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Increased version to 0.6.2

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Memory management tested on RGBD SLAM
Fixed some crashes
New parameter RGBD/LocalLoopDetectionMaxDiffID
New parameter LccIcp2/VoxelSize
Updated parameter LccIcp/Type (added "No ICP" type)
Updated parameter kLccBowMinInliers (inliers minimum reduced to 1)
TORO optimization: The graph root is explicitly defined as the last node added (fixed a TORO crash when a root could not be found)
TORO optimization: only one constraint between neighbors and loop closures
TORO optimization: added initial tree guess
Map correction/Map transform: now only used in localization mode (map correction is always identity on mapping mode)
New statistics: local loop space diff, last loop closure parent and child ids
Database: Fixed empty signatures with no poses loaded
ICP: fixed transform multiplication order
Dump memory: added 3D words
DatabaseViewer: added Export option (added ExportDialog object)
DataRecorder: Option recording in RAM or Hard drive
GUI: added a dock widget (MapVisibilityWidget) to change visibility of nodes in the 3D map
GUI: fixed progress bar step count when generating the map
Menu option: generate TORO graph (full/current map, optimized/not optimized)
Menu option: download map (full/current map, optimized/not optimized)
Preferences: added Reset all settings button
Preferences: A QGroupBox can be a boolean parameter

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1066 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-01-22 19:49:28 +00:00
parent 2489397b49
commit 22e3082adc
33 changed files with 2103 additions and 857 deletions
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83
guilib/src/DatabaseViewer.cpp
View File

@@ -35,6 +35,10 @@
#include "rtabmap/gui/UCv2Qt.h"
#include "rtabmap/core/util3d.h"
#include "rtabmap/core/Signature.h"
#include "rtabmap/gui/DataRecorder.h"
#include "rtabmap/core/Image.h"
#include "ExportDialog.h"
#include "DetailedProgressDialog.h"
#include <pcl/io/pcd_io.h>
#include <pcl/filters/voxel_grid.h>
@@ -59,6 +63,7 @@ DatabaseViewer::DatabaseViewer(QWidget * parent) :
// connect actions with custom slots
connect(ui_->actionOpen_database, SIGNAL(triggered()), this, SLOT(openDatabase()));
connect(ui_->actionExport, SIGNAL(triggered()), this, SLOT(exportDatabase()));
connect(ui_->actionGenerate_graph_dot, SIGNAL(triggered()), this, SLOT(generateGraph()));
connect(ui_->actionGenerate_local_graph_dot, SIGNAL(triggered()), this, SLOT(generateLocalGraph()));
connect(ui_->actionGenerate_3D_map_pcd, SIGNAL(triggered()), this, SLOT(generate3DMap()));
@@ -130,6 +135,82 @@ bool DatabaseViewer::openDatabase(const QString & path)
return false;
}
void DatabaseViewer::exportDatabase()
{
if(!memory_ || ids_.size() == 0)
{
return;
}
rtabmap::ExportDialog dialog;
if(dialog.exec())
{
if(!dialog.outputPath().isEmpty())
{
int framesIgnored = dialog.framesIgnored();
QString path = dialog.outputPath();
rtabmap::DataRecorder recorder;
if(recorder.init(path, false))
{
rtabmap::DetailedProgressDialog progressDialog(this);
progressDialog.setMaximumSteps(ids_.size() / (1+framesIgnored) + 1);
progressDialog.show();
for(int i=0; i<ids_.size(); i+=1+framesIgnored)
{
int id = ids_.at(i);
std::vector<unsigned char> compressedRgb, compressedDepth, compressedDepth2d;
float tmpDepthConstant;
rtabmap::Transform tmpLocalTransform, pose;
memory_->getImageDepth(id, compressedRgb, compressedDepth, compressedDepth2d, tmpDepthConstant, tmpLocalTransform);
if(dialog.isOdomExported())
{
memory_->getPose(id, pose, true);
}
cv::Mat rgb, depth, depth2d;
float depthConstant = 0;
rtabmap::Transform localTransform;
if(dialog.isRgbExported())
{
rgb = rtabmap::util3d::uncompressImage(compressedRgb);
}
if(dialog.isDepthExported())
{
depth = rtabmap::util3d::uncompressImage(compressedDepth);
depthConstant = tmpDepthConstant;
localTransform = tmpLocalTransform;
}
if(dialog.isDepth2dExported())
{
depth2d = rtabmap::util3d::uncompressData(compressedDepth2d);
}
rtabmap::Image data(rgb, depth, depth2d, depthConstant, pose, localTransform, id);
recorder.addData(data);
progressDialog.appendText(tr("Exported node %1").arg(id));
progressDialog.incrementStep();
QApplication::processEvents();
}
progressDialog.setValue(progressDialog.maximumSteps());
progressDialog.appendText("Export finished!");
}
else
{
UERROR("DataRecorder init failed?!");
}
}
else
{
QMessageBox::warning(this, tr("Cannot export database"), tr("An output path must be set!"));
}
}
}
void DatabaseViewer::updateIds()
{
if(!memory_)
@@ -246,7 +327,7 @@ void DatabaseViewer::generate3DMap()
{
std::map<int, rtabmap::Transform> poses, optimizedPoses;
std::multimap<int, std::pair<int, rtabmap::Transform> > edgeConstraints;
memory_->getMetricConstraints(uKeys(ids), memory_->getSignature(id)->mapId(), poses, edgeConstraints, true);
memory_->getMetricConstraints(uKeys(ids), poses, edgeConstraints, true);
UINFO("Poses=%d, constraints=%d", poses.size(), edgeConstraints.size());