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

guilib/include/rtabmap/gui/DatabaseViewer.h

@@ -60,6 +60,7 @@ class CloudViewer;
 class OctoMap;
 class ExportCloudsDialog;
 class EditDepthArea;
+class EditMapArea;
 
 class RTABMAPGUI_EXP DatabaseViewer : public QMainWindow
 {
@@ -93,8 +94,10 @@ private Q_SLOTS:
 	void selectEmptyColor();
 	void editDepthImage();
 	void generateGraph();
+	void editSaved2DMap();
 	void exportSaved2DMap();
 	void import2DMap();
+	void regenerateSavedMap();
 	void viewOptimizedMesh();
 	void exportOptimizedMesh();
 	void updateOptimizedMesh();
@@ -225,6 +228,8 @@ private:
 	ExportCloudsDialog * exportDialog_;
 	QDialog * editDepthDialog_;
 	EditDepthArea * editDepthArea_;
+	QDialog * editMapDialog_;
+	EditMapArea * editMapArea_;
 
 	bool savedMaximized_;
 	bool firstCall_;

guilib/include/rtabmap/gui/EditMapArea.h

@@ -0,0 +1,92 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+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.
+*/
+
+#ifndef RTABMAP_EDITMAPAREA_H
+#define RTABMAP_EDITMAPAREA_H
+
+#include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
+
+#include <QColor>
+#include <QImage>
+#include <QPoint>
+#include <QWidget>
+#include <opencv2/opencv.hpp>
+#include "rtabmap/utilite/UCv2Qt.h"
+
+class QMenu;
+class QAction;
+
+namespace rtabmap {
+
+class RTABMAPGUI_EXP EditMapArea : public QWidget
+{
+    Q_OBJECT
+
+public:
+    EditMapArea(QWidget *parent = 0);
+
+    void setMap(const cv::Mat & map);
+    cv::Mat getModifiedMap() const;
+    bool isModified() const {return modified_;}
+
+    void setPenWidth(int newWidth);
+    int penWidth() const { return myPenWidth_; }
+    void setColorMap(uCvQtDepthColorMap type);
+
+public Q_SLOTS:
+    void resetChanges();
+
+protected:
+    virtual void mousePressEvent(QMouseEvent *event);
+    virtual void mouseMoveEvent(QMouseEvent *event);
+    virtual void mouseReleaseEvent(QMouseEvent *event);
+    virtual void paintEvent(QPaintEvent *event);
+    virtual void resizeEvent(QResizeEvent *event);
+    virtual void contextMenuEvent(QContextMenuEvent * e);
+
+private:
+    void drawLineTo(const QPoint &endPoint);
+    void computeScaleOffsets(const QRect & targetRect, float & scale, float & offsetX, float & offsetY) const;
+
+    bool modified_;
+    bool scribbling_;
+    int myPenWidth_;
+    QImage map_;
+    cv::Mat originalMap_;
+    QPoint lastPoint_;
+
+    QMenu * menu_;
+    QAction * resetChanges_;
+    QAction * setPenWidth_;
+    QAction * addObstacle_;
+	QAction * clearObstacle_;
+	QAction * setUnknown_;
+};
+
+}
+
+#endif

guilib/src/CMakeLists.txt

@@ -32,6 +32,7 @@ SET(headers_ui
 	../include/${PROJECT_PREFIX}/gui/TexturingState.h
 	../include/${PROJECT_PREFIX}/gui/RecoveryState.h
 	../include/${PROJECT_PREFIX}/gui/EditDepthArea.h
+	../include/${PROJECT_PREFIX}/gui/EditMapArea.h
 )
 
 SET(uis
@@ -98,6 +99,7 @@ SET(SRC_FILES
 	./MapVisibilityWidget.cpp
 	./GraphViewer.cpp
 	./EditDepthArea.cpp
+	./EditMapArea.cpp
 	./CreateSimpleCalibrationDialog.cpp
 	./ParametersToolBox.cpp
 	./DepthCalibrationDialog.cpp

guilib/src/DatabaseViewer.cpp

@@ -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_)

guilib/src/EditMapArea.cpp

@@ -0,0 +1,248 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+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.
+*/
+
+#include <QWidget>
+#include <QPainter>
+#include <QMouseEvent>
+#include <QMenu>
+#include <QAction>
+#include <QInputDialog>
+
+#include "rtabmap/gui/EditMapArea.h"
+#include <rtabmap/utilite/ULogger.h>
+
+namespace rtabmap {
+
+EditMapArea::EditMapArea(QWidget *parent)
+    : QWidget(parent)
+{
+    setAttribute(Qt::WA_StaticContents);
+    modified_ = false;
+    scribbling_ = false;
+    myPenWidth_ = 3;
+
+    menu_ = new QMenu(tr(""), this);
+	setPenWidth_ = menu_->addAction(tr("Set Pen Width..."));
+	addObstacle_ = menu_->addAction(tr("Add Obstacle"));
+	addObstacle_->setCheckable(true);
+	addObstacle_->setChecked(true);
+	clearObstacle_ = menu_->addAction(tr("Clear Obstacle"));
+	clearObstacle_->setCheckable(true);
+	clearObstacle_->setChecked(false);
+	setUnknown_ = menu_->addAction(tr("Set Unknown"));
+	setUnknown_->setCheckable(true);
+	setUnknown_->setChecked(false);
+	QActionGroup * group = new QActionGroup(this);
+	group->addAction(addObstacle_);
+	group->addAction(clearObstacle_);
+	group->addAction(setUnknown_);
+	resetChanges_ = menu_->addAction(tr("Reset Changes"));
+}
+
+void EditMapArea::setMap(const cv::Mat &map)
+{
+	UASSERT(!map.empty());
+	UASSERT(map.type() == CV_8UC1);
+	originalMap_ = map;
+
+	map_ = uCvMat2QImage(map, true).convertToFormat(QImage::Format_RGB32);
+
+	modified_ = false;
+	update();
+}
+
+cv::Mat EditMapArea::getModifiedMap() const
+{
+	cv::Mat modifiedMap = originalMap_.clone();
+	if(modified_)
+	{
+		UASSERT(map_.width() == modifiedMap.cols &&
+				map_.height() == modifiedMap.rows);
+		UASSERT(modifiedMap.type() == CV_8UC1);
+		for(int j=0; j<map_.height(); ++j)
+		{
+			for(int i=0; i<map_.width(); ++i)
+			{
+				modifiedMap.at<unsigned char>(j,i) = qRed(map_.pixel(i, j));
+			}
+		}
+	}
+	return modifiedMap;
+}
+
+void EditMapArea::setPenWidth(int newWidth)
+{
+    myPenWidth_ = newWidth;
+}
+
+void EditMapArea::resetChanges()
+{
+    map_ = uCvMat2QImage(originalMap_).convertToFormat(QImage::Format_RGB32);
+    modified_ = false;
+    update();
+}
+
+void EditMapArea::mousePressEvent(QMouseEvent *event)
+{
+    if (event->button() == Qt::LeftButton) {
+    	float scale, offsetX, offsetY;
+		computeScaleOffsets(rect(), scale, offsetX, offsetY);
+        lastPoint_.setX((event->pos().x()-offsetX)/scale);
+        lastPoint_.setY((event->pos().y()-offsetY)/scale);
+
+        scribbling_ = true;
+    }
+}
+
+void EditMapArea::mouseMoveEvent(QMouseEvent *event)
+{
+    if ((event->buttons() & Qt::LeftButton) && scribbling_)
+    {
+    	float scale, offsetX, offsetY;
+		computeScaleOffsets(rect(), scale, offsetX, offsetY);
+		QPoint to;
+		to.setX((event->pos().x()-offsetX)/scale);
+		to.setY((event->pos().y()-offsetY)/scale);
+        drawLineTo(to);
+    }
+}
+
+void EditMapArea::mouseReleaseEvent(QMouseEvent *event)
+{
+    if (event->button() == Qt::LeftButton && scribbling_) {
+    	float scale, offsetX, offsetY;
+		computeScaleOffsets(rect(), scale, offsetX, offsetY);
+		QPoint to;
+		to.setX((event->pos().x()-offsetX)/scale);
+		to.setY((event->pos().y()-offsetY)/scale);
+		drawLineTo(to);
+        scribbling_ = false;
+    }
+}
+
+void EditMapArea::computeScaleOffsets(const QRect & targetRect, float & scale, float & offsetX, float & offsetY) const
+{
+	scale = 1.0f;
+	offsetX = 0.0f;
+	offsetY = 0.0f;
+
+	if(!map_.isNull())
+	{
+		float w = map_.width();
+		float h = map_.height();
+		float widthRatio = float(targetRect.width()) / w;
+		float heightRatio = float(targetRect.height()) / h;
+
+		//printf("w=%f, h=%f, wR=%f, hR=%f, sW=%d, sH=%d\n", w, h, widthRatio, heightRatio, this->rect().width(), this->rect().height());
+		if(widthRatio < heightRatio)
+		{
+			scale = widthRatio;
+		}
+		else
+		{
+			scale = heightRatio;
+		}
+
+		//printf("ratio=%f\n",ratio);
+
+		w *= scale;
+		h *= scale;
+
+		if(w < targetRect.width())
+		{
+			offsetX = (targetRect.width() - w)/2.0f;
+		}
+		if(h < targetRect.height())
+		{
+			offsetY = (targetRect.height() - h)/2.0f;
+		}
+		//printf("offsetX=%f, offsetY=%f\n",offsetX, offsetY);
+	}
+}
+
+void EditMapArea::paintEvent(QPaintEvent *event)
+{
+	//Scale
+	float ratio, offsetX, offsetY;
+	this->computeScaleOffsets(event->rect(), ratio, offsetX, offsetY);
+	QPainter painter(this);
+
+	painter.translate(offsetX, offsetY);
+	painter.scale(ratio, ratio);
+	painter.drawImage(QPoint(0,0), map_);
+}
+
+void EditMapArea::resizeEvent(QResizeEvent *event)
+{
+    QWidget::resizeEvent(event);
+}
+
+void EditMapArea::contextMenuEvent(QContextMenuEvent * e)
+{
+	QAction * action = menu_->exec(e->globalPos());
+	if(action == setPenWidth_)
+	{
+		bool ok;
+		int width = QInputDialog::getInt(this, tr("Set Pen Width"), tr("Width:"), penWidth(), 1, 99, 1, &ok);
+		if(ok)
+		{
+			myPenWidth_ = width;
+		}
+	}
+	else if(action == resetChanges_)
+	{
+		this->resetChanges();
+	}
+}
+
+void EditMapArea::drawLineTo(const QPoint &endPoint)
+{
+    QPainter painter(&map_);
+    QColor color;
+
+    //base on util3d::convertMap2Image8U();
+    if(addObstacle_->isChecked())
+    {
+    	color.setRgb(0,0,0);
+    }
+    else if(clearObstacle_->isChecked())
+    {
+    	color.setRgb(178,178,178);
+    }
+    else //unknown
+    {
+    	color.setRgb(89,89,89);
+    }
+    painter.setPen(QPen(color, myPenWidth_, Qt::SolidLine, Qt::RoundCap, Qt::RoundJoin));
+    painter.drawLine(lastPoint_, endPoint);
+    modified_ = true;
+
+    update();
+    lastPoint_ = endPoint;
+}
+
+}

guilib/src/ui/DatabaseViewer.ui

@@ -61,7 +61,7 @@
           <rect>
            <x>0</x>
            <y>0</y>
-           <width>398</width>
+           <width>413</width>
            <height>288</height>
           </rect>
          </property>
@@ -287,7 +287,7 @@
           <rect>
            <x>0</x>
            <y>0</y>
-           <width>397</width>
+           <width>412</width>
            <height>288</height>
           </rect>
          </property>
@@ -647,7 +647,7 @@
      <x>0</x>
      <y>0</y>
      <width>1547</width>
-     <height>25</height>
+     <height>22</height>
     </rect>
    </property>
    <widget class="QMenu" name="menuFile">
@@ -687,8 +687,10 @@
     <addaction name="menuExport_poses"/>
     <addaction name="menuExport_GPS"/>
     <addaction name="separator"/>
+    <addaction name="actionEdit_optimized_2D_map"/>
     <addaction name="actionExport_saved_2D_map"/>
     <addaction name="actionImport_2D_map"/>
+    <addaction name="actionRegenerate_optimized_2D_map"/>
     <addaction name="separator"/>
     <addaction name="actionView_optimized_mesh"/>
     <addaction name="actionUpdate_optimized_mesh"/>
@@ -1300,7 +1302,7 @@
           <x>0</x>
           <y>0</y>
           <width>318</width>
-          <height>219</height>
+          <height>197</height>
          </rect>
         </property>
         <attribute name="label">
@@ -1461,8 +1463,8 @@
          <rect>
           <x>0</x>
           <y>0</y>
-          <width>282</width>
+          <width>280</width>
-          <height>885</height>
+          <height>875</height>
          </rect>
         </property>
         <attribute name="label">
@@ -1995,8 +1997,8 @@
          <rect>
           <x>0</x>
           <y>0</y>
-          <width>307</width>
+          <width>296</width>
-          <height>171</height>
+          <height>160</height>
          </rect>
         </property>
         <attribute name="label">
@@ -2124,7 +2126,7 @@
           <x>0</x>
           <y>0</y>
           <width>185</width>
-          <height>487</height>
+          <height>485</height>
          </rect>
         </property>
         <attribute name="label">
@@ -2781,12 +2783,12 @@
   </action>
   <action name="actionExport_saved_2D_map">
    <property name="text">
-    <string>Export saved 2D map...</string>
+    <string>Export optimized 2D map...</string>
    </property>
   </action>
   <action name="actionImport_2D_map">
    <property name="text">
-    <string>Import 2D map...</string>
+    <string>Import optimized 2D map...</string>
    </property>
   </action>
   <action name="actionView_optimized_mesh">
@@ -2822,6 +2824,16 @@
     <string>RGBD-SLAM (stamp tx ty tz qx qy qz qw)</string>
    </property>
   </action>
+  <action name="actionEdit_optimized_2D_map">
+   <property name="text">
+    <string>Edit optimized 2D map...</string>
+   </property>
+  </action>
+  <action name="actionRegenerate_optimized_2D_map">
+   <property name="text">
+    <string>Regenerate optimized 2D map...</string>
+   </property>
+  </action>
  </widget>
  <customwidgets>
   <customwidget>