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0.15.2: Fixed Transform's not orthogonal rotation matrix causing problems with GTSAM (normalize rotation each time transforms are multiplied, and for backward compatibility automatically normalize rotation of all transforms loaded from old databases prior to 0.15.2). Added Vis/CorGuessMatchToProjection, Icp/PMMatcherKnn and Icp/PMMatcherEpsilon parameters. CameraRGB: fixed max scans number when filtering. Link: transfering maximum covariance when merging. OptimizerGTSAM: updated how covariance are copied based on GTSAM official example. util3d::loadBINCloud(): fixed dim parameter not used. DatabaseViewer: Added option in graph view to ignore intermediate nodes when optimizing the graph.

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This commit is contained in:
matlabbe
2017-12-09 21:44:53 -05:00
parent dafaac412f
commit 775b80eff5
25 changed files with 560 additions and 133 deletions
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1
guilib/include/rtabmap/gui/DatabaseViewer.h
View File

@@ -179,6 +179,7 @@ private:
CloudViewer * occupancyGridViewer_;
QList<int> ids_;
std::map<int, int> mapIds_;
std::map<int, int> weights_;
QMap<int, int> idToIndex_;
QList<rtabmap::Link> neighborLinks_;
QList<rtabmap::Link> loopLinks_;

49
guilib/src/DatabaseViewer.cpp
View File

@@ -349,6 +349,8 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
connect(ui_->actionVertical_Layout, SIGNAL(toggled(bool)), this, SLOT(configModified()));
connect(ui_->checkBox_alignPosesWithGroundTruth, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->checkBox_alignPosesWithGroundTruth, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
connect(ui_->checkBox_ignoreIntermediateNodes, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->checkBox_ignoreIntermediateNodes, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
connect(ui_->checkBox_timeStats, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->checkBox_timeStats, SIGNAL(stateChanged(int)), this, SLOT(updateStatistics()));
// Graph view
@@ -475,6 +477,7 @@ void DatabaseViewer::readSettings()
ui_->comboBox_logger_level->setCurrentIndex(settings.value("loggerLevel", ui_->comboBox_logger_level->currentIndex()).toInt());
ui_->actionVertical_Layout->setChecked(settings.value("verticalLayout", ui_->actionVertical_Layout->isChecked()).toBool());
ui_->checkBox_alignPosesWithGroundTruth->setChecked(settings.value("alignGroundTruth", ui_->checkBox_alignPosesWithGroundTruth->isChecked()).toBool());
ui_->checkBox_ignoreIntermediateNodes->setChecked(settings.value("ignoreIntermediateNodes", ui_->checkBox_ignoreIntermediateNodes->isChecked()).toBool());
ui_->checkBox_timeStats->setChecked(settings.value("timeStats", ui_->checkBox_timeStats->isChecked()).toBool());
// GraphViewer settings
@@ -565,6 +568,7 @@ void DatabaseViewer::writeSettings()
settings.setValue("loggerLevel", ui_->comboBox_logger_level->currentIndex());
settings.setValue("verticalLayout", ui_->actionVertical_Layout->isChecked());
settings.setValue("alignGroundTruth", ui_->checkBox_alignPosesWithGroundTruth->isChecked());
settings.setValue("ignoreIntermediateNodes", ui_->checkBox_ignoreIntermediateNodes->isChecked());
settings.setValue("timeStats", ui_->checkBox_timeStats->isChecked());
// save GraphViewer settings
@@ -652,6 +656,7 @@ void DatabaseViewer::restoreDefaultSettings()
// reset GUI parameters
ui_->comboBox_logger_level->setCurrentIndex(1);
ui_->checkBox_alignPosesWithGroundTruth->setChecked(true);
ui_->checkBox_ignoreIntermediateNodes->setChecked(false);
ui_->checkBox_timeStats->setChecked(true);
ui_->checkBox_spanAllMaps->setChecked(true);
@@ -902,6 +907,7 @@ bool DatabaseViewer::closeDatabase()
gpsPoses_.clear();
gpsValues_.clear();
mapIds_.clear();
weights_.clear();
links_.clear();
linksAdded_.clear();
linksRefined_.clear();
@@ -919,6 +925,7 @@ bool DatabaseViewer::closeDatabase()
ui_->toolBox_statistics->clear();
databaseFileName_.clear();
ui_->checkBox_alignPosesWithGroundTruth->setVisible(false);
ui_->checkBox_ignoreIntermediateNodes->setVisible(false);
ui_->label_alignPosesWithGroundTruth->setVisible(false);
ui_->label_optimizeFrom->setText(tr("Optimize from"));
ui_->textEdit_info->clear();
@@ -1422,11 +1429,13 @@ void DatabaseViewer::updateIds()
ids_ = QList<int>::fromStdList(std::list<int>(ids.begin(), ids.end()));
idToIndex_.clear();
mapIds_.clear();
weights_.clear();
odomPoses_.clear();
groundTruthPoses_.clear();
gpsPoses_.clear();
gpsValues_.clear();
ui_->checkBox_alignPosesWithGroundTruth->setVisible(false);
ui_->checkBox_ignoreIntermediateNodes->setVisible(false);
ui_->label_alignPosesWithGroundTruth->setVisible(false);
ui_->menuExport_GPS->setEnabled(false);
ui_->actionPoses_KML->setEnabled(false);
@@ -1463,6 +1472,11 @@ void DatabaseViewer::updateIds()
GPS gps;
dbDriver_->getNodeInfo(ids_[i], p, mapId, w, l, s, g, v, gps);
mapIds_.insert(std::make_pair(ids_[i], mapId));
weights_.insert(std::make_pair(ids_[i], w));
if(w < 0)
{
ui_->checkBox_ignoreIntermediateNodes->setVisible(true);
}
if(i>0)
{
if(mapIds_.at(ids_[i-1]) == mapId)
@@ -4633,8 +4647,6 @@ void DatabaseViewer::updateGraphView()
}
}
graphes_.push_back(poses);
ui_->menuExport_poses->setEnabled(true);
std::multimap<int, rtabmap::Link> links = links_;
@@ -4750,6 +4762,39 @@ void DatabaseViewer::updateGraphView()
.arg(totalUser)
.arg(totalPriors));
// remove intermediate nodes?
if(ui_->checkBox_ignoreIntermediateNodes->isVisible() &&
ui_->checkBox_ignoreIntermediateNodes->isChecked())
{
for(std::multimap<int, Link>::iterator iter=links.begin(); iter!=links.end(); ++iter)
{
if(iter->second.type() == Link::kNeighbor ||
iter->second.type() == Link::kNeighborMerged)
{
Link link = iter->second;
while(uContains(weights_, link.to()) && weights_.at(link.to()) < 0)
{
std::multimap<int, Link>::iterator uter = links.find(link.to());
if(uter != links.end())
{
UASSERT(links.count(link.to()) == 1);
poses.erase(link.to());
link = link.merge(uter->second, uter->second.type());
links.erase(uter);
}
else
{
break;
}
}
iter->second = link;
}
}
}
graphes_.push_back(poses);
Optimizer * optimizer = Optimizer::create(ui_->parameters_toolbox->getParameters());
std::map<int, rtabmap::Transform> posesOut;

3
guilib/src/PreferencesDialog.cpp
View File

@@ -867,6 +867,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->reextract_nn->setObjectName(Parameters::kVisCorNNType().c_str());
_ui->reextract_nndrRatio->setObjectName(Parameters::kVisCorNNDR().c_str());
_ui->spinBox_visCorGuessWinSize->setObjectName(Parameters::kVisCorGuessWinSize().c_str());
_ui->checkBox__visCorGuessMatchToProjection->setObjectName(Parameters::kVisCorGuessMatchToProjection().c_str());
_ui->reextract_type->setObjectName(Parameters::kVisFeatureType().c_str());
_ui->reextract_maxFeatures->setObjectName(Parameters::kVisMaxFeatures().c_str());
_ui->reextract_gridrows->setObjectName(Parameters::kVisGridRows().c_str());
@@ -901,6 +902,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->lineEdit_IcpPMConfigPath->setObjectName(Parameters::kIcpPMConfig().c_str());
connect(_ui->toolButton_IcpConfigPath, SIGNAL(clicked()), this, SLOT(changeIcpPMConfigPath()));
_ui->doubleSpinBox_icpPMOutlierRatio->setObjectName(Parameters::kIcpPMOutlierRatio().c_str());
_ui->spinBox_icpPMMatcherKnn->setObjectName(Parameters::kIcpPMMatcherKnn().c_str());
_ui->doubleSpinBox_icpPMMatcherEpsilon->setObjectName(Parameters::kIcpPMMatcherEpsilon().c_str());
// Occupancy grid
_ui->groupBox_grid_3d->setObjectName(Parameters::kGrid3D().c_str());

165
guilib/src/ui/DatabaseViewer.ui
View File

@@ -21,7 +21,16 @@
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -52,8 +61,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>420</width>
<height>256</height>
<width>407</width>
<height>242</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout" columnstretch="0,1">
@@ -244,8 +253,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>420</width>
<height>256</height>
<width>406</width>
<height>242</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout_2" columnstretch="0,1">
@@ -425,7 +434,16 @@
</item>
<item row="1" column="0">
<layout class="QHBoxLayout" name="horizontalLayout">
<property name="margin">
<property name="leftMargin">
<number>12</number>
</property>
<property name="topMargin">
<number>12</number>
</property>
<property name="rightMargin">
<number>12</number>
</property>
<property name="bottomMargin">
<number>12</number>
</property>
<item>
@@ -481,7 +499,16 @@
</item>
<item row="1" column="1">
<layout class="QHBoxLayout" name="horizontalLayout_2">
<property name="margin">
<property name="leftMargin">
<number>12</number>
</property>
<property name="topMargin">
<number>12</number>
</property>
<property name="rightMargin">
<number>12</number>
</property>
<property name="bottomMargin">
<number>12</number>
</property>
<item>
@@ -552,7 +579,7 @@
<x>0</x>
<y>0</y>
<width>1547</width>
<height>22</height>
<height>25</height>
</rect>
</property>
<widget class="QMenu" name="menuFile">
@@ -894,7 +921,7 @@
</item>
<item>
<layout class="QGridLayout" name="gridLayout_5" columnstretch="0,1">
<item row="6" column="0">
<item row="7" column="0">
<widget class="QLabel" name="label_loopClosures">
<property name="text">
<string/>
@@ -904,7 +931,7 @@
</property>
</widget>
</item>
<item row="4" column="0">
<item row="5" column="0">
<widget class="QLabel" name="label_timeGrid">
<property name="text">
<string/>
@@ -914,7 +941,7 @@
</property>
</widget>
</item>
<item row="3" column="0">
<item row="4" column="0">
<widget class="QLabel" name="label_timeOptimization">
<property name="text">
<string/>
@@ -927,42 +954,42 @@
<item row="0" column="0">
<widget class="QSpinBox" name="spinBox_optimizationsFrom"/>
</item>
<item row="5" column="1">
<item row="6" column="1">
<widget class="QLabel" name="label_52">
<property name="text">
<string>Poses</string>
</property>
</widget>
</item>
<item row="3" column="1">
<item row="4" column="1">
<widget class="QLabel" name="label_39">
<property name="text">
<string>Time optimization (s)</string>
</property>
</widget>
</item>
<item row="6" column="1">
<item row="7" column="1">
<widget class="QLabel" name="label_41">
<property name="text">
<string>Links (N, NM, G, LS, LT, U, P)</string>
</property>
</widget>
</item>
<item row="2" column="1">
<item row="3" column="1">
<widget class="QLabel" name="label_10">
<property name="text">
<string>Path length (m)</string>
</property>
</widget>
</item>
<item row="4" column="1">
<item row="5" column="1">
<widget class="QLabel" name="label_45">
<property name="text">
<string>Time grid (s)</string>
</property>
</widget>
</item>
<item row="2" column="0">
<item row="3" column="0">
<widget class="QLabel" name="label_pathLength">
<property name="text">
<string/>
@@ -993,7 +1020,7 @@
</item>
</layout>
</item>
<item row="5" column="0">
<item row="6" column="0">
<widget class="QLabel" name="label_poses">
<property name="text">
<string/>
@@ -1023,6 +1050,26 @@
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_alignPosesWithGroundTruth_2">
<property name="text">
<string>Ignore intermediate nodes</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QCheckBox" name="checkBox_ignoreIntermediateNodes">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
</layout>
</item>
</layout>
@@ -1043,7 +1090,16 @@
</attribute>
<widget class="QWidget" name="dockWidgetContents_3">
<layout class="QVBoxLayout" name="verticalLayout_10">
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -1097,8 +1153,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>324</width>
<height>188</height>
<width>340</width>
<height>228</height>
</rect>
</property>
<attribute name="label">
@@ -1233,8 +1289,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>296</width>
<height>732</height>
<width>302</width>
<height>696</height>
</rect>
</property>
<attribute name="label">
@@ -1653,8 +1709,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>201</width>
<height>126</height>
<width>298</width>
<height>228</height>
</rect>
</property>
<attribute name="label">
@@ -1753,8 +1809,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>186</width>
<height>496</height>
<width>446</width>
<height>228</height>
</rect>
</property>
<attribute name="label">
@@ -1856,7 +1912,16 @@
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -1969,7 +2034,16 @@
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -2100,7 +2174,16 @@
</attribute>
<widget class="QWidget" name="dockWidgetContents_7">
<layout class="QVBoxLayout" name="verticalLayout_13">
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -2118,7 +2201,16 @@
</attribute>
<widget class="QWidget" name="dockWidgetContents_5">
<layout class="QVBoxLayout" name="verticalLayout_7">
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -2163,7 +2255,16 @@
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>

91
guilib/src/ui/preferencesDialog.ui
View File

@@ -95,7 +95,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>14</number>
<number>20</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -13050,7 +13050,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<item>
<widget class="QStackedWidget" name="stackedWidget_loopClosureCorrespondences">
<property name="currentIndex">
<number>1</number>
<number>0</number>
</property>
<widget class="QWidget" name="page_54">
<layout class="QVBoxLayout" name="verticalLayout_85">
@@ -13183,7 +13183,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
</property>
</widget>
</item>
<item row="3" column="1">
<item row="4" column="1">
<spacer name="verticalSpacer_44">
<property name="orientation">
<enum>Qt::Vertical</enum>
@@ -13196,6 +13196,26 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
</property>
</spacer>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_448">
<property name="text">
<string>Match frame's corners to source's projected points (when guess transform is provided) instead of projected points to frame's corners.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QCheckBox" name="checkBox__visCorGuessMatchToProjection">
<property name="text">
<string/>
</property>
</widget>
</item>
</layout>
</widget>
</item>
@@ -14453,7 +14473,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_11">
<layout class="QHBoxLayout" name="horizontalLayout_11" stretch="0,0,1">
<item>
<widget class="QToolButton" name="toolButton_IcpConfigPath">
<property name="text">
@@ -14480,8 +14500,8 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_12" stretch="0,1">
<item>
<layout class="QGridLayout" name="gridLayout_97" columnstretch="0,1">
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_icpPMOutlierRatio">
<property name="suffix">
<string/>
@@ -14503,8 +14523,8 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_424">
<item row="0" column="1">
<widget class="QLabel" name="label_446">
<property name="text">
<string>TrimmedDistOutlierFilter/ratio: For convenience when configuration file is not set. For kinect-like point cloud, use 0.65.</string>
</property>
@@ -14516,6 +14536,61 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_424">
<property name="text">
<string>KDTreeMatcher/knn: number of nearest neighbors to consider it the reference. For convenience when configuration file is not set.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_icpPMMatcherEpsilon">
<property name="suffix">
<string/>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>99.000000000000000</double>
</property>
<property name="singleStep">
<double>1.000000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_447">
<property name="text">
<string>KDTreeMatcher/epsilon: approximation to use for the nearest-neighbor search. For convenience when configuration file is not set.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QSpinBox" name="spinBox_icpPMMatcherKnn">
<property name="minimum">
<number>1</number>
</property>
</widget>
</item>
</layout>
</item>
</layout>