DBViewer: Added "Edit Constraint" button

guilib/include/rtabmap/gui/DatabaseViewer.h

@@ -132,6 +132,7 @@ private Q_SLOTS:
 	void sliderNeighborValueChanged(int);
 	void sliderLoopValueChanged(int);
 	void sliderIterationsValueChanged(int);
+	void editConstraint();
 	void updateGrid();
 	void updateOctomapView();
 	void updateGraphView();

guilib/include/rtabmap/gui/EditConstraintDialog.h

@@ -0,0 +1,56 @@
+/*
+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.
+*/
+
+#ifndef RTABMAP_EDITCONSTRAINTDIALOG_H_
+#define RTABMAP_EDITCONSTRAINTDIALOG_H_
+
+#include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
+
+#include <QDialog>
+#include <rtabmap/core/Transform.h>
+
+class Ui_EditConstraintDialog;
+
+namespace rtabmap {
+
+class RTABMAPGUI_EXP EditConstraintDialog : public QDialog
+{
+	Q_OBJECT
+
+public:
+	EditConstraintDialog(const Transform & constraint, QWidget * parent = 0);
+
+	virtual ~EditConstraintDialog();
+	Transform getTransform() const;
+
+private:
+	Ui_EditConstraintDialog * _ui;
+};
+
+}
+
+#endif /* EDITCONSTRAINTDIALOG_H_ */

guilib/src/CMakeLists.txt

@@ -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

guilib/src/DatabaseViewer.cpp

@@ -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);
 	}
 }
 

guilib/src/EditConstraintDialog.cpp

@@ -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());
+}
+
+}

guilib/src/ui/DatabaseViewer.ui

@@ -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">
+       <item row="7" 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">
         <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>
+          <width>519</width>
-          <height>875</height>
+          <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>
+          <width>432</width>
-          <height>485</height>
+          <height>196</height>
          </rect>
         </property>
         <attribute name="label">

guilib/src/ui/editConstraintDialog.ui

@@ -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>