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DBViewer: Added "Edit Constraint" button

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This commit is contained in:
matlabbe
2019-10-18 12:22:51 -04:00
parent dd8e21e05d
commit 6435c74bfe
7 changed files with 454 additions and 28 deletions
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3
guilib/src/CMakeLists.txt
View File

@@ -28,6 +28,7 @@ SET(headers_ui
../include/${PROJECT_PREFIX}/gui/CreateSimpleCalibrationDialog.h
../include/${PROJECT_PREFIX}/gui/ParametersToolBox.h
../include/${PROJECT_PREFIX}/gui/DepthCalibrationDialog.h
../include/${PROJECT_PREFIX}/gui/EditConstraintDialog.h
./3rdParty/QMultiComboBox.h
../include/${PROJECT_PREFIX}/gui/TexturingState.h
../include/${PROJECT_PREFIX}/gui/RecoveryState.h
@@ -49,6 +50,7 @@ SET(uis
./ui/createSimpleCalibrationDialog.ui
./ui/depthCalibrationDialog.ui
./ui/exportBundlerDialog.ui
./ui/editConstraintDialog.ui
)
SET(qrc
@@ -96,6 +98,7 @@ SET(SRC_FILES
./ExportBundlerDialog.cpp
./PostProcessingDialog.cpp
./ExportCloudsDialog.cpp
./EditConstraintDialog.cpp
./MapVisibilityWidget.cpp
./GraphViewer.cpp
./EditDepthArea.cpp

43
guilib/src/DatabaseViewer.cpp
View File

@@ -80,6 +80,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/SensorData.h"
#include "rtabmap/core/GainCompensator.h"
#include "rtabmap/gui/ExportDialog.h"
#include "rtabmap/gui/EditConstraintDialog.h"
#include "rtabmap/gui/ProgressDialog.h"
#include "rtabmap/gui/ParametersToolBox.h"
#include "rtabmap/gui/RecoveryState.h"
@@ -354,6 +355,7 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
connect(ui_->checkBox_show3DWords, SIGNAL(stateChanged(int)), this, SLOT(updateConstraintView()));
connect(ui_->checkBox_odomFrame, SIGNAL(stateChanged(int)), this, SLOT(updateConstraintView()));
ui_->checkBox_showOptimized->setEnabled(false);
connect(ui_->toolButton_constraint, SIGNAL(clicked(bool)), this, SLOT(editConstraint()));
ui_->horizontalSlider_iterations->setTracking(false);
ui_->horizontalSlider_iterations->setEnabled(false);
@@ -4949,6 +4951,45 @@ void DatabaseViewer::sliderLoopValueChanged(int value)
}
}
void DatabaseViewer::editConstraint()
{
if(ids_.size())
{
Link link = this->findActiveLink(ids_.at(ui_->horizontalSlider_A->value()), ids_.at(ui_->horizontalSlider_B->value()));
if(link.isValid())
{
EditConstraintDialog dialog(link.transform());
if(dialog.exec() == QDialog::Accepted)
{
bool updated = false;
Link newLink = link;
newLink.setTransform(dialog.getTransform());
std::multimap<int, Link>::iterator iter = linksRefined_.find(link.from());
while(iter != linksRefined_.end() && iter->first == link.from())
{
if(iter->second.to() == link.to() &&
iter->second.type() == link.type())
{
iter->second = newLink;
updated = true;
break;
}
++iter;
}
if(!updated)
{
linksRefined_.insert(std::make_pair(newLink.from(), newLink));
updated = true;
}
if(updated)
{
updateConstraintView();
}
}
}
}
}
// only called when ui_->checkBox_showOptimized state changed
void DatabaseViewer::updateConstraintView()
{
@@ -5488,6 +5529,7 @@ void DatabaseViewer::updateConstraintButtons()
ui_->pushButton_reset->setEnabled(false);
ui_->pushButton_add->setEnabled(false);
ui_->pushButton_reject->setEnabled(false);
ui_->toolButton_constraint->setEnabled(false);
if(ui_->label_type->text().toInt() == Link::kLandmark)
{
@@ -5529,6 +5571,7 @@ void DatabaseViewer::updateConstraintButtons()
ui_->pushButton_reset->setEnabled(false);
}
ui_->pushButton_refine->setEnabled(true);
ui_->toolButton_constraint->setEnabled(true);
}
}

59
guilib/src/EditConstraintDialog.cpp Normal file
View File

@@ -0,0 +1,59 @@
/*
Copyright (c) 2010-2019, 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 "rtabmap/gui/EditConstraintDialog.h"
#include "ui_editConstraintDialog.h"
namespace rtabmap {
EditConstraintDialog::EditConstraintDialog(const Transform & constraint, QWidget * parent) :
QDialog(parent)
{
_ui = new Ui_EditConstraintDialog();
_ui->setupUi(this);
float x,y,z,roll,pitch,yaw;
constraint.getTranslationAndEulerAngles(x, y, z, roll, pitch, yaw);
_ui->x->setValue(x);
_ui->y->setValue(y);
_ui->z->setValue(z);
_ui->roll->setValue(roll);
_ui->pitch->setValue(pitch);
_ui->yaw->setValue(yaw);
}
EditConstraintDialog::~EditConstraintDialog()
{
delete _ui;
}
Transform EditConstraintDialog::getTransform() const
{
return Transform(_ui->x->value(), _ui->y->value(), _ui->z->value(), _ui->roll->value(), _ui->pitch->value(), _ui->yaw->value());
}
}

83
guilib/src/ui/DatabaseViewer.ui
View File

@@ -61,7 +61,7 @@
<rect>
<x>0</x>
<y>0</y>
<width>409</width>
<width>404</width>
<height>311</height>
</rect>
</property>
@@ -304,7 +304,7 @@
<rect>
<x>0</x>
<y>0</y>
<width>408</width>
<width>403</width>
<height>311</height>
</rect>
</property>
@@ -836,7 +836,7 @@
</item>
<item>
<layout class="QGridLayout" name="gridLayout_6" columnstretch="0,0">
<item row="4" column="1">
<item row="5" column="1">
<layout class="QHBoxLayout" name="horizontalLayout_13">
<item>
<widget class="QLabel" name="label_variance">
@@ -904,31 +904,14 @@
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_16">
<property name="text">
<string>Transform</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_constraint">
<property name="text">
<string/>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="6" column="0">
<item row="7" column="0">
<widget class="QCheckBox" name="checkBox_showOptimized">
<property name="text">
<string>Optimized</string>
</property>
</widget>
</item>
<item row="6" column="1">
<item row="7" column="1">
<widget class="QLabel" name="label_constraint_opt">
<property name="text">
<string/>
@@ -938,7 +921,7 @@
</property>
</widget>
</item>
<item row="4" column="0">
<item row="5" column="0">
<widget class="QLabel" name="label_18">
<property name="text">
<string>σ (lin, ang), cov</string>
@@ -969,6 +952,50 @@
</item>
</layout>
</item>
<item row="3" column="1">
<layout class="QHBoxLayout" name="horizontalLayout_16">
<item>
<widget class="QLabel" name="label_constraint">
<property name="text">
<string/>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item>
<widget class="QToolButton" name="toolButton_constraint">
<property name="toolTip">
<string>Edit Constraint</string>
</property>
<property name="text">
<string>...</string>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_6">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_16">
<property name="text">
<string>Transform</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
@@ -1488,8 +1515,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>280</width>
<height>875</height>
<width>519</width>
<height>791</height>
</rect>
</property>
<attribute name="label">
@@ -2022,7 +2049,7 @@
<rect>
<x>0</x>
<y>0</y>
<width>226</width>
<width>298</width>
<height>160</height>
</rect>
</property>
@@ -2150,8 +2177,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>185</width>
<height>485</height>
<width>432</width>
<height>196</height>
</rect>
</property>
<attribute name="label">

237
guilib/src/ui/editConstraintDialog.ui Normal file
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@@ -0,0 +1,237 @@
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>EditConstraintDialog</class>
<widget class="QDialog" name="EditConstraintDialog">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>347</width>
<height>147</height>
</rect>
</property>
<property name="windowTitle">
<string>Edit Constraint</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<layout class="QGridLayout" name="gridLayout" columnstretch="0,1,0,1">
<item row="0" column="0">
<widget class="QLabel" name="label">
<property name="text">
<string>x</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QDoubleSpinBox" name="x">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="minimum">
<double>-9999.000000000000000</double>
</property>
<property name="maximum">
<double>9999.000000000000000</double>
</property>
<property name="singleStep">
<double>0.001000000000000</double>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_4">
<property name="text">
<string>roll</string>
</property>
</widget>
</item>
<item row="0" column="3">
<widget class="QDoubleSpinBox" name="roll">
<property name="suffix">
<string> rad</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="minimum">
<double>-3.150000000000000</double>
</property>
<property name="maximum">
<double>3.150000000000000</double>
</property>
<property name="singleStep">
<double>0.001000000000000</double>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_2">
<property name="text">
<string>y</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QDoubleSpinBox" name="y">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="minimum">
<double>-9999.000000000000000</double>
</property>
<property name="maximum">
<double>9999.000000000000000</double>
</property>
<property name="singleStep">
<double>0.001000000000000</double>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QLabel" name="label_5">
<property name="text">
<string>pitch</string>
</property>
</widget>
</item>
<item row="1" column="3">
<widget class="QDoubleSpinBox" name="pitch">
<property name="suffix">
<string> rad</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="minimum">
<double>-3.150000000000000</double>
</property>
<property name="maximum">
<double>3.150000000000000</double>
</property>
<property name="singleStep">
<double>0.001000000000000</double>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_3">
<property name="text">
<string>z</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QDoubleSpinBox" name="z">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="minimum">
<double>-9999.000000000000000</double>
</property>
<property name="maximum">
<double>9999.000000000000000</double>
</property>
<property name="singleStep">
<double>0.001000000000000</double>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QLabel" name="label_6">
<property name="text">
<string>yaw</string>
</property>
</widget>
</item>
<item row="2" column="3">
<widget class="QDoubleSpinBox" name="yaw">
<property name="suffix">
<string> rad</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="minimum">
<double>-3.150000000000000</double>
</property>
<property name="maximum">
<double>3.150000000000000</double>
</property>
<property name="singleStep">
<double>0.001000000000000</double>
</property>
</widget>
</item>
</layout>
</item>
<item>
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QDialogButtonBox" name="buttonBox">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="standardButtons">
<set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
</property>
</widget>
</item>
</layout>
</widget>
<resources/>
<connections>
<connection>
<sender>buttonBox</sender>
<signal>accepted()</signal>
<receiver>EditConstraintDialog</receiver>
<slot>accept()</slot>
<hints>
<hint type="sourcelabel">
<x>248</x>
<y>254</y>
</hint>
<hint type="destinationlabel">
<x>157</x>
<y>274</y>
</hint>
</hints>
</connection>
<connection>
<sender>buttonBox</sender>
<signal>rejected()</signal>
<receiver>EditConstraintDialog</receiver>
<slot>reject()</slot>
<hints>
<hint type="sourcelabel">
<x>316</x>
<y>260</y>
</hint>
<hint type="destinationlabel">
<x>286</x>
<y>274</y>
</hint>
</hints>
</connection>
</connections>
</ui>