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Integration of the path planner into rtabmap's memory management to actually retrieve nodes on the planned path on the graph.

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Added Rtabmap::clearPath(), Rtabmap::computePath(), Rtabmap::getPathGoalId() and Rtabmap::updateGoalIndex() methods.
Added virtual links when path retrieval is activated (virtual links are not saved to database and removed when the path goal is reached).
New parameters: RGBD/GoalReachedRadius and RGBD/MaxAnticipatedNodes
Refactored how loop closure hypotheses are selected (fixed ratio between consecutive hypotheses, not the last loop closure).
Updated getNodesInRadius() to use all filtered scans.
GUI: window can be saved/loaded maximized
GUI: saving Graph View parameters to config.ini
This commit is contained in:
Mathieu Labbe
2015-01-30 15:30:57 -05:00
parent 45a5da9f16
commit a2dde36093
21 changed files with 929 additions and 310 deletions
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8
guilib/src/MainWindow.cpp
View File

@@ -188,7 +188,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_preferencesDialog->init();
// Restore window geometry
_preferencesDialog->loadMainWindowState(this);
_preferencesDialog->loadMainWindowState(this, _savedMaximized);
_preferencesDialog->loadWindowGeometry(_preferencesDialog);
_preferencesDialog->loadWindowGeometry(_exportDialog);
_preferencesDialog->loadWindowGeometry(_postProcessingDialog);
@@ -212,6 +212,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_preferencesDialog->loadWidgetState(_ui->imageView_source);
_preferencesDialog->loadWidgetState(_ui->imageView_loopClosure);
_preferencesDialog->loadWidgetState(_ui->imageView_odometry);
_preferencesDialog->loadWidgetState(_ui->graphicsView_graphView);
_posteriorCurve = new PdfPlotCurve("Posterior", &_cachedSignatures, this);
_ui->posteriorPlot->addCurve(_posteriorCurve, false);
@@ -366,6 +367,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
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->graphicsView_graphView, 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()));
@@ -1369,7 +1371,7 @@ void MainWindow::updateMapCloud(
QColor color = Qt::gray;
if(iter->first >= 0)
{
color = (Qt::GlobalColor)(iter->first % 12 + 7 );
color = (Qt::GlobalColor)((iter->first+2) % 12 + 7 );
}
_ui->widget_cloudViewer->addOrUpdateGraph(uFormat("graph_%d", iter->first), iter->second, color);
}
@@ -2212,6 +2214,7 @@ void MainWindow::configGUIModified()
//ACTIONS
void MainWindow::saveConfigGUI()
{
_savedMaximized = this->isMaximized();
_preferencesDialog->saveMainWindowState(this);
_preferencesDialog->saveWindowGeometry(_preferencesDialog);
_preferencesDialog->saveWindowGeometry(_aboutDialog);
@@ -2221,6 +2224,7 @@ void MainWindow::saveConfigGUI()
_preferencesDialog->saveWidgetState(_ui->imageView_odometry);
_preferencesDialog->saveWidgetState(_exportDialog);
_preferencesDialog->saveWidgetState(_postProcessingDialog);
_preferencesDialog->saveWidgetState(_ui->graphicsView_graphView);
this->setWindowModified(false);
}