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DbViewer: added "Edit optimized map" and "Regenerate Optimized Map" actions

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This commit is contained in:
matlabbe
2019-03-16 15:27:49 -04:00
parent c8db45b2a4
commit 0c8194373f
6 changed files with 539 additions and 11 deletions
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guilib/src/DatabaseViewer.cpp
+169
View File
@@ -75,6 +75,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/gui/DataRecorder.h"
#include "rtabmap/gui/ExportCloudsDialog.h"
#include "rtabmap/gui/EditDepthArea.h"
#include "rtabmap/gui/EditMapArea.h"
#include "rtabmap/core/SensorData.h"
#include "rtabmap/core/GainCompensator.h"
#include "rtabmap/gui/ExportDialog.h"
@@ -100,6 +101,7 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
octomap_(0),
exportDialog_(new ExportCloudsDialog(this)),
editDepthDialog_(new QDialog(this)),
editMapDialog_(new QDialog(this)),
savedMaximized_(false),
firstCall_(true),
iniFilePath_(ini),
@@ -136,6 +138,20 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
editDepthDialog_->setLayout(vLayout);
editDepthDialog_->setWindowTitle(tr("Edit Depth Image"));
editMapDialog_->resize(640, 480);
vLayout = new QVBoxLayout(editMapDialog_);
editMapArea_ = new EditMapArea(editMapDialog_);
vLayout->setContentsMargins(0,0,0,0);
vLayout->setSpacing(0);
vLayout->addWidget(editMapArea_, 1);
buttonBox = new QDialogButtonBox(QDialogButtonBox::Save | QDialogButtonBox::Cancel | QDialogButtonBox::Reset, Qt::Horizontal, editMapDialog_);
vLayout->addWidget(buttonBox);
connect(buttonBox, SIGNAL(accepted()), editMapDialog_, SLOT(accept()));
connect(buttonBox, SIGNAL(rejected()), editMapDialog_, SLOT(reject()));
connect(buttonBox->button(QDialogButtonBox::Reset), SIGNAL(clicked()), editMapArea_, SLOT(resetChanges()));
editMapDialog_->setLayout(vLayout);
editMapDialog_->setWindowTitle(tr("Edit Optimized Map"));
QString title("RTAB-Map Database Viewer[*]");
this->setWindowTitle(title);
@@ -251,8 +267,10 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
connect(ui_->actionPoses_KML, SIGNAL(triggered()), this , SLOT(exportPosesKML()));
connect(ui_->actionGPS_TXT, SIGNAL(triggered()), this , SLOT(exportGPS_TXT()));
connect(ui_->actionGPS_KML, SIGNAL(triggered()), this , SLOT(exportGPS_KML()));
connect(ui_->actionEdit_optimized_2D_map, SIGNAL(triggered()), this , SLOT(editSaved2DMap()));
connect(ui_->actionExport_saved_2D_map, SIGNAL(triggered()), this , SLOT(exportSaved2DMap()));
connect(ui_->actionImport_2D_map, SIGNAL(triggered()), this , SLOT(import2DMap()));
connect(ui_->actionRegenerate_optimized_2D_map, SIGNAL(triggered()), this , SLOT(regenerateSavedMap()));
connect(ui_->actionView_optimized_mesh, SIGNAL(triggered()), this , SLOT(viewOptimizedMesh()));
connect(ui_->actionExport_optimized_mesh, SIGNAL(triggered()), this , SLOT(exportOptimizedMesh()));
connect(ui_->actionUpdate_optimized_mesh, SIGNAL(triggered()), this , SLOT(updateOptimizedMesh()));
@@ -285,7 +303,10 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
ui_->menuExport_poses->setEnabled(false);
ui_->menuExport_GPS->setEnabled(false);
ui_->actionPoses_KML->setEnabled(false);
ui_->actionEdit_optimized_2D_map->setEnabled(false);
ui_->actionExport_saved_2D_map->setEnabled(false);
ui_->actionImport_2D_map->setEnabled(false);
ui_->actionRegenerate_optimized_2D_map->setEnabled(false);
ui_->actionView_optimized_mesh->setEnabled(false);
ui_->actionExport_optimized_mesh->setEnabled(false);
ui_->actionUpdate_optimized_mesh->setEnabled(false);
@@ -968,8 +989,10 @@ bool DatabaseViewer::closeDatabase()
ui_->menuExport_poses->setEnabled(false);
ui_->menuExport_GPS->setEnabled(false);
ui_->actionPoses_KML->setEnabled(false);
ui_->actionEdit_optimized_2D_map->setEnabled(false);
ui_->actionExport_saved_2D_map->setEnabled(false);
ui_->actionImport_2D_map->setEnabled(false);
ui_->actionRegenerate_optimized_2D_map->setEnabled(false);
ui_->actionView_optimized_mesh->setEnabled(false);
ui_->actionExport_optimized_mesh->setEnabled(false);
ui_->actionUpdate_optimized_mesh->setEnabled(false);
@@ -1526,8 +1549,10 @@ void DatabaseViewer::updateIds()
ui_->menuExport_poses->setEnabled(false);
ui_->menuExport_GPS->setEnabled(false);
ui_->actionPoses_KML->setEnabled(false);
ui_->actionEdit_optimized_2D_map->setEnabled(false);
ui_->actionExport_saved_2D_map->setEnabled(false);
ui_->actionImport_2D_map->setEnabled(false);
ui_->actionRegenerate_optimized_2D_map->setEnabled(false);
ui_->actionView_optimized_mesh->setEnabled(false);
ui_->actionExport_optimized_mesh->setEnabled(false);
ui_->actionUpdate_optimized_mesh->setEnabled(uStrNumCmp(dbDriver_->getDatabaseVersion(), "0.13.0") >= 0);
@@ -1705,8 +1730,10 @@ void DatabaseViewer::updateIds()
float xMin, yMin, cellSize;
bool hasMap = !dbDriver_->load2DMap(xMin, yMin, cellSize).empty();
ui_->actionEdit_optimized_2D_map->setEnabled(hasMap);
ui_->actionExport_saved_2D_map->setEnabled(hasMap);
ui_->actionImport_2D_map->setEnabled(hasMap);
ui_->actionRegenerate_optimized_2D_map->setEnabled(uStrNumCmp(dbDriver_->getDatabaseVersion(), "0.17.0") >= 0);
if(!dbDriver_->loadOptimizedMesh().empty())
{
@@ -2425,6 +2452,74 @@ void DatabaseViewer::exportGPS(int format)
}
}
void DatabaseViewer::editSaved2DMap()
{
if(!dbDriver_)
{
QMessageBox::warning(this, tr("Cannot edit 2D map"), tr("A database must must loaded first...\nUse File->Open database."));
return;
}
if(uStrNumCmp(dbDriver_->getDatabaseVersion(), "0.17.0") < 0)
{
QMessageBox::warning(this, tr("Cannot edit 2D map"),
tr("The database has too old version (%1) to saved "
"optimized map. Version 0.17.0 minimum required.").arg(dbDriver_->getDatabaseVersion().c_str()));
return;
}
if(linksAdded_.size() || linksRefined_.size() || linksRemoved_.size() || generatedLocalMaps_.size())
{
QMessageBox::warning(this, tr("Cannot edit 2D map"),
tr("The database has modified links and/or modified local "
"occupancy grids, the 2D optimized map cannot be modified."));
return;
}
float xMin, yMin, cellSize;
cv::Mat map = dbDriver_->load2DMap(xMin, yMin, cellSize);
if(map.empty())
{
QMessageBox::warning(this, tr("Cannot export 2D map"), tr("The database doesn't contain a saved 2D map."));
return;
}
cv::Mat map8U = rtabmap::util3d::convertMap2Image8U(map, false);
cv::Mat map8UFlip, map8URotated;
cv::flip(map8U, map8UFlip, 0);
if(!ui_->graphViewer->isOrientationENU())
{
cv::rotate(map8UFlip, map8URotated, cv::ROTATE_90_COUNTERCLOCKWISE);
}
else
{
map8URotated = map8UFlip;
}
editMapArea_->setMap(map8URotated);
if(editMapDialog_->exec() == QDialog::Accepted && editMapArea_->isModified())
{
cv::Mat map = editMapArea_->getModifiedMap();
if(!ui_->graphViewer->isOrientationENU())
{
cv::rotate(map, map8URotated, cv::ROTATE_90_CLOCKWISE);
}
else
{
map8URotated = map;
}
cv::flip(map8URotated, map8UFlip, 0);
UASSERT(map8UFlip.type() == map8U.type());
UASSERT(map8UFlip.cols == map8U.cols);
UASSERT(map8UFlip.rows == map8U.rows);
dbDriver_->save2DMap(rtabmap::util3d::convertImage8U2Map(map8UFlip, false), xMin, yMin, cellSize);
QMessageBox::information(this, tr("Edit 2D map"), tr("Map updated!"));
}
}
void DatabaseViewer::exportSaved2DMap()
{
if(!dbDriver_)
@@ -2469,6 +2564,22 @@ void DatabaseViewer::import2DMap()
return;
}
if(uStrNumCmp(dbDriver_->getDatabaseVersion(), "0.17.0") < 0)
{
QMessageBox::warning(this, tr("Cannot edit 2D map"),
tr("The database has too old version (%1) to saved "
"optimized map. Version 0.17.0 minimum required.").arg(dbDriver_->getDatabaseVersion().c_str()));
return;
}
if(linksAdded_.size() || linksRefined_.size() || linksRemoved_.size() || generatedLocalMaps_.size())
{
QMessageBox::warning(this, tr("Cannot import 2D map"),
tr("The database has modified links and/or modified local "
"occupancy grids, the 2D optimized map cannot be modified."));
return;
}
float xMin, yMin, cellSize;
cv::Mat mapOrg = dbDriver_->load2DMap(xMin, yMin, cellSize);
if(mapOrg.empty())
@@ -2500,6 +2611,64 @@ void DatabaseViewer::import2DMap()
}
}
void DatabaseViewer::regenerateSavedMap()
{
if(!dbDriver_)
{
QMessageBox::warning(this, tr("Cannot import 2D map"), tr("A database must must loaded first...\nUse File->Open database."));
return;
}
if(uStrNumCmp(dbDriver_->getDatabaseVersion(), "0.17.0") < 0)
{
QMessageBox::warning(this, tr("Cannot edit 2D map"),
tr("The database has too old version (%1) to saved "
"optimized map. Version 0.17.0 minimum required.").arg(dbDriver_->getDatabaseVersion().c_str()));
return;
}
if(linksAdded_.size() || linksRefined_.size() || linksRemoved_.size() || generatedLocalMaps_.size())
{
QMessageBox::warning(this, tr("Cannot import 2D map"),
tr("The database has modified links and/or modified local "
"occupancy grids, the 2D optimized map cannot be modified."));
return;
}
if((int)graphes_.empty() || localMaps_.empty())
{
QMessageBox::warning(this, tr("Cannot regenerate 2D map"),
tr("Graph is empty, make sure you opened the "
"Graph View and there is a map shown."));
return;
}
//update scans
UINFO("Update local maps list...");
OccupancyGrid grid(ui_->parameters_toolbox->getParameters());
for(std::map<int, std::pair<std::pair<cv::Mat, cv::Mat>, cv::Mat> >::iterator iter=localMaps_.begin(); iter!=localMaps_.end(); ++iter)
{
grid.addToCache(iter->first, iter->second.first.first, iter->second.first.second, iter->second.second);
}
grid.update(graphes_.back());
float xMin, yMin;
cv::Mat map = grid.getMap(xMin, yMin);
if(map.empty())
{
QMessageBox::information(this, tr("Regenerate 2D map"), tr("Failed to renegerate the map, resulting map is empty!"));
}
else
{
dbDriver_->save2DMap(map, xMin, yMin, grid.getCellSize());
QMessageBox::information(this, tr("Regenerate 2D map"), tr("Map regenerated!"));
ui_->actionEdit_optimized_2D_map->setEnabled(true);
ui_->actionExport_saved_2D_map->setEnabled(true);
ui_->actionImport_2D_map->setEnabled(true);
}
}
void DatabaseViewer::viewOptimizedMesh()
{
if(!dbDriver_)