i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 01:20:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

Added close buttons to CameraViewer and OdometryViewer dialogs

Browse Source
This commit is contained in:
matlabbe
2015-04-06 13:35:44 -04:00
parent 19f59a8c60
commit 5b5a32839c
12 changed files with 427 additions and 627 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
tools/CameraRGBD/main.cpp
View File

@@ -59,6 +59,10 @@ int main(int argc, char * argv[])
}
else
{
if(strcmp(argv[argc-1], "--help") == 0)
{
showUsage();
}
driver = atoi(argv[argc-1]);
if(driver < 0 || driver > 6)
{
@@ -134,7 +138,7 @@ int main(int argc, char * argv[])
if(!camera->init())
{
printf("Camera init failed!\n");
printf("Camera init failed! Please select another driver (see \"--help\").\n");
delete camera;
exit(1);
}

8
tools/OdometryViewer/CMakeLists.txt
View File

@@ -16,14 +16,8 @@ SET(LIBRARIES
${QT_LIBRARIES}
)
IF("${RTABMAP_QT_VERSION}" STREQUAL "4")
QT4_WRAP_CPP(moc_srcs OdomInfoWidget.h)
ELSE()
QT5_WRAP_CPP(moc_srcs OdomInfoWidget.h)
ENDIF()
SET(SRC_FILES
main.cpp OdomInfoWidget.cpp ${moc_srcs}
main.cpp
)
add_definitions(${PCL_DEFINITIONS})

208
tools/OdometryViewer/OdomInfoWidget.cpp
View File

@@ -1,208 +0,0 @@
/*
Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include "OdomInfoWidget.h"
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/core/OdometryEvent.h>
#include <rtabmap/core/util3d.h>
#include <rtabmap/gui/ImageView.h>
#include <rtabmap/gui/UCv2Qt.h>
#include <QtCore/QMetaType>
#include <QtGui/QCloseEvent>
#include <QLabel>
#include <QVBoxLayout>
OdomInfoWidget::OdomInfoWidget(QWidget * parent) :
QWidget(parent),
imageView_(new rtabmap::ImageView(this)),
label_(new QLabel(this)),
processingOdomInfo_(false),
receivingRate_(0),
lastTime_(0),
odomImageShow_(true),
odomImageDepthShow_(false)
{
qRegisterMetaType<rtabmap::SensorData>("rtabmap::SensorData");
qRegisterMetaType<rtabmap::OdometryInfo>("rtabmap::OdometryInfo");
imageView_->setMinimumSize(320, 240);
QVBoxLayout * layout = new QVBoxLayout(this);
layout->setMargin(0);
layout->addWidget(imageView_);
layout->addWidget(label_);
layout->setStretch(0,1);
this->setLayout(layout);
}
OdomInfoWidget::~OdomInfoWidget()
{
this->unregisterFromEventsManager();
}
void OdomInfoWidget::processOdomInfo(const rtabmap::SensorData & data, const rtabmap::OdometryInfo & info)
{
processingOdomInfo_ = true;
const rtabmap::Transform & pose = data.pose();
bool lost = false;
bool lostStateChanged = false;
if(pose.isNull())
{
// lost
lostStateChanged = imageView_->getBackgroundColor() != Qt::darkRed;
imageView_->setBackgroundColor(Qt::darkRed);
lost = true;
}
else
{
// ok
lostStateChanged = imageView_->getBackgroundColor() == Qt::darkRed;
imageView_->setBackgroundColor(Qt::black);
}
if(!data.image().empty())
{
if(imageView_->isFeaturesShown())
{
if(info.type == 0)
{
imageView_->setFeatures(info.words, Qt::yellow);
}
else if(info.type == 1)
{
imageView_->setFeatures(info.refCorners, Qt::red);
}
}
imageView_->clearLines();
if(lost)
{
if(lostStateChanged)
{
// save state
odomImageShow_ = imageView_->isImageShown();
odomImageDepthShow_ = imageView_->isImageDepthShown();
}
imageView_->setImageDepth(uCvMat2QImage(data.image()));
imageView_->setImageShown(true);
imageView_->setImageDepthShown(true);
}
else
{
if(lostStateChanged)
{
// restore state
imageView_->setImageShown(odomImageShow_);
imageView_->setImageDepthShown(odomImageDepthShow_);
}
imageView_->setImage(uCvMat2QImage(data.image()));
if(imageView_->isImageDepthShown())
{
imageView_->setImageDepth(uCvMat2QImage(data.depthOrRightImage()));
}
if(info.type == 0)
{
if(imageView_->isFeaturesShown())
{
for(unsigned int i=0; i<info.wordMatches.size(); ++i)
{
imageView_->setFeatureColor(info.wordMatches[i], Qt::red); // outliers
}
for(unsigned int i=0; i<info.wordInliers.size(); ++i)
{
imageView_->setFeatureColor(info.wordInliers[i], Qt::green); // inliers
}
}
}
else if(info.type == 1)
{
if(imageView_->isFeaturesShown() || imageView_->isLinesShown())
{
//draw lines
UASSERT(info.refCorners.size() == info.newCorners.size());
for(unsigned int i=0; i<info.cornerInliers.size(); ++i)
{
if(imageView_->isFeaturesShown())
{
imageView_->setFeatureColor(info.cornerInliers[i], Qt::green); // inliers
}
if(imageView_->isLinesShown())
{
imageView_->addLine(
info.refCorners[info.cornerInliers[i]].pt.x,
info.refCorners[info.cornerInliers[i]].pt.y,
info.newCorners[info.cornerInliers[i]].pt.x,
info.newCorners[info.cornerInliers[i]].pt.y,
Qt::blue);
}
}
imageView_->update();
}
}
}
if(!data.image().empty())
{
imageView_->setSceneRect(QRectF(0,0,(float)data.image().cols, (float)data.image().rows));
}
}
label_->setText(tr("Rate=~%1 Hz").arg(receivingRate_));
processingOdomInfo_ = false;
}
void OdomInfoWidget::closeEvent(QCloseEvent* event)
{
this->unregisterFromEventsManager();
event->accept();
}
void OdomInfoWidget::handleEvent(UEvent * event)
{
if(event->getClassName().compare("OdometryEvent") == 0)
{
rtabmap::OdometryEvent * odomEvent = (rtabmap::OdometryEvent*)event;
receivingRate_ = 1.0f/timer_.ticks();
// update max 10 Hz
if(UTimer::now() - lastTime_ > 0.1)
{
lastTime_ = UTimer::now();
if(!processingOdomInfo_ && this->isVisible())
{
QMetaObject::invokeMethod(this, "processOdomInfo",
Q_ARG(rtabmap::SensorData, odomEvent->data()),
Q_ARG(rtabmap::OdometryInfo, odomEvent->info()));
}
}
}
}

66
tools/OdometryViewer/OdomInfoWidget.h
View File

@@ -1,66 +0,0 @@
/*
Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef ODOMINFOWIDGET_H_
#define ODOMINFOWIDGET_H_
#include <rtabmap/utilite/UEventsHandler.h>
#include <QWidget>
#include <rtabmap/utilite/UTimer.h>
#include <rtabmap/core/SensorData.h>
#include <rtabmap/core/OdometryInfo.h>
class QLabel;
namespace rtabmap{
class ImageView;
}
class OdomInfoWidget : public QWidget, public UEventsHandler
{
Q_OBJECT
public:
OdomInfoWidget(QWidget * parent = 0);
virtual ~OdomInfoWidget();
public slots:
void processOdomInfo(const rtabmap::SensorData & data, const rtabmap::OdometryInfo & info);
protected:
virtual void closeEvent(QCloseEvent* event);
void handleEvent(UEvent * event);
private:
rtabmap::ImageView* imageView_;
QLabel* label_;
UTimer timer_;
bool processingOdomInfo_;
double receivingRate_;
double lastTime_;
bool odomImageShow_;
bool odomImageDepthShow_;
};
#endif /* ODOMINFOWIDGET_H_ */

70
tools/OdometryViewer/main.cpp
View File

@@ -36,15 +36,15 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/core/DBReader.h>
#include <rtabmap/core/VWDictionary.h>
#include <QApplication>
#include <QPushButton>
#include <pcl/console/print.h>
#include "OdomInfoWidget.h"
void showUsage()
{
printf("\nUsage:\n"
"odometryViewer [options]\n"
"Options:\n"
" -driver # Driver number to use: 0=OpenNI-PCL, 1=OpenNI2, 2=Freenect, 3=OpenNI-CV, 4=OpenNI-CV-ASUS\n"
" -driver # Driver number to use: 0=OpenNI-PCL, 1=OpenNI2, 2=Freenect, 3=OpenNI-CV, 4=OpenNI-CV-ASUS, 5=Freenect2, 6=dc1394\n"
" -o # Odometry type (default 6): 0=SURF, 1=SIFT, 2=ORB, 3=FAST/FREAK, 4=FAST/BRIEF, 5=GFTT/FREAK, 6=GFTT/BRIEF, 7=BRISK\n"
" -nn # Nearest neighbor strategy (default 3): kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4\n"
" -nndr # Nearest neighbor distance ratio (default 0.7)\n"
@@ -90,6 +90,8 @@ int main (int argc, char * argv[])
{
ULogger::setType(ULogger::kTypeConsole);
ULogger::setLevel(ULogger::kInfo);
ULogger::setPrintTime(false);
ULogger::setPrintWhere(false);
// parse arguments
float rate = 0.0;
@@ -126,7 +128,7 @@ int main (int argc, char * argv[])
if(i < argc)
{
driver = std::atoi(argv[i]);
if(driver < 0 || driver > 4)
if(driver < 0 || driver > 6)
{
showUsage();
}
@@ -501,6 +503,8 @@ int main (int argc, char * argv[])
if(strcmp(argv[i], "-debug") == 0)
{
ULogger::setLevel(ULogger::kDebug);
ULogger::setPrintTime(true);
ULogger::setPrintWhere(true);
continue;
}
@@ -680,23 +684,11 @@ int main (int argc, char * argv[])
}
rtabmap::OdometryThread odomThread(odom);
rtabmap::OdometryViewer odomViewer(maxClouds, 2, 0.0, 50);
OdomInfoWidget odomInfoWidget;
UEventsManager::addHandler(&odomThread);
UEventsManager::addHandler(&odomViewer);
UEventsManager::addHandler(&odomInfoWidget);
odomViewer.setCameraFree();
odomViewer.setGridShown(true);
odomViewer.setWindowTitle("Odometry 3D view");
odomViewer.setMinimumWidth(800);
odomViewer.setMinimumHeight(500);
odomViewer.showNormal();
odomInfoWidget.setWindowTitle("Odometry info");
odomInfoWidget.showNormal();
app.processEvents();
odomViewer.setWindowTitle("Odometry view");
odomViewer.resize(1280, 480+QPushButton().minimumHeight());
if(inputDatabase.size())
{
@@ -756,6 +748,24 @@ int main (int argc, char * argv[])
}
camera = new rtabmap::CameraOpenNICV(true, rate, t);
}
else if(driver == 5)
{
if(!rtabmap::CameraFreenect2::available())
{
UERROR("Not built with Freenect2 support...");
exit(-1);
}
camera = new rtabmap::CameraFreenect2(0, rate, t);
}
else if(driver == 6)
{
if(!rtabmap::CameraStereoDC1394::available())
{
UERROR("Not built with dc1394 support...");
exit(-1);
}
camera = new rtabmap::CameraStereoDC1394(rate, t);
}
else
{
UFATAL("Camera driver (%d) not found!", driver);
@@ -763,16 +773,28 @@ int main (int argc, char * argv[])
//pcl::console::setVerbosityLevel(pcl::console::L_DEBUG);
rtabmap::CameraThread cameraThread(camera);
if(cameraThread.init())
if(camera->init())
{
odomThread.start();
cameraThread.start();
if(camera->isCalibrated())
{
rtabmap::CameraThread cameraThread(camera);
app.exec();
odomThread.start();
cameraThread.start();
cameraThread.kill();
odomThread.join(true);
odomViewer.exec();
cameraThread.kill();
odomThread.join(true);
}
else
{
printf("The camera is not calibrated! You should calibrate the camera first.\n");
}
}
else
{
printf("Failed to initialize the camera! Please select another driver (see \"--help\").\n");
}
}