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merged attention branch to trunk

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@657 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2012-12-11 18:05:05 +00:00
parent f9033809a2
commit 2836d4c48c
216 changed files with 7983 additions and 94891 deletions
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578
guilib/src/MainWindow.cpp
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@@ -20,10 +20,7 @@
#include "rtabmap/gui/MainWindow.h"
#include "ui_mainWindow.h"
#include "rtabmap/core/Camera.h"
#include "rtabmap/core/Micro.h"
#include "rtabmap/core/DBReader.h"
#include "rtabmap/core/SensorimotorEvent.h"
#include "CameraMicro.h"
#include "rtabmap/gui/qtipl.h"
#include "rtabmap/gui/KeypointItem.h"
#include "AboutDialog.h"
@@ -34,9 +31,6 @@
#include "PdfPlot.h"
#include "StatsToolBox.h"
#include "DetailedProgressDialog.h"
#include "TwistWidget.h"
#include "rtabmap/core/Sensor.h"
#include <QtGui/QCloseEvent>
#include <QtGui/QPixmap>
@@ -74,8 +68,6 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_ui(0),
_state(kIdle),
_camera(0),
_mic(0),
_cameraMic(0),
_dbReader(0),
_srcType(kSrcUndefined),
_preferencesDialog(0),
@@ -86,6 +78,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_elapsedTime(0),
_posteriorCurve(0),
_likelihoodCurve(0),
_rawLikelihoodCurve(0),
_autoScreenCaptureFormat("png")
{
ULOGGER_DEBUG("");
@@ -112,11 +105,9 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
{
_ui->dockWidget_posterior->setVisible(false);
_ui->dockWidget_likelihood->setVisible(false);
_ui->dockWidget_rawlikelihood->setVisible(false);
_ui->dockWidget_statsV2->setVisible(false);
_ui->dockWidget_console->setVisible(false);
_ui->dockWidget_twist->setVisible(false);
_ui->dockWidget_audioLoopFrames->setVisible(false);
_ui->dockWidget_audioProcessedFrames->setVisible(false);
}
if(prefDialog)
@@ -148,23 +139,20 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_ui->imageView_loopClosure->setBackgroundBrush(QBrush(Qt::black));
_posteriorCurve = new PdfPlotCurve("Posterior", &_imagesMap, this);
_ui->posteriorPlot->addCurve(_posteriorCurve);
_ui->posteriorPlot->addCurve(_posteriorCurve, false);
_ui->posteriorPlot->showLegend(false);
_ui->posteriorPlot->setFixedYAxis(0,1);
UPlotCurveThreshold * tc;
tc = _ui->posteriorPlot->addThreshold("Loop closure thr", float(_preferencesDialog->getLoopThr()));
connect(this, SIGNAL(loopClosureThrChanged(float)), tc, SLOT(setThreshold(float)));
tc = _ui->posteriorPlot->addThreshold("Retrieval thr", float(_preferencesDialog->getRetrievalThr()));
connect(this, SIGNAL(retrievalThrChanged(float)), tc, SLOT(setThreshold(float)));
_likelihoodCurve = new PdfPlotCurve("Likelihood", &_imagesMap, this);
_ui->likelihoodPlot->addCurve(_likelihoodCurve);
_ui->likelihoodPlot->addCurve(_likelihoodCurve, false);
_ui->likelihoodPlot->showLegend(false);
_ui->widget_audioProcessedFrames->setScaled(true, true);
_ui->widget_audioProcessedFrames->setOnlyLastFramesDrawn(true);
_ui->widget_audioLoopFrames->setScaled(true, true);
_ui->widget_audioLoopFrames->setOnlyLastFramesDrawn(true);
_rawLikelihoodCurve = new PdfPlotCurve("Likelihood", &_imagesMap, this);
_ui->rawLikelihoodPlot->addCurve(_rawLikelihoodCurve, false);
_ui->rawLikelihoodPlot->showLegend(false);
_ui->doubleSpinBox_stats_imgRate->setValue(_preferencesDialog->getGeneralInputRate());
_ui->doubleSpinBox_stats_timeLimit->setValue(_preferencesDialog->getTimeLimit());
@@ -183,11 +171,9 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
// Dock Widget view actions (Menu->Window)
_ui->menuShow_view->addAction(_ui->dockWidget_posterior->toggleViewAction());
_ui->menuShow_view->addAction(_ui->dockWidget_likelihood->toggleViewAction());
_ui->menuShow_view->addAction(_ui->dockWidget_rawlikelihood->toggleViewAction());
_ui->menuShow_view->addAction(_ui->dockWidget_statsV2->toggleViewAction());
_ui->menuShow_view->addAction(_ui->dockWidget_console->toggleViewAction());
_ui->menuShow_view->addAction(_ui->dockWidget_twist->toggleViewAction());
_ui->menuShow_view->addAction(_ui->dockWidget_audioLoopFrames->toggleViewAction());
_ui->menuShow_view->addAction(_ui->dockWidget_audioProcessedFrames->toggleViewAction());
_ui->menuShow_view->addAction(_ui->toolBar->toggleViewAction());
_ui->toolBar->setWindowTitle(tr("Control toolbar"));
QAction * a = _ui->menuShow_view->addAction("Status");
@@ -204,6 +190,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
connect(_ui->actionClear_cache, SIGNAL(triggered()), this, SLOT(clearTheCache()));
connect(_ui->actionAbout, SIGNAL(triggered()), _aboutDialog , SLOT(exec()));
connect(_ui->actionGenerate_map, SIGNAL(triggered()), this , SLOT(generateMap()));
connect(_ui->actionGenerate_local_map, SIGNAL(triggered()), this, SLOT(generateLocalMap()));
connect(_ui->actionDelete_memory, SIGNAL(triggered()), this , SLOT(deleteMemory()));
connect(_ui->menuEdit, SIGNAL(aboutToShow()), this, SLOT(updateEditMenu()));
connect(_ui->actionAuto_screen_capture, SIGNAL(triggered(bool)), this, SLOT(selectScreenCaptureFormat(bool)));
@@ -233,12 +220,6 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
connect(_ui->actionImageFiles, SIGNAL(triggered()), this, SLOT(selectImages()));
connect(_ui->actionVideo, SIGNAL(triggered()), this, SLOT(selectVideo()));
connect(_ui->actionUsbCamera, SIGNAL(triggered()), this, SLOT(selectStream()));
_selectSourceAudioGrp = new QActionGroup(this);
_selectSourceAudioGrp->addAction(_ui->actionMic);
_selectSourceAudioGrp->addAction(_ui->actionAudioFile);
this->updateSelectSourceAudioMenu(_preferencesDialog->getSourceAudioType());
connect(_ui->actionMic, SIGNAL(triggered()), this, SLOT(selectMic()));
connect(_ui->actionAudioFile, SIGNAL(triggered()), this, SLOT(selectAudioFile()));
this->updateSelectSourceDatabase(_preferencesDialog->isSourceDatabaseUsed());
connect(_ui->actionDatabase, SIGNAL(triggered()), this, SLOT(selectDatabase()));
@@ -260,7 +241,6 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
connect(this, SIGNAL(imgRateChanged(double)), _preferencesDialog, SLOT(setInputRate(double)));
connect(this, SIGNAL(timeLimitChanged(float)), _preferencesDialog, SLOT(setTimeLimit(float)));
connect(this, SIGNAL(twistReceived(float, float, float, float, float, float, int, int)), _ui->twistWidget, SLOT(addTwist(float, float, float, float, float, float, int, int)));
// Statistics from the detector
qRegisterMetaType<rtabmap::Statistics>("rtabmap::Statistics");
connect(this, SIGNAL(statsReceived(rtabmap::Statistics)), this, SLOT(processStats(rtabmap::Statistics)));
@@ -326,6 +306,7 @@ void MainWindow::closeEvent(QCloseEvent* event)
_preferencesDialog->saveMainWindowState(this);
_ui->dockWidget_likelihood->close();
_ui->dockWidget_rawlikelihood->close();
_ui->dockWidget_posterior->close();
_ui->dockWidget_statsV2->close();
_ui->dockWidget_console->close();
@@ -336,18 +317,6 @@ void MainWindow::closeEvent(QCloseEvent* event)
delete _camera;
_camera = 0;
}
if(_mic)
{
UERROR("Mic must be already deleted here!");
delete _mic;
_mic = 0;
}
if(_cameraMic)
{
UERROR("CameraMic must be already deleted here!");
delete _mic;
_mic = 0;
}
if(_dbReader)
{
UERROR("DBReader must be already deleted here!");
@@ -382,7 +351,7 @@ void MainWindow::handleEvent(UEvent* anEvent)
this->pauseDetection();
}
}
UDEBUG("stat.rawLikelihood().size()=%d", stats.rawLikelihood().size());
// Performance issue: don't process the pdf and likelihood if the last event is
// not yet completely processed, to avoid an unresponsive GUI when events accumulate.
if(_processingStatistics || !_ui->dockWidget_posterior->isVisible())
@@ -393,6 +362,10 @@ void MainWindow::handleEvent(UEvent* anEvent)
{
stats.setLikelihood(std::map<int, float>());
}
if(_processingStatistics || !_ui->dockWidget_rawlikelihood->isVisible())
{
stats.setRawLikelihood(std::map<int, float>());
}
if(_processingStatistics || (!_ui->dockWidget_posterior->isVisible() && !_ui->dockWidget_likelihood->isVisible()))
{
stats.setWeights(std::map<int,int>());
@@ -403,7 +376,7 @@ void MainWindow::handleEvent(UEvent* anEvent)
else if(anEvent->getClassName().compare("RtabmapEventInit") == 0)
{
RtabmapEventInit * rtabmapEventInit = (RtabmapEventInit*)anEvent;
emit rtabmapEventInitReceived(rtabmapEventInit->getStatus(), rtabmapEventInit->getInfo().c_str());
emit rtabmapEventInitReceived((int)rtabmapEventInit->getStatus(), rtabmapEventInit->getInfo().c_str());
}
else if(anEvent->getClassName().compare("CameraEvent") == 0)
@@ -418,18 +391,6 @@ void MainWindow::handleEvent(UEvent* anEvent)
emit noMoreImagesReceived();
}
}
else if(anEvent->getClassName().compare("MicroEvent") == 0)
{
MicroEvent * microEvent = (MicroEvent*)anEvent;
if(microEvent->getCode() == MicroEvent::kTypeNoMoreFrames)
{
if(_preferencesDialog->beepOnPause())
{
QMetaObject::invokeMethod(this, "beep");
}
emit noMoreImagesReceived();
}
}
else if(anEvent->getClassName().compare("ULogEvent") == 0)
{
ULogEvent * logEvent = (ULogEvent*)anEvent;
@@ -448,19 +409,6 @@ void MainWindow::handleEvent(UEvent* anEvent)
}
}
}
else if(anEvent->getClassName().compare("SensorimotorEvent") == 0)
{
SensorimotorEvent * e = (rtabmap::SensorimotorEvent*)anEvent;
if(e->getCode() == SensorimotorEvent::kTypeNoMoreData)
{
if(_preferencesDialog->beepOnPause())
{
QMetaObject::invokeMethod(this, "beep");
}
emit noMoreImagesReceived();
}
}
}
void MainWindow::processStats(const rtabmap::Statistics & stat)
@@ -472,10 +420,15 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
//Affichage des stats et images
if(stat.extended())
{
float totalTime = static_cast<float>(uValue(stat.data(), Statistics::kTimingTotal(), 0.0f));
if(totalTime/1000.0f > float(1.0/_preferencesDialog->getGeneralInputRate()))
{
UWARN("Processing time (%fs) is over acquisition time (%fs), real-time problem!", totalTime/1000.0f, 1.0/_preferencesDialog->getGeneralInputRate());
}
UDEBUG("");
_ui->label_refId->setText(QString("New ID = %1").arg(stat.refImageId()));
int highestHypothesisId = static_cast<float>(uValue(stat.data(), Statistics::kLoopHighest_hypothesis_id(), 0.0f));
bool refParentId = (int)uValue(stat.data(), Statistics::kParent_id(), 0.0f);
bool highestHypothesisIsSaved = (bool)uValue(stat.data(), Statistics::kHypothesis_reactivated(), 0.0f);
// Loop closure info
@@ -485,69 +438,9 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
_ui->imageView_loopClosure->resetTransform();
_ui->imageView_loopClosure->setBackgroundBrush(QBrush(Qt::black));
// extract some sensors
cv::Mat refImage;
cv::Mat refAudioFrame;
bool twistSet = false;
for(std::list<Sensor>::const_iterator iter = stat.refRawData().begin(); iter!=stat.refRawData().end(); ++iter)
{
if(refImage.empty() && iter->type() == Sensor::kTypeImage)
{
refImage = iter->data();
}
else if(refAudioFrame.empty() && iter->type() == Sensor::kTypeAudioFreqSqrdMagn)
{
refAudioFrame = iter->data();
}
else if(iter->type() == Sensor::kTypeTwist)
{
if(!twistSet)
{
const Sensor & a = *iter;
if(a.data().total() == 6 && (a.data().type() & CV_32F))
{
emit twistReceived(a.data().at<float>(0),
a.data().at<float>(1),
a.data().at<float>(2),
a.data().at<float>(3),
a.data().at<float>(4),
a.data().at<float>(5),
0,
0);
}
else
{
UERROR("Twist must be CV_32F and have 6 elements (%d)", a.data().total());
}
twistSet = true; // Show only the first
}
}
else if(iter->type() != Sensor::kTypeImageFeatures2d)
{
UWARN("Source type %d not handled", iter->type());
}
}
cv::Mat loopImage;
cv::Mat loopAudioFrame;
for(std::list<Sensor>::const_iterator iter = stat.loopClosureRawData().begin(); iter!=stat.loopClosureRawData().end(); ++iter)
{
if(loopImage.empty() && iter->type() == Sensor::kTypeImage)
{
loopImage = iter->data();
}
else if(loopAudioFrame.empty() && iter->type() == Sensor::kTypeAudioFreqSqrdMagn)
{
loopAudioFrame = iter->data();
}
else if(iter->type() == Sensor::kTypeTwist)
{
// do nothing
}
else if(iter->type() != Sensor::kTypeImageFeatures2d)
{
UWARN("Source type %d not handled", iter->type());
}
}
// get images
cv::Mat refImage = stat.refImage();
cv::Mat loopImage = stat.loopImage();
_ui->label_matchId->clear();
QPixmap refPixmap;
@@ -571,23 +464,6 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
_ui->imageView_source->scene()->addPixmap(refPixmap)->setVisible(this->_ui->imageView_source->isImageShown());
_ui->imageView_source->setSceneRect(sceneRect);
_ui->imageView_loopClosure->setSceneRect(sceneRect);
UDEBUG("Adding mask = %d", stat.refMotionMask().size());
if(stat.refMotionMask().size() == (unsigned int)img.width()*img.height())
{
UDEBUG("Adding mask");
const std::vector<unsigned char> & maskData = stat.refMotionMask();
QImage mask(img.size(), QImage::Format_ARGB32);
int i=0;
for(int y=0; y<mask.height(); ++y)
{
for(int x=0; x<mask.width(); ++x)
{
mask.setPixel(x,y,qRgba(255,0,255,!maskData[i++]*_preferencesDialog->getKeypointsOpacity()));
}
}
_ui->imageView_source->scene()->addPixmap(QPixmap::fromImage(mask));
}
}
QImage lcImg;
@@ -668,22 +544,6 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
if(!lcImg.isNull())
{
_ui->imageView_loopClosure->scene()->addPixmap(QPixmap::fromImage(lcImg))->setVisible(this->_ui->imageView_loopClosure->isImageShown());
UDEBUG("Adding mask = %d", stat.loopMotionMask().size());
if(stat.loopMotionMask().size() == (unsigned int)lcImg.width()*lcImg.height())
{
UDEBUG("Adding mask");
const std::vector<unsigned char> & maskData = stat.loopMotionMask();
QImage mask(lcImg.size(), QImage::Format_ARGB32);
int i=0;
for(int y=0; y<mask.height(); ++y)
{
for(int x=0; x<mask.width(); ++x)
{
mask.setPixel(x,y,qRgba(255,0,255,!maskData[i++]*_preferencesDialog->getKeypointsOpacity()));
}
}
_ui->imageView_loopClosure->scene()->addPixmap(QPixmap::fromImage(mask));
}
}
}
}
@@ -722,102 +582,25 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
if(!stat.posterior().empty() && _ui->dockWidget_posterior->isVisible())
{
UDEBUG("");
if(!refParentId)
if(stat.weights().size() != stat.posterior().size())
{
_posteriorCurve->setData(QMap<int, float>(stat.posterior()), QMap<int, int>(stat.weights()), stat.refImageId());
}
else
{
// if the new signature has a parent, don't add it
_posteriorCurve->setData(QMap<int, float>(stat.posterior()), QMap<int, int>(stat.weights()), 0);
UWARN("%d %d", stat.weights().size(), stat.posterior().size());
}
_posteriorCurve->setData(QMap<int, float>(stat.posterior()), QMap<int, int>(stat.weights()));
ULOGGER_DEBUG("");
//Adjust thresholds
float value;
value = float(_preferencesDialog->getLoopThr());
emit(loopClosureThrChanged(value));
value = float(_preferencesDialog->getRetrievalThr());
emit(retrievalThrChanged(value));
}
if(!stat.likelihood().empty() && _ui->dockWidget_likelihood->isVisible())
{
UDEBUG("");
if(!refParentId)
{
_likelihoodCurve->setData(QMap<int, float>(stat.likelihood()), QMap<int, int>(stat.weights()), stat.refImageId());
}
else
{
// if the new signature has a parent, don't add it
_likelihoodCurve->setData(QMap<int, float>(stat.likelihood()), QMap<int, int>(stat.weights()), 0);
}
ULOGGER_DEBUG("");
_likelihoodCurve->setData(QMap<int, float>(stat.likelihood()), QMap<int, int>(stat.weights()));
}
// Audio frame
if(_ui->dockWidget_audioProcessedFrames->isVisible() && !refAudioFrame.empty())
if(!stat.rawLikelihood().empty() && _ui->dockWidget_rawlikelihood->isVisible())
{
if(_mic)
{
_ui->widget_audioProcessedFrames->setSamplingRate(_mic->fs());
}
std::vector<float> v((float*)refAudioFrame.data, ((float*)refAudioFrame.data) + refAudioFrame.cols);
_ui->widget_audioProcessedFrames->push(v);
}
if(_ui->dockWidget_audioLoopFrames->isVisible())
{
if(_mic)
{
_ui->widget_audioLoopFrames->setSamplingRate(_mic->fs());
}
std::vector<float> v;
if(!loopAudioFrame.empty())
{
v = std::vector<float>((float*)loopAudioFrame.data, ((float*)loopAudioFrame.data) + loopAudioFrame.cols);
}
else if(!refAudioFrame.empty())
{
v = std::vector<float>(refAudioFrame.cols, 0);
}
if(v.size())
{
_ui->widget_audioLoopFrames->push(v);
}
}
// ACTIONS
if(stat.getActuators().size())
{
const std::list<Actuator> & actuators = stat.getActuators();
for(std::list<Actuator>::const_iterator iter=actuators.begin(); iter!=actuators.end(); ++iter)
{
const Actuator & a = *iter;
if(a.type() == Actuator::kTypeTwist)
{
if(a.data().total() == 6 && (a.data().type() & CV_32F))
{
emit twistReceived(a.data().at<float>(0),
a.data().at<float>(1),
a.data().at<float>(2),
a.data().at<float>(3),
a.data().at<float>(4),
a.data().at<float>(5),
1,
0);
}
else
{
UERROR("Twist must be CV_32F and have 6 elements (%d)", a.data().total());
}
break; // Show only the first
}
}
}
else
{
UDEBUG("Actions are empty...");
_rawLikelihoodCurve->setData(QMap<int, float>(stat.rawLikelihood()), QMap<int, int>(stat.weights()));
}
// Update statistics tool box
@@ -827,6 +610,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
//ULOGGER_DEBUG("Updating stat \"%s\"", (*iter).first.c_str());
_ui->statsToolBox->updateStat(QString((*iter).first.c_str()).replace('_', ' '), stat.refImageId(), (*iter).second);
}
UDEBUG("");
}
else if(!stat.extended() && stat.loopClosureId()>0)
@@ -895,21 +679,12 @@ void MainWindow::applyPrefSettings(PreferencesDialog::PANEL_FLAGS flags)
// Camera settings...
_ui->doubleSpinBox_stats_imgRate->setValue(_preferencesDialog->getGeneralInputRate());
this->updateSelectSourceImageMenu(_preferencesDialog->getSourceImageType());
this->updateSelectSourceAudioMenu(_preferencesDialog->getSourceAudioType());
this->updateSelectSourceDatabase(_preferencesDialog->isSourceDatabaseUsed());
QString src;
if(_preferencesDialog->isSourceImageUsed() && _preferencesDialog->isSourceAudioUsed())
{
src = (_preferencesDialog->getSourceImageTypeStr() + "+") + _preferencesDialog->getSourceAudioTypeStr();
}
else if(_preferencesDialog->isSourceImageUsed())
if(_preferencesDialog->isSourceImageUsed())
{
src = _preferencesDialog->getSourceImageTypeStr();
}
else if(_preferencesDialog->isSourceAudioUsed())
{
src = _preferencesDialog->getSourceAudioTypeStr();
}
else if(_preferencesDialog->isSourceDatabaseUsed())
{
src = "Database";
@@ -973,8 +748,6 @@ void MainWindow::applyPrefSettings(const rtabmap::ParametersMap & parameters)
float value;
value = float(_preferencesDialog->getLoopThr());
emit(loopClosureThrChanged(value));
value = float(_preferencesDialog->getRetrievalThr());
emit(retrievalThrChanged(value));
}
void MainWindow::drawKeypoints(const std::multimap<int, cv::KeyPoint> & refWords, const std::multimap<int, cv::KeyPoint> & loopWords)
@@ -1085,7 +858,7 @@ void MainWindow::drawKeypoints(const std::multimap<int, cv::KeyPoint> & refWords
{
_lastId = (*refWords.rbegin()).first;
}
_lastIds = QSet<int>::fromList(QList<int>::fromStdList(uKeys(refWords)));
_lastIds = QSet<int>::fromList(QList<int>::fromStdList(uKeysList(refWords)));
}
// Draw lines between corresponding features...
@@ -1157,29 +930,6 @@ void MainWindow::updateSelectSourceImageMenu(int type)
}
}
void MainWindow::updateSelectSourceAudioMenu(int type)
{
if(_preferencesDialog->isSourceAudioUsed())
{
switch(type)
{
case 0:
_ui->actionMic->setChecked(true);
break;
case 1:
default:
_ui->actionAudioFile->setChecked(true);
break;
}
}
else
{
// they are exclusive actions, so check/uncheck one should disable all.
_ui->actionMic->setChecked(true);
_ui->actionMic->setChecked(false);
}
}
void MainWindow::updateSelectSourceDatabase(bool used)
{
_ui->actionDatabase->setChecked(used);
@@ -1241,15 +991,6 @@ void MainWindow::startDetection()
emit stateChanged(kIdle);
return;
}
if(_mic != 0)
{
QMessageBox::warning(this,
tr("RTAB-Map"),
tr("A mic is running, stop it first."));
UWARN("_mic is not null... it must be stopped first");
emit stateChanged(kIdle);
return;
}
if(_dbReader != 0)
{
QMessageBox::warning(this,
@@ -1262,7 +1003,6 @@ void MainWindow::startDetection()
// Adjust pre-requirements
if( !_preferencesDialog->isSourceImageUsed() &&
!_preferencesDialog->isSourceAudioUsed() &&
!_preferencesDialog->isSourceDatabaseUsed())
{
QMessageBox::warning(this,
@@ -1272,54 +1012,13 @@ void MainWindow::startDetection()
emit stateChanged(kIdle);
return;
}
if(_preferencesDialog->getMemoryType() == 0)
{
//KeypointMemory
if(!_preferencesDialog->isSourceImageUsed() && !_preferencesDialog->isSourceDatabaseUsed())
{
QMessageBox::warning(this,
tr("RTAB-Map"),
tr("Image source is not selected. See Preferences->Source panel. "
"Keypoint memory only works with images."));
UWARN("Image source is not selected. See Preferences->Source panel. "
"Keypoint memory only works with images.");
emit stateChanged(kIdle);
return;
}
else if(_preferencesDialog->isSourceAudioUsed())
{
QMessageBox::information(this,
tr("RTAB-Map"),
tr("Audio source is selected. Keypoint memory only works with images... "
"the audio source is now disabled."));
UDEBUG("Audio source is selected. Keypoint memory only works with images... "
"the audio source is now disabled.");
_preferencesDialog->disableSourceAudio();
}
}
else
{
//SM memory
if(_preferencesDialog->isSourceImageUsed() && _preferencesDialog->getGeneralCameraKeypoints())
{
QMessageBox::information(this,
tr("RTAB-Map"),
tr("Keypoint features extraction is selected for the camera. "
"Sensorimotor memory doesn't handle features (only raw images), "
"so it is overkill to extract them... keypoints extraction is now disabled."));
UDEBUG("Keypoint features extraction is selected for the camera. "
"Sensorimotor memory doesn't handle features (only raw images), "
"so it is overkill to extract them... keypoints extraction is now disabled.");
_preferencesDialog->disableGeneralCameraKeypoints();
}
}
if(_preferencesDialog->isSourceDatabaseUsed())
{
_dbReader = new DBReader(_preferencesDialog->getSourceDatabasePath().toStdString(),
_preferencesDialog->getGeneralInputRate());
if(!_dbReader->init())
if(!_dbReader->init(_preferencesDialog->getSourceDatabaseStartPos()))
{
ULOGGER_WARN("init DBReader failed... ");
QMessageBox::warning(this,
@@ -1401,51 +1100,6 @@ void MainWindow::startDetection()
UEventsManager::addHandler(_camera); //thread
}
if(_preferencesDialog->isSourceAudioUsed())
{
UDEBUG("");
int sourceAudioType = _preferencesDialog->getSourceAudioType();
if(sourceAudioType == 1) //Audio file
{
_mic = new Micro(MicroEvent::kTypeFrameFreqSqrdMagn,
_preferencesDialog->getSourceAudioPath().toStdString(),
true,
44100.0/_preferencesDialog->getGeneralInputRate(),
0,
_preferencesDialog->getSourceAudioPlayWhileRecording());
}
else // Mic
{
_mic = new Micro(MicroEvent::kTypeFrameFreqSqrdMagn,
_preferencesDialog->getSourceMicDevice(),
_preferencesDialog->getSourceMicFs(),
float(_preferencesDialog->getSourceMicFs())/_preferencesDialog->getGeneralInputRate(),
1,
_preferencesDialog->getSourceMicSampleSize());
}
if(!_mic->init())
{
QMessageBox::warning(this,
tr("RTAB-Map"),
tr("Mic initialization failed..."));
ULOGGER_WARN("init mic failed... ");
emit stateChanged(kIdle);
delete _mic;
_mic = 0;
if(_camera)
{
delete _camera;
_camera = 0;
}
return;
}
}
if(_camera && _mic)
{
_cameraMic = new CameraMicro(_camera, _mic);
}
}
this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdCleanSensorsBuffer));
@@ -1464,32 +1118,19 @@ void MainWindow::startDetection()
void MainWindow::pauseDetection()
{
if(_camera || _mic || _dbReader)
if(_camera || _dbReader)
{
if(_state == kPaused && (QApplication::keyboardModifiers() & Qt::ShiftModifier))
{
// On Ctrl-click, start the camera and pause it automatically
if((_camera &&_camera->isRunning()) ||
(_mic &&_mic->isRunning()) ||
(_cameraMic && _cameraMic->isRunning()) ||
(_dbReader && _dbReader->isRunning()))
{
//Don't wait for GUI thread, kill now
if(_cameraMic)
if(_camera)
{
_cameraMic->kill();
}
else
{
if(_camera)
{
_camera->kill();
}
if(_mic)
{
_mic->kill();
}
_camera->kill();
}
if(_dbReader)
{
_dbReader->kill();
@@ -1514,15 +1155,13 @@ void MainWindow::pauseDetection()
void MainWindow::stopDetection()
{
if(_state == kIdle || (!_camera && !_mic && !_dbReader))
if(_state == kIdle || (!_camera && !_dbReader))
{
return;
}
if(_state == kDetecting &&
( (!_mic && _camera && _camera->isRunning()) ||
(!_camera && _mic && _mic->isRunning()) ||
(_cameraMic && _cameraMic->isRunning()) ||
( (_camera && _camera->isRunning()) ||
(_dbReader && _dbReader->isRunning())) )
{
QMessageBox::StandardButton button = QMessageBox::question(this, tr("Stopping process..."), tr("Are you sure you want to stop the process?"), QMessageBox::Yes|QMessageBox::No, QMessageBox::No);
@@ -1535,41 +1174,22 @@ void MainWindow::stopDetection()
ULOGGER_DEBUG("");
// kill the processes
if(_cameraMic)
if(_camera)
{
_cameraMic->join(true);
}
else
{
if(_camera)
{
_camera->join(true);
}
if(_mic)
{
_mic->join(true);
}
_camera->join(true);
}
if(_dbReader)
{
_dbReader->join(true);
}
// delete the processes
if(_cameraMic)
{
delete _cameraMic;
_cameraMic = 0;
}
if(_camera)
{
delete _camera;
_camera = 0;
}
if(_mic)
{
delete _mic;
_mic = 0;
}
if(_dbReader)
{
delete _dbReader;
@@ -1618,6 +1238,47 @@ void MainWindow::generateMap()
}
}
void MainWindow::generateLocalMap()
{
if(_graphSavingFileName.isEmpty())
{
_graphSavingFileName = _preferencesDialog->getWorkingDirectory() + "/Graph.dot";
}
bool ok = false;
int loopId = 1;
if(_ui->label_matchId->text().size())
{
std::list<std::string> values = uSplitNumChar(_ui->label_matchId->text().toStdString());
if(values.size() > 1)
{
int val = QString((++values.begin())->c_str()).toInt(&ok);
if(ok)
{
loopId = val;
}
ok = false;
}
}
int id = QInputDialog::getInt(this, tr("Around which location?"), tr("Location ID"), loopId, 1, 999999, 1, &ok);
if(ok)
{
int margin = QInputDialog::getInt(this, tr("Depth around the location?"), tr("Margin"), 4, 1, 100, 1, &ok);
if(ok)
{
QString path = QFileDialog::getSaveFileName(this, tr("Save File"), _graphSavingFileName, tr("Graphiz file (*.dot)"));
if(!path.isEmpty())
{
_graphSavingFileName = path;
RtabmapEventCmd * event = new RtabmapEventCmd(RtabmapEventCmd::kCmdGenerateLocalGraph);
QString str = path + QString(";") + QString::number(id) + QString(";") + QString::number(margin);
event->setStr(str.toStdString());
this->post(event); // The event is automatically deleted by the EventsManager...
}
}
}
}
void MainWindow::deleteMemory()
{
QMessageBox::StandardButton button;
@@ -1701,16 +1362,6 @@ void MainWindow::selectStream()
_preferencesDialog->selectSourceImage(PreferencesDialog::kSrcUsbDevice);
}
void MainWindow::selectMic()
{
_preferencesDialog->selectSourceAudio(PreferencesDialog::kSrcAudioMicDevice);
}
void MainWindow::selectAudioFile()
{
_preferencesDialog->selectSourceAudio(PreferencesDialog::kSrcAudioFile);
}
void MainWindow::selectDatabase()
{
_preferencesDialog->selectSourceDatabase(true);
@@ -1737,6 +1388,7 @@ void MainWindow::clearTheCache()
{
_imagesMap.clear();
_likelihoodCurve->clear();
_rawLikelihoodCurve->clear();
_posteriorCurve->clear();
_lastId = 0;
_lastIds.clear();
@@ -1920,6 +1572,7 @@ void MainWindow::changeState(MainWindow::State newState)
_ui->actionDump_the_memory->setEnabled(true);
_ui->actionDelete_memory->setEnabled(true);
_ui->actionGenerate_map->setEnabled(true);
_ui->actionGenerate_local_map->setEnabled(true);
_ui->actionOpen_working_directory->setEnabled(true);
_ui->actionApply_settings_to_the_detector->setEnabled(true);
_ui->menuSelect_source->setEnabled(true);
@@ -1945,6 +1598,7 @@ void MainWindow::changeState(MainWindow::State newState)
_ui->actionDump_the_memory->setEnabled(false);
_ui->actionDelete_memory->setEnabled(false);
_ui->actionGenerate_map->setEnabled(false);
_ui->actionGenerate_local_map->setEnabled(false);
_ui->actionOpen_working_directory->setEnabled(true);
_ui->actionApply_settings_to_the_detector->setEnabled(false);
_ui->menuSelect_source->setEnabled(false);
@@ -1954,21 +1608,12 @@ void MainWindow::changeState(MainWindow::State newState)
_ui->label_elapsedTime->setText("00:00:00");
_elapsedTime->start();
_oneSecondTimer->start();
if(_cameraMic)
if(_camera)
{
_cameraMic->start();
}
else
{
if(_camera)
{
_camera->start();
}
if(_mic)
{
_mic->start();
}
_camera->start();
}
if(_dbReader)
{
_dbReader->start();
@@ -1985,24 +1630,16 @@ void MainWindow::changeState(MainWindow::State newState)
_ui->actionDump_the_memory->setEnabled(false);
_ui->actionDelete_memory->setEnabled(false);
_ui->actionGenerate_map->setEnabled(false);
_ui->actionGenerate_local_map->setEnabled(false);
_state = kDetecting;
_elapsedTime->start();
_oneSecondTimer->start();
if(_cameraMic)
if(_camera)
{
_cameraMic->start();
}
else
{
if(_camera)
{
_camera->start();
}
if(_mic)
{
_mic->start();
}
_camera->start();
}
if(_dbReader)
{
_dbReader->start();
@@ -2017,24 +1654,16 @@ void MainWindow::changeState(MainWindow::State newState)
_ui->actionDump_the_memory->setEnabled(true);
_ui->actionDelete_memory->setEnabled(true);
_ui->actionGenerate_map->setEnabled(true);
_ui->actionGenerate_local_map->setEnabled(true);
_state = kPaused;
_oneSecondTimer->stop();
// kill sensors
if(_cameraMic)
if(_camera)
{
_cameraMic->join(true);
}
else
{
if(_camera)
{
_camera->join(true);
}
if(_mic)
{
_mic->join(true);
}
_camera->join(true);
}
if(_dbReader)
{
_dbReader->join(true);
@@ -2053,6 +1682,7 @@ void MainWindow::changeState(MainWindow::State newState)
_ui->actionDump_the_memory->setEnabled(true);
_ui->actionDelete_memory->setEnabled(true);
_ui->actionGenerate_map->setEnabled(false);
_ui->actionGenerate_local_map->setEnabled(false);
_ui->actionOpen_working_directory->setEnabled(false);
_ui->actionApply_settings_to_the_detector->setEnabled(false);
_ui->menuSelect_source->setEnabled(false);