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DatabaseViewer: we can optimize graph from any node in database, so we can show different maps if they are not connected

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This commit is contained in:
Mathieu Labbe
2015-02-27 16:55:47 -05:00
parent 7b08a56cb1
commit 8625ebaf5c
2 changed files with 15 additions and 12 deletions
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18
guilib/src/DatabaseViewer.cpp
View File

@@ -148,7 +148,7 @@ DatabaseViewer::DatabaseViewer(QWidget * parent) :
connect(ui_->horizontalSlider_iterations, SIGNAL(valueChanged(int)), this, SLOT(sliderIterationsValueChanged(int)));
connect(ui_->horizontalSlider_iterations, SIGNAL(sliderMoved(int)), this, SLOT(sliderIterationsValueChanged(int)));
connect(ui_->spinBox_iterations, SIGNAL(editingFinished()), this, SLOT(updateGraphView()));
connect(ui_->spinBox_optimizationsFrom, SIGNAL(editingFinished()), this, SLOT(updateGraphView()));
connect(ui_->spinBox_optimizationsFrom, SIGNAL(valueChanged(int)), this, SLOT(updateGraphView()));
connect(ui_->checkBox_initGuess, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
connect(ui_->checkBox_ignoreCovariance, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
@@ -422,8 +422,7 @@ void DatabaseViewer::updateIds()
linksRemoved_.clear();
if(memory_->getLastWorkingSignature())
{
std::map<int, int> nids = memory_->getNeighborsId(memory_->getLastWorkingSignature()->id(), 0, -1, true);
memory_->getMetricConstraints(uKeys(nids), poses_, links_, true);
memory_->getMetricConstraints(std::vector<int>(ids.begin(), ids.end()), poses_, links_, true);
if(poses_.size())
{
@@ -449,7 +448,7 @@ void DatabaseViewer::updateIds()
links_.clear();
}
int first = nids.begin()->first;
int first = *ids.begin();
ui_->spinBox_optimizationsFrom->setRange(first, memory_->getLastWorkingSignature()->id());
ui_->spinBox_optimizationsFrom->setValue(first);
}
@@ -1465,7 +1464,7 @@ void DatabaseViewer::updateConstraintView(
ui_->label_type->setNum(link.type());
ui_->label_variance->setText(QString("%1, %2").arg(sqrt(link.rotVariance())).arg(sqrt(link.transVariance())));
ui_->label_constraint->setText(QString("%1").arg(t.prettyPrint().c_str()));
ui_->label_constraint->setText(QString("%1").arg(t.prettyPrint().c_str()).replace(" ", "\n"));
if(link.type() == Link::kNeighbor &&
graphes_.size() &&
(int)graphes_.size()-1 == ui_->horizontalSlider_iterations->maximum())
@@ -1484,7 +1483,7 @@ void DatabaseViewer::updateConstraintView(
Transform v2 = topt.rotation()*Transform(1,0,0,0,0,0);
float a = pcl::getAngle3D(Eigen::Vector4f(v1.x(), v1.y(), v1.z(), 0), Eigen::Vector4f(v2.x(), v2.y(), v2.z(), 0));
a = (a *180.0f) / CV_PI;
ui_->label_constraint_opt->setText(QString("%1 (error=%2% a=%3)").arg(topt.prettyPrint().c_str()).arg((diff/t.getNorm())*100.0f).arg(a));
ui_->label_constraint_opt->setText(QString("%1\n(error=%2% a=%3)").arg(QString(topt.prettyPrint().c_str()).replace(" ", "\n")).arg((diff/t.getNorm())*100.0f).arg(a));
if(ui_->checkBox_showOptimized->isChecked())
{
@@ -2299,6 +2298,13 @@ bool DatabaseViewer::addConstraint(int from, int to, bool silent, bool updateGra
t = tmpMemory.computeVisualTransform(to, from, &rejectedMsg, &inliers, &variance);
if(!silent)
{
ui_->graphicsView_A->setFeatures(tmpMemory.getSignature(to)->getWords());
ui_->graphicsView_B->setFeatures(tmpMemory.getSignature(from)->getWords());
updateWordsMatching();
}
}
else
{

9
guilib/src/ui/DatabaseViewer.ui
View File

@@ -44,7 +44,7 @@
<rect>
<x>0</x>
<y>0</y>
<width>128</width>
<width>144</width>
<height>127</height>
</rect>
</property>
@@ -199,7 +199,7 @@
<rect>
<x>0</x>
<y>0</y>
<width>127</width>
<width>143</width>
<height>127</height>
</rect>
</property>
@@ -378,9 +378,6 @@
<addaction name="actionVisual_Refine_all_loop_closure_links"/>
<addaction name="actionRefine_all_loop_closure_links"/>
<addaction name="separator"/>
<addaction name="actionClean_database"/>
<addaction name="actionClean_local_graph"/>
<addaction name="separator"/>
<addaction name="actionView_3D_map"/>
<addaction name="actionGenerate_3D_map_pcd"/>
</widget>
@@ -966,7 +963,7 @@
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.800000000000000</double>
<double>0.500000000000000</double>
</property>
</widget>
</item>