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Parameters: added Mem/StereoFromMotion (default false) and RGBD/ProximityOdomGuess (default false). Visual proximity detection is done before computing the loop closure transform (the later is ignored if visual proximity succeeded with a node close to loop closure, add Loop/Suppressed_hypothesis_id statistics to know when this happens). Changed Loop/Map_correction to Loop/Odom_correction (to better see the actual jumps of localization about /base_link frame, not /odom frame). util3d::generateWords3DMono() is now using openCV's implementation of five-point algorithm (this fixed some cases for which the older approach couldn't find any solution). UPlot: added scrolling area on the legend, added global legend option to show all curve statistics (mean, stddev,max). MainWindow's open dialog: reopen last directory when reopening a different database. ParametersToolBox: show default parameter value in tooltip. rtabmap-report: add --start option. rtabmap-reprocess: show details about proximity and loop detections, reset all localization statistics after changing database.

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This commit is contained in:
matlabbe
2020-05-19 15:01:50 -04:00
parent 55509c6c27
commit c7b84c60bc
31 changed files with 1889 additions and 1335 deletions
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97
guilib/src/utilite/UPlot.cpp
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@@ -36,6 +36,7 @@
#include <QToolButton>
#include <QLabel>
#include <QMenu>
#include <QStyle>
#include <QInputDialog>
#include <QMessageBox>
#include <QFileDialog>
@@ -1453,18 +1454,7 @@ void UPlotLegendItem::contextMenuEvent(QContextMenuEvent * event)
}
else if(action == _aShowStdDevMeanMax)
{
if(_aShowStdDevMeanMax->isChecked())
{
connect(_curve, SIGNAL(dataChanged(const UPlotCurve *)), this, SLOT(updateStdDevMeanMax()));
updateStdDevMeanMax();
}
else
{
disconnect(_curve, SIGNAL(dataChanged(const UPlotCurve *)), this, SLOT(updateStdDevMeanMax()));
QString nameSpaced = _curve->name();
nameSpaced.replace('_', ' ');
this->setText(nameSpaced);
}
showStdDevMeanMax(_aShowStdDevMeanMax->isChecked());
}
else if(action == _aRemoveCurve)
{
@@ -1480,6 +1470,23 @@ void UPlotLegendItem::contextMenuEvent(QContextMenuEvent * event)
}
}
void UPlotLegendItem::showStdDevMeanMax(bool shown)
{
_aShowStdDevMeanMax->setChecked(shown);
if(shown)
{
connect(_curve, SIGNAL(dataChanged(const UPlotCurve *)), this, SLOT(updateStdDevMeanMax()));
updateStdDevMeanMax();
}
else
{
disconnect(_curve, SIGNAL(dataChanged(const UPlotCurve *)), this, SLOT(updateStdDevMeanMax()));
QString nameSpaced = _curve->name();
nameSpaced.replace('_', ' ');
this->setText(nameSpaced);
}
}
QPixmap UPlotLegendItem::createSymbol(const QPen & pen, const QBrush & brush)
{
QPixmap pixmap(50, 50);
@@ -1501,7 +1508,7 @@ void UPlotLegendItem::updateStdDevMeanMax()
float max = uMax(y.data(), y.size());
QString nameSpaced = _curve->name();
nameSpaced.replace('_', ' ');
nameSpaced += QString("\n(%1=%2, %3=%4, max=%5)").arg(QChar(0xbc, 0x03)).arg(mean).arg(QChar(0xc3, 0x03)).arg(stdDev).arg(max);
nameSpaced += QString("\n(%1=%2, %3=%4, max=%5, n=%6)").arg(QChar(0xbc, 0x03)).arg(QString::number(mean, 'f', 3)).arg(QChar(0xc3, 0x03)).arg(QString::number(stdDev, 'f', 3)).arg(QString::number(max, 'f', 3)).arg(y.size());
this->setText(nameSpaced);
}
@@ -1519,15 +1526,30 @@ UPlotLegend::UPlotLegend(QWidget * parent) :
_aUseFlatButtons->setCheckable(true);
_aUseFlatButtons->setChecked(_flat);
_aCopyAllCurvesToClipboard = new QAction(tr("Copy all curve data to clipboard"), this);
_aShowAllStdDevMeanMax = new QAction(tr("Show all %1, %2, max").arg(QChar(0xbc, 0x03)).arg(QChar(0xc3, 0x03)), this);
_aShowAllStdDevMeanMax->setCheckable(true);
_aShowAllStdDevMeanMax->setChecked(false);
_menu = new QMenu(tr("Legend"), this);
_menu->addAction(_aUseFlatButtons);
_menu->addAction(_aShowAllStdDevMeanMax);
_menu->addAction(_aCopyAllCurvesToClipboard);
QVBoxLayout * vLayout = new QVBoxLayout(this);
vLayout->setContentsMargins(0,0,0,0);
this->setLayout(vLayout);
vLayout->addStretch(0);
vLayout->setSpacing(0);
_scrollArea = new QScrollArea(this);
_scrollArea->setWidgetResizable( true );
_scrollArea->setFrameShape(QFrame::NoFrame);
this->setLayout(new QVBoxLayout());
this->layout()->setContentsMargins(0,0,0,0);
this->layout()->addWidget(_scrollArea);
QWidget * _scrollAreaWidgetContent = new QWidget();
_scrollArea->setWidget( _scrollAreaWidgetContent );
_contentLayout = new QVBoxLayout();
_scrollAreaWidgetContent->setLayout(_contentLayout);
_contentLayout->setContentsMargins(0,0,0,0);
((QVBoxLayout*)_contentLayout)->addStretch(0);
_contentLayout->setSpacing(0);
}
UPlotLegend::~UPlotLegend()
@@ -1573,7 +1595,9 @@ void UPlotLegend::addItem(UPlotCurve * curve)
hLayout->setMargin(0);
// add to the legend
((QVBoxLayout*)this->layout())->insertLayout(this->layout()->count()-1, hLayout);
((QVBoxLayout*)_contentLayout)->insertLayout(_contentLayout->count()-1, hLayout);
_scrollArea->setMinimumWidth(std::min(480, _scrollArea->widget()->sizeHint().width()+QApplication::style()->pixelMetric(QStyle::PM_ScrollBarExtent)));
}
}
@@ -1585,6 +1609,7 @@ bool UPlotLegend::remove(const UPlotCurve * curve)
if(items.at(i)->curve() == curve)
{
delete items.at(i);
_scrollArea->setMinimumWidth(std::min(480, _scrollArea->widget()->sizeHint().width()+QApplication::style()->pixelMetric(QStyle::PM_ScrollBarExtent)));
return true;
}
}
@@ -1603,24 +1628,24 @@ void UPlotLegend::moveUp(UPlotLegendItem * item)
{
int index = -1;
QLayoutItem * layoutItem = 0;
for(int i=0; i<this->layout()->count(); ++i)
for(int i=0; i<_contentLayout->count(); ++i)
{
if(this->layout()->itemAt(i)->layout() &&
this->layout()->itemAt(i)->layout()->indexOf(item) != -1)
if(_contentLayout->itemAt(i)->layout() &&
_contentLayout->itemAt(i)->layout()->indexOf(item) != -1)
{
layoutItem = this->layout()->itemAt(i);
layoutItem = _contentLayout->itemAt(i);
index = i;
break;
}
}
if(index > 0 && layoutItem)
{
this->layout()->removeItem(layoutItem);
_contentLayout->removeItem(layoutItem);
QHBoxLayout * hLayout = new QHBoxLayout();
hLayout->addWidget(layoutItem->layout()->itemAt(0)->widget());
hLayout->addStretch(0);
hLayout->setMargin(0);
((QVBoxLayout*)this->layout())->insertLayout(index-1, hLayout);
((QVBoxLayout*)_contentLayout)->insertLayout(index-1, hLayout);
delete layoutItem;
Q_EMIT legendItemMoved(item->curve(), index-1);
}
@@ -1630,24 +1655,24 @@ void UPlotLegend::moveDown(UPlotLegendItem * item)
{
int index = -1;
QLayoutItem * layoutItem = 0;
for(int i=0; i<this->layout()->count(); ++i)
for(int i=0; i<_contentLayout->count(); ++i)
{
if(this->layout()->itemAt(i)->layout() &&
this->layout()->itemAt(i)->layout()->indexOf(item) != -1)
if(_contentLayout->itemAt(i)->layout() &&
_contentLayout->itemAt(i)->layout()->indexOf(item) != -1)
{
layoutItem = this->layout()->itemAt(i);
layoutItem = _contentLayout->itemAt(i);
index = i;
break;
}
}
if(index < this->layout()->count()-2 && layoutItem)
if(index < _contentLayout->count()-2 && layoutItem)
{
this->layout()->removeItem(layoutItem);
_contentLayout->removeItem(layoutItem);
QHBoxLayout * hLayout = new QHBoxLayout();
hLayout->addWidget(layoutItem->layout()->itemAt(0)->widget());
hLayout->addStretch(0);
hLayout->setMargin(0);
((QVBoxLayout*)this->layout())->insertLayout(index+1, hLayout);
((QVBoxLayout*)_contentLayout)->insertLayout(index+1, hLayout);
delete layoutItem;
Q_EMIT legendItemMoved(item->curve(), index+1);
}
@@ -1739,6 +1764,14 @@ void UPlotLegend::contextMenuEvent(QContextMenuEvent * event)
}
}
}
else if(action == _aShowAllStdDevMeanMax)
{
QList<UPlotLegendItem *> items = this->findChildren<UPlotLegendItem*>();
for(int i=0; i<items.size(); ++i)
{
items.at(i)->showStdDevMeanMax(_aShowAllStdDevMeanMax->isChecked());
}
}
}
void UPlotLegend::redirectToggled(bool toggled)