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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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171
guilib/src/MainWindow.cpp
View File

@@ -151,6 +151,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_ui->dockWidget_statsV2->setVisible(false);
_ui->dockWidget_console->setVisible(false);
_ui->dockWidget_loopClosureViewer->setVisible(false);
_ui->dockWidget_mapVisibility->setVisible(false);
//_ui->dockWidget_cloudViewer->setVisible(false);
}
@@ -206,6 +207,8 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_initProgressDialog->setWindowTitle(tr("Progress dialog"));
_initProgressDialog->setMinimumWidth(800);
connect(_ui->widget_mapVisibility, SIGNAL(visibilityChanged(int, bool)), this, SLOT(updateNodeVisibility(int, bool)));
//connect stuff
connect(_ui->actionExit, SIGNAL(triggered()), this, SLOT(close()));
qRegisterMetaType<MainWindow::State>("MainWindow::State");
@@ -222,6 +225,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_ui->menuShow_view->addAction(_ui->dockWidget_console->toggleViewAction());
_ui->menuShow_view->addAction(_ui->dockWidget_cloudViewer->toggleViewAction());
_ui->menuShow_view->addAction(_ui->dockWidget_loopClosureViewer->toggleViewAction());
_ui->menuShow_view->addAction(_ui->dockWidget_mapVisibility->toggleViewAction());
_ui->menuShow_view->addAction(_ui->toolBar->toggleViewAction());
_ui->toolBar->setWindowTitle(tr("Control toolbar"));
QAction * a = _ui->menuShow_view->addAction("Progress dialog");
@@ -239,6 +243,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
connect(_ui->actionPrint_loop_closure_IDs_to_console, SIGNAL(triggered()), this, SLOT(printLoopClosureIds()));
connect(_ui->actionGenerate_map, SIGNAL(triggered()), this , SLOT(generateMap()));
connect(_ui->actionGenerate_local_map, SIGNAL(triggered()), this, SLOT(generateLocalMap()));
connect(_ui->actionGenerate_TORO_graph_graph, SIGNAL(triggered()), this , SLOT(generateTOROMap()));
connect(_ui->actionDelete_memory, SIGNAL(triggered()), this , SLOT(deleteMemory()));
connect(_ui->actionDownload_all_clouds, SIGNAL(triggered()), this , SLOT(downloadAllClouds()));
connect(_ui->menuEdit, SIGNAL(aboutToShow()), this, SLOT(updateEditMenu()));
@@ -391,6 +396,7 @@ void MainWindow::closeEvent(QCloseEvent* event)
_ui->dockWidget_console->close();
_ui->dockWidget_cloudViewer->close();
_ui->dockWidget_loopClosureViewer->close();
_ui->dockWidget_mapVisibility->close();
if(_camera)
{
@@ -616,7 +622,8 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
//Affichage des stats et images
int refMapId = uValue(stat.getMapIds(), stat.refImageId(), -1);
int loopMapId = uValue(stat.getMapIds(), stat.loopClosureId(), -1);
int loopMapId = uValue(stat.getMapIds(), stat.loopClosureId(), uValue(stat.getMapIds(), stat.localLoopClosureId(), -1));
_ui->label_refId->setText(QString("New ID = %1 [%2]").arg(stat.refImageId()).arg(refMapId));
_ui->label_matchId->clear();
@@ -688,7 +695,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
int rehearsed = (int)uValue(stat.data(), Statistics::kMemoryRehearsal_merged(), 0.0f);
int localTimeClosures = (int)uValue(stat.data(), Statistics::kLocalLoopTime_closures(), 0.0f);
bool scanMatchingSuccess = (bool)uValue(stat.data(), Statistics::kLocalLoopScan_matching_success(), 0.0f);
bool scanMatchingSuccess = (bool)uValue(stat.data(), Statistics::kLocalLoopOdom_corrected(), 0.0f);
_ui->label_matchId->clear();
_ui->label_stats_imageNumber->setText(QString("%1 [%2]").arg(stat.refImageId()).arg(refMapId));
@@ -916,6 +923,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
{
// update pose only if a odometry is not received
updateMapCloud(stat.poses(), _odometryReceived?Transform():stat.currentPose());
_ui->widget_mapVisibility->setMap(stat.poses());
_odometryReceived = false;
_odometryCorrection = stat.mapCorrection();
@@ -1130,7 +1138,11 @@ void MainWindow::updateMapCloud(const std::map<int, Transform> & poses, const Tr
int id = std::atoi(splitted.back().c_str());
if(poses.find(id) == poses.end())
{
_ui->widget_cloudViewer->setCloudVisibility(iter.key(), false);
if(_ui->widget_cloudViewer->getCloudVisibility(iter.key()))
{
UDEBUG("Hide %s", iter.key().c_str());
_ui->widget_cloudViewer->setCloudVisibility(iter.key(), false);
}
}
}
}
@@ -1170,6 +1182,25 @@ void MainWindow::updateMapCloud(const std::map<int, Transform> & poses, const Tr
_ui->widget_cloudViewer->render();
}
void MainWindow::updateNodeVisibility(int nodeId, bool visible)
{
if(_currentPosesMap.find(nodeId) != _currentPosesMap.end())
{
if(_preferencesDialog->isCloudsShown(0))
{
std::string cloudName = uFormat("cloud%d", nodeId);
_ui->widget_cloudViewer->setCloudVisibility(cloudName, visible);
}
if(_preferencesDialog->isScansShown(0))
{
std::string scanName = uFormat("scan%d", nodeId);
_ui->widget_cloudViewer->setCloudVisibility(scanName, visible);
}
}
_ui->widget_cloudViewer->render();
}
void MainWindow::processRtabmapEventInit(int status, const QString & info)
{
if((RtabmapEventInit::Status)status == RtabmapEventInit::kInitializing)
@@ -1220,7 +1251,6 @@ void MainWindow::processRtabmapEvent3DMap(const rtabmap::RtabmapEvent3DMap & eve
UINFO(" depthConstants = %d", event.getDepthConstants().size());
UINFO(" localTransforms = %d", event.getLocalTransforms().size());
UINFO(" poses = %d", event.getPoses().size());
UINFO(" mapCorrection = %s", event.getMapCorrection().prettyPrint().c_str());
_initProgressDialog->appendText("Inserting data in the cache...");
@@ -1269,7 +1299,7 @@ void MainWindow::processRtabmapEvent3DMap(const rtabmap::RtabmapEvent3DMap & eve
_initProgressDialog->appendText(tr("Inserted %1 local transforms.").arg(_localTransformsMap.size()));
_initProgressDialog->incrementStep();
_odometryCorrection = event.getMapCorrection();
_odometryCorrection.setIdentity();
_initProgressDialog->appendText("Inserting data in the cache... done.");
@@ -2155,6 +2185,66 @@ void MainWindow::generateLocalMap()
}
}
void MainWindow::generateTOROMap()
{
if(_toroSavingFileName.isEmpty())
{
_toroSavingFileName = _preferencesDialog->getWorkingDirectory() + "/toro.graph";
}
QStringList items;
items.append("Current map optimized");
items.append("Current map not optimized");
items.append("Full map optimized");
items.append("Full map not optimized");
bool ok;
QString item = QInputDialog::getItem(this, tr("Parameters"), tr("Options:"), items, 0, false, &ok);
if(ok)
{
bool optimized=false, full=false;
if(item.compare("Current map optimized") == 0)
{
optimized = true;
}
else if(item.compare("Current map not optimized") == 0)
{
}
else if(item.compare("Full map optimized") == 0)
{
full=true;
optimized=true;
}
else if(item.compare("Full map not optimized") == 0)
{
full=true;
}
else
{
UFATAL("Item \"%s\" not found?!?", item.toStdString().c_str());
}
QString path = QFileDialog::getSaveFileName(this, tr("Save File"), _toroSavingFileName, tr("TORO file (*.graph)"));
if(!path.isEmpty())
{
_toroSavingFileName = path;
if(full)
{
this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdGenerateTOROGraphFull, path.toStdString(), optimized?1:0));
}
else
{
this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdGenerateTOROGraph, path.toStdString(), optimized?1:0));
}
_ui->dockWidget_console->show();
_ui->widget_console->appendMsg(QString("TORO Graph saved (full=%1, optimized=%2)... %3")
.arg(full?"true":"false").arg(optimized?"true":"false").arg(_toroSavingFileName));
}
}
}
void MainWindow::deleteMemory()
{
QMessageBox::StandardButton button;
@@ -2261,12 +2351,61 @@ void MainWindow::dumpThePrediction()
void MainWindow::downloadAllClouds()
{
UINFO("Download clouds...");
_initProgressDialog->setAutoClose(true, 1);
_initProgressDialog->resetProgress();
_initProgressDialog->show();
_initProgressDialog->appendText("Downloading the map...");
this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdPublish3DMap));
bool showAll = _state != kMonitoringPaused && _state != kMonitoring;
QStringList items;
items.append("Current map optimized");
if(showAll)
{
items.append("Current map not optimized");
}
items.append("Full map optimized");
if(showAll)
{
items.append("Full map not optimized");
}
bool ok;
QString item = QInputDialog::getItem(this, tr("Parameters"), tr("Options:"), items, showAll?2:1, false, &ok);
if(ok)
{
bool optimized=false, full=false;
if(item.compare("Current map optimized") == 0)
{
optimized = true;
}
else if(item.compare("Current map not optimized") == 0)
{
}
else if(item.compare("Full map optimized") == 0)
{
full=true;
optimized=true;
}
else if(item.compare("Full map not optimized") == 0)
{
full=true;
}
else
{
UFATAL("Item \"%s\" not found?!?", item.toStdString().c_str());
}
UINFO("Download clouds...");
_initProgressDialog->setAutoClose(true, 1);
_initProgressDialog->resetProgress();
_initProgressDialog->show();
_initProgressDialog->appendText(tr("Downloading the map (full=%1 ,optimized=%2)...")
.arg(full?"true":"false").arg(optimized?"true":"false"));
if(full)
{
this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdPublish3DMapFull, optimized?1:0));
}
else
{
this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdPublish3DMap, optimized?1:0));
}
}
}
void MainWindow::clearTheCache()
@@ -2470,6 +2609,7 @@ void MainWindow::savePointClouds()
_initProgressDialog->setAutoClose(true, 1);
_initProgressDialog->resetProgress();
_initProgressDialog->show();
_initProgressDialog->setMaximumSteps(_currentPosesMap.size()+1);
std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr> clouds;
if(button == QMessageBox::No)
@@ -2497,6 +2637,7 @@ void MainWindow::saveMeshes()
_initProgressDialog->setAutoClose(true, 1);
_initProgressDialog->resetProgress();
_initProgressDialog->show();
_initProgressDialog->setMaximumSteps(_currentPosesMap.size()+1);
std::map<int, pcl::PolygonMesh::Ptr> meshes;
if(button == QMessageBox::No)
@@ -2527,6 +2668,7 @@ void MainWindow::viewPointClouds()
_initProgressDialog->setAutoClose(true, 1);
_initProgressDialog->resetProgress();
_initProgressDialog->show();
_initProgressDialog->setMaximumSteps(_currentPosesMap.size()+1);
std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr> clouds;
if(button == QMessageBox::No)
@@ -2586,6 +2728,7 @@ void MainWindow::viewMeshes()
_initProgressDialog->setAutoClose(true, 1);
_initProgressDialog->resetProgress();
_initProgressDialog->show();
_initProgressDialog->setMaximumSteps(_currentPosesMap.size()+1);
std::map<int, pcl::PolygonMesh::Ptr> meshes;
if(button == QMessageBox::No)
@@ -3135,6 +3278,7 @@ void MainWindow::changeState(MainWindow::State newState)
_ui->actionDelete_memory->setEnabled(true);
_ui->actionGenerate_map->setEnabled(true);
_ui->actionGenerate_local_map->setEnabled(true);
_ui->actionGenerate_TORO_graph_graph->setEnabled(true);
_ui->actionOpen_working_directory->setEnabled(true);
_ui->actionApply_settings_to_the_detector->setEnabled(true);
_ui->actionDownload_all_clouds->setEnabled(true);
@@ -3163,6 +3307,7 @@ void MainWindow::changeState(MainWindow::State newState)
_ui->actionDelete_memory->setEnabled(false);
_ui->actionGenerate_map->setEnabled(false);
_ui->actionGenerate_local_map->setEnabled(false);
_ui->actionGenerate_TORO_graph_graph->setEnabled(false);
_ui->actionOpen_working_directory->setEnabled(true);
_ui->actionApply_settings_to_the_detector->setEnabled(false);
_ui->actionDownload_all_clouds->setEnabled(false);
@@ -3201,6 +3346,7 @@ void MainWindow::changeState(MainWindow::State newState)
_ui->actionDelete_memory->setEnabled(false);
_ui->actionGenerate_map->setEnabled(false);
_ui->actionGenerate_local_map->setEnabled(false);
_ui->actionGenerate_TORO_graph_graph->setEnabled(false);
_ui->actionDownload_all_clouds->setEnabled(false);
_state = kDetecting;
_elapsedTime->start();
@@ -3231,6 +3377,7 @@ void MainWindow::changeState(MainWindow::State newState)
_ui->actionDelete_memory->setEnabled(true);
_ui->actionGenerate_map->setEnabled(true);
_ui->actionGenerate_local_map->setEnabled(true);
_ui->actionGenerate_TORO_graph_graph->setEnabled(true);
_ui->actionDownload_all_clouds->setEnabled(true);
_state = kPaused;
_oneSecondTimer->stop();
@@ -3267,6 +3414,7 @@ void MainWindow::changeState(MainWindow::State newState)
_ui->actionDelete_memory->setEnabled(true);
_ui->actionGenerate_map->setVisible(false);
_ui->actionGenerate_local_map->setVisible(false);
_ui->actionGenerate_TORO_graph_graph->setVisible(false);
_ui->actionOpen_working_directory->setEnabled(false);
_ui->actionApply_settings_to_the_detector->setVisible(false);
_ui->actionDownload_all_clouds->setEnabled(true);
@@ -3294,6 +3442,7 @@ void MainWindow::changeState(MainWindow::State newState)
_ui->actionDelete_memory->setEnabled(true);
_ui->actionGenerate_map->setVisible(false);
_ui->actionGenerate_local_map->setVisible(false);
_ui->actionGenerate_TORO_graph_graph->setVisible(false);
_ui->actionOpen_working_directory->setEnabled(false);
_ui->actionApply_settings_to_the_detector->setVisible(false);
_ui->actionDownload_all_clouds->setEnabled(true);