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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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51
guilib/src/PreferencesDialog.cpp
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@@ -59,6 +59,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/gui/DataRecorder.h"
#include "rtabmap/gui/CloudViewer.h"
#include "rtabmap/gui/ImageView.h"
#include "GraphViewer.h"
#include "ExportCloudsDialog.h"
#include "PostProcessingDialog.h"
@@ -448,6 +449,9 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->globalDetection_toroIgnoreVariance->setObjectName(Parameters::kRGBDToroIgnoreVariance().c_str());
_ui->globalDetection_optimizeFromGraphEnd->setObjectName(Parameters::kRGBDOptimizeFromGraphEnd().c_str());
_ui->graphPlan_goalReachedRadius->setObjectName(Parameters::kRGBDGoalReachedRadius().c_str());
_ui->graphPlan_maxAnticipatedNodes->setObjectName(Parameters::kRGBDMaxAnticipatedNodes().c_str());
_ui->groupBox_localDetection_time->setObjectName(Parameters::kRGBDLocalLoopDetectionTime().c_str());
_ui->groupBox_localDetection_space->setObjectName(Parameters::kRGBDLocalLoopDetectionSpace().c_str());
_ui->localDetection_radius->setObjectName(Parameters::kRGBDLocalLoopDetectionRadius().c_str());
@@ -1629,17 +1633,14 @@ void PreferencesDialog::readSettingsEnd()
void PreferencesDialog::saveWindowGeometry(const QWidget * window)
{
if(!window->objectName().isNull())
if(!window->objectName().isNull() && !window->isMaximized())
{
if(!window->isMaximized())
{
QSettings settings(getIniFilePath(), QSettings::IniFormat);
settings.beginGroup("Gui");
settings.beginGroup(window->objectName());
settings.setValue("geometry", window->saveGeometry());
settings.endGroup(); // "windowName"
settings.endGroup(); // rtabmap
}
QSettings settings(getIniFilePath(), QSettings::IniFormat);
settings.beginGroup("Gui");
settings.beginGroup(window->objectName());
settings.setValue("geometry", window->saveGeometry());
settings.endGroup(); // "windowName"
settings.endGroup(); // rtabmap
}
}
@@ -1671,12 +1672,13 @@ void PreferencesDialog::saveMainWindowState(const QMainWindow * mainWindow)
settings.beginGroup("Gui");
settings.beginGroup(mainWindow->objectName());
settings.setValue("state", mainWindow->saveState());
settings.setValue("maximized", mainWindow->isMaximized());
settings.endGroup(); // "MainWindow"
settings.endGroup(); // rtabmap
}
}
void PreferencesDialog::loadMainWindowState(QMainWindow * mainWindow)
void PreferencesDialog::loadMainWindowState(QMainWindow * mainWindow, bool & maximized)
{
if(!mainWindow->objectName().isNull())
{
@@ -1691,6 +1693,7 @@ void PreferencesDialog::loadMainWindowState(QMainWindow * mainWindow)
{
mainWindow->restoreState(bytes);
}
maximized = settings.value("maximized", false).toBool();
settings.endGroup(); // "MainWindow"
settings.endGroup(); // rtabmap
}
@@ -1708,6 +1711,7 @@ void PreferencesDialog::saveWidgetState(const QWidget * widget)
const ImageView * imageView = qobject_cast<const ImageView*>(widget);
const ExportCloudsDialog * exportCloudsDialog = qobject_cast<const ExportCloudsDialog*>(widget);
const PostProcessingDialog * postProcessingDialog = qobject_cast<const PostProcessingDialog *>(widget);
const GraphViewer * graphViewer = qobject_cast<const GraphViewer *>(widget);
if(cloudViewer)
{
@@ -1781,6 +1785,18 @@ void PreferencesDialog::saveWidgetState(const QWidget * widget)
settings.setValue("refine_neigbors", postProcessingDialog->isRefineNeighborLinks());
settings.setValue("refine_lc", postProcessingDialog->isRefineLoopClosureLinks());
}
else if(graphViewer)
{
settings.setValue("node_radius", graphViewer->getNodeRadius());
settings.setValue("link_width", graphViewer->getLinkWidth());
settings.setValue("node_color", graphViewer->getNodeColor());
settings.setValue("neighbor_color", graphViewer->getNeighborColor());
settings.setValue("global_color", graphViewer->getGlobalLoopClosureColor());
settings.setValue("local_color", graphViewer->getLocalLoopClosureColor());
settings.setValue("user_color", graphViewer->getUserLoopClosureColor());
settings.setValue("virtual_color", graphViewer->getVirtualLoopClosureColor());
settings.setValue("grid_visible", graphViewer->isGridMapVisible());
}
else
{
UERROR("Widget \"%s\" cannot be exported in config file.", widget->objectName().toStdString().c_str());
@@ -1804,6 +1820,7 @@ void PreferencesDialog::loadWidgetState(QWidget * widget)
ImageView * imageView = qobject_cast<ImageView*>(widget);
ExportCloudsDialog * exportCloudsDialog = qobject_cast<ExportCloudsDialog*>(widget);
PostProcessingDialog * postProcessingDialog = qobject_cast<PostProcessingDialog *>(widget);
GraphViewer * graphViewer = qobject_cast<GraphViewer *>(widget);
if(cloudViewer)
{
@@ -1865,6 +1882,18 @@ void PreferencesDialog::loadWidgetState(QWidget * widget)
postProcessingDialog->setRefineNeighborLinks(settings.value("refine_neigbors", postProcessingDialog->isRefineNeighborLinks()).toBool());
postProcessingDialog->setRefineLoopClosureLinks(settings.value("refine_lc", postProcessingDialog->isRefineLoopClosureLinks()).toBool());
}
else if(graphViewer)
{
graphViewer->setNodeRadius(settings.value("node_radius", graphViewer->getNodeRadius()).toDouble());
graphViewer->setLinkWidth(settings.value("link_width", graphViewer->getLinkWidth()).toDouble());
graphViewer->setNodeColor(settings.value("node_color", graphViewer->getNodeColor()).value<QColor>());
graphViewer->setNeighborColor(settings.value("neighbor_color", graphViewer->getNeighborColor()).value<QColor>());
graphViewer->setGlobalLoopClosureColor(settings.value("global_color", graphViewer->getGlobalLoopClosureColor()).value<QColor>());
graphViewer->setLocalLoopClosureColor(settings.value("local_color", graphViewer->getLocalLoopClosureColor()).value<QColor>());
graphViewer->setUserLoopClosureColor(settings.value("user_color", graphViewer->getUserLoopClosureColor()).value<QColor>());
graphViewer->setVirtualLoopClosureColor(settings.value("virtual_color", graphViewer->getVirtualLoopClosureColor()).value<QColor>());
graphViewer->setGridMapVisible(settings.value("grid_visible", graphViewer->isGridMapVisible()).toBool());
}
else
{
UERROR("Widget \"%s\" cannot be loaded from config file.", widget->objectName().toStdString().c_str());