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DatabaseViewer: added exporting of a specific session with or without user_data. MainWindow: added action to send goal to rtabmap. Rtabmap: Saving goals in user_data of the current signature, modified parameter Mem/RehearsedNodesKept to Mem/NotLinkedNodesKept. DBReader: added sending goals when detected while playing back a database.

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This commit is contained in:
Mathieu Labbe
2015-04-17 18:30:12 -04:00
parent b48bd7cf70
commit 5700c14bcb
25 changed files with 325 additions and 49 deletions
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57
guilib/src/GraphViewer.cpp
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@@ -157,7 +157,8 @@ GraphViewer::GraphViewer(QWidget * parent) :
_loopClosureLocalColor(Qt::yellow),
_loopClosureUserColor(Qt::red),
_loopClosureVirtualColor(Qt::magenta),
_pathColor(Qt::cyan),
_localPathColor(Qt::cyan),
_globalPathColor(Qt::darkMagenta),
_root(0),
_nodeRadius(0.01),
_linkWidth(0),
@@ -430,6 +431,32 @@ void GraphViewer::updatePosterior(const std::map<int, float> & posterior)
}
}
void GraphViewer::setGlobalPath(const std::vector<std::pair<int, Transform> > & globalPath)
{
UDEBUG("Set global path size=%d", (int)globalPath.size());
qDeleteAll(_globalPathLinkItems);
_globalPathLinkItems.clear();
if(globalPath.size() >= 2)
{
for(unsigned int i=0; i<globalPath.size()-1; ++i)
{
//create a link item
int idFrom = globalPath[i].first;
int idTo = globalPath[i+1].first;
LinkItem * item = new LinkItem(idFrom, idTo, globalPath[i].second, globalPath[i+1].second, Link::kUndef);
QPen p = item->pen();
p.setWidthF(_linkWidth);
item->setPen(p);
item->setColor(_globalPathColor);
this->scene()->addItem(item);
item->setZValue(1);
item->setParentItem(_root);
_globalPathLinkItems.insert(idFrom, item);
}
}
}
void GraphViewer::updateLocalPath(const std::vector<int> & localPath)
{
if(localPath.size() > 1)
@@ -445,7 +472,7 @@ void GraphViewer::updateLocalPath(const std::vector<int> & localPath)
{
if(itemIter.value()->to() == idTo)
{
itemIter.value()->setColor(_pathColor);
itemIter.value()->setColor(_localPathColor);
break;
}
++itemIter;
@@ -461,6 +488,8 @@ void GraphViewer::clearGraph()
_nodeItems.clear();
qDeleteAll(_linkItems);
_linkItems.clear();
qDeleteAll(_globalPathLinkItems);
_globalPathLinkItems.clear();
_referential->resetTransform();
this->scene()->setSceneRect(this->scene()->itemsBoundingRect()); // Re-shrink the scene to it's bounding contents
}
@@ -501,6 +530,7 @@ void GraphViewer::saveSettings(QSettings & settings, const QString & group) cons
settings.setValue("user_color", this->getUserLoopClosureColor());
settings.setValue("virtual_color", this->getVirtualLoopClosureColor());
settings.setValue("local_path_color", this->getLocalPathColor());
settings.setValue("global_path_color", this->getGlobalPathColor());
settings.setValue("grid_visible", this->isGridMapVisible());
settings.setValue("origin_visible", this->isOriginVisible());
settings.setValue("referential_visible", this->isReferentialVisible());
@@ -525,6 +555,7 @@ void GraphViewer::loadSettings(QSettings & settings, const QString & group)
this->setUserLoopClosureColor(settings.value("user_color", this->getUserLoopClosureColor()).value<QColor>());
this->setVirtualLoopClosureColor(settings.value("virtual_color", this->getVirtualLoopClosureColor()).value<QColor>());
this->setLocalPathColor(settings.value("local_path_color", this->getLocalPathColor()).value<QColor>());
this->setGlobalPathColor(settings.value("global_path_color", this->getGlobalPathColor()).value<QColor>());
this->setGridMapVisible(settings.value("grid_visible", this->isGridMapVisible()).toBool());
this->setOriginVisible(settings.value("origin_visible", this->isOriginVisible()).toBool());
this->setReferentialVisible(settings.value("referential_visible", this->isReferentialVisible()).toBool());
@@ -644,7 +675,11 @@ void GraphViewer::setVirtualLoopClosureColor(const QColor & color)
}
void GraphViewer::setLocalPathColor(const QColor & color)
{
_pathColor = color;
_localPathColor = color;
}
void GraphViewer::setGlobalPathColor(const QColor & color)
{
_globalPathColor = color;
}
void GraphViewer::setGridMapVisible(bool visible)
{
@@ -710,18 +745,21 @@ void GraphViewer::contextMenuEvent(QContextMenuEvent * event)
QAction * aChangeUserLoopColor = menuLink->addAction(tr("User loop closure"));
QAction * aChangeVirtualLoopColor = menuLink->addAction(tr("Virtual loop closure"));
QAction * aChangeLocalPathColor = menuLink->addAction(tr("Local path"));
QAction * aChangeGlobalPathColor = menuLink->addAction(tr("Global path"));
aChangeNeighborColor->setIcon(createIcon(_neighborColor));
aChangeGlobalLoopColor->setIcon(createIcon(_loopClosureColor));
aChangeLocalLoopColor->setIcon(createIcon(_loopClosureLocalColor));
aChangeUserLoopColor->setIcon(createIcon(_loopClosureUserColor));
aChangeVirtualLoopColor->setIcon(createIcon(_loopClosureVirtualColor));
aChangeLocalPathColor->setIcon(createIcon(_pathColor));
aChangeLocalPathColor->setIcon(createIcon(_localPathColor));
aChangeGlobalPathColor->setIcon(createIcon(_globalPathColor));
aChangeNeighborColor->setIconVisibleInMenu(true);
aChangeGlobalLoopColor->setIconVisibleInMenu(true);
aChangeLocalLoopColor->setIconVisibleInMenu(true);
aChangeUserLoopColor->setIconVisibleInMenu(true);
aChangeVirtualLoopColor->setIconVisibleInMenu(true);
aChangeLocalPathColor->setIconVisibleInMenu(true);
aChangeGlobalPathColor->setIconVisibleInMenu(true);
menu.addSeparator();
QAction * aSetNodeSize = menu.addAction(tr("Set node radius..."));
@@ -830,7 +868,8 @@ void GraphViewer::contextMenuEvent(QContextMenuEvent * event)
r == aChangeLocalLoopColor ||
r == aChangeUserLoopColor ||
r == aChangeVirtualLoopColor ||
r == aChangeLocalPathColor)
r == aChangeLocalPathColor ||
r == aChangeGlobalPathColor)
{
QColor color;
if(r == aChangeNodeColor)
@@ -855,7 +894,11 @@ void GraphViewer::contextMenuEvent(QContextMenuEvent * event)
}
else if(r == aChangeLocalPathColor)
{
color = _pathColor;
color = _localPathColor;
}
else if(r == aChangeGlobalPathColor)
{
color = _globalPathColor;
}
else //if(r == aChangeNeighborColor)
{
@@ -902,7 +945,7 @@ void GraphViewer::contextMenuEvent(QContextMenuEvent * event)
else if(r == aSetNodeSize)
{
bool ok;
double value = QInputDialog::getDouble(this, tr("Node radius"), tr("Radius (m)"), _nodeRadius, 0.01, 100, 2, &ok);
double value = QInputDialog::getDouble(this, tr("Node radius"), tr("Radius (m)"), _nodeRadius, 0.001, 100, 3, &ok);
if(ok)
{
setNodeRadius(value);