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Refactored graph::getPosesInRadius -> graph::findNearestPoses. Labels can be removed: added Remove label option in MainWindow. In localization mode, label set with id=0 is set to nearest node of current pose.

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This commit is contained in:
matlabbe
2022-01-20 18:56:38 -05:00
parent 3c215b9b4d
commit 83d1e27b81
11 changed files with 262 additions and 177 deletions
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21
guilib/src/MainWindow.cpp
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@@ -354,6 +354,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent, bool sh
connect(_ui->actionSend_waypoints, SIGNAL(triggered()), this, SLOT(sendWaypoints()));
connect(_ui->actionCancel_goal, SIGNAL(triggered()), this, SLOT(cancelGoal()));
connect(_ui->actionLabel_current_location, SIGNAL(triggered()), this, SLOT(label()));
connect(_ui->actionRemove_label, SIGNAL(triggered()), this, SLOT(removeLabel()));
connect(_ui->actionClear_cache, SIGNAL(triggered()), this, SLOT(clearTheCache()));
connect(_ui->actionAbout, SIGNAL(triggered()), _aboutDialog , SLOT(exec()));
connect(_ui->actionHelp, SIGNAL(triggered()), this , SLOT(openHelp()));
@@ -2300,7 +2301,6 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
// update pose only if odometry is not received
std::map<int, int> mapIds = _currentMapIds;
std::map<int, Transform> groundTruth = _currentGTPosesMap;
std::map<int, std::string> labels = _currentLabels;
mapIds.insert(std::make_pair(stat.getLastSignatureData().id(), stat.getLastSignatureData().mapId()));
if(!stat.getLastSignatureData().getGroundTruthPose().isNull() &&
@@ -2308,10 +2308,6 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
{
groundTruth.insert(std::make_pair(stat.getLastSignatureData().id(), stat.getLastSignatureData().getGroundTruthPose()));
}
for(std::map<int, std::string>::const_iterator iter=stat.labels().begin(); iter!=stat.labels().end(); ++iter)
{
uInsert(labels, std::pair<int, std::string>(*iter)); // overwrite labels because they could have been modified
}
if(_preferencesDialog->isPriorIgnored() &&
_ui->graphicsView_graphView->getWorldMapRotation()==0.0f &&
@@ -2413,7 +2409,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
poses,
stat.constraints(),
mapIds,
labels,
stat.labels(),
groundTruth,
stat.odomCachePoses(),
stat.odomCacheConstraints(),
@@ -2646,7 +2642,7 @@ void MainWindow::updateMapCloud(
std::map<int, Transform> nearestPoses;
if(maxNodes > 0)
{
std::map<int, float> nodes = graph::findNearestNodes(poses, currentPose, maxNodes);
std::map<int, float> nodes = graph::findNearestNodes(currentPose, poses, 0, 0, maxNodes);
for(std::map<int, float>::iterator iter=nodes.begin(); iter!=nodes.end(); ++iter)
{
if(altitudeDelta<=0.0 ||
@@ -6947,6 +6943,17 @@ void MainWindow::label()
}
}
void MainWindow::removeLabel()
{
UINFO("Removing label...");
bool ok = false;
QString label = QInputDialog::getText(this, tr("Remove label"), tr("Label: "), QLineEdit::Normal, "", &ok);
if(ok && !label.isEmpty())
{
this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdRemoveLabel, label.toStdString(), 0));
}
}
void MainWindow::updateCacheFromDatabase()
{
QString dir = getWorkingDirectory();