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Increased database version to 0.8.11 (new Depth.data2d_max_pts column). Updated how local loop closure detection in space is done. Update GraphViewer with local radius ellipse and current goal node color. MainWindow saving/loading figures automatically accordingly to the previous session saved.

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This commit is contained in:
Mathieu Labbe
2015-05-03 18:16:55 -04:00
parent abb7eb15ac
commit d7030e0e38
28 changed files with 927 additions and 366 deletions
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80
guilib/src/MainWindow.cpp
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@@ -369,9 +369,6 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_ui->actionStereoFlyCapture2->setEnabled(CameraStereoFlyCapture2::available());
this->updateSelectSourceMenu();
connect(_ui->actionSave_state, SIGNAL(triggered()), this, SLOT(saveFigures()));
connect(_ui->actionLoad_state, SIGNAL(triggered()), this, SLOT(loadFigures()));
connect(_ui->actionPreferences, SIGNAL(triggered()), this, SLOT(openPreferences()));
QActionGroup * modeGrp = new QActionGroup(this);
@@ -461,6 +458,8 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_ui->statsToolBox->updateStat(QString((*iter).first.c_str()).replace('_', ' '), 0, (*iter).second);
}
}
this->loadFigures();
connect(_ui->statsToolBox, SIGNAL(figuresSetupChanged()), this, SLOT(configGUIModified()));
// update loop closure viewer parameters
ParametersMap parameters = _preferencesDialog->getAllParameters();
@@ -1201,6 +1200,11 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
// clear the global path if set (goal reached)
_ui->graphicsView_graphView->setGlobalPath(std::vector<std::pair<int, Transform> >());
}
// update current goal id
if(stat.currentGoalId() > 0)
{
_ui->graphicsView_graphView->setCurrentGoalID(stat.currentGoalId());
}
UDEBUG("");
}
@@ -1986,7 +1990,7 @@ void MainWindow::processRtabmapGlobalPathEvent(const rtabmap::RtabmapGlobalPathE
_ui->graphicsView_graphView->setGlobalPath(event.getPoses());
_ui->statusbar->showMessage(
tr("Global path computed from %1 (%2 poses, %3 m)!").arg(event.getGoal()).arg(event.getPoses().size()).arg(graph::computePathLength(event.getPoses())),
5000);
10000);
}
}
@@ -2074,6 +2078,11 @@ void MainWindow::applyPrefSettings(PreferencesDialog::PANEL_FLAGS flags)
}
void MainWindow::applyPrefSettings(const rtabmap::ParametersMap & parameters)
{
applyPrefSettings(parameters, true); //post parameters
}
void MainWindow::applyPrefSettings(const rtabmap::ParametersMap & parameters, bool postParamEvent)
{
ULOGGER_DEBUG("");
if(parameters.size())
@@ -2098,7 +2107,10 @@ void MainWindow::applyPrefSettings(const rtabmap::ParametersMap & parameters)
QMessageBox::information(this, tr("Working memory changed"), tr("The working directory can't be changed while the detector is running. This will be applied when the detector will stop."));
}
}
this->post(new ParamEvent(parametersModified));
if(postParamEvent)
{
this->post(new ParamEvent(parametersModified));
}
}
if(_state != kMonitoring && _state != kMonitoringPaused &&
@@ -2122,6 +2134,12 @@ void MainWindow::applyPrefSettings(const rtabmap::ParametersMap & parameters)
{
_ui->widget_loopClosureViewer->setSamples(atoi(parameters.at(Parameters::kLccIcp3Samples()).c_str()));
}
// update graph view parameters
if(uContains(parameters, Parameters::kRGBDLocalRadius()))
{
_ui->graphicsView_graphView->setLocalRadius(uStr2Float(parameters.at(Parameters::kRGBDLocalRadius())));
}
}
//update ui
@@ -2380,6 +2398,7 @@ void MainWindow::saveConfigGUI()
_preferencesDialog->saveWidgetState(_postProcessingDialog);
_preferencesDialog->saveWidgetState(_ui->graphicsView_graphView);
_preferencesDialog->saveSettings();
this->saveFigures();
this->setWindowModified(false);
}
@@ -2426,6 +2445,7 @@ void MainWindow::newDatabase()
}
_newDatabasePath = databasePath.c_str();
this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdInit, databasePath, 0, _preferencesDialog->getAllParameters()));
applyPrefSettings(_preferencesDialog->getAllParameters(), false);
}
void MainWindow::openDatabase()
@@ -2446,6 +2466,7 @@ void MainWindow::openDatabase()
_openedDatabasePath = path;
this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdInit, path.toStdString(), 0, _preferencesDialog->getAllParameters()));
}
applyPrefSettings(_preferencesDialog->getAllParameters(), false);
}
bool MainWindow::closeDatabase()
@@ -3854,20 +3875,6 @@ void MainWindow::saveFigures()
QStringList curveNames;
_ui->statsToolBox->getFiguresSetup(curvesPerFigure, curveNames);
if(curvesPerFigure.size() == 0)
{
QMessageBox msgBox;
msgBox.setText("There is no figure shown.");
msgBox.setInformativeText("Do you want to save anyway ? (this will erase the previous saved configuration)");
msgBox.setStandardButtons(QFlags<QMessageBox::StandardButton>(QMessageBox::Save | QMessageBox::Cancel));
msgBox.setDefaultButton(QMessageBox::Cancel);
int ret = msgBox.exec();
if(ret == QMessageBox::Cancel)
{
return;
}
}
QStringList curvesPerFigureStr;
for(int i=0; i<curvesPerFigure.size(); ++i)
{
@@ -3886,25 +3893,28 @@ void MainWindow::loadFigures()
QString curvesPerFigure = _preferencesDialog->loadCustomConfig("Figures", "counts");
QString curveNames = _preferencesDialog->loadCustomConfig("Figures", "curves");
QStringList curvesPerFigureList = curvesPerFigure.split(" ");
QStringList curvesNamesList = curveNames.split(" ");
int j=0;
for(int i=0; i<curvesPerFigureList.size(); ++i)
if(!curvesPerFigure.isEmpty())
{
bool ok = false;
int count = curvesPerFigureList[i].toInt(&ok);
if(!ok)
QStringList curvesPerFigureList = curvesPerFigure.split(" ");
QStringList curvesNamesList = curveNames.split(" ");
int j=0;
for(int i=0; i<curvesPerFigureList.size(); ++i)
{
QMessageBox::warning(this, "Loading failed", "Corrupted figures setup...");
break;
}
else
{
_ui->statsToolBox->addCurve(curvesNamesList[j++].replace('_', ' '));
for(int k=1; k<count && j<curveNames.size(); ++k)
bool ok = false;
int count = curvesPerFigureList[i].toInt(&ok);
if(!ok)
{
_ui->statsToolBox->addCurve(curvesNamesList[j++].replace('_', ' '), false);
QMessageBox::warning(this, "Loading failed", "Corrupted figures setup...");
break;
}
else
{
_ui->statsToolBox->addCurve(curvesNamesList[j++].replace('_', ' '));
for(int k=1; k<count && j<curveNames.size(); ++k)
{
_ui->statsToolBox->addCurve(curvesNamesList[j++].replace('_', ' '), false);
}
}
}
}