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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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guilib/src/DatabaseViewer.cpp
+43
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);
}
}