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Added PnP Pose estimation based Odometry option. Added sensor icons in menu.

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This commit is contained in:
Mathieu Labbe
2015-03-31 15:45:38 -04:00
parent 7e216bf842
commit 6089a44589
19 changed files with 1088 additions and 453 deletions
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134
guilib/src/MainWindow.cpp
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@@ -76,6 +76,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <QtCore/QProcess>
#include <QSplashScreen>
#include <QInputDialog>
#include <QToolButton>
//RGB-D stuff
#include "rtabmap/core/CameraRGBD.h"
@@ -127,6 +128,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_odomImageDepthShow(false),
_odometryCorrection(Transform::getIdentity()),
_processingOdometry(false),
_lastOdomInfoUpdateTime(0),
_oneSecondTimer(0),
_elapsedTime(0),
_posteriorCurve(0),
@@ -265,7 +267,9 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_ui->menuShow_view->addAction(_ui->dockWidget_graphViewer->toggleViewAction());
_ui->menuShow_view->addAction(_ui->dockWidget_odometry->toggleViewAction());
_ui->menuShow_view->addAction(_ui->toolBar->toggleViewAction());
_ui->toolBar->setWindowTitle(tr("Control toolbar"));
_ui->toolBar->setWindowTitle(tr("File toolbar"));
_ui->menuShow_view->addAction(_ui->toolBar_2->toggleViewAction());
_ui->toolBar_2->setWindowTitle(tr("Control toolbar"));
QAction * a = _ui->menuShow_view->addAction("Progress dialog");
a->setCheckable(false);
connect(a, SIGNAL(triggered(bool)), _initProgressDialog, SLOT(show()));
@@ -321,6 +325,13 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_ui->actionReset_Odometry->setEnabled(false);
_ui->actionPost_processing->setEnabled(false);
QToolButton* toolButton = new QToolButton(this);
toolButton->setMenu(_ui->menuRGB_D_camera);
toolButton->setPopupMode(QToolButton::InstantPopup);
toolButton->setIcon(QIcon(":images/kinect_xbox_360.png"));
toolButton->setToolTip("Select sensor driver");
_ui->toolBar->addWidget(toolButton)->setObjectName("toolbar_source");
#if defined(Q_WS_MAC) || defined(Q_WS_WIN)
connect(_ui->actionOpen_working_directory, SIGNAL(triggered()), SLOT(openWorkingDirectory()));
#else
@@ -632,11 +643,16 @@ void MainWindow::handleEvent(UEvent* anEvent)
}
else if(anEvent->getClassName().compare("OdometryEvent") == 0)
{
OdometryEvent * odomEvent = (OdometryEvent*)anEvent;
if(!_processingOdometry && !_processingStatistics)
// limit 10 Hz max
if(UTimer::now() - _lastOdomInfoUpdateTime > 0.1)
{
_processingOdometry = true; // if we receive too many odometry events!
emit odometryReceived(odomEvent->data(), odomEvent->info());
_lastOdomInfoUpdateTime = UTimer::now();
OdometryEvent * odomEvent = (OdometryEvent*)anEvent;
if(!_processingOdometry && !_processingStatistics)
{
_processingOdometry = true; // if we receive too many odometry events!
emit odometryReceived(odomEvent->data(), odomEvent->info());
}
}
}
else if(anEvent->getClassName().compare("ULogEvent") == 0)
@@ -4960,7 +4976,75 @@ void MainWindow::setMonitoringState(bool pauseChecked)
// Must be called by the GUI thread, use signal StateChanged()
void MainWindow::changeState(MainWindow::State newState)
{
// TODO : To protect with mutex ?
bool monitoring = newState==kMonitoring || newState == kMonitoringPaused;
_ui->actionNew_database->setVisible(!monitoring);
_ui->actionOpen_database->setVisible(!monitoring);
_ui->actionClose_database->setVisible(!monitoring);
_ui->actionEdit_database->setVisible(!monitoring);
_ui->actionStart->setVisible(!monitoring);
_ui->actionStop->setVisible(!monitoring);
_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->actionOpen_working_directory->setVisible(!monitoring);
_ui->actionData_recorder->setVisible(!monitoring);
_ui->menuSelect_source->menuAction()->setVisible(!monitoring);
_ui->doubleSpinBox_stats_imgRate->setVisible(!monitoring);
_ui->doubleSpinBox_stats_imgRate_label->setVisible(!monitoring);
_ui->toolBar->setVisible(!monitoring);
_ui->toolBar->toggleViewAction()->setVisible(!monitoring);
QList<QAction*> actions = _ui->menuTools->actions();
for(int i=0; i<actions.size(); ++i)
{
if(actions.at(i)->isSeparator())
{
actions.at(i)->setVisible(!monitoring);
}
}
actions = _ui->menuFile->actions();
if(actions.size()>=9)
{
if(actions.at(2)->isSeparator())
{
actions.at(2)->setVisible(!monitoring);
}
else
{
UWARN("Menu File separators have not the same order.");
}
if(actions.at(8)->isSeparator())
{
actions.at(8)->setVisible(!monitoring);
}
else
{
UWARN("Menu File separators have not the same order.");
}
}
else
{
UWARN("Menu File separators have not the same order.");
}
actions = _ui->menuProcess->actions();
if(actions.size()>=2)
{
if(actions.at(1)->isSeparator())
{
actions.at(1)->setVisible(!monitoring);
}
else
{
UWARN("Menu File separators have not the same order.");
}
}
else
{
UWARN("Menu File separators have not the same order.");
}
switch (newState)
{
case kIdle: // RTAB-Map is not initialized yet
@@ -4983,10 +5067,10 @@ void MainWindow::changeState(MainWindow::State newState)
_ui->actionGenerate_map->setEnabled(false);
_ui->actionGenerate_local_map->setEnabled(false);
_ui->actionGenerate_TORO_graph_graph->setEnabled(false);
_ui->actionOpen_working_directory->setEnabled(true);
_ui->actionDownload_all_clouds->setEnabled(false);
_ui->actionDownload_graph->setEnabled(false);
_ui->menuSelect_source->setEnabled(false);
_ui->toolBar->findChild<QAction*>("toolbar_source")->setEnabled(false);
_ui->actionTrigger_a_new_map->setEnabled(false);
_ui->doubleSpinBox_stats_imgRate->setEnabled(true);
_ui->statusbar->clearMessage();
@@ -5030,10 +5114,10 @@ void MainWindow::changeState(MainWindow::State newState)
_ui->actionGenerate_map->setEnabled(true);
_ui->actionGenerate_local_map->setEnabled(true);
_ui->actionGenerate_TORO_graph_graph->setEnabled(true);
_ui->actionOpen_working_directory->setEnabled(true);
_ui->actionDownload_all_clouds->setEnabled(true);
_ui->actionDownload_graph->setEnabled(true);
_ui->menuSelect_source->setEnabled(true);
_ui->toolBar->findChild<QAction*>("toolbar_source")->setEnabled(true);
_ui->actionTrigger_a_new_map->setEnabled(true);
_ui->doubleSpinBox_stats_imgRate->setEnabled(true);
_ui->statusbar->clearMessage();
@@ -5066,10 +5150,10 @@ void MainWindow::changeState(MainWindow::State newState)
_ui->actionGenerate_map->setEnabled(false);
_ui->actionGenerate_local_map->setEnabled(false);
_ui->actionGenerate_TORO_graph_graph->setEnabled(false);
_ui->actionOpen_working_directory->setEnabled(true);
_ui->actionDownload_all_clouds->setEnabled(false);
_ui->actionDownload_graph->setEnabled(false);
_ui->menuSelect_source->setEnabled(false);
_ui->toolBar->findChild<QAction*>("toolbar_source")->setEnabled(false);
_ui->actionTrigger_a_new_map->setEnabled(true);
_ui->doubleSpinBox_stats_imgRate->setEnabled(true);
_ui->statusbar->showMessage(tr("Detecting..."));
@@ -5150,34 +5234,18 @@ void MainWindow::changeState(MainWindow::State newState)
}
break;
case kMonitoring:
_ui->actionNew_database->setVisible(false);
_ui->actionOpen_database->setVisible(false);
_ui->actionClose_database->setVisible(false);
_ui->actionEdit_database->setVisible(false);
_ui->actionStart->setVisible(false);
_ui->actionPause->setEnabled(true);
_ui->actionPause->setChecked(false);
_ui->actionPause->setToolTip(tr("Pause"));
_ui->actionStop->setVisible(false);
_ui->actionPause_on_match->setEnabled(true);
_ui->actionPause_on_local_loop_detection->setEnabled(true);
_ui->actionPause_when_a_loop_hypothesis_is_rejected->setEnabled(true);
_ui->actionReset_Odometry->setEnabled(true);
_ui->actionPost_processing->setEnabled(false);
_ui->actionDump_the_memory->setVisible(false);
_ui->actionDump_the_prediction_matrix->setVisible(false);
_ui->actionDelete_memory->setEnabled(true);
_ui->actionGenerate_map->setVisible(false);
_ui->actionGenerate_local_map->setVisible(false);
_ui->actionGenerate_TORO_graph_graph->setVisible(false);
_ui->actionData_recorder->setVisible(false);
_ui->actionOpen_working_directory->setEnabled(false);
_ui->actionDownload_all_clouds->setEnabled(true);
_ui->actionDownload_graph->setEnabled(true);
_ui->menuSelect_source->setVisible(false);
_ui->actionTrigger_a_new_map->setEnabled(true);
_ui->doubleSpinBox_stats_imgRate->setVisible(false);
_ui->doubleSpinBox_stats_imgRate_label->setVisible(false);
_ui->statusbar->showMessage(tr("Monitoring..."));
_state = newState;
_elapsedTime->start();
@@ -5185,34 +5253,18 @@ void MainWindow::changeState(MainWindow::State newState)
this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdPause, "", 0));
break;
case kMonitoringPaused:
_ui->actionNew_database->setVisible(false);
_ui->actionOpen_database->setVisible(false);
_ui->actionClose_database->setVisible(false);
_ui->actionEdit_database->setVisible(false);
_ui->actionStart->setVisible(false);
_ui->actionPause->setToolTip(tr("Continue"));
_ui->actionPause->setChecked(true);
_ui->actionPause->setEnabled(true);
_ui->actionStop->setVisible(false);
_ui->actionPause_on_match->setEnabled(true);
_ui->actionPause_on_local_loop_detection->setEnabled(true);
_ui->actionPause_when_a_loop_hypothesis_is_rejected->setEnabled(true);
_ui->actionReset_Odometry->setEnabled(true);
_ui->actionPost_processing->setEnabled(_cachedSignatures.size() >= 2 && _currentPosesMap.size() >= 2 && _currentLinksMap.size() >= 1);
_ui->actionDump_the_memory->setVisible(false);
_ui->actionDump_the_prediction_matrix->setVisible(false);
_ui->actionDelete_memory->setEnabled(true);
_ui->actionGenerate_map->setVisible(false);
_ui->actionGenerate_local_map->setVisible(false);
_ui->actionGenerate_TORO_graph_graph->setVisible(false);
_ui->actionData_recorder->setVisible(false);
_ui->actionOpen_working_directory->setEnabled(false);
_ui->actionDownload_all_clouds->setEnabled(true);
_ui->actionDownload_graph->setEnabled(true);
_ui->menuSelect_source->setVisible(false);
_ui->actionTrigger_a_new_map->setEnabled(true);
_ui->doubleSpinBox_stats_imgRate->setVisible(false);
_ui->doubleSpinBox_stats_imgRate_label->setVisible(false);
_ui->statusbar->showMessage(tr("Monitoring paused..."));
_state = newState;
_oneSecondTimer->stop();