merged attention branch to trunk

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@657 f169173b-cf89-36c8-b27e-44dbe73f0c83

guilib/include/rtabmap/gui/DatabaseViewer.h

@@ -0,0 +1,82 @@
+/*
+ * Copyright (C) 2010-2011, Mathieu Labbe and IntRoLab - Universite de Sherbrooke
+ *
+ * This file is part of RTAB-Map.
+ *
+ * RTAB-Map is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * RTAB-Map is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with RTAB-Map.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef DATABASEVIEWER_H_
+#define DATABASEVIEWER_H_
+
+#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
+
+#include <QtGui/QMainWindow>
+#include <QtCore/QByteArray>
+#include <QtCore/QMap>
+#include <QtCore/QSet>
+#include <QtGui/QImage>
+#include <opencv2/core/core.hpp>
+#include <opencv2/features2d/features2d.hpp>
+#include <set>
+
+class Ui_DatabaseViewer;
+class QGraphicsScene;
+class QGraphicsView;
+class QLabel;
+
+namespace rtabmap
+{
+class Memory;
+}
+
+class RTABMAP_EXP DatabaseViewer : public QMainWindow
+{
+	Q_OBJECT
+
+public:
+	DatabaseViewer(QWidget * parent = 0);
+	virtual ~DatabaseViewer();
+	bool openDatabase(const QString & path);
+
+private slots:
+	void openDatabase();
+	void generateGraph();
+	void generateLocalGraph();
+	void sliderAValueChanged(int);
+	void sliderBValueChanged(int);
+	void sliderAMoved(int);
+	void sliderBMoved(int);
+
+private:
+	void updateIds();
+	QImage ipl2QImage(const IplImage *newImage);
+	void drawKeypoints(const std::multimap<int, cv::KeyPoint> & refWords, QGraphicsScene * scene);
+	void update(int value,
+				QLabel * labelIndex,
+				QLabel * labelActions,
+				QLabel * labelParents,
+				QLabel * labelChildren,
+				QGraphicsView * view,
+				QLabel * labelId);
+
+private:
+	Ui_DatabaseViewer * ui_;
+	QMap<int, QByteArray> imagesMap_;
+	QList<int> ids_;
+	rtabmap::Memory * memory_;
+	QString pathDatabase_;
+};
+
+#endif /* DATABASEVIEWER_H_ */

guilib/include/rtabmap/gui/MainWindow.h

@@ -30,8 +30,6 @@
 
 namespace rtabmap {
 class Camera;
-class Micro;
-class CameraMicro;
 class DBReader;
 }
 
@@ -93,14 +91,13 @@ private slots:
 	void pauseDetection();
 	void stopDetection();
 	void generateMap();
+	void generateLocalMap();
 	void deleteMemory();
 	void openWorkingDirectory();
 	void updateEditMenu();
 	void selectImages();
 	void selectVideo();
 	void selectStream();
-	void selectMic();
-	void selectAudioFile();
 	void selectDatabase();
 	void resetTheMemory();
 	void dumpTheMemory();
@@ -137,14 +134,12 @@ signals:
 	void timeLimitChanged(float);
 	void noMoreImagesReceived();
 	void loopClosureThrChanged(float);
-	void retrievalThrChanged(float);
 	void twistReceived(float x, float y, float z, float roll, float pitch, float yaw, int row, int col);
 
 private:
 	void drawKeypoints(const std::multimap<int, cv::KeyPoint> & refWords, const std::multimap<int, cv::KeyPoint> & loopWords);
 	void setupMainLayout(bool vertical);
 	void updateSelectSourceImageMenu(int type);
-	void updateSelectSourceAudioMenu(int type);
 	void updateSelectSourceDatabase(bool used);
 
 private:
@@ -152,8 +147,6 @@ private:
 
 	State _state;
 	rtabmap::Camera * _camera;
-	rtabmap::Micro * _mic;
-	rtabmap::CameraMicro * _cameraMic;
 	rtabmap::DBReader * _dbReader;
 
 	SrcType _srcType;
@@ -175,14 +168,10 @@ private:
 
 	PdfPlotCurve * _posteriorCurve;
 	PdfPlotCurve * _likelihoodCurve;
-
-	UPlotCurve * _audioCurve;
-	UPlotCurve * _audioCurveLoop;
+	PdfPlotCurve * _rawLikelihoodCurve;
 
 	DetailedProgressDialog * _initProgressDialog;
 	QActionGroup * _selectSourceImageGrp;
-	QActionGroup * _selectSourceAudioGrp;
-
 
 	QString _graphSavingFileName;
 	QString _autoScreenCaptureFormat;

guilib/include/rtabmap/gui/PreferencesDialog.h

@@ -24,6 +24,7 @@
 
 #include <QtGui/QDialog>
 #include <QtCore/QModelIndex>
+#include <set>
 
 #include "rtabmap/core/Parameters.h"
 
@@ -66,12 +67,6 @@ public:
 		kSrcVideo
 	};
 
-	enum SrcAudio {
-		kSrcAudioUndef,
-		kSrcAudioMicDevice,
-		kSrcAudioFile
-	};
-
 public:
 	static QString getIniFilePath();
 
@@ -108,7 +103,6 @@ public:
 	// source panel
 	double getGeneralInputRate() const;
 	bool isSourceImageUsed() const;
-	bool isSourceAudioUsed() const;
 	bool isSourceDatabaseUsed() const;
 	bool getGeneralAutoRestart() const;
 	bool getGeneralCameraKeypoints() const;
@@ -124,29 +118,22 @@ public:
 	bool getSourceImagesRefreshDir() const;	//Images group
 	QString getSourceVideoPath() const;	//Video group
 	int getSourceUsbDeviceId() const;		//UsbDevice group
-	int getSourceAudioType() const; //Audio group
-	QString getSourceAudioTypeStr() const; //Audio group
-	int getSourceMicDevice() const;	//Audio group
-	int getSourceMicFs() const;	//Audio group
-	int getSourceMicSampleSize() const;	//Audio group
-	QString getSourceAudioPath() const; //Audio group
-	bool getSourceAudioPlayWhileRecording() const; //Audio group
 	QString getSourceDatabasePath() const; //Database group
+	int getSourceDatabaseStartPos() const; //Database group
+
+	int getIgnoredDCComponents() const;
 
 	//
 	bool isImagesKept() const;
 	float getTimeLimit() const;
-	int getMemoryType() const;
 
 	//specific
 	bool isStatisticsPublished() const;
 	double getLoopThr() const;
-	double getRetrievalThr() const;
 	double getVpThr() const;
 	double getExpThr() const;
 
 	//
-	void disableSourceAudio();
 	void disableGeneralCameraKeypoints();
 
 signals:
@@ -156,11 +143,9 @@ signals:
 public slots:
 	void setInputRate(double value);
 	void setHardThr(int value);
-	void setRetrievalThr(int value);
 	void setAutoRestart(bool value);
 	void setTimeLimit(float value);
 	void selectSourceImage(Src src = kSrcUndef);
-	void selectSourceAudio(SrcAudio = kSrcAudioUndef);
 	void selectSourceDatabase(bool user = false);
 
 private slots:
@@ -182,6 +167,7 @@ private slots:
 	void readSettingsEnd();
 	void setupTreeView();
 	void updateBasicParameter();
+	void openDatabaseViewer();
 
 protected:
 	virtual void showEvent ( QShowEvent * event );