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Moved some util3d methods to Transform.h, Graph.h and Compression.h

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Added computePath() method implementating A star on graph
GUI: SetWindowModified() and user should explicitly save the GUI config to keep them
Calibration: added mirror checkbox, added device id argument
This commit is contained in:
Mathieu Labbe
2015-01-23 11:17:42 -05:00
parent fdf7f69783
commit 7a6bf630ca
34 changed files with 1817 additions and 1282 deletions
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131
guilib/src/MainWindow.cpp
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@@ -82,6 +82,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/Odometry.h"
#include "rtabmap/core/OdometryEvent.h"
#include "rtabmap/core/util3d.h"
#include "rtabmap/core/Graph.h"
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/common/transforms.h>
#include <pcl/common/common.h>
@@ -128,7 +129,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_rawLikelihoodCurve(0),
_autoScreenCaptureOdomSync(false)
{
ULOGGER_DEBUG("");
UDEBUG("");
initGuiResource();
@@ -140,6 +141,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
// Create dialogs
_aboutDialog = new AboutDialog(this);
_aboutDialog->setObjectName("AboutDialog");
_exportDialog = new ExportCloudsDialog(this);
_exportDialog->setObjectName("ExportCloudsDialog");
_postProcessingDialog = new PostProcessingDialog(this);
@@ -148,9 +150,10 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_ui = new Ui_mainWindow();
_ui->setupUi(this);
QString title("RTAB-Map: Real-Time Appearance-Based Mapping");
QString title("RTAB-Map[*]");
this->setWindowTitle(title);
this->setWindowIconText(tr("RTAB-Map"));
this->setObjectName("MainWindow");
//Setup dock widgets position if it is the first time the application is started.
//if(!QFile::exists(PreferencesDialog::getIniFilePath()))
@@ -179,10 +182,15 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
{
_preferencesDialog = new PreferencesDialog(this);
}
_preferencesDialog->setObjectName("PreferencesDialog");
_preferencesDialog->init();
// Restore window geometry
_preferencesDialog->loadMainWindowState(this);
_preferencesDialog->loadWindowGeometry(_preferencesDialog);
_preferencesDialog->loadWindowGeometry(_exportDialog);
_preferencesDialog->loadWindowGeometry(_postProcessingDialog);
_preferencesDialog->loadWindowGeometry(_aboutDialog);
setupMainLayout(_preferencesDialog->isVerticalLayoutUsed());
// Timer
@@ -198,9 +206,9 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_ui->imageView_source->setBackgroundBrush(QBrush(Qt::black));
_ui->imageView_loopClosure->setBackgroundBrush(QBrush(Qt::black));
_ui->imageView_odometry->setBackgroundBrush(QBrush(Qt::black));
_preferencesDialog->loadWidgetState(_ui->imageView_source->objectName(), _ui->imageView_source);
_preferencesDialog->loadWidgetState(_ui->imageView_loopClosure->objectName(), _ui->imageView_loopClosure);
_preferencesDialog->loadWidgetState(_ui->imageView_odometry->objectName(), _ui->imageView_odometry);
_preferencesDialog->loadWidgetState(_ui->imageView_source);
_preferencesDialog->loadWidgetState(_ui->imageView_loopClosure);
_preferencesDialog->loadWidgetState(_ui->imageView_odometry);
_posteriorCurve = new PdfPlotCurve("Posterior", &_cachedSignatures, this);
_ui->posteriorPlot->addCurve(_posteriorCurve, false);
@@ -255,6 +263,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
connect(a, SIGNAL(triggered(bool)), _initProgressDialog, SLOT(show()));
// connect actions with custom slots
connect(_ui->actionSave_GUI_config, SIGNAL(triggered()), this, SLOT(saveConfigGUI()));
connect(_ui->actionNew_database, SIGNAL(triggered()), this, SLOT(newDatabase()));
connect(_ui->actionOpen_database, SIGNAL(triggered()), this, SLOT(openDatabase()));
connect(_ui->actionClose_database, SIGNAL(triggered()), this, SLOT(closeDatabase()));
@@ -295,6 +304,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
connect(_ui->actionPost_processing, SIGNAL(triggered()), this, SLOT(postProcessing()));
_ui->actionPause->setShortcut(Qt::Key_Space);
_ui->actionSave_GUI_config->setShortcut(QKeySequence::Save);
_ui->actionSave_point_cloud->setEnabled(false);
_ui->actionExport_2D_scans_ply_pcd->setEnabled(false);
_ui->actionExport_2D_Grid_map_bmp_png->setEnabled(false);
@@ -349,6 +359,21 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
connect(_preferencesDialog, SIGNAL(settingsChanged(PreferencesDialog::PANEL_FLAGS)), this, SLOT(applyPrefSettings(PreferencesDialog::PANEL_FLAGS)));
qRegisterMetaType<rtabmap::ParametersMap>("rtabmap::ParametersMap");
connect(_preferencesDialog, SIGNAL(settingsChanged(rtabmap::ParametersMap)), this, SLOT(applyPrefSettings(rtabmap::ParametersMap)));
// config GUI modified
connect(_ui->imageView_source, SIGNAL(configChanged()), this, SLOT(configGUIModified()));
connect(_ui->imageView_loopClosure, SIGNAL(configChanged()), this, SLOT(configGUIModified()));
connect(_ui->imageView_odometry, SIGNAL(configChanged()), this, SLOT(configGUIModified()));
connect(_ui->widget_cloudViewer, SIGNAL(configChanged()), this, SLOT(configGUIModified()));
connect(_exportDialog, SIGNAL(configChanged()), this, SLOT(configGUIModified()));
connect(_postProcessingDialog, SIGNAL(configChanged()), this, SLOT(configGUIModified()));
connect(_ui->toolBar->toggleViewAction(), SIGNAL(toggled(bool)), this, SLOT(configGUIModified()));
connect(_ui->toolBar, SIGNAL(orientationChanged(Qt::Orientation)), this, SLOT(configGUIModified()));
QList<QDockWidget*> dockWidgets = this->findChildren<QDockWidget*>();
for(int i=0; i<dockWidgets.size(); ++i)
{
connect(dockWidgets[i], SIGNAL(dockLocationChanged(Qt::DockWidgetArea)), this, SLOT(configGUIModified()));
connect(dockWidgets[i]->toggleViewAction(), SIGNAL(toggled(bool)), this, SLOT(configGUIModified()));
}
// more connects...
connect(_ui->doubleSpinBox_stats_imgRate, SIGNAL(editingFinished()), this, SLOT(changeImgRateSetting()));
@@ -375,11 +400,11 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_ui->statsToolBox->setWorkingDirectory(_preferencesDialog->getWorkingDirectory());
_ui->graphicsView_graphView->setWorkingDirectory(_preferencesDialog->getWorkingDirectory());
_ui->widget_cloudViewer->setWorkingDirectory(_preferencesDialog->getWorkingDirectory());
_preferencesDialog->loadWidgetState(_ui->widget_cloudViewer->objectName(), _ui->widget_cloudViewer);
_preferencesDialog->loadWidgetState(_ui->widget_cloudViewer);
//dialog states
_preferencesDialog->loadWidgetState(_exportDialog->objectName(), _exportDialog);
_preferencesDialog->loadWidgetState(_postProcessingDialog->objectName(), _postProcessingDialog);
_preferencesDialog->loadWidgetState(_exportDialog);
_preferencesDialog->loadWidgetState(_postProcessingDialog);
if(_ui->statsToolBox->findChildren<StatItem*>().size() == 0)
{
@@ -404,6 +429,8 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
splash.close();
this->setFocus();
UDEBUG("");
}
MainWindow::~MainWindow()
@@ -454,16 +481,32 @@ void MainWindow::closeEvent(QCloseEvent* event)
if(processStopped)
{
//write settings before quit?
bool save = false;
if(this->isWindowModified())
{
QMessageBox::Button b=QMessageBox::question(this,
tr("RTAB-Map"),
tr("There are unsaved GUI changes. Save them?"),
QMessageBox::Save | QMessageBox::Cancel | QMessageBox::Discard);
if(b == QMessageBox::Save)
{
save = true;
}
else if(b != QMessageBox::Discard)
{
event->ignore();
return;
}
}
if(save)
{
saveConfigGUI();
}
_ui->statsToolBox->closeFigures();
//write settings before quit?
_preferencesDialog->saveMainWindowState(this);
_preferencesDialog->saveWidgetState(_ui->widget_cloudViewer->objectName(), _ui->widget_cloudViewer);
_preferencesDialog->saveWidgetState(_ui->imageView_source->objectName(), _ui->imageView_source);
_preferencesDialog->saveWidgetState(_ui->imageView_loopClosure->objectName(), _ui->imageView_loopClosure);
_preferencesDialog->saveWidgetState(_ui->imageView_odometry->objectName(), _ui->imageView_odometry);
_preferencesDialog->saveWidgetState(_exportDialog->objectName(), _exportDialog);
_preferencesDialog->saveWidgetState(_postProcessingDialog->objectName(), _postProcessingDialog);
_ui->dockWidget_imageView->close();
_ui->dockWidget_likelihood->close();
_ui->dockWidget_rawlikelihood->close();
@@ -1131,7 +1174,7 @@ void MainWindow::updateMapCloud(
{
float radius = _preferencesDialog->getCloudFilteringRadius();
float angle = _preferencesDialog->getCloudFilteringAngle()*CV_PI/180.0; // convert to rad
poses = util3d::radiusPosesFiltering(posesIn, radius, angle);
poses = rtabmap::radiusPosesFiltering(posesIn, radius, angle);
// make sure the last is here
poses.insert(*posesIn.rbegin());
for(std::map<int, Transform>::iterator iter= poses.begin(); iter!=poses.end(); ++iter)
@@ -2027,6 +2070,25 @@ void MainWindow::drawKeypoints(const std::multimap<int, cv::KeyPoint> & refWords
}
}
void MainWindow::showEvent(QShowEvent* anEvent)
{
this->setWindowModified(false);
}
void MainWindow::moveEvent(QMoveEvent* anEvent)
{
if(this->isVisible())
{
// HACK, there is a move event when the window is shown the first time.
static bool firstCall = true;
if(!firstCall)
{
this->configGUIModified();
}
firstCall = false;
}
}
void MainWindow::resizeEvent(QResizeEvent* anEvent)
{
_ui->imageView_source->fitInView(_ui->imageView_source->sceneRect(), Qt::KeepAspectRatio);
@@ -2035,6 +2097,10 @@ void MainWindow::resizeEvent(QResizeEvent* anEvent)
_ui->imageView_source->resetZoom();
_ui->imageView_loopClosure->resetZoom();
_ui->imageView_odometry->resetZoom();
if(this->isVisible())
{
this->configGUIModified();
}
}
void MainWindow::updateSelectSourceImageMenu(bool used, PreferencesDialog::Src src)
@@ -2108,7 +2174,26 @@ void MainWindow::beep()
QApplication::beep();
}
void MainWindow::configGUIModified()
{
this->setWindowModified(true);
}
//ACTIONS
void MainWindow::saveConfigGUI()
{
_preferencesDialog->saveMainWindowState(this);
_preferencesDialog->saveWindowGeometry(_preferencesDialog);
_preferencesDialog->saveWindowGeometry(_aboutDialog);
_preferencesDialog->saveWidgetState(_ui->widget_cloudViewer);
_preferencesDialog->saveWidgetState(_ui->imageView_source);
_preferencesDialog->saveWidgetState(_ui->imageView_loopClosure);
_preferencesDialog->saveWidgetState(_ui->imageView_odometry);
_preferencesDialog->saveWidgetState(_exportDialog);
_preferencesDialog->saveWidgetState(_postProcessingDialog);
this->setWindowModified(false);
}
void MainWindow::newDatabase()
{
if(_state != MainWindow::kIdle)
@@ -2871,7 +2956,7 @@ void MainWindow::postProcessing()
_initProgressDialog->appendText(tr("Looking for more loop closures, clustering poses... (iteration=%1/%2, radius=%3 m angle=%4 degrees)")
.arg(n+1).arg(detectLoopClosureIterations).arg(clusterRadius).arg(clusterAngle));
std::multimap<int, int> clusters = util3d::radiusPosesClustering(
std::multimap<int, int> clusters = rtabmap::radiusPosesClustering(
_currentPosesMap,
clusterRadius,
clusterAngle*CV_PI/180.0);
@@ -2893,7 +2978,7 @@ void MainWindow::postProcessing()
// only add new links and one per cluster per iteration
if(addedLinks.find(from) == addedLinks.end() && addedLinks.find(to) == addedLinks.end() &&
util3d::findLink(_currentLinksMap, from, to) == _currentLinksMap.end())
rtabmap::findLink(_currentLinksMap, from, to) == _currentLinksMap.end())
{
if(!_cachedSignatures.contains(from))
{
@@ -2976,8 +3061,8 @@ void MainWindow::postProcessing()
_initProgressDialog->appendText(tr("Optimizing graph with new links (%1 nodes, %2 constraints)...")
.arg(odomPoses.size()).arg(_currentLinksMap.size()));
std::map<int, rtabmap::Transform> optimizedPoses;
std::map<int, int> depthGraph = util3d::generateDepthGraph(_currentLinksMap, toroOptimizeFromGraphEnd?odomPoses.rbegin()->first:odomPoses.begin()->first);
util3d::optimizeTOROGraph(depthGraph, odomPoses, _currentLinksMap, optimizedPoses, toroIterations, true, ignoreVariance);
std::map<int, int> depthGraph = rtabmap::generateDepthGraph(_currentLinksMap, toroOptimizeFromGraphEnd?odomPoses.rbegin()->first:odomPoses.begin()->first);
rtabmap::optimizeTOROGraph(depthGraph, odomPoses, _currentLinksMap, optimizedPoses, toroIterations, true, ignoreVariance);
_currentPosesMap = optimizedPoses;
_initProgressDialog->appendText(tr("Optimizing graph with new links... done!"));
}
@@ -3131,8 +3216,8 @@ void MainWindow::postProcessing()
_initProgressDialog->appendText(tr("Optimizing graph with updated links (%1 nodes, %2 constraints)...")
.arg(odomPoses.size()).arg(_currentLinksMap.size()));
std::map<int, rtabmap::Transform> optimizedPoses;
std::map<int, int> depthGraph = util3d::generateDepthGraph(_currentLinksMap, toroOptimizeFromGraphEnd?odomPoses.rbegin()->first:odomPoses.begin()->first);
util3d::optimizeTOROGraph(depthGraph, odomPoses, _currentLinksMap, optimizedPoses, toroIterations, true, ignoreVariance);
std::map<int, int> depthGraph = rtabmap::generateDepthGraph(_currentLinksMap, toroOptimizeFromGraphEnd?odomPoses.rbegin()->first:odomPoses.begin()->first);
rtabmap::optimizeTOROGraph(depthGraph, odomPoses, _currentLinksMap, optimizedPoses, toroIterations, true, ignoreVariance);
_initProgressDialog->appendText(tr("Optimizing graph with updated links... done!"));
_initProgressDialog->incrementStep();