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DatabaseViewer: added graph depth param. Rtabmap: when the robot is not moving, now deleting location "after" retrieval

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This commit is contained in:
Mathieu Labbe
2015-03-16 18:22:54 -04:00
parent 49883a67e7
commit b1827aeb89
4 changed files with 102 additions and 24 deletions
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24
guilib/src/DatabaseViewer.cpp
View File

@@ -194,6 +194,8 @@ DatabaseViewer::DatabaseViewer(QWidget * parent) :
connect(ui_->checkBox_ignoreCovariance, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
connect(ui_->comboBox_graphOptimizer, SIGNAL(currentIndexChanged(int)), this, SLOT(updateGraphView()));
connect(ui_->checkBox_2dslam, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
connect(ui_->spinBox_optimizationDepth, SIGNAL(editingFinished()), this, SLOT(updateGraphView()));
connect(ui_->groupBox_gridFromProjection, SIGNAL(clicked(bool)), this, SLOT(updateGrid()));
connect(ui_->doubleSpinBox_gridCellSize, SIGNAL(editingFinished()), this, SLOT(updateGrid()));
@@ -210,6 +212,7 @@ DatabaseViewer::DatabaseViewer(QWidget * parent) :
connect(ui_->checkBox_ignoreCovariance, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->comboBox_graphOptimizer, SIGNAL(currentIndexChanged(int)), this, SLOT(configModified()));
connect(ui_->checkBox_2dslam, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->spinBox_optimizationDepth, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
connect(ui_->groupBox_gridFromProjection, SIGNAL(clicked(bool)), this, SLOT(configModified()));
connect(ui_->doubleSpinBox_gridCellSize, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
connect(ui_->spinBox_projDecimation, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
@@ -309,6 +312,7 @@ void DatabaseViewer::readSettings()
ui_->checkBox_ignoreCovariance->setChecked(settings.value("ignoreCovariance", ui_->checkBox_ignoreCovariance->isChecked()).toBool());
ui_->comboBox_graphOptimizer->setCurrentIndex(settings.value("strategy", ui_->comboBox_graphOptimizer->currentIndex()).toInt());
ui_->checkBox_2dslam->setChecked(settings.value("slam2d", ui_->checkBox_2dslam->isChecked()).toBool());
ui_->spinBox_optimizationDepth->setValue(settings.value("depth", ui_->spinBox_optimizationDepth->value()).toInt());
settings.endGroup();
settings.beginGroup("grid");
@@ -380,6 +384,7 @@ void DatabaseViewer::writeSettings()
settings.setValue("ignoreCovariance", ui_->checkBox_ignoreCovariance->isChecked());
settings.setValue("strategy", ui_->comboBox_graphOptimizer->currentIndex());
settings.setValue("slam2d", ui_->checkBox_2dslam->isChecked());
settings.setValue("depth", ui_->spinBox_optimizationDepth->value());
settings.endGroup();
// save Grid settings
@@ -947,7 +952,13 @@ void DatabaseViewer::view3DMap()
double maxDepth = QInputDialog::getDouble(this, tr("Camera depth?"), tr("Maximum depth (m, 0=no max):"), 4.0, 0, 10, 2, &ok);
if(ok)
{
const std::map<int, Transform> & optimizedPoses = uValueAt(graphes_, ui_->horizontalSlider_iterations->value());
std::map<int, Transform> optimizedPoses = uValueAt(graphes_, ui_->horizontalSlider_iterations->value());
if(ui_->groupBox_posefiltering->isChecked())
{
optimizedPoses = graph::radiusPosesFiltering(optimizedPoses,
ui_->doubleSpinBox_posefilteringRadius->value(),
ui_->doubleSpinBox_posefilteringAngle->value()*CV_PI/180.0);
}
if(optimizedPoses.size() > 0)
{
rtabmap::DetailedProgressDialog progressDialog(this);
@@ -1067,7 +1078,13 @@ void DatabaseViewer::generate3DMap()
QString path = QFileDialog::getExistingDirectory(this, tr("Save directory"), pathDatabase_);
if(!path.isEmpty())
{
const std::map<int, Transform> & optimizedPoses = uValueAt(graphes_, ui_->horizontalSlider_iterations->value());
std::map<int, Transform> optimizedPoses = uValueAt(graphes_, ui_->horizontalSlider_iterations->value());
if(ui_->groupBox_posefiltering->isChecked())
{
optimizedPoses = graph::radiusPosesFiltering(optimizedPoses,
ui_->doubleSpinBox_posefilteringRadius->value(),
ui_->doubleSpinBox_posefilteringAngle->value()*CV_PI/180.0);
}
if(optimizedPoses.size() > 0)
{
rtabmap::DetailedProgressDialog progressDialog;
@@ -2302,7 +2319,8 @@ void DatabaseViewer::updateGraphView()
poses_,
links,
posesOut,
linksOut);
linksOut,
ui_->spinBox_optimizationDepth->value());
QTime time;
time.start();

31
guilib/src/ui/DatabaseViewer.ui
View File

@@ -1186,7 +1186,7 @@
</property>
</widget>
</item>
<item row="3" column="1">
<item row="4" column="1">
<widget class="QLabel" name="label_41">
<property name="text">
<string>2d SLAM</string>
@@ -1200,14 +1200,14 @@
</property>
</widget>
</item>
<item row="2" column="1">
<item row="3" column="1">
<widget class="QLabel" name="label_34">
<property name="text">
<string>Ignore covariance</string>
</property>
</widget>
</item>
<item row="2" column="0">
<item row="3" column="0">
<widget class="QCheckBox" name="checkBox_ignoreCovariance">
<property name="text">
<string/>
@@ -1217,7 +1217,7 @@
</property>
</widget>
</item>
<item row="3" column="0">
<item row="4" column="0">
<widget class="QCheckBox" name="checkBox_2dslam">
<property name="text">
<string/>
@@ -1227,6 +1227,29 @@
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_8">
<property name="text">
<string>Depth (0=inf)</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QSpinBox" name="spinBox_optimizationDepth">
<property name="suffix">
<string/>
</property>
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>1000</number>
</property>
<property name="value">
<number>0</number>
</property>
</widget>
</item>
</layout>
</item>
<item>