i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-03 01:50:24 +08:00
Code Issues Packages Projects Releases Wiki Activity

Increased version to 0.10.10. Database: added user_data field for links. DatabaseViewer: showing all scans of a local loop closure. Added parameters RGBD/PlanLinearVelocity and RGBD/PlanAngularVelocity. Updated how variance is set on links. MainWindow: added Send Waypoints action and goal can be either an ID or a label.

Browse Source
This commit is contained in:
matlabbe
2015-10-13 12:50:25 -04:00
parent aaf0eba7ba
commit 988e83cf1c
27 changed files with 1010 additions and 298 deletions
Download Patch File Download Diff File Expand all files Collapse all files

72
guilib/src/MainWindow.cpp
View File

@@ -136,6 +136,8 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_databaseUpdated(false),
_odomImageShow(true),
_odomImageDepthShow(false),
_savedMaximized(false),
_waypointsIndex(0),
_odometryCorrection(Transform::getIdentity()),
_processingOdometry(false),
_lastOdomInfoUpdateTime(0),
@@ -255,6 +257,8 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
qRegisterMetaType<rtabmap::RtabmapGlobalPathEvent>("rtabmap::RtabmapGlobalPathEvent");
connect(this, SIGNAL(rtabmapGlobalPathEventReceived(const rtabmap::RtabmapGlobalPathEvent &)), this, SLOT(processRtabmapGlobalPathEvent(const rtabmap::RtabmapGlobalPathEvent &)));
connect(this, SIGNAL(rtabmapLabelErrorReceived(int, const QString &)), this, SLOT(processRtabmapLabelErrorEvent(int, const QString &)));
connect(this, SIGNAL(rtabmapGoalStatusEventReceived(int)), this, SLOT(processRtabmapGoalStatusEvent(int)));
// Dock Widget view actions (Menu->Window)
_ui->menuShow_view->addAction(_ui->dockWidget_imageView->toggleViewAction());
_ui->menuShow_view->addAction(_ui->dockWidget_posterior->toggleViewAction());
@@ -291,6 +295,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
connect(_ui->actionDump_the_memory, SIGNAL(triggered()), this, SLOT(dumpTheMemory()));
connect(_ui->actionDump_the_prediction_matrix, SIGNAL(triggered()), this, SLOT(dumpThePrediction()));
connect(_ui->actionSend_goal, SIGNAL(triggered()), this, SLOT(sendGoal()));
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->actionClear_cache, SIGNAL(triggered()), this, SLOT(clearTheCache()));
@@ -662,6 +667,10 @@ void MainWindow::handleEvent(UEvent* anEvent)
RtabmapLabelErrorEvent * rtabmapLabelErrorEvent = (RtabmapLabelErrorEvent*)anEvent;
emit rtabmapLabelErrorReceived(rtabmapLabelErrorEvent->id(), QString(rtabmapLabelErrorEvent->label().c_str()));
}
else if(anEvent->getClassName().compare("RtabmapGoalStatusEvent") == 0)
{
emit rtabmapGoalStatusEventReceived(anEvent->getCode());
}
else if(anEvent->getClassName().compare("CameraEvent") == 0)
{
CameraEvent * cameraEvent = (CameraEvent*)anEvent;
@@ -2227,6 +2236,15 @@ void MainWindow::processRtabmapLabelErrorEvent(int id, const QString & label)
warn->show();
}
void MainWindow::processRtabmapGoalStatusEvent(int status)
{
_ui->widget_console->appendMsg(tr("Goal status received=%1").arg(status), ULogger::kInfo);
if(_waypoints.size())
{
this->postGoal(_waypoints.at(++_waypointsIndex % _waypoints.size()));
}
}
void MainWindow::applyPrefSettings(PreferencesDialog::PANEL_FLAGS flags)
{
ULOGGER_DEBUG("");
@@ -2944,7 +2962,8 @@ void MainWindow::startDetection()
_dbReader = new DBReader(_preferencesDialog->getSourceDatabasePath().toStdString(),
_preferencesDialog->getSourceDatabaseStampsUsed()?-1:_preferencesDialog->getGeneralInputRate(),
_preferencesDialog->getSourceDatabaseOdometryIgnored(),
_preferencesDialog->getSourceDatabaseGoalDelayIgnored());
_preferencesDialog->getSourceDatabaseGoalDelayIgnored(),
_preferencesDialog->getSourceDatabaseGoalsIgnored());
//Create odometry thread if rgdb slam
if(uStr2Bool(parameters.at(Parameters::kRGBDEnabled()).c_str()) &&
@@ -3902,18 +3921,61 @@ void MainWindow::sendGoal()
{
UINFO("Sending a goal...");
bool ok = false;
int id = QInputDialog::getInt(this, tr("Send a goal"), tr("Goal location ID: "), 1, 1, 99999, 1, &ok);
if(ok)
QString text = QInputDialog::getText(this, tr("Send a goal"), tr("Goal location ID or label: "), QLineEdit::Normal, "", &ok);
if(ok && !text.isEmpty())
{
_waypoints.clear();
_waypointsIndex = 0;
this->postGoal(text);
}
}
void MainWindow::sendWaypoints()
{
UINFO("Sending waypoints...");
bool ok = false;
QString text = QInputDialog::getText(this, tr("Send waypoints"), tr("Waypoint IDs or labels (separated by spaces): "), QLineEdit::Normal, "", &ok);
if(ok && !text.isEmpty())
{
QStringList wp = text.split(' ');
if(wp.size() < 2)
{
QMessageBox::warning(this, tr("Send waypoints"), tr("At least two waypoints should be set. For only one goal, use send goal action."));
}
else
{
_waypoints = wp;
_waypointsIndex = 0;
this->postGoal(_waypoints.at(_waypointsIndex));
}
}
}
void MainWindow::postGoal(const QString & goal)
{
if(!goal.isEmpty())
{
bool ok = false;
int id = goal.toInt(&ok);
_ui->graphicsView_graphView->setGlobalPath(std::vector<std::pair<int, Transform> >()); // clear
UINFO("Posting event with goal %d", id);
this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdGoal, id));
UINFO("Posting event with goal %s", goal.toStdString().c_str());
if(ok)
{
this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdGoal, id));
}
else
{
this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdGoal, goal.toStdString()));
}
}
}
void MainWindow::cancelGoal()
{
UINFO("Cancelling goal...");
_waypoints.clear();
_waypointsIndex = 0;
this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdCancelGoal));
}