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Update version 0.10.11:

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-Added parameter "Mem/ReduceGraph" with new link type (NeighborMerged)
-DatabaseViewer: add Info panel, fixed empty extracted database when "RGB images" is not checked
-ConsoleWidget: added buffer size and refresh rate options
-DBDriver: new database info getters
-Graph: added reduceGraph() method, added Dijsktra computePath() with links only
-Updated default parameters: RGBD/LocalLoopDetectionSpace=true, RGBD/LinearUpdate=0.1 and RGBD/AngularUpdate=0.1
-Goals are saved with label instead of ID if the target node has a label
-DataRecorder: fixed saving incrementally the database (instead of only at the end)
-MainWindow: When waypoints are used, resend the current goal (1 sec delay) if it has failed setting it
This commit is contained in:
matlabbe
2015-10-24 17:03:44 -04:00
parent 957498b5a3
commit 463a5d973c
32 changed files with 1820 additions and 314 deletions
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34
guilib/src/GraphViewer.cpp
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@@ -179,6 +179,7 @@ GraphViewer::GraphViewer(QWidget * parent) :
_loopClosureLocalColor(Qt::yellow),
_loopClosureUserColor(Qt::red),
_loopClosureVirtualColor(Qt::magenta),
_neighborMergedColor(QColor(255,170,0)),
_loopClosureRejectedColor(Qt::black),
_localPathColor(Qt::cyan),
_globalPathColor(Qt::darkMagenta),
@@ -344,6 +345,10 @@ void GraphViewer::updateGraph(const std::map<int, Transform> & poses,
{
linkItem->setColor(_loopClosureVirtualColor);
}
else if(iter->second.type() == Link::kNeighborMerged)
{
linkItem->setColor(_neighborMergedColor);
}
else if(iter->second.type() == Link::kUserClosure)
{
linkItem->setColor(_loopClosureUserColor);
@@ -381,7 +386,8 @@ void GraphViewer::updateGraph(const std::map<int, Transform> & poses,
{
t = t.inverse();
}
if(iter->second.type() != Link::kNeighbor)
if(iter->second.type() != Link::kNeighbor &&
iter->second.type() != Link::kNeighborMerged)
{
float linearError = uMax3(
fabs(iter->second.transform().x() - t.x()),
@@ -668,6 +674,7 @@ void GraphViewer::saveSettings(QSettings & settings, const QString & group) cons
settings.setValue("local_color", this->getLocalLoopClosureColor());
settings.setValue("user_color", this->getUserLoopClosureColor());
settings.setValue("virtual_color", this->getVirtualLoopClosureColor());
settings.setValue("neighbor_merged_color", this->getNeighborMergedColor());
settings.setValue("rejected_color", this->getRejectedLoopClosureColor());
settings.setValue("local_path_color", this->getLocalPathColor());
settings.setValue("global_path_color", this->getGlobalPathColor());
@@ -700,6 +707,7 @@ void GraphViewer::loadSettings(QSettings & settings, const QString & group)
this->setLocalLoopClosureColor(settings.value("local_color", this->getLocalLoopClosureColor()).value<QColor>());
this->setUserLoopClosureColor(settings.value("user_color", this->getUserLoopClosureColor()).value<QColor>());
this->setVirtualLoopClosureColor(settings.value("virtual_color", this->getVirtualLoopClosureColor()).value<QColor>());
this->setNeighborMergedColor(settings.value("neighbor_merged_color", this->getNeighborMergedColor()).value<QColor>());
this->setRejectedLoopClosureColor(settings.value("rejected_color", this->getRejectedLoopClosureColor()).value<QColor>());
this->setLocalPathColor(settings.value("local_path_color", this->getLocalPathColor()).value<QColor>());
this->setGlobalPathColor(settings.value("global_path_color", this->getGlobalPathColor()).value<QColor>());
@@ -841,6 +849,17 @@ void GraphViewer::setVirtualLoopClosureColor(const QColor & color)
}
}
}
void GraphViewer::setNeighborMergedColor(const QColor & color)
{
_neighborMergedColor = color;
for(QMultiMap<int, LinkItem*>::iterator iter=_linkItems.begin(); iter!=_linkItems.end(); ++iter)
{
if(iter.value()->linkType() == Link::kNeighborMerged)
{
iter.value()->setColor(_neighborMergedColor);
}
}
}
void GraphViewer::setRejectedLoopClosureColor(const QColor & color)
{
_loopClosureRejectedColor = color;
@@ -936,6 +955,7 @@ void GraphViewer::restoreDefaults()
setLocalLoopClosureColor(Qt::yellow);
setUserLoopClosureColor(Qt::red);
setVirtualLoopClosureColor(Qt::magenta);
setNeighborMergedColor(QColor(255,170,0));
setGridMapVisible(true);
}
@@ -978,6 +998,7 @@ void GraphViewer::contextMenuEvent(QContextMenuEvent * event)
QAction * aChangeLocalLoopColor = menuLink->addAction(tr("Local loop closure"));
QAction * aChangeUserLoopColor = menuLink->addAction(tr("User loop closure"));
QAction * aChangeVirtualLoopColor = menuLink->addAction(tr("Virtual loop closure"));
QAction * aChangeNeighborMergedColor = menuLink->addAction(tr("Neighbor merged"));
QAction * aChangeRejectedLoopColor = menuLink->addAction(tr("Outlier loop closure"));
QAction * aChangeRejectedLoopThr = menuLink->addAction(tr("Set outlier threshold..."));
QAction * aChangeLocalPathColor = menuLink->addAction(tr("Local path"));
@@ -991,6 +1012,7 @@ void GraphViewer::contextMenuEvent(QContextMenuEvent * event)
aChangeLocalLoopColor->setIcon(createIcon(_loopClosureLocalColor));
aChangeUserLoopColor->setIcon(createIcon(_loopClosureUserColor));
aChangeVirtualLoopColor->setIcon(createIcon(_loopClosureVirtualColor));
aChangeNeighborMergedColor->setIcon(createIcon(_neighborMergedColor));
aChangeRejectedLoopColor->setIcon(createIcon(_loopClosureRejectedColor));
aChangeLocalPathColor->setIcon(createIcon(_localPathColor));
aChangeGlobalPathColor->setIcon(createIcon(_globalPathColor));
@@ -1001,6 +1023,7 @@ void GraphViewer::contextMenuEvent(QContextMenuEvent * event)
aChangeLocalLoopColor->setIconVisibleInMenu(true);
aChangeUserLoopColor->setIconVisibleInMenu(true);
aChangeVirtualLoopColor->setIconVisibleInMenu(true);
aChangeNeighborMergedColor->setIconVisibleInMenu(true);
aChangeRejectedLoopColor->setIconVisibleInMenu(true);
aChangeLocalPathColor->setIconVisibleInMenu(true);
aChangeGlobalPathColor->setIconVisibleInMenu(true);
@@ -1149,6 +1172,7 @@ void GraphViewer::contextMenuEvent(QContextMenuEvent * event)
r == aChangeLocalLoopColor ||
r == aChangeUserLoopColor ||
r == aChangeVirtualLoopColor ||
r == aChangeNeighborMergedColor ||
r == aChangeRejectedLoopColor ||
r == aChangeLocalPathColor ||
r == aChangeGlobalPathColor ||
@@ -1180,6 +1204,10 @@ void GraphViewer::contextMenuEvent(QContextMenuEvent * event)
{
color = _loopClosureVirtualColor;
}
else if(r == aChangeNeighborMergedColor)
{
color = _neighborMergedColor;
}
else if(r == aChangeRejectedLoopColor)
{
color = _loopClosureRejectedColor;
@@ -1232,6 +1260,10 @@ void GraphViewer::contextMenuEvent(QContextMenuEvent * event)
{
this->setVirtualLoopClosureColor(color);
}
else if(r == aChangeNeighborMergedColor)
{
this->setNeighborMergedColor(color);
}
else if(r == aChangeRejectedLoopColor)
{
this->setRejectedLoopClosureColor(color);