04:00
constraintsViewer_->removeAllClouds();
constraintsViewer_->update();
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
updateConstraintButtons();
}
}
Refactoring of the cameraStereoImages and cameraRGBDImages classes (now inheriting from CameraImages) for easy setting of laser scan path, timestamps path and ground truth path.
2015-12-17 14:13:19 -05:00
void DatabaseViewer::notifyParametersChanged(const QStringList & parametersChanged)
{
bool updateStereo = false;
bool updateGraphView = false;
for(QStringList::const_iterator iter=parametersChanged.constBegin();
iter!=parametersChanged.constEnd() && (!updateStereo || !updateGraphView);
++iter)
{
QString group = iter->split('/').first();
if(!updateStereo && group == "Stereo")
{
updateStereo = true;
continue;
}
if(!updateGraphView && group == "Optimize")
{
updateGraphView = true;
continue;
}
}
if(updateStereo)
{
this->updateStereo();
}
if(updateGraphView)
{
this->updateGraphView();
}
this->configModified();
}
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
2014-08-11 15:23:06 +00:00
} // namespace rtabmap
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