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Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map

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Added Feature2D::parseParameters()
 

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1632 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-08-11 15:23:06 +00:00
parent 52af62394e
commit df76e3cd29
13 changed files with 1961 additions and 378 deletions
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38
guilib/include/rtabmap/gui/DatabaseViewer.h
View File

@@ -44,7 +44,6 @@ namespace rtabmap
{
class Memory;
class ImageView;
}
class RTABMAPGUI_EXP DatabaseViewer : public QMainWindow
{
@@ -55,6 +54,9 @@ public:
virtual ~DatabaseViewer();
bool openDatabase(const QString & path);
protected:
virtual void resizeEvent(QResizeEvent* anEvent);
private slots:
void openDatabase();
void generateGraph();
@@ -64,6 +66,9 @@ private slots:
void generateTOROGraph();
void view3DMap();
void generate3DMap();
void detectMoreLoopClosures();
void refineAllNeighborLinks();
void refineAllLoopClosureLinks();
void sliderAValueChanged(int);
void sliderBValueChanged(int);
void sliderAMoved(int);
@@ -72,6 +77,10 @@ private slots:
void sliderLoopValueChanged(int);
void sliderIterationsValueChanged(int);
void updateGraphView();
void refineConstraint();
void addConstraint();
void resetConstraint();
void rejectConstraint();
private:
void updateIds();
@@ -81,7 +90,29 @@ private:
QLabel * labelChildren,
rtabmap::ImageView * view,
QLabel * labelId);
void updateWordsMatching();
void updateConstraintView(const rtabmap::Link & link);
void updateConstraintButtons();
std::multimap<int, Link>::iterator findLink(
std::multimap<int, Link> & links,
int from,
int to);
Link findActiveLink(int from, int to);
bool containsLink(
std::multimap<int, Link> & links,
int from,
int to);
std::multimap<int, rtabmap::Link> updateLinksWithModifications(
const std::multimap<int, rtabmap::Link> & edgeConstraints);
void updateLoopClosuresSlider(int from = 0, int to = 0);
void refineConstraint(int from, int to);
bool addConstraint(int from, int to, bool silent);
std::map<int, int> generateGraph(int fromNode, int margin);
std::map<int, Transform> optimizeGraph(
const std::map<int, int> & ids,
const std::map<int, Transform> & poses,
const std::multimap<int, Link> & links,
std::list<std::map<int, rtabmap::Transform> > * graphes = 0);
private:
Ui_DatabaseViewer * ui_;
@@ -94,7 +125,12 @@ private:
std::list<std::map<int, rtabmap::Transform> > graphes_;
std::map<int, rtabmap::Transform> poses_;
std::multimap<int, rtabmap::Link> links_;
std::multimap<int, rtabmap::Link> linksRefined_;
std::multimap<int, rtabmap::Link> linksAdded_;
std::multimap<int, rtabmap::Link> linksRemoved_;
std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > scans_;
};
}
#endif /* DATABASEVIEWER_H_ */

8
guilib/include/rtabmap/gui/ImageView.h
View File

@@ -24,6 +24,7 @@
#include <QtGui/QGraphicsView>
#include <QtCore/QRectF>
#include <QtCore/QMultiMap>
#include <opencv2/features2d/features2d.hpp>
#include <map>
@@ -57,7 +58,12 @@ public:
void setFeatures(const std::multimap<int, cv::KeyPoint> & refWords);
void setImage(const QImage & image);
void setImageDepth(const QImage & image);
void setFeatureColor(int id, const QColor & color);
void setFeaturesColor(const QColor & color);
const QMultiMap<int, rtabmap::KeypointItem *> & getFeatures() const {return _features;}
void clearLines();
void clear();
protected:
@@ -82,7 +88,7 @@ private:
QAction * _showLines;
QAction * _saveImage;
QList<rtabmap::KeypointItem *> _features;
QMultiMap<int, rtabmap::KeypointItem *> _features;
QGraphicsPixmapItem * _image;
QGraphicsPixmapItem * _imageDepth;
};