DBViewer: updated refine constraints menu action with more options, DBDriver: added updateCalibration for convenience

guilib/src/CMakeLists.txt

@@ -36,6 +36,7 @@ SET(headers_ui
 	../include/${PROJECT_PREFIX}/gui/EditMapArea.h
 	../include/${PROJECT_PREFIX}/gui/MultiSessionLocWidget.h
 	../include/${PROJECT_PREFIX}/gui/MultiSessionLocSubView.h
+	../include/${PROJECT_PREFIX}/gui/LinkRefiningDialog.h
 )
 
 SET(qrc 
@@ -81,6 +82,7 @@ SET(SRC_FILES
 	./CreateSimpleCalibrationDialog.cpp
 	./ParametersToolBox.cpp
 	./DepthCalibrationDialog.cpp
+	./LinkRefiningDialog.cpp
 	./3rdParty/QMultiComboBox.cpp
 	./opencv/vtkImageMatSource.cpp
 	${qrc}

guilib/src/DatabaseViewer.cpp

@@ -83,6 +83,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/core/VisualWord.h"
 #include "rtabmap/gui/ExportDialog.h"
 #include "rtabmap/gui/EditConstraintDialog.h"
+#include "rtabmap/gui/LinkRefiningDialog.h"
 #include "rtabmap/gui/ProgressDialog.h"
 #include "rtabmap/gui/ParametersToolBox.h"
 #include "rtabmap/gui/RecoveryState.h"
@@ -112,6 +113,7 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
 	exportDialog_(new ExportCloudsDialog(this)),
 	editDepthDialog_(new QDialog(this)),
 	editMapDialog_(new QDialog(this)),
+	linkRefiningDialog_(new LinkRefiningDialog(this)),
 	savedMaximized_(false),
 	firstCall_(true),
 	iniFilePath_(ini),
@@ -308,8 +310,7 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
 	connect(ui_->actionUpdate_all_neighbor_covariances, SIGNAL(triggered()), this, SLOT(updateAllNeighborCovariances()));
 	connect(ui_->actionUpdate_all_loop_closure_covariances, SIGNAL(triggered()), this, SLOT(updateAllLoopClosureCovariances()));
 	connect(ui_->actionUpdate_all_landmark_covariances, SIGNAL(triggered()), this, SLOT(updateAllLandmarkCovariances()));
-	connect(ui_->actionRefine_all_neighbor_links, SIGNAL(triggered()), this, SLOT(refineAllNeighborLinks()));
-	connect(ui_->actionRefine_all_loop_closure_links, SIGNAL(triggered()), this, SLOT(refineAllLoopClosureLinks()));
+	connect(ui_->actionRefine_links, SIGNAL(triggered()), this, SLOT(refineLinks()));
 	connect(ui_->actionRegenerate_local_grid_maps, SIGNAL(triggered()), this, SLOT(regenerateLocalMaps()));
 	connect(ui_->actionRegenerate_local_grid_maps_selected, SIGNAL(triggered()), this, SLOT(regenerateCurrentLocalMaps()));
 	connect(ui_->actionReset_all_changes, SIGNAL(triggered()), this, SLOT(resetAllChanges()));
@@ -1163,6 +1164,10 @@ bool DatabaseViewer::closeDatabase()
 		stereoViewer_->refreshView();
 
 		ui_->toolBox_statistics->clear();
+
+		// This will re-init the dialog
+		delete linkRefiningDialog_;
+		linkRefiningDialog_ = new LinkRefiningDialog(this);
 	}
 
 	ui_->actionClose_database->setEnabled(dbDriver_ != 0);
@@ -4282,7 +4287,7 @@ void DatabaseViewer::detectMoreLoopClosures()
 
 void DatabaseViewer::updateAllNeighborCovariances()
 {
-	updateAllCovariances(neighborLinks_);
+	updateCovariances(neighborLinks_);
 }
 void DatabaseViewer::updateAllLoopClosureCovariances()
 {
@@ -4294,7 +4299,7 @@ void DatabaseViewer::updateAllLoopClosureCovariances()
 			links.push_back(loopLinks_.at(i));
 		}
 	}
-	updateAllCovariances(links);
+	updateCovariances(links);
 }
 void DatabaseViewer::updateAllLandmarkCovariances()
 {
@@ -4306,10 +4311,10 @@ void DatabaseViewer::updateAllLandmarkCovariances()
 			links.push_back(loopLinks_.at(i));
 		}
 	}
-	updateAllCovariances(links);
+	updateCovariances(links);
 }
 
-void DatabaseViewer::updateAllCovariances(const QList<Link> & links)
+void DatabaseViewer::updateCovariances(const QList<Link> & links)
 {
 	if(links.size())
 	{
@@ -4397,15 +4402,79 @@ void DatabaseViewer::updateAllCovariances(const QList<Link> & links)
 	}
 }
 
-void DatabaseViewer::refineAllNeighborLinks()
+void DatabaseViewer::refineLinks()
 {
-	refineAllLinks(neighborLinks_);
+	int minNodeId = 0;
+	int maxNodeId = 0;
+	int minMapId = 0;
+	int maxMapId = 0;
+	std::multimap<int, Link> allLinks = updateLinksWithModifications(links_);
+	for(std::multimap<int, Link>::iterator iter=allLinks.begin(); iter!=allLinks.end(); ++iter)
+	{
+		int minId = iter->second.from()>iter->second.to()?iter->second.to():iter->second.from();
+		int maxId = iter->second.from()<iter->second.to()?iter->second.to():iter->second.from();
+		if(minNodeId == 0 || minNodeId > minId)
+		{
+			minNodeId = minId;
+		}
+		if(maxNodeId == 0 || maxNodeId < maxId)
+		{
+			maxNodeId = maxId;
+		}
+	}
+	if(minNodeId > 0)
+	{
+		minMapId = uValue(mapIds_, minNodeId, 0);
+		maxMapId = uValue(mapIds_, maxNodeId, minMapId);
+
+		linkRefiningDialog_->setMinMax(
+			minNodeId,
+			maxNodeId,
+			minMapId,
+			maxMapId);
+
+		if(linkRefiningDialog_->exec() == QDialog::Accepted)
+		{
+			QList<Link> links;
+			Link::Type type = linkRefiningDialog_->getLinkType();
+			linkRefiningDialog_->getRangeNodeId(minNodeId, maxNodeId);
+			linkRefiningDialog_->getRangeNodeId(minMapId, maxMapId);
+			bool intra, inter;
+			linkRefiningDialog_->getIntraInterSessions(intra, inter);
+			for(std::multimap<int, Link>::iterator iter=allLinks.begin(); iter!=allLinks.end(); ++iter)
+			{
+				if(type==Link::kEnd || type == iter->second.type())
+				{
+					int from = iter->second.from();
+					int to = iter->second.to();
+					int mapFrom = uValue(mapIds_, from, 0);
+					int mapTo = uValue(mapIds_, to, 0);
+					if(((linkRefiningDialog_->isRangeByNodeId() && 
+						((from >= minNodeId && from <= maxNodeId) ||
+							(to >= minNodeId && to <= maxNodeId))) ||
+						(linkRefiningDialog_->isRangeByMapId() && 
+						((mapFrom >= minMapId && mapFrom <= maxMapId) ||
+							(mapTo >= minMapId && mapTo <= maxMapId)))) &&
+					   ((intra && mapTo == mapFrom) ||
+					    (inter && mapTo != mapFrom)))
+					{
+						links.push_back(iter->second);
+					}
+				}
+			}
+			if(links.isEmpty())
+			{
+				QMessageBox::warning(this, tr("Refine links"), tr("No links found matching the requested parameters."));
+				return;
+			}
+			else
+			{
+				refineLinks(links);
+			}
+		}
+	}
 }
-void DatabaseViewer::refineAllLoopClosureLinks()
-{
-	refineAllLinks(loopLinks_);
-}
-void DatabaseViewer::refineAllLinks(const QList<Link> & links)
+void DatabaseViewer::refineLinks(const QList<Link> & links)
 {
 	if(links.size())
 	{

guilib/src/LinkRefiningDialog.cpp

@@ -0,0 +1,156 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#include "rtabmap/gui/LinkRefiningDialog.h"
+#include "ui_linkRefiningDialog.h"
+
+#include <QPushButton>
+
+namespace rtabmap {
+
+LinkRefiningDialog::LinkRefiningDialog(QWidget * parent) :
+	QDialog(parent),
+	defaultNodeIdMin_(0),
+	defaultNodeIdMax_(0),
+	defaultMapIdMin_(0),
+	defaultMapIdMax_(0)
+{
+	ui_ = new Ui_linkRefiningDialog();
+	ui_->setupUi(this);
+
+	ui_->comboBox_link_type->addItem("All");
+	for(int i =0; i<Link::kPosePrior; ++i)
+	{
+		ui_->comboBox_link_type->addItem(Link::typeName((Link::Type)i).c_str());
+		if(((Link::Type)i) == Link::kVirtualClosure)
+		{
+			ui_->comboBox_link_type->setItemData(i+1, 0, Qt::UserRole - 1);
+		}
+	}
+
+	restoreDefaults();
+
+	connect(ui_->buttonBox->button(QDialogButtonBox::RestoreDefaults), SIGNAL(clicked()), this, SLOT(restoreDefaults()));
+	connect(ui_->comboBox_link_type, SIGNAL(currentIndexChanged(int)), this, SLOT(updateIntraInterState()));
+	connect(ui_->spinBox_node_from, SIGNAL(valueChanged(int)), this, SLOT(setRangeToNodeId()));
+	connect(ui_->spinBox_node_to, SIGNAL(valueChanged(int)), this, SLOT(setRangeToNodeId()));
+	connect(ui_->spinBox_map_from, SIGNAL(valueChanged(int)), this, SLOT(setRangeToMapId()));
+	connect(ui_->spinBox_map_to, SIGNAL(valueChanged(int)), this, SLOT(setRangeToMapId()));
+}
+
+LinkRefiningDialog::~LinkRefiningDialog()
+{
+	delete ui_;
+}
+
+void LinkRefiningDialog::setMinMax(
+		int nodeIdMin,
+		int nodeIdMax,
+		int mapIdMin,
+		int mapIdMax)
+{
+	bool reset = defaultNodeIdMin_ == 0;
+	defaultNodeIdMin_ = nodeIdMin;
+	defaultNodeIdMax_ = nodeIdMax;
+	defaultMapIdMin_ = mapIdMin;
+	defaultMapIdMax_ = mapIdMax;
+	ui_->spinBox_node_from->setMinimum(defaultNodeIdMin_);
+	ui_->spinBox_node_to->setMaximum(defaultNodeIdMax_);
+	ui_->spinBox_map_from->setMinimum(defaultMapIdMin_);
+	ui_->spinBox_map_to->setMaximum(defaultMapIdMax_);
+	if(reset)
+	{
+		restoreDefaults();
+	}
+}
+
+Link::Type LinkRefiningDialog::getLinkType() const
+{
+	if(ui_->comboBox_link_type->currentIndex() == 0)
+	{
+		return Link::kEnd;
+	}
+	return (Link::Type)(ui_->comboBox_link_type->currentIndex()-1);
+}
+
+void LinkRefiningDialog::getIntraInterSessions(bool & intra, bool & inter) const
+{
+	intra = ui_->comboBox_link_inter_intra->currentIndex() == 0 || ui_->comboBox_link_inter_intra->currentIndex() == 1 || getLinkType() == Link::kNeighbor;
+	inter = ui_->comboBox_link_inter_intra->currentIndex() == 0 || ui_->comboBox_link_inter_intra->currentIndex() == 2;
+}
+
+bool LinkRefiningDialog::isRangeByNodeId() const
+{
+	return ui_->radioButton_nodes->isChecked();
+}
+
+bool LinkRefiningDialog::isRangeByMapId() const
+{
+	return ui_->radioButton_maps->isChecked();
+}
+
+void LinkRefiningDialog::getRangeNodeId(int & from, int & to) const
+{
+	from = ui_->spinBox_node_from->value();
+	to = ui_->spinBox_node_to->value();
+}
+
+void LinkRefiningDialog::getRangeMapId(int & from, int & to) const
+{
+	from = ui_->spinBox_map_from->value();
+	to = ui_->spinBox_map_to->value();
+}
+
+void LinkRefiningDialog::restoreDefaults()
+{
+	ui_->comboBox_link_type->setCurrentIndex(0);
+	ui_->comboBox_link_inter_intra->setCurrentIndex(0);
+	ui_->spinBox_node_from->setValue(defaultNodeIdMin_);
+	ui_->spinBox_node_to->setValue(defaultNodeIdMax_);
+	ui_->spinBox_map_from->setValue(defaultMapIdMin_);
+	ui_->spinBox_map_to->setValue(defaultMapIdMax_);
+
+	ui_->radioButton_nodes->setChecked(true);
+}
+
+void LinkRefiningDialog::updateIntraInterState()
+{
+	ui_->comboBox_link_inter_intra->setEnabled(getLinkType() != Link::kNeighbor);
+}
+
+void LinkRefiningDialog::setRangeToNodeId()
+{
+	ui_->radioButton_nodes->setChecked(true);
+}
+
+void LinkRefiningDialog::setRangeToMapId()
+{
+	ui_->radioButton_maps->setChecked(true);
+}
+
+
+}

guilib/src/ui/DatabaseViewer.ui

@@ -843,8 +843,7 @@
     <addaction name="actionGenerate_local_graph_dot"/>
     <addaction name="separator"/>
     <addaction name="actionDetect_more_loop_closures"/>
-    <addaction name="actionRefine_all_neighbor_links"/>
-    <addaction name="actionRefine_all_loop_closure_links"/>
+    <addaction name="actionRefine_links"/>
     <addaction name="actionUpdate_all_neighbor_covariances"/>
     <addaction name="actionUpdate_all_loop_closure_covariances"/>
     <addaction name="actionUpdate_all_landmark_covariances"/>
@@ -3130,20 +3129,12 @@
     <string>View 3D map...</string>
    </property>
   </action>
-  <action name="actionRefine_all_neighbor_links">
+  <action name="actionRefine_links">
    <property name="text">
-    <string>Refine all neighbor links...</string>
+    <string>Refine links...</string>
    </property>
    <property name="toolTip">
-    <string>Refine all neighbor links with the registration strategy set in &quot;Core Parameters&quot;-&gt;&quot;Reg&quot;</string>
-   </property>
-  </action>
-  <action name="actionRefine_all_loop_closure_links">
-   <property name="text">
-    <string>Refine all loop closure links...</string>
-   </property>
-   <property name="toolTip">
-    <string>Refine all loop closure links with the registration strategy set in &quot;Core Parameters&quot;-&gt;&quot;Reg&quot;</string>
+    <string>Refine selected links with the registration strategy set in &quot;Core Parameters&quot;-&gt;&quot;Reg&quot;, &quot;Vis&quot; and/or &quot;Icp&quot;</string>
    </property>
   </action>
   <action name="actionDetect_more_loop_closures">

guilib/src/ui/linkRefiningDialog.ui

@@ -0,0 +1,191 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>linkRefiningDialog</class>
+ <widget class="QDialog" name="linkRefiningDialog">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>333</width>
+    <height>286</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Link Refining</string>
+  </property>
+  <layout class="QVBoxLayout" name="verticalLayout_2">
+   <item>
+    <widget class="QGroupBox" name="groupBox">
+     <property name="title">
+      <string>Link Type</string>
+     </property>
+     <layout class="QVBoxLayout" name="verticalLayout">
+      <item>
+       <widget class="QComboBox" name="comboBox_link_type"/>
+      </item>
+      <item>
+       <widget class="QComboBox" name="comboBox_link_inter_intra">
+        <item>
+         <property name="text">
+          <string>Inter and Intra Sessions</string>
+         </property>
+        </item>
+        <item>
+         <property name="text">
+          <string>Intra-only</string>
+         </property>
+        </item>
+        <item>
+         <property name="text">
+          <string>Inter-only</string>
+         </property>
+        </item>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
+   <item>
+    <widget class="QGroupBox" name="groupBox_2">
+     <property name="title">
+      <string>Range</string>
+     </property>
+     <layout class="QGridLayout" name="gridLayout">
+      <item row="0" column="1">
+       <widget class="QLabel" name="label_3">
+        <property name="text">
+         <string>From</string>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="2">
+       <widget class="QLabel" name="label_2">
+        <property name="text">
+         <string>To</string>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="0">
+       <widget class="QRadioButton" name="radioButton_nodes">
+        <property name="text">
+         <string>Nodes:</string>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="1">
+       <widget class="QSpinBox" name="spinBox_node_from">
+        <property name="minimum">
+         <number>1</number>
+        </property>
+        <property name="maximum">
+         <number>999999</number>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="2">
+       <widget class="QSpinBox" name="spinBox_node_to">
+        <property name="minimum">
+         <number>1</number>
+        </property>
+        <property name="maximum">
+         <number>999999</number>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="0">
+       <widget class="QRadioButton" name="radioButton_maps">
+        <property name="text">
+         <string>Maps:</string>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="1">
+       <widget class="QSpinBox" name="spinBox_map_from">
+        <property name="minimum">
+         <number>0</number>
+        </property>
+        <property name="maximum">
+         <number>999999</number>
+        </property>
+        <property name="value">
+         <number>0</number>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="2">
+       <widget class="QSpinBox" name="spinBox_map_to">
+        <property name="minimum">
+         <number>0</number>
+        </property>
+        <property name="maximum">
+         <number>999999</number>
+        </property>
+        <property name="value">
+         <number>0</number>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
+   <item>
+    <spacer name="verticalSpacer">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>20</width>
+       <height>40</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item>
+    <widget class="QDialogButtonBox" name="buttonBox">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="standardButtons">
+      <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok|QDialogButtonBox::RestoreDefaults</set>
+     </property>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections>
+  <connection>
+   <sender>buttonBox</sender>
+   <signal>accepted()</signal>
+   <receiver>linkRefiningDialog</receiver>
+   <slot>accept()</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>248</x>
+     <y>254</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>157</x>
+     <y>274</y>
+    </hint>
+   </hints>
+  </connection>
+  <connection>
+   <sender>buttonBox</sender>
+   <signal>rejected()</signal>
+   <receiver>linkRefiningDialog</receiver>
+   <slot>reject()</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>316</x>
+     <y>260</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>286</x>
+     <y>274</y>
+    </hint>
+   </hints>
+  </connection>
+ </connections>
+</ui>