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0.17.0: saving optimized poses and last localization pose to database (https://github.com/introlab/rtabmap_ros/issues/220). Parameters: fixed Icp default parameters when not built with libpointmatcher, added RGBD/SavedLocalizationIgnored (default false). DbViewer: added Export/Import 2D map (https://github.com/introlab/rtabmap_ros/issues/213).

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This commit is contained in:
matlabbe
2018-04-04 19:14:13 -04:00
parent 34b32f53f6
commit 592b7c66c5
25 changed files with 756 additions and 183 deletions
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100
guilib/src/DatabaseViewer.cpp
View File

@@ -246,6 +246,8 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
connect(ui_->actionPoses_KML, SIGNAL(triggered()), this , SLOT(exportPosesKML()));
connect(ui_->actionGPS_TXT, SIGNAL(triggered()), this , SLOT(exportGPS_TXT()));
connect(ui_->actionGPS_KML, SIGNAL(triggered()), this , SLOT(exportGPS_KML()));
connect(ui_->actionExport_saved_2D_map, SIGNAL(triggered()), this , SLOT(exportSaved2DMap()));
connect(ui_->actionImport_2D_map, SIGNAL(triggered()), this , SLOT(import2DMap()));
connect(ui_->actionView_3D_map, SIGNAL(triggered()), this, SLOT(view3DMap()));
connect(ui_->actionGenerate_3D_map_pcd, SIGNAL(triggered()), this, SLOT(generate3DMap()));
connect(ui_->actionDetect_more_loop_closures, SIGNAL(triggered()), this, SLOT(detectMoreLoopClosures()));
@@ -266,9 +268,14 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
ui_->pushButton_reset->setEnabled(false);
ui_->pushButton_reject->setEnabled(false);
ui_->menuEdit->setEnabled(false);
ui_->actionGenerate_3D_map_pcd->setEnabled(false);
ui_->actionExport->setEnabled(false);
ui_->actionExtract_images->setEnabled(false);
ui_->menuExport_poses->setEnabled(false);
ui_->menuExport_GPS->setEnabled(false);
ui_->actionPoses_KML->setEnabled(false);
ui_->actionExport_saved_2D_map->setEnabled(false);
ui_->horizontalSlider_A->setTracking(false);
ui_->horizontalSlider_B->setTracking(false);
@@ -922,9 +929,15 @@ bool DatabaseViewer::closeDatabase()
generatedLocalMapsInfo_.clear();
ui_->graphViewer->clearAll();
occupancyGridViewer_->clear();
ui_->menuEdit->setEnabled(false);
ui_->actionGenerate_3D_map_pcd->setEnabled(false);
ui_->actionExport->setEnabled(false);
ui_->actionExtract_images->setEnabled(false);
ui_->menuExport_poses->setEnabled(false);
ui_->menuExport_GPS->setEnabled(false);
ui_->actionPoses_KML->setEnabled(false);
ui_->actionExport_saved_2D_map->setEnabled(false);
ui_->actionImport_2D_map->setEnabled(false);
ui_->checkBox_showOptimized->setEnabled(false);
ui_->toolBox_statistics->clear();
databaseFileName_.clear();
@@ -1456,8 +1469,15 @@ void DatabaseViewer::updateIds()
ui_->label_ignoreINtermediateNdoes->setVisible(false);
ui_->label_alignPosesWithGroundTruth->setVisible(false);
ui_->label_alignScansCloudsWithGroundTruth->setVisible(false);
ui_->menuEdit->setEnabled(true);
ui_->actionGenerate_3D_map_pcd->setEnabled(true);
ui_->actionExport->setEnabled(true);
ui_->actionExtract_images->setEnabled(true);
ui_->menuExport_poses->setEnabled(false);
ui_->menuExport_GPS->setEnabled(false);
ui_->actionPoses_KML->setEnabled(false);
ui_->actionExport_saved_2D_map->setEnabled(false);
ui_->actionImport_2D_map->setEnabled(false);
links_.clear();
linksAdded_.clear();
linksRefined_.clear();
@@ -1618,6 +1638,11 @@ void DatabaseViewer::updateIds()
ui_->actionPoses_KML->setEnabled(groundTruthPoses_.empty());
}
float xMin, yMin, cellSize;
bool hasMap = !dbDriver_->load2DMap(xMin, yMin, cellSize).empty();
ui_->actionExport_saved_2D_map->setEnabled(hasMap);
ui_->actionImport_2D_map->setEnabled(hasMap);
UINFO("Loaded %d ids, %d poses and %d links", (int)ids_.size(), (int)odomPoses_.size(), (int)links_.size());
if(ids_.size() && ui_->toolBox_statistics->isVisible())
@@ -2318,6 +2343,81 @@ void DatabaseViewer::exportGPS(int format)
}
}
void DatabaseViewer::exportSaved2DMap()
{
if(!dbDriver_)
{
QMessageBox::warning(this, tr("Cannot export 2D map"), tr("A database must must loaded first...\nUse File->Open database."));
return;
}
float xMin, yMin, cellSize;
cv::Mat map = dbDriver_->load2DMap(xMin, yMin, cellSize);
if(map.empty())
{
QMessageBox::warning(this, tr("Cannot export 2D map"), tr("The database doesn't contain a saved 2D map."));
}
else
{
cv::Mat map8U = rtabmap::util3d::convertMap2Image8U(map, true);
QString name = QFileInfo(databaseFileName_.c_str()).baseName();
QString path = QFileDialog::getSaveFileName(
this,
tr("Save File"),
pathDatabase_+"/" + name + ".pgm",
tr("Map (*.pgm)"));
if(!path.isEmpty())
{
if(QFileInfo(path).suffix() == "")
{
path += ".pgm";
}
cv::imwrite(path.toStdString(), map8U);
QMessageBox::information(this, tr("Export 2D map"), tr("Exported %1!").arg(path));
}
}
}
void DatabaseViewer::import2DMap()
{
if(!dbDriver_)
{
QMessageBox::warning(this, tr("Cannot import 2D map"), tr("A database must must loaded first...\nUse File->Open database."));
return;
}
float xMin, yMin, cellSize;
cv::Mat mapOrg = dbDriver_->load2DMap(xMin, yMin, cellSize);
if(mapOrg.empty())
{
QMessageBox::warning(this, tr("Cannot import 2D map"), tr("The database doesn't contain a saved 2D map."));
}
else
{
QString path = QFileDialog::getOpenFileName(
this,
tr("Open File"),
pathDatabase_,
tr("Map (*.pgm)"));
if(!path.isEmpty())
{
cv::Mat map8U = cv::imread(path.toStdString(), cv::IMREAD_UNCHANGED);
cv::Mat map = rtabmap::util3d::convertImage8U2Map(map8U, true);
if(mapOrg.cols == map.cols && mapOrg.rows == map8U.rows)
{
dbDriver_->save2DMap(map, xMin, yMin, cellSize);
QMessageBox::information(this, tr("Import 2D map"), tr("Imported %1!").arg(path));
}
else
{
QMessageBox::warning(this, tr("Import 2D map"), tr("Cannot import %1 as its size doesn't match the current saved map. Import 2D Map action should only be used to modify the map saved in the database.").arg(path));
}
}
}
}
void DatabaseViewer::generateGraph()
{
if(!dbDriver_)

3
guilib/src/MainWindow.cpp
View File

@@ -1931,8 +1931,6 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
_odometryReceived = false;
_odometryCorrection = stat.mapCorrection();
UDEBUG("time= %d ms", time.restart());
for(std::map<std::string, float>::iterator iter=updateCloudSats.begin(); iter!=updateCloudSats.end(); ++iter)
@@ -1940,6 +1938,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
_ui->statsToolBox->updateStat(iter->first.c_str(), _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), int(iter->second), _preferencesDialog->isCacheSavedInFigures());
}
}
_odometryCorrection = stat.mapCorrection();
if( _ui->graphicsView_graphView->isVisible())
{

1
guilib/src/PreferencesDialog.cpp
View File

@@ -836,6 +836,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->rgdb_angularUpdate->setObjectName(Parameters::kRGBDAngularUpdate().c_str());
_ui->rgdb_linearSpeedUpdate->setObjectName(Parameters::kRGBDLinearSpeedUpdate().c_str());
_ui->rgdb_angularSpeedUpdate->setObjectName(Parameters::kRGBDAngularSpeedUpdate().c_str());
_ui->rgbd_savedLocalizationIgnored->setObjectName(Parameters::kRGBDSavedLocalizationIgnored().c_str());
_ui->rgdb_rehearsalWeightIgnoredWhileMoving->setObjectName(Parameters::kMemRehearsalWeightIgnoredWhileMoving().c_str());
_ui->rgdb_newMapOdomChange->setObjectName(Parameters::kRGBDNewMapOdomChangeDistance().c_str());
_ui->odomScanHistory->setObjectName(Parameters::kRGBDNeighborLinkRefining().c_str());

140
guilib/src/ui/DatabaseViewer.ui
View File

@@ -21,7 +21,16 @@
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -52,8 +61,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>415</width>
<height>256</height>
<width>398</width>
<height>242</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout" columnstretch="0,1">
@@ -244,8 +253,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>415</width>
<height>256</height>
<width>397</width>
<height>242</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout_2" columnstretch="0,1">
@@ -425,7 +434,16 @@
</item>
<item row="1" column="0">
<layout class="QHBoxLayout" name="horizontalLayout">
<property name="margin">
<property name="leftMargin">
<number>12</number>
</property>
<property name="topMargin">
<number>12</number>
</property>
<property name="rightMargin">
<number>12</number>
</property>
<property name="bottomMargin">
<number>12</number>
</property>
<item>
@@ -481,7 +499,16 @@
</item>
<item row="1" column="1">
<layout class="QHBoxLayout" name="horizontalLayout_2">
<property name="margin">
<property name="leftMargin">
<number>12</number>
</property>
<property name="topMargin">
<number>12</number>
</property>
<property name="rightMargin">
<number>12</number>
</property>
<property name="bottomMargin">
<number>12</number>
</property>
<item>
@@ -552,7 +579,7 @@
<x>0</x>
<y>0</y>
<width>1547</width>
<height>22</height>
<height>25</height>
</rect>
</property>
<widget class="QMenu" name="menuFile">
@@ -583,6 +610,7 @@
<addaction name="actionDatabase_recovery"/>
<addaction name="separator"/>
<addaction name="actionSave_config"/>
<addaction name="actionRestore_default_GUI_settings"/>
<addaction name="separator"/>
<addaction name="actionGenerate_3D_map_pcd"/>
<addaction name="actionExport"/>
@@ -590,6 +618,9 @@
<addaction name="menuExport_poses"/>
<addaction name="menuExport_GPS"/>
<addaction name="separator"/>
<addaction name="actionExport_saved_2D_map"/>
<addaction name="actionImport_2D_map"/>
<addaction name="separator"/>
<addaction name="actionQuit"/>
</widget>
<widget class="QMenu" name="menuEdit">
@@ -609,7 +640,6 @@
<addaction name="actionEdit_depth_image"/>
<addaction name="separator"/>
<addaction name="actionReset_all_changes"/>
<addaction name="actionRestore_default_GUI_settings"/>
<addaction name="separator"/>
<addaction name="actionView_3D_map"/>
</widget>
@@ -1120,7 +1150,16 @@
</attribute>
<widget class="QWidget" name="dockWidgetContents_3">
<layout class="QVBoxLayout" name="verticalLayout_10">
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -1174,8 +1213,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>310</width>
<height>222</height>
<width>318</width>
<height>219</height>
</rect>
</property>
<attribute name="label">
@@ -1336,8 +1375,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>280</width>
<height>915</height>
<width>282</width>
<height>845</height>
</rect>
</property>
<attribute name="label">
@@ -1844,8 +1883,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>201</width>
<height>126</height>
<width>205</width>
<height>117</height>
</rect>
</property>
<attribute name="label">
@@ -1944,8 +1983,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>186</width>
<height>496</height>
<width>185</width>
<height>487</height>
</rect>
</property>
<attribute name="label">
@@ -2047,7 +2086,16 @@
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -2160,7 +2208,16 @@
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -2291,7 +2348,16 @@
</attribute>
<widget class="QWidget" name="dockWidgetContents_7">
<layout class="QVBoxLayout" name="verticalLayout_13">
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -2309,7 +2375,16 @@
</attribute>
<widget class="QWidget" name="dockWidgetContents_5">
<layout class="QVBoxLayout" name="verticalLayout_7">
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -2354,7 +2429,16 @@
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -2546,6 +2630,16 @@
<string>Close database</string>
</property>
</action>
<action name="actionExport_saved_2D_map">
<property name="text">
<string>Export saved 2D map...</string>
</property>
</action>
<action name="actionImport_2D_map">
<property name="text">
<string>Import 2D map...</string>
</property>
</action>
</widget>
<customwidgets>
<customwidget>

74
guilib/src/ui/preferencesDialog.ui
View File

@@ -95,7 +95,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>5</number>
<number>12</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -8540,7 +8540,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="9" column="1">
<item row="10" column="1">
<widget class="QLabel" name="label_space2">
<property name="text">
<string>Local radius for nodes selection in the local map. This parameter is used in some approaches of the sub-panels.</string>
@@ -8553,7 +8553,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="5" column="1">
<item row="6" column="1">
<widget class="QLabel" name="label_scanMatching">
<property name="text">
<string>Neighbor link refining. When a new node is added to the graph, the transformation of its neighbor link (odometry) with the previous node is refined using ICP registration approach (laser scans required).</string>
@@ -8566,7 +8566,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="7" column="1">
<item row="8" column="1">
<widget class="QLabel" name="label_scanMatching_3">
<property name="text">
<string>Maximum local locations retrieved (0=disabled) near the current pose in the local map or on the current planned path (those on the planned path have priority).</string>
@@ -8579,7 +8579,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="9" column="0">
<item row="10" column="0">
<widget class="QDoubleSpinBox" name="localDetection_radius">
<property name="suffix">
<string> m</string>
@@ -8602,7 +8602,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="8" column="0">
<item row="9" column="0">
<widget class="QDoubleSpinBox" name="rgdb_localImmunizationRatio">
<property name="suffix">
<string/>
@@ -8634,6 +8634,13 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QCheckBox" name="odomScanHistory">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_153">
<property name="text">
@@ -8647,7 +8654,10 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="4" column="1">
<item row="8" column="0">
<widget class="QSpinBox" name="spinBox_maxLocalLocationsRetrieved"/>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_163">
<property name="text">
<string>Odometry change detected that triggers a new map (0 means whatever the odometry change, the detector will still link the new pose in the current map). Also by default, when an odometry with Identity transformation is detected, a new map is automatically created. </string>
@@ -8660,16 +8670,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QCheckBox" name="odomScanHistory">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QSpinBox" name="spinBox_maxLocalLocationsRetrieved"/>
</item>
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="rgdb_angularUpdate">
<property name="suffix">
@@ -8686,7 +8686,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="4" column="0">
<item row="5" column="0">
<widget class="QDoubleSpinBox" name="rgdb_newMapOdomChange">
<property name="suffix">
<string> m</string>
@@ -8705,7 +8705,14 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="8" column="1">
<item row="7" column="0">
<widget class="QCheckBox" name="loopClosure_reextract">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="9" column="1">
<widget class="QLabel" name="label_scanMatching_5">
<property name="text">
<string>Ratio of working memory for which local nodes are immunized from transfer.</string>
@@ -8718,7 +8725,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="6" column="1">
<item row="7" column="1">
<widget class="QLabel" name="label_scanMatching_9">
<property name="text">
<string>Re-extract visual features when computing loop closure transformations.</string>
@@ -8731,13 +8738,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QCheckBox" name="loopClosure_reextract">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="rgdb_linearSpeedUpdate">
<property name="suffix">
@@ -8780,6 +8780,26 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_scanMatching_2">
<property name="text">
<string>When loading a database, ignore last saved localization pose from previous session. If true, RTAB-Map won't assume it is restarting from the same place than where it shut down previously.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QCheckBox" name="rgbd_savedLocalizationIgnored">
<property name="text">
<string/>
</property>
</widget>
</item>
</layout>
</widget>
</item>