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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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44
guilib/src/MainWindow.cpp
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@@ -253,6 +253,8 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
connect(this, SIGNAL(rtabmapEventInitReceived(int, const QString &)), this, SLOT(processRtabmapEventInit(int, const QString &)));
qRegisterMetaType<rtabmap::RtabmapEvent3DMap>("rtabmap::RtabmapEvent3DMap");
connect(this, SIGNAL(rtabmapEvent3DMapReceived(const rtabmap::RtabmapEvent3DMap &)), this, SLOT(processRtabmapEvent3DMap(const rtabmap::RtabmapEvent3DMap &)));
qRegisterMetaType<rtabmap::RtabmapGlobalPathEvent>("rtabmap::RtabmapGlobalPathEvent");
connect(this, SIGNAL(rtabmapGlobalPathEventReceived(const rtabmap::RtabmapGlobalPathEvent &)), this, SLOT(processRtabmapGlobalPathEvent(const rtabmap::RtabmapGlobalPathEvent &)));
// Dock Widget view actions (Menu->Window)
_ui->menuShow_view->addAction(_ui->dockWidget_imageView->toggleViewAction());
@@ -285,6 +287,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
connect(_ui->actionStop, SIGNAL(triggered()), this, SLOT(stopDetection()));
connect(_ui->actionDump_the_memory, SIGNAL(triggered()), this, SLOT(dumpTheMemory()));
connect(_ui->actionDump_the_prediction_matrix, SIGNAL(triggered()), this, SLOT(dumpThePrediction()));
connect(_ui->actionSend_goal, SIGNAL(triggered()), this, SLOT(sendGoal()));
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()));
@@ -635,6 +638,11 @@ void MainWindow::handleEvent(UEvent* anEvent)
RtabmapEvent3DMap * rtabmapEvent3DMap = (RtabmapEvent3DMap*)anEvent;
emit rtabmapEvent3DMapReceived(*rtabmapEvent3DMap);
}
else if(anEvent->getClassName().compare("RtabmapGlobalPathEvent") == 0)
{
RtabmapGlobalPathEvent * rtabmapGlobalPathEvent = (RtabmapGlobalPathEvent*)anEvent;
emit rtabmapGlobalPathEventReceived(*rtabmapGlobalPathEvent);
}
else if(anEvent->getClassName().compare("CameraEvent") == 0)
{
CameraEvent * cameraEvent = (CameraEvent*)anEvent;
@@ -744,6 +752,8 @@ void MainWindow::processOdometry(const rtabmap::SensorData & data, const rtabmap
{
_ui->statsToolBox->updateStat("Odometry/Local_map_size/", (float)data.id(), (float)info.localMapSize);
}
_ui->statsToolBox->updateStat("Odometry/ID/", (float)data.id(), (float)data.id());
float x,y,z, roll,pitch,yaw;
pose.getTranslationAndEulerAngles(x,y,z,roll,pitch,yaw);
_ui->statsToolBox->updateStat("Odometry/T_x/m", (float)data.id(), x);
@@ -1183,6 +1193,11 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
}
// update local path on the graph view
_ui->graphicsView_graphView->updateLocalPath(stat.localPath());
if(stat.localPath().size() == 0)
{
// clear the global path if set (goal reached)
_ui->graphicsView_graphView->setGlobalPath(std::vector<std::pair<int, Transform> >());
}
UDEBUG("");
}
@@ -1921,6 +1936,22 @@ void MainWindow::processRtabmapEvent3DMap(const rtabmap::RtabmapEvent3DMap & eve
_initProgressDialog->setValue(_initProgressDialog->maximumSteps());
}
void MainWindow::processRtabmapGlobalPathEvent(const rtabmap::RtabmapGlobalPathEvent & event)
{
if(event.getPoses().empty())
{
QMessageBox::warning(this, tr("Setting goal failed"), tr("Setting goal to location %1 failed. "
"Some reasons: \n"
"1) the location doesn't exist in the graph,\n"
"2) the location is not linked to the global graph or\n"
"3) the location is too near of the current location (goal already reached).").arg(event.getGoal()));
}
else
{
_ui->graphicsView_graphView->setGlobalPath(event.getPoses());
}
}
void MainWindow::applyPrefSettings(PreferencesDialog::PANEL_FLAGS flags)
{
ULOGGER_DEBUG("");
@@ -3594,6 +3625,19 @@ void MainWindow::dumpThePrediction()
this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdDumpPrediction));
}
void MainWindow::sendGoal()
{
UINFO("Sending a goal...");
bool ok = false;
int id = QInputDialog::getInt(this, tr("Send a goal"), tr("Goal location ID: "), 1, 1, 99999, 1, &ok);
if(ok)
{
_ui->graphicsView_graphView->setGlobalPath(std::vector<std::pair<int, Transform> >()); // clear
UINFO("Posting event with goal %d", id);
this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdGoal, "", id));
}
}
void MainWindow::downloadAllClouds()
{
QStringList items;