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DatabaseViewer: added "Ignore pose correction" option

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This commit is contained in:
Mathieu Labbe
2015-04-01 14:34:43 -04:00
parent efd26973d2
commit 2b5ae3f9a8
2 changed files with 61 additions and 37 deletions
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27
guilib/src/DatabaseViewer.cpp
View File

@@ -192,6 +192,7 @@ DatabaseViewer::DatabaseViewer(QWidget * parent) :
connect(ui_->spinBox_iterations, SIGNAL(editingFinished()), this, SLOT(updateGraphView()));
connect(ui_->spinBox_optimizationsFrom, SIGNAL(editingFinished()), this, SLOT(updateGraphView()));
connect(ui_->checkBox_ignoreCovariance, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
connect(ui_->checkBox_ignorePoseCorrection, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
connect(ui_->comboBox_graphOptimizer, SIGNAL(currentIndexChanged(int)), this, SLOT(updateGraphView()));
connect(ui_->checkBox_2dslam, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
connect(ui_->spinBox_optimizationDepth, SIGNAL(editingFinished()), this, SLOT(updateGraphView()));
@@ -314,6 +315,7 @@ void DatabaseViewer::readSettings()
settings.beginGroup("optimization");
ui_->spinBox_iterations->setValue(settings.value("iterations", ui_->spinBox_iterations->value()).toInt());
ui_->checkBox_ignoreCovariance->setChecked(settings.value("ignoreCovariance", ui_->checkBox_ignoreCovariance->isChecked()).toBool());
ui_->checkBox_ignorePoseCorrection->setChecked(settings.value("ignorePoseCorrection", ui_->checkBox_ignorePoseCorrection->isChecked()).toBool());
ui_->comboBox_graphOptimizer->setCurrentIndex(settings.value("strategy", ui_->comboBox_graphOptimizer->currentIndex()).toInt());
ui_->checkBox_2dslam->setChecked(settings.value("slam2d", ui_->checkBox_2dslam->isChecked()).toBool());
ui_->spinBox_optimizationDepth->setValue(settings.value("depth", ui_->spinBox_optimizationDepth->value()).toInt());
@@ -387,6 +389,7 @@ void DatabaseViewer::writeSettings()
settings.beginGroup("optimization");
settings.setValue("iterations", ui_->spinBox_iterations->value());
settings.setValue("ignoreCovariance", ui_->checkBox_ignoreCovariance->isChecked());
settings.setValue("ignorePoseCorrection", ui_->checkBox_ignorePoseCorrection->isChecked());
settings.setValue("strategy", ui_->comboBox_graphOptimizer->currentIndex());
settings.setValue("slam2d", ui_->checkBox_2dslam->isChecked());
settings.setValue("depth", ui_->spinBox_optimizationDepth->value());
@@ -2289,7 +2292,29 @@ void DatabaseViewer::updateGraphView()
std::map<int, rtabmap::Transform> finalPoses;
graphes_.push_back(poses_);
ui_->actionGenerate_TORO_graph_graph->setEnabled(true);
std::multimap<int, rtabmap::Link> links = updateLinksWithModifications(links_);
std::multimap<int, rtabmap::Link> links;
if(ui_->checkBox_ignorePoseCorrection->isChecked())
{
std::multimap<int, Link> tmp = links_;
for(std::multimap<int, Link>::iterator iter=tmp.begin(); iter!=tmp.end(); ++iter)
{
if(iter->second.type() == Link::kNeighbor)
{
Transform poseFrom = uValue(poses_, iter->second.from(), Transform());
Transform poseTo = uValue(poses_, iter->second.to(), Transform());
if(!poseFrom.isNull() && !poseTo.isNull())
{
iter->second.setTransform(poseFrom.inverse() * poseTo); // recompute raw odom transformation
}
}
}
links = updateLinksWithModifications(tmp);
}
else
{
links = updateLinksWithModifications(links_);
}
graph::Optimizer * optimizer = 0;
if(ui_->comboBox_graphOptimizer->currentIndex() == graph::Optimizer::kTypeG2O)
{

71
guilib/src/ui/DatabaseViewer.ui
View File

@@ -42,7 +42,7 @@
<x>0</x>
<y>0</y>
<width>153</width>
<height>136</height>
<height>127</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout" columnstretch="0,1">
@@ -122,16 +122,7 @@
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout">
<property name="leftMargin">
<number>12</number>
</property>
<property name="topMargin">
<number>12</number>
</property>
<property name="rightMargin">
<number>12</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>12</number>
</property>
<item>
@@ -206,7 +197,7 @@
<x>0</x>
<y>0</y>
<width>152</width>
<height>136</height>
<height>127</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout_2" columnstretch="0,1">
@@ -286,16 +277,7 @@
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_2">
<property name="leftMargin">
<number>12</number>
</property>
<property name="topMargin">
<number>12</number>
</property>
<property name="rightMargin">
<number>12</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>12</number>
</property>
<item>
@@ -358,7 +340,7 @@
<x>0</x>
<y>0</y>
<width>1182</width>
<height>22</height>
<height>25</height>
</rect>
</property>
<widget class="QMenu" name="menuFile">
@@ -1181,6 +1163,22 @@
<layout class="QVBoxLayout" name="verticalLayout_12">
<item>
<layout class="QGridLayout" name="gridLayout_7" columnstretch="0,1">
<item row="2" column="0">
<widget class="QSpinBox" name="spinBox_optimizationDepth">
<property name="suffix">
<string/>
</property>
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>1000</number>
</property>
<property name="value">
<number>0</number>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_7">
<property name="text">
@@ -1218,7 +1216,7 @@
</property>
</widget>
</item>
<item row="4" column="1">
<item row="5" column="1">
<widget class="QLabel" name="label_41">
<property name="text">
<string>2d SLAM</string>
@@ -1249,7 +1247,7 @@
</property>
</widget>
</item>
<item row="4" column="0">
<item row="5" column="0">
<widget class="QCheckBox" name="checkBox_2dslam">
<property name="text">
<string/>
@@ -1266,19 +1264,20 @@
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QSpinBox" name="spinBox_optimizationDepth">
<property name="suffix">
<item row="4" column="1">
<widget class="QLabel" name="label_35">
<property name="text">
<string>Ignore pose correction</string>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QCheckBox" name="checkBox_ignorePoseCorrection">
<property name="text">
<string/>
</property>
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>1000</number>
</property>
<property name="value">
<number>0</number>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>