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DbViewer: refining cancelable, statistics labels selectable and x-axis can be time or IDs

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This commit is contained in:
matlabbe
2017-04-27 16:13:27 -04:00
parent 57dbece417
commit 1ea94c0356
3 changed files with 108 additions and 50 deletions
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guilib/src/DatabaseViewer.cpp
+44 -15
View File
@@ -331,6 +331,8 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
connect(ui_->actionVertical_Layout, SIGNAL(toggled(bool)), this, SLOT(configModified()));
connect(ui_->checkBox_alignPosesWithGroundTruth, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->checkBox_alignPosesWithGroundTruth, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
connect(ui_->checkBox_timeStats, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->checkBox_timeStats, SIGNAL(stateChanged(int)), this, SLOT(updateStatistics()));
// Graph view
connect(ui_->checkBox_spanAllMaps, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->checkBox_ignorePoseCorrection, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
@@ -455,6 +457,7 @@ void DatabaseViewer::readSettings()
ui_->comboBox_logger_level->setCurrentIndex(settings.value("loggerLevel", ui_->comboBox_logger_level->currentIndex()).toInt());
ui_->actionVertical_Layout->setChecked(settings.value("verticalLayout", ui_->actionVertical_Layout->isChecked()).toBool());
ui_->checkBox_alignPosesWithGroundTruth->setChecked(settings.value("alignGroundTruth", ui_->checkBox_alignPosesWithGroundTruth->isChecked()).toBool());
ui_->checkBox_timeStats->setChecked(settings.value("timeStats", ui_->checkBox_timeStats->isChecked()).toBool());
// GraphViewer settings
ui_->graphViewer->loadSettings(settings, "GraphView");
@@ -544,6 +547,7 @@ void DatabaseViewer::writeSettings()
settings.setValue("loggerLevel", ui_->comboBox_logger_level->currentIndex());
settings.setValue("verticalLayout", ui_->actionVertical_Layout->isChecked());
settings.setValue("alignGroundTruth", ui_->checkBox_alignPosesWithGroundTruth->isChecked());
settings.setValue("timeStats", ui_->checkBox_timeStats->isChecked());
// save GraphViewer settings
ui_->graphViewer->saveSettings(settings, "GraphView");
@@ -630,6 +634,7 @@ void DatabaseViewer::restoreDefaultSettings()
// reset GUI parameters
ui_->comboBox_logger_level->setCurrentIndex(1);
ui_->checkBox_alignPosesWithGroundTruth->setChecked(true);
ui_->checkBox_timeStats->setChecked(true);
ui_->checkBox_spanAllMaps->setChecked(true);
ui_->checkBox_ignorePoseCorrection->setChecked(false);
@@ -707,6 +712,8 @@ bool DatabaseViewer::openDatabase(const QString & path)
ui_->checkBox_showOptimized->setEnabled(false);
ui_->toolBox_statistics->clear();
databaseFileName_.clear();
ui_->checkBox_alignPosesWithGroundTruth->setVisible(false);
ui_->label_alignPosesWithGroundTruth->setVisible(false);
}
std::string driverType = "sqlite3";
@@ -1283,6 +1290,8 @@ void DatabaseViewer::updateIds()
mapIds_.clear();
poses_.clear();
groundTruthPoses_.clear();
ui_->checkBox_alignPosesWithGroundTruth->setVisible(false);
ui_->label_alignPosesWithGroundTruth->setVisible(false);
links_.clear();
linksAdded_.clear();
linksRefined_.clear();
@@ -1382,6 +1391,12 @@ void DatabaseViewer::updateIds()
}
}
}
if(!groundTruthPoses_.empty())
{
ui_->checkBox_alignPosesWithGroundTruth->setVisible(true);
ui_->label_alignPosesWithGroundTruth->setVisible(true);
}
UINFO("Loaded %d ids, %d poses and %d links", (int)ids_.size(), (int)poses_.size(), (int)links_.size());
if(ids_.size() && ui_->toolBox_statistics->isVisible())
@@ -1547,7 +1562,7 @@ void DatabaseViewer::updateStatistics()
}
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);
ui_->toolBox_statistics->updateStat(iter->first.c_str(), ui_->checkBox_timeStats->isChecked()?float(stamp-firstStamp):ids_[i], iter->second, true);
}
}
}
@@ -2315,9 +2330,12 @@ void DatabaseViewer::refineAllNeighborLinks()
{
if(neighborLinks_.size())
{
rtabmap::ProgressDialog progressDialog(this);
progressDialog.setMaximumSteps(neighborLinks_.size());
progressDialog.show();
rtabmap::ProgressDialog * progressDialog = new rtabmap::ProgressDialog(this);
progressDialog->setAttribute(Qt::WA_DeleteOnClose);
progressDialog->setMaximumSteps(neighborLinks_.size());
progressDialog->setCancelButtonVisible(true);
progressDialog->setMinimumWidth(800);
progressDialog->show();
for(int i=0; i<neighborLinks_.size(); ++i)
{
@@ -2325,14 +2343,18 @@ void DatabaseViewer::refineAllNeighborLinks()
int to = neighborLinks_[i].to();
this->refineConstraint(neighborLinks_[i].from(), neighborLinks_[i].to(), true);
progressDialog.appendText(tr("Refined link %1->%2 (%3/%4)").arg(from).arg(to).arg(i+1).arg(neighborLinks_.size()));
progressDialog.incrementStep();
progressDialog->appendText(tr("Refined link %1->%2 (%3/%4)").arg(from).arg(to).arg(i+1).arg(neighborLinks_.size()));
progressDialog->incrementStep();
QApplication::processEvents();
if(progressDialog->isCanceled())
{
break;
}
}
this->updateGraphView();
progressDialog.setValue(progressDialog.maximumSteps());
progressDialog.appendText("Refining links finished!");
progressDialog->setValue(progressDialog->maximumSteps());
progressDialog->appendText("Refining links finished!");
}
}
@@ -2340,9 +2362,12 @@ void DatabaseViewer::refineAllLoopClosureLinks()
{
if(loopLinks_.size())
{
rtabmap::ProgressDialog progressDialog(this);
progressDialog.setMaximumSteps(loopLinks_.size());
progressDialog.show();
rtabmap::ProgressDialog * progressDialog = new rtabmap::ProgressDialog(this);
progressDialog->setAttribute(Qt::WA_DeleteOnClose);
progressDialog->setMaximumSteps(neighborLinks_.size());
progressDialog->setCancelButtonVisible(true);
progressDialog->setMinimumWidth(800);
progressDialog->show();
for(int i=0; i<loopLinks_.size(); ++i)
{
@@ -2350,14 +2375,18 @@ void DatabaseViewer::refineAllLoopClosureLinks()
int to = loopLinks_[i].to();
this->refineConstraint(loopLinks_[i].from(), loopLinks_[i].to(), true);
progressDialog.appendText(tr("Refined link %1->%2 (%3/%4)").arg(from).arg(to).arg(i+1).arg(loopLinks_.size()));
progressDialog.incrementStep();
progressDialog->appendText(tr("Refined link %1->%2 (%3/%4)").arg(from).arg(to).arg(i+1).arg(loopLinks_.size()));
progressDialog->incrementStep();
QApplication::processEvents();
if(progressDialog->isCanceled())
{
break;
}
}
this->updateGraphView();
progressDialog.setValue(progressDialog.maximumSteps());
progressDialog.appendText("Refining links finished!");
progressDialog->setValue(progressDialog->maximumSteps());
progressDialog->appendText("Refining links finished!");
}
}