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Some fixes:

Browse Source 
-Memory: Fixed wrongly rejected scan matching transform because of too large correction
-DBViewer: Fixed not shown proximity scans
-DBDriver: Fixed not loaded links' user_data on getAllLinks() method
-MainWindow: Added planning statistics
-DBReader: set a maximum of 10 sec sleep if the map ID has changed
This commit is contained in:
matlabbe
2015-10-26 12:59:20 -04:00
parent 463a5d973c
commit 02ebb3c7e8
12 changed files with 161 additions and 54 deletions
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46
guilib/src/MainWindow.cpp
View File

@@ -470,6 +470,12 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_ui->statsToolBox->updateStat(QString((*iter).first.c_str()).replace('_', ' '), 0, (*iter).second);
}
}
// Specific MainWindow
_ui->statsToolBox->updateStat("Planning/From/", 0.0f);
_ui->statsToolBox->updateStat("Planning/Time/ms", 0.0f);
_ui->statsToolBox->updateStat("Planning/Goal/", 0.0f);
_ui->statsToolBox->updateStat("Planning/Poses/", 0.0f);
_ui->statsToolBox->updateStat("Planning/Length/m", 0.0f);
this->loadFigures();
connect(_ui->statsToolBox, SIGNAL(figuresSetupChanged()), this, SLOT(configGUIModified()));
@@ -1302,22 +1308,26 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
}
}
// update posterior on the graph view
if(_preferencesDialog->isPosteriorGraphView() && _ui->graphicsView_graphView->isVisible() && stat.posterior().size())
if( _ui->graphicsView_graphView->isVisible())
{
_ui->graphicsView_graphView->updatePosterior(stat.posterior());
}
// update local path on the graph view
_ui->graphicsView_graphView->updateLocalPath(stat.localPath());
if(stat.localPath().size() == 0)
{
// clear the global path if set (goal reached)
_ui->graphicsView_graphView->setGlobalPath(std::vector<std::pair<int, Transform> >());
}
// update current goal id
if(stat.currentGoalId() > 0)
{
_ui->graphicsView_graphView->setCurrentGoalID(stat.currentGoalId(), uValue(stat.poses(), stat.currentGoalId(), Transform()));
// update posterior on the graph view
if(_preferencesDialog->isPosteriorGraphView() &&
stat.posterior().size())
{
_ui->graphicsView_graphView->updatePosterior(stat.posterior());
}
// update local path on the graph view
_ui->graphicsView_graphView->updateLocalPath(stat.localPath());
if(stat.localPath().size() == 0)
{
// clear the global path if set (goal reached)
_ui->graphicsView_graphView->setGlobalPath(std::vector<std::pair<int, Transform> >());
}
// update current goal id
if(stat.currentGoalId() > 0)
{
_ui->graphicsView_graphView->setCurrentGoalID(stat.currentGoalId(), uValue(stat.poses(), stat.currentGoalId(), Transform()));
}
}
UDEBUG("");
@@ -2193,6 +2203,12 @@ void MainWindow::processRtabmapGlobalPathEvent(const rtabmap::RtabmapGlobalPathE
_ui->graphicsView_graphView->setGlobalPath(event.getPoses());
}
_ui->statsToolBox->updateStat("Planning/From/", float(event.getPoses().size()?event.getPoses().begin()->first:0));
_ui->statsToolBox->updateStat("Planning/Time/ms", float(event.getPlanningTime()*1000.0));
_ui->statsToolBox->updateStat("Planning/Goal/", float(event.getGoal()));
_ui->statsToolBox->updateStat("Planning/Poses/", float(event.getPoses().size()));
_ui->statsToolBox->updateStat("Planning/Length/m", float(graph::computePathLength(event.getPoses())));
if(_preferencesDialog->notifyWhenNewGlobalPathIsReceived())
{
// use MessageBox