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DatabaseViewer: added action refine links visually

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1961 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-11-03 19:14:02 +00:00
parent 61ce7c4274
commit 91a6799a40
3 changed files with 175 additions and 4 deletions
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148
guilib/src/DatabaseViewer.cpp
View File

@@ -99,13 +99,17 @@ DatabaseViewer::DatabaseViewer(QWidget * parent) :
connect(ui_->actionDetect_more_loop_closures, SIGNAL(triggered()), this, SLOT(detectMoreLoopClosures()));
connect(ui_->actionRefine_all_neighbor_links, SIGNAL(triggered()), this, SLOT(refineAllNeighborLinks()));
connect(ui_->actionRefine_all_loop_closure_links, SIGNAL(triggered()), this, SLOT(refineAllLoopClosureLinks()));
connect(ui_->actionVisual_Refine_all_neighbor_links, SIGNAL(triggered()), this, SLOT(refineVisuallyAllNeighborLinks()));
connect(ui_->actionVisual_Refine_all_loop_closure_links, SIGNAL(triggered()), this, SLOT(refineVisuallyAllLoopClosureLinks()));
//ICP buttons
connect(ui_->pushButton_refine, SIGNAL(clicked()), this, SLOT(refineConstraint()));
connect(ui_->pushButton_refineVisually, SIGNAL(clicked()), this, SLOT(refineConstraintVisually()));
connect(ui_->pushButton_add, SIGNAL(clicked()), this, SLOT(addConstraint()));
connect(ui_->pushButton_reset, SIGNAL(clicked()), this, SLOT(resetConstraint()));
connect(ui_->pushButton_reject, SIGNAL(clicked()), this, SLOT(rejectConstraint()));
ui_->pushButton_refine->setEnabled(false);
ui_->pushButton_refineVisually->setEnabled(false);
ui_->pushButton_add->setEnabled(false);
ui_->pushButton_reset->setEnabled(false);
ui_->pushButton_reject->setEnabled(false);
@@ -881,6 +885,52 @@ void DatabaseViewer::refineAllLoopClosureLinks()
}
}
void DatabaseViewer::refineVisuallyAllNeighborLinks()
{
if(neighborLinks_.size())
{
rtabmap::DetailedProgressDialog progressDialog(this);
progressDialog.setMaximumSteps(neighborLinks_.size());
progressDialog.show();
for(int i=0; i<neighborLinks_.size(); ++i)
{
int from = neighborLinks_[i].from();
int to = neighborLinks_[i].to();
this->refineConstraintVisually(neighborLinks_[i].from(), neighborLinks_[i].to());
progressDialog.appendText(tr("Refined link %1->%2 (%3/%4)").arg(from).arg(to).arg(i+1).arg(neighborLinks_.size()));
progressDialog.incrementStep();
QApplication::processEvents();
}
progressDialog.setValue(progressDialog.maximumSteps());
progressDialog.appendText("Refining links finished!");
}
}
void DatabaseViewer::refineVisuallyAllLoopClosureLinks()
{
if(loopLinks_.size())
{
rtabmap::DetailedProgressDialog progressDialog(this);
progressDialog.setMaximumSteps(loopLinks_.size());
progressDialog.show();
for(int i=0; i<loopLinks_.size(); ++i)
{
int from = loopLinks_[i].from();
int to = loopLinks_[i].to();
this->refineConstraintVisually(loopLinks_[i].from(), loopLinks_[i].to());
progressDialog.appendText(tr("Refined link %1->%2 (%3/%4)").arg(from).arg(to).arg(i+1).arg(loopLinks_.size()));
progressDialog.incrementStep();
QApplication::processEvents();
}
progressDialog.setValue(progressDialog.maximumSteps());
progressDialog.appendText("Refining links finished!");
}
}
void DatabaseViewer::sliderAValueChanged(int value)
{
this->update(value,
@@ -1322,6 +1372,7 @@ void DatabaseViewer::updateConstraintView(const rtabmap::Link & link,
void DatabaseViewer::updateConstraintButtons()
{
ui_->pushButton_refine->setEnabled(false);
ui_->pushButton_refineVisually->setEnabled(false);
ui_->pushButton_reset->setEnabled(false);
ui_->pushButton_add->setEnabled(false);
ui_->pushButton_reject->setEnabled(false);
@@ -1361,6 +1412,7 @@ void DatabaseViewer::updateConstraintButtons()
ui_->pushButton_reset->setEnabled(false);
}
ui_->pushButton_refine->setEnabled(true);
ui_->pushButton_refineVisually->setEnabled(true);
}
}
@@ -1692,6 +1744,102 @@ void DatabaseViewer::refineConstraint(int from, int to)
}
}
void DatabaseViewer::refineConstraintVisually()
{
int from = ids_.at(ui_->horizontalSlider_A->value());
int to = ids_.at(ui_->horizontalSlider_B->value());
refineConstraintVisually(from, to);
}
void DatabaseViewer::refineConstraintVisually(int from, int to)
{
if(from == to)
{
UWARN("Cannot refine link to same node");
return;
}
Link currentLink = findActiveLink(from, to);
if(!currentLink.isValid())
{
UERROR("Not found link! (%d->%d)", from, to);
return;
}
Transform t;
std::string rejectedMsg;
if(ui_->checkBox_visual_recomputeFeatures->isChecked())
{
// create a fake memory to regenerate features
ParametersMap parameters;
parameters.insert(ParametersPair(Parameters::kSURFHessianThreshold(), uNumber2Str(ui_->doubleSpinBox_visual_hessian->value())));
parameters.insert(ParametersPair(Parameters::kLccBowInlierDistance(), uNumber2Str(ui_->doubleSpinBox_visual_maxCorrespDistance->value())));
parameters.insert(ParametersPair(Parameters::kKpMaxDepth(), uNumber2Str(ui_->doubleSpinBox_visual_maxDepth->value())));
parameters.insert(ParametersPair(Parameters::kKpNndrRatio(), uNumber2Str(ui_->doubleSpinBox_visual_nndr->value())));
parameters.insert(ParametersPair(Parameters::kLccBowIterations(), uNumber2Str(ui_->spinBox_visual_iteration->value())));
parameters.insert(ParametersPair(Parameters::kLccBowMinInliers(), uNumber2Str(ui_->spinBox_visual_minCorrespondences->value())));
parameters.insert(ParametersPair(Parameters::kMemGenerateIds(), "false"));
parameters.insert(ParametersPair(Parameters::kMemRehearsalSimilarity(), "1.0"));
parameters.insert(ParametersPair(Parameters::kKpWordsPerImage(), "0"));
Memory tmpMemory(parameters);
// Add signatures
SensorData dataFrom = memory_->getSignatureData(from, true).toSensorData();
SensorData dataTo = memory_->getSignatureData(to, true).toSensorData();
if(from > to)
{
tmpMemory.update(dataTo);
tmpMemory.update(dataFrom);
}
else
{
tmpMemory.update(dataFrom);
tmpMemory.update(dataTo);
}
t = tmpMemory.computeVisualTransform(to, from, &rejectedMsg);
}
else
{
ParametersMap parameters;
parameters.insert(ParametersPair(Parameters::kLccBowInlierDistance(), uNumber2Str(ui_->doubleSpinBox_visual_maxCorrespDistance->value())));
parameters.insert(ParametersPair(Parameters::kLccBowMaxDepth(), uNumber2Str(ui_->doubleSpinBox_visual_maxDepth->value())));
parameters.insert(ParametersPair(Parameters::kLccBowIterations(), uNumber2Str(ui_->spinBox_visual_iteration->value())));
parameters.insert(ParametersPair(Parameters::kLccBowMinInliers(), uNumber2Str(ui_->spinBox_visual_minCorrespondences->value())));
memory_->parseParameters(parameters);
t = memory_->computeVisualTransform(to, from, &rejectedMsg);
}
if(!t.isNull())
{
Link newLink(currentLink.from(), currentLink.to(), t*currentLink.transform(), currentLink.type());
bool updated = false;
std::multimap<int, Link>::iterator iter = linksRefined_.find(currentLink.from());
while(iter != linksRefined_.end() && iter->first == currentLink.from())
{
if(iter->second.to() == currentLink.to() &&
iter->second.type() == currentLink.type())
{
iter->second = newLink;
updated = true;
break;
}
++iter;
}
if(!updated)
{
linksRefined_.insert(std::make_pair<int, Link>(newLink.from(), newLink));
}
if(ui_->dockWidget_constraints->isVisible())
{
this->updateConstraintView(newLink);
}
}
}
void DatabaseViewer::addConstraint()
{
int from = ids_.at(ui_->horizontalSlider_A->value());

27
guilib/src/ui/DatabaseViewer.ui
View File

@@ -6,7 +6,7 @@
<rect>
<x>0</x>
<y>0</y>
<width>1076</width>
<width>1187</width>
<height>711</height>
</rect>
</property>
@@ -259,7 +259,7 @@
<rect>
<x>0</x>
<y>0</y>
<width>1076</width>
<width>1187</width>
<height>25</height>
</rect>
</property>
@@ -283,7 +283,9 @@
<addaction name="actionGenerate_TORO_graph_graph"/>
<addaction name="separator"/>
<addaction name="actionDetect_more_loop_closures"/>
<addaction name="actionVisual_Refine_all_neighbor_links"/>
<addaction name="actionRefine_all_neighbor_links"/>
<addaction name="actionVisual_Refine_all_loop_closure_links"/>
<addaction name="actionRefine_all_loop_closure_links"/>
<addaction name="separator"/>
<addaction name="actionClean_database"/>
@@ -384,6 +386,13 @@
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_5">
<item>
<widget class="QPushButton" name="pushButton_refineVisually">
<property name="text">
<string>Refine (Visual)</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="pushButton_refine">
<property name="text">
@@ -1069,12 +1078,12 @@
</action>
<action name="actionRefine_all_neighbor_links">
<property name="text">
<string>Refine all neighbor links...</string>
<string>ICP: Refine all neighbor links...</string>
</property>
</action>
<action name="actionRefine_all_loop_closure_links">
<property name="text">
<string>Refine all loop closure links...</string>
<string>ICP: Refine all loop closure links...</string>
</property>
</action>
<action name="actionDetect_more_loop_closures">
@@ -1082,6 +1091,16 @@
<string>Detect more loop closures...</string>
</property>
</action>
<action name="actionVisual_Refine_all_neighbor_links">
<property name="text">
<string>Visual: Refine all neighbor links...</string>
</property>
</action>
<action name="actionVisual_Refine_all_loop_closure_links">
<property name="text">
<string>Visual: Refine all loop closure links...</string>
</property>
</action>
</widget>
<customwidgets>
<customwidget>