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Updated how RtabmapCmdEvent should be called (using UVariant). MainWindow: added new actions to export poses (KITTI, RGBD-SLAM and TORO formats)

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This commit is contained in:
matlabbe
2015-08-01 23:42:36 -04:00
parent 2877a14360
commit 554b8978a0
14 changed files with 990 additions and 478 deletions
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12
guilib/include/rtabmap/gui/MainWindow.h
View File

@@ -126,10 +126,10 @@ private slots:
void stopDetection();
void notifyNoMoreImages();
void printLoopClosureIds();
void generateMap();
void generateLocalMap();
void generateTOROMap();
void exportPoses();
void generateGraphDOT();
void exportPosesKITTI();
void exportPosesRGBDSLAM();
void exportPosesTORO();
void postProcessing();
void deleteMemory();
void openWorkingDirectory();
@@ -223,6 +223,7 @@ private:
void applyPrefSettings(const rtabmap::ParametersMap & parameters, bool postParamEvent);
void saveFigures();
void loadFigures();
void exportPoses(int format);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr getAssembledCloud(
const std::map<int, Transform> & poses,
@@ -296,8 +297,7 @@ private:
DetailedProgressDialog * _initProgressDialog;
QString _graphSavingFileName;
QString _toroSavingFileName;
QString _posesSavingFileName;
QMap<int, QString> _exportPosesFileName;
bool _autoScreenCaptureOdomSync;
QVector<int> _refIds;

206
guilib/src/MainWindow.cpp
View File

@@ -299,10 +299,10 @@ 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->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->actionExport_poses_txt, SIGNAL(triggered()), this , SLOT(exportPoses()));
connect(_ui->actionGenerate_map, SIGNAL(triggered()), this , SLOT(generateGraphDOT()));
connect(_ui->actionKITTI_format_txt, SIGNAL(triggered()), this , SLOT(exportPosesKITTI()));
connect(_ui->actionRGBD_SLAM_format_txt, SIGNAL(triggered()), this , SLOT(exportPosesRGBDSLAM()));
connect(_ui->actionTORO_graph, SIGNAL(triggered()), this , SLOT(exportPosesTORO()));
connect(_ui->actionDelete_memory, SIGNAL(triggered()), this , SLOT(deleteMemory()));
connect(_ui->actionDownload_all_clouds, SIGNAL(triggered()), this , SLOT(downloadAllClouds()));
connect(_ui->actionDownload_graph, SIGNAL(triggered()), this , SLOT(downloadPoseGraph()));
@@ -2643,7 +2643,7 @@ void MainWindow::newDatabase()
}
}
_newDatabasePath = databasePath.c_str();
this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdInit, databasePath, 0, _preferencesDialog->getAllParameters()));
this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdInit, databasePath, _preferencesDialog->getAllParameters()));
applyPrefSettings(_preferencesDialog->getAllParameters(), false);
}
@@ -3115,57 +3115,30 @@ void MainWindow::printLoopClosureIds()
_ui->widget_console->appendMsg(QString("LoopIDs = [%1];").arg(msgLoop));
}
void MainWindow::generateMap()
{
if(_graphSavingFileName.isEmpty())
{
_graphSavingFileName = _preferencesDialog->getWorkingDirectory() + QDir::separator() + "Graph.dot";
}
QString path = QFileDialog::getSaveFileName(this, tr("Save File"), _graphSavingFileName, tr("Graphiz file (*.dot)"));
if(!path.isEmpty())
{
_graphSavingFileName = path;
this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdGenerateDOTGraph, path.toStdString())); // The event is automatically deleted by the EventsManager...
_ui->dockWidget_console->show();
_ui->widget_console->appendMsg(QString("Graph saved... Tip:\nneato -Tpdf \"%1\" -o out.pdf").arg(_graphSavingFileName).arg(_graphSavingFileName));
}
}
void MainWindow::generateLocalMap()
void MainWindow::generateGraphDOT()
{
if(_graphSavingFileName.isEmpty())
{
_graphSavingFileName = _preferencesDialog->getWorkingDirectory() + QDir::separator() + "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);
bool ok;
int id = QInputDialog::getInt(this, tr("Around which location?"), tr("Location ID (0=full map)"), 0, 0, 999999, 0, &ok);
if(ok)
{
int margin = QInputDialog::getInt(this, tr("Depth around the location?"), tr("Margin"), 4, 1, 100, 1, &ok);
int margin = 0;
if(id > 0)
{
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;
QString str = path + QString(";") + QString::number(id) + QString(";") + QString::number(margin);
this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdGenerateDOTLocalGraph, str.toStdString())); // The event is automatically deleted by the EventsManager...
this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdGenerateDOTGraph, false, path.toStdString(), id, margin));
_ui->dockWidget_console->show();
_ui->widget_console->appendMsg(QString("Graph saved... Tip:\nneato -Tpdf \"%1\" -o out.pdf").arg(_graphSavingFileName).arg(_graphSavingFileName));
@@ -3174,73 +3147,21 @@ void MainWindow::generateLocalMap()
}
}
void MainWindow::generateTOROMap()
void MainWindow::exportPosesKITTI()
{
if(_toroSavingFileName.isEmpty())
{
_toroSavingFileName = _preferencesDialog->getWorkingDirectory() + QDir::separator() + "toro.graph";
}
QStringList items;
items.append("Local map optimized");
items.append("Local map not optimized");
items.append("Global map optimized");
items.append("Global map not optimized");
bool ok;
QString item = QInputDialog::getItem(this, tr("Parameters"), tr("Options:"), items, 2, false, &ok);
if(ok)
{
bool optimized=false, global=false;
if(item.compare("Local map optimized") == 0)
{
optimized = true;
}
else if(item.compare("Local map not optimized") == 0)
{
}
else if(item.compare("Global map optimized") == 0)
{
global=true;
optimized=true;
}
else if(item.compare("Global map not optimized") == 0)
{
global=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(global)
{
this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdGenerateTOROGraphGlobal, path.toStdString(), optimized?1:0));
}
else
{
this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdGenerateTOROGraphLocal, path.toStdString(), optimized?1:0));
}
_ui->dockWidget_console->show();
_ui->widget_console->appendMsg(QString("TORO Graph saved (global=%1, optimized=%2)... %3")
.arg(global?"true":"false").arg(optimized?"true":"false").arg(_toroSavingFileName));
}
}
exportPoses(0);
}
void MainWindow::exportPosesRGBDSLAM()
{
exportPoses(1);
}
void MainWindow::exportPosesTORO()
{
exportPoses(2);
}
void MainWindow::exportPoses()
void MainWindow::exportPoses(int format)
{
if(_posesSavingFileName.isEmpty())
{
_posesSavingFileName = _preferencesDialog->getWorkingDirectory() + QDir::separator() + "poses.txt";
}
QStringList items;
items.append("Local map optimized");
items.append("Local map not optimized");
@@ -3273,22 +3194,30 @@ void MainWindow::exportPoses()
UFATAL("Item \"%s\" not found?!?", item.toStdString().c_str());
}
QString path = QFileDialog::getSaveFileName(this, tr("Save File"), _posesSavingFileName, tr("Text file (*.txt)"));
if(_exportPosesFileName[format].isEmpty())
{
_exportPosesFileName[format] = _preferencesDialog->getWorkingDirectory() + QDir::separator() + (format==2?"toro.graph":"poses.txt");
}
QString path = QFileDialog::getSaveFileName(
this,
tr("Save File"),
_exportPosesFileName[format],
format == 2?tr("TORO file (*.graph)"):tr("Text file (*.txt)"));
if(!path.isEmpty())
{
_posesSavingFileName = path;
if(global)
{
this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdExportPosesGlobal, path.toStdString(), optimized?1:0));
}
else
{
this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdExportPosesLocal, path.toStdString(), optimized?1:0));
}
_exportPosesFileName[format] = path;
this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdExportPoses, global, optimized, path.toStdString(), format));
_ui->dockWidget_console->show();
_ui->widget_console->appendMsg(QString("Poses saved (global=%1, optimized=%2)... %3")
.arg(global?"true":"false").arg(optimized?"true":"false").arg(_posesSavingFileName));
_ui->widget_console->appendMsg(
QString("%1 saved (global=%2, optimized=%3)... %4")
.arg(format == 2?"TORO graph":"Poses")
.arg(global?"true":"false")
.arg(optimized?"true":"false")
.arg(_exportPosesFileName[format]));
}
}
@@ -3957,14 +3886,7 @@ void MainWindow::downloadAllClouds()
_initProgressDialog->show();
_initProgressDialog->appendText(tr("Downloading the map (global=%1 ,optimized=%2)...")
.arg(global?"true":"false").arg(optimized?"true":"false"));
if(global)
{
this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdPublish3DMapGlobal, "", optimized?1:0));
}
else
{
this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdPublish3DMapLocal, "", optimized?1:0));
}
this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdPublish3DMap, global, optimized, false));
}
}
@@ -4008,14 +3930,8 @@ void MainWindow::downloadPoseGraph()
_initProgressDialog->show();
_initProgressDialog->appendText(tr("Downloading the graph (global=%1 ,optimized=%2)...")
.arg(global?"true":"false").arg(optimized?"true":"false"));
if(global)
{
this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdPublishTOROGraphGlobal, "", optimized?1:0));
}
else
{
this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdPublishTOROGraphLocal, "", optimized?1:0));
}
this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdPublish3DMap, global, optimized, true));
}
}
@@ -5261,9 +5177,7 @@ void MainWindow::changeState(MainWindow::State newState)
_ui->actionDump_the_memory->setVisible(!monitoring);
_ui->actionDump_the_prediction_matrix->setVisible(!monitoring);
_ui->actionGenerate_map->setVisible(!monitoring);
_ui->actionGenerate_local_map->setVisible(!monitoring);
_ui->actionGenerate_TORO_graph_graph->setVisible(!monitoring);
_ui->actionExport_poses_txt->setVisible(!monitoring);
_ui->menuExport_poses->setEnabled(!monitoring);
_ui->actionOpen_working_directory->setVisible(!monitoring);
_ui->actionData_recorder->setVisible(!monitoring);
_ui->menuSelect_source->menuAction()->setVisible(!monitoring);
@@ -5345,9 +5259,7 @@ void MainWindow::changeState(MainWindow::State newState)
_ui->actionDelete_memory->setEnabled(false);
_ui->actionPost_processing->setEnabled(_cachedSignatures.size() >= 2 && _currentPosesMap.size() >= 2 && _currentLinksMap.size() >= 1);
_ui->actionGenerate_map->setEnabled(false);
_ui->actionGenerate_local_map->setEnabled(false);
_ui->actionGenerate_TORO_graph_graph->setEnabled(false);
_ui->actionExport_poses_txt->setEnabled(false);
_ui->menuExport_poses->setEnabled(false);
_ui->actionDownload_all_clouds->setEnabled(false);
_ui->actionDownload_graph->setEnabled(false);
_ui->menuSelect_source->setEnabled(false);
@@ -5393,9 +5305,7 @@ void MainWindow::changeState(MainWindow::State newState)
_ui->actionDelete_memory->setEnabled(true);
_ui->actionPost_processing->setEnabled(_cachedSignatures.size() >= 2 && _currentPosesMap.size() >= 2 && _currentLinksMap.size() >= 1);
_ui->actionGenerate_map->setEnabled(true);
_ui->actionGenerate_local_map->setEnabled(true);
_ui->actionGenerate_TORO_graph_graph->setEnabled(true);
_ui->actionExport_poses_txt->setEnabled(true);
_ui->menuExport_poses->setEnabled(true);
_ui->actionDownload_all_clouds->setEnabled(true);
_ui->actionDownload_graph->setEnabled(true);
_ui->menuSelect_source->setEnabled(true);
@@ -5430,9 +5340,7 @@ void MainWindow::changeState(MainWindow::State newState)
_ui->actionDelete_memory->setEnabled(false);
_ui->actionPost_processing->setEnabled(false);
_ui->actionGenerate_map->setEnabled(false);
_ui->actionGenerate_local_map->setEnabled(false);
_ui->actionGenerate_TORO_graph_graph->setEnabled(false);
_ui->actionExport_poses_txt->setEnabled(false);
_ui->menuExport_poses->setEnabled(false);
_ui->actionDownload_all_clouds->setEnabled(false);
_ui->actionDownload_graph->setEnabled(false);
_ui->menuSelect_source->setEnabled(false);
@@ -5469,9 +5377,7 @@ void MainWindow::changeState(MainWindow::State newState)
_ui->actionDelete_memory->setEnabled(false);
_ui->actionPost_processing->setEnabled(false);
_ui->actionGenerate_map->setEnabled(false);
_ui->actionGenerate_local_map->setEnabled(false);
_ui->actionGenerate_TORO_graph_graph->setEnabled(false);
_ui->actionExport_poses_txt->setEnabled(false);
_ui->menuExport_poses->setEnabled(false);
_ui->actionDownload_all_clouds->setEnabled(false);
_ui->actionDownload_graph->setEnabled(false);
_state = kDetecting;
@@ -5498,9 +5404,7 @@ void MainWindow::changeState(MainWindow::State newState)
_ui->actionDelete_memory->setEnabled(false);
_ui->actionPost_processing->setEnabled(_cachedSignatures.size() >= 2 && _currentPosesMap.size() >= 2 && _currentLinksMap.size() >= 1);
_ui->actionGenerate_map->setEnabled(true);
_ui->actionGenerate_local_map->setEnabled(true);
_ui->actionGenerate_TORO_graph_graph->setEnabled(true);
_ui->actionExport_poses_txt->setEnabled(true);
_ui->menuExport_poses->setEnabled(true);
_ui->actionDownload_all_clouds->setEnabled(true);
_ui->actionDownload_graph->setEnabled(true);
_state = kPaused;

46
guilib/src/ui/mainWindow.ui
View File

@@ -27,7 +27,7 @@
<x>0</x>
<y>0</y>
<width>1012</width>
<height>25</height>
<height>22</height>
</rect>
</property>
<widget class="QMenu" name="menuFile">
@@ -55,13 +55,19 @@
<property name="title">
<string>Advanced</string>
</property>
<widget class="QMenu" name="menuExport_poses">
<property name="title">
<string>Export poses...</string>
</property>
<addaction name="actionKITTI_format_txt"/>
<addaction name="actionRGBD_SLAM_format_txt"/>
<addaction name="actionTORO_graph"/>
</widget>
<addaction name="actionOpen_working_directory"/>
<addaction name="actionDump_the_memory"/>
<addaction name="actionDump_the_prediction_matrix"/>
<addaction name="actionGenerate_map"/>
<addaction name="actionGenerate_local_map"/>
<addaction name="actionGenerate_TORO_graph_graph"/>
<addaction name="actionExport_poses_txt"/>
<addaction name="menuExport_poses"/>
<addaction name="actionPrint_loop_closure_IDs_to_console"/>
<addaction name="separator"/>
<addaction name="actionSend_goal"/>
@@ -908,7 +914,7 @@
</action>
<action name="actionGenerate_map">
<property name="text">
<string>Generate graph map (*.dot)...</string>
<string>Generate graph (*.dot)...</string>
</property>
</action>
<action name="actionDelete_memory">
@@ -973,11 +979,6 @@
<string>Usb camera</string>
</property>
</action>
<action name="actionGenerate_local_map">
<property name="text">
<string>Generate graph local map (*.dot)...</string>
</property>
</action>
<action name="actionPrint_loop_closure_IDs_to_console">
<property name="text">
<string>Print loop closure IDs to console</string>
@@ -1043,11 +1044,6 @@
<string>Trigger a new map</string>
</property>
</action>
<action name="actionGenerate_TORO_graph_graph">
<property name="text">
<string>Generate TORO graph (*.graph)...</string>
</property>
</action>
<action name="actionDownload_graph">
<property name="text">
<string>Download graph only</string>
@@ -1213,11 +1209,6 @@
<string>Send a goal...</string>
</property>
</action>
<action name="actionExport_poses_txt">
<property name="text">
<string>Export poses (*.txt)...</string>
</property>
</action>
<action name="actionCancel_goal">
<property name="text">
<string>Cancel goal</string>
@@ -1241,6 +1232,21 @@
<string>Label current location...</string>
</property>
</action>
<action name="actionKITTI_format_txt">
<property name="text">
<string>KITTI format (*.txt)</string>
</property>
</action>
<action name="actionRGBD_SLAM_format_txt">
<property name="text">
<string>RGBD-SLAM format (*.txt)</string>
</property>
</action>
<action name="actionTORO_graph">
<property name="text">
<string>TORO (*.graph)</string>
</property>
</action>
</widget>
<customwidgets>
<customwidget>

12
guilib/src/ui/preferencesDialog.ui
View File

@@ -63,9 +63,9 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-399</y>
<width>760</width>
<height>1570</height>
<y>0</y>
<width>755</width>
<height>1591</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>3</number>
<number>4</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29">
@@ -2996,7 +2996,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<string> Hz</string>
</property>
<property name="decimals">
<number>1</number>
<number>3</number>
</property>
<property name="value">
<double>1.000000000000000</double>
@@ -3334,7 +3334,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<string> Hz</string>
</property>
<property name="decimals">
<number>1</number>
<number>3</number>
</property>
<property name="value">
<double>1.000000000000000</double>