i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 09:30:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

0.14.3: exposed all gui widgets to public API. CloudViewer: fixed camera orientation reset

Browse Source
This commit is contained in:
matlabbe
2017-10-20 12:09:34 +02:00
parent b3149a2b55
commit e40a7d6681
47 changed files with 863 additions and 943 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
guilib/src/AboutDialog.cpp
View File

@@ -25,7 +25,7 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include "AboutDialog.h"
#include "rtabmap/gui/AboutDialog.h"
#include "rtabmap/core/Parameters.h"
#include "rtabmap/core/CameraRGBD.h"
#include "rtabmap/core/CameraStereo.h"

53
guilib/src/AboutDialog.h
View File

@@ -1,53 +0,0 @@
/*
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.
*/
#ifndef ABOUTDIALOG_H_
#define ABOUTDIALOG_H_
#include <QDialog>
#include <QtCore/QUrl>
class Ui_aboutDialog;
namespace rtabmap {
class AboutDialog : public QDialog
{
Q_OBJECT
public:
AboutDialog(QWidget * parent = 0);
virtual ~AboutDialog();
private:
Ui_aboutDialog * _ui;
};
}
#endif /* ABOUTDIALOG_H_ */

24
guilib/src/CMakeLists.txt
View File

@@ -5,7 +5,7 @@ SET(headers_ui
../include/${PROJECT_PREFIX}/gui/MainWindow.h
../include/${PROJECT_PREFIX}/gui/PreferencesDialog.h
../include/${PROJECT_PREFIX}/gui/DatabaseViewer.h
./AboutDialog.h
../include/${PROJECT_PREFIX}/gui/AboutDialog.h
../include/${PROJECT_PREFIX}/gui/ConsoleWidget.h
../include/${PROJECT_PREFIX}/gui/ImageView.h
../include/${PROJECT_PREFIX}/gui/PdfPlot.h
@@ -19,19 +19,19 @@ SET(headers_ui
../include/${PROJECT_PREFIX}/gui/DataRecorder.h
../include/${PROJECT_PREFIX}/gui/CameraViewer.h
../include/${PROJECT_PREFIX}/gui/CalibrationDialog.h
./ExportDialog.h
./PostProcessingDialog.h
./ExportCloudsDialog.h
./ExportBundlerDialog.h
./MapVisibilityWidget.h
../include/${PROJECT_PREFIX}/gui/ExportDialog.h
../include/${PROJECT_PREFIX}/gui/PostProcessingDialog.h
../include/${PROJECT_PREFIX}/gui/ExportCloudsDialog.h
../include/${PROJECT_PREFIX}/gui/ExportBundlerDialog.h
../include/${PROJECT_PREFIX}/gui/MapVisibilityWidget.h
../include/${PROJECT_PREFIX}/gui/GraphViewer.h
./CreateSimpleCalibrationDialog.h
./ParametersToolBox.h
./DepthCalibrationDialog.h
../include/${PROJECT_PREFIX}/gui/CreateSimpleCalibrationDialog.h
../include/${PROJECT_PREFIX}/gui/ParametersToolBox.h
../include/${PROJECT_PREFIX}/gui/DepthCalibrationDialog.h
./3rdParty/QMultiComboBox.h
./TexturingState.h
./RecoveryState.h
./EditDepthArea.h
../include/${PROJECT_PREFIX}/gui/TexturingState.h
../include/${PROJECT_PREFIX}/gui/RecoveryState.h
../include/${PROJECT_PREFIX}/gui/EditDepthArea.h
)
SET(uis

5
guilib/src/CloudViewer.cpp
View File

@@ -1638,17 +1638,18 @@ void CloudViewer::resetCamera()
if((_aFollowCamera->isChecked() || _aLockCamera->isChecked()) && !_lastPose.isNull())
{
// reset relative to last current pose
cv::Point3f pt = util3d::transformPoint(cv::Point3f(_lastPose.x(), _lastPose.y(), _lastPose.z()), _lastPose.rotation()*Transform(-1, 0, 0));
if(_aLockViewZ->isChecked())
{
_visualizer->setCameraPosition(
_lastPose.x()-1, _lastPose.y(), _lastPose.z(),
pt.x, pt.y, pt.z,
_lastPose.x(), _lastPose.y(), _lastPose.z(),
0, 0, 1);
}
else
{
_visualizer->setCameraPosition(
_lastPose.x()-1, _lastPose.y(), _lastPose.z(),
pt.x, pt.y, pt.z,
_lastPose.x(), _lastPose.y(), _lastPose.z(),
_lastPose.r31(), _lastPose.r32(), _lastPose.r33());
}

2
guilib/src/CreateSimpleCalibrationDialog.cpp
View File

@@ -25,7 +25,7 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include "CreateSimpleCalibrationDialog.h"
#include "rtabmap/gui/CreateSimpleCalibrationDialog.h"
#include "ui_createSimpleCalibrationDialog.h"
#include "rtabmap/core/CameraModel.h"

66
guilib/src/CreateSimpleCalibrationDialog.h
View File

@@ -1,66 +0,0 @@
/*
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.
*/
#ifndef CREATESIMPLECALIBRATIONDIALOG_H_
#define CREATESIMPLECALIBRATIONDIALOG_H_
#include <QDialog>
#include <QSettings>
class Ui_createSimpleCalibrationDialog;
namespace rtabmap {
class CreateSimpleCalibrationDialog : public QDialog
{
Q_OBJECT
public:
CreateSimpleCalibrationDialog(
const QString & savingFolder = ".",
const QString & cameraName = "",
QWidget * parent = 0);
virtual ~CreateSimpleCalibrationDialog();
void setCameraInfoDir(const QString & folder) {savingFolder_ = folder;}
const QString & cameraName() const {return cameraName_;}
private slots:
void updateStereoView();
void updateSaveStatus();
void saveCalibration();
private:
Ui_createSimpleCalibrationDialog * ui_;
QString savingFolder_;
QString cameraName_;
};
}
#endif /* CREATESIMPLECALIBRATIONDIALOG_H_ */

12
guilib/src/DatabaseViewer.cpp
View File

@@ -71,14 +71,14 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/GeodeticCoords.h"
#include "rtabmap/core/Recovery.h"
#include "rtabmap/gui/DataRecorder.h"
#include "ExportCloudsDialog.h"
#include "EditDepthArea.h"
#include "rtabmap/gui/ExportCloudsDialog.h"
#include "rtabmap/gui/EditDepthArea.h"
#include "rtabmap/core/SensorData.h"
#include "rtabmap/core/GainCompensator.h"
#include "ExportDialog.h"
#include "rtabmap/gui/ExportDialog.h"
#include "rtabmap/gui/ProgressDialog.h"
#include "ParametersToolBox.h"
#include "RecoveryState.h"
#include "rtabmap/gui/ParametersToolBox.h"
#include "rtabmap/gui/RecoveryState.h"
#include <pcl/io/pcd_io.h>
#include <pcl/io/ply_io.h>
#include <pcl/filters/voxel_grid.h>
@@ -1436,7 +1436,7 @@ void DatabaseViewer::updateIds()
std::multimap<int, Link> links;
dbDriver_->getAllLinks(links, true);
UDEBUG("%d total links loaded", (int)links.size());
double totalOdom = 0.0;
Transform previousPose;
int sessions = ids_.size()?1:0;

2
guilib/src/DepthCalibrationDialog.cpp
View File

@@ -25,7 +25,7 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include <DepthCalibrationDialog.h>
#include <rtabmap/gui/DepthCalibrationDialog.h>
#include "ui_depthCalibrationDialog.h"
#include "rtabmap/gui/ProgressDialog.h"

84
guilib/src/DepthCalibrationDialog.h
View File

@@ -1,84 +0,0 @@
/*
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.
*/
#ifndef GUILIB_SRC_DEPTHCALIBRATIONDIALOG_H_
#define GUILIB_SRC_DEPTHCALIBRATIONDIALOG_H_
#include <QDialog>
#include <QMap>
#include <QtCore/QSettings>
#include <rtabmap/core/Signature.h>
#include <rtabmap/core/Parameters.h>
class Ui_DepthCalibrationDialog;
namespace clams {
class DiscreteDepthDistortionModel;
}
namespace rtabmap {
class ProgressDialog;
class DepthCalibrationDialog : public QDialog
{
Q_OBJECT
public:
DepthCalibrationDialog(QWidget * parent = 0);
virtual ~DepthCalibrationDialog();
void saveSettings(QSettings & settings, const QString & group = "") const;
void loadSettings(QSettings & settings, const QString & group = "");
void calibrate(const std::map<int, Transform> & poses,
const QMap<int, Signature> & cachedSignatures,
const QString & workingDirectory,
const ParametersMap & parameters);
signals:
void configChanged();
public slots:
void restoreDefaults();
private slots:
void saveModel();
void cancel();
private:
Ui_DepthCalibrationDialog * _ui;
ProgressDialog * _progressDialog;
bool _canceled;
clams::DiscreteDepthDistortionModel * _model;
QString _workingDirectory;
cv::Size _imageSize;
};
} /* namespace rtabmap */
#endif /* GUILIB_SRC_DEPTHCALIBRATIONDIALOG_H_ */

2
guilib/src/EditDepthArea.cpp
View File

@@ -32,7 +32,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <QAction>
#include <QInputDialog>
#include "EditDepthArea.h"
#include "rtabmap/gui/EditDepthArea.h"
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UCv2Qt.h>

88
guilib/src/EditDepthArea.h
View File

@@ -1,88 +0,0 @@
/*
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.
*/
#ifndef EDITDEPTHAREA_H
#define EDITDEPTHAREA_H
#include <QColor>
#include <QImage>
#include <QPoint>
#include <QWidget>
#include <opencv2/opencv.hpp>
class QMenu;
class QAction;
namespace rtabmap {
class EditDepthArea : public QWidget
{
Q_OBJECT
public:
EditDepthArea(QWidget *parent = 0);
void setImage(const cv::Mat & depth, const cv::Mat & rgb = cv::Mat());
cv::Mat getModifiedImage() const;
bool isModified() const {return modified_;}
void setPenWidth(int newWidth);
int penWidth() const { return myPenWidth_; }
public slots:
void resetChanges();
protected:
virtual void mousePressEvent(QMouseEvent *event);
virtual void mouseMoveEvent(QMouseEvent *event);
virtual void mouseReleaseEvent(QMouseEvent *event);
virtual void paintEvent(QPaintEvent *event);
virtual void resizeEvent(QResizeEvent *event);
virtual void contextMenuEvent(QContextMenuEvent * e);
private:
void drawLineTo(const QPoint &endPoint);
void computeScaleOffsets(const QRect & targetRect, float & scale, float & offsetX, float & offsetY) const;
bool modified_;
bool scribbling_;
int myPenWidth_;
QImage imageRGB_;
QImage image_;
cv::Mat originalImage_;
QPoint lastPoint_;
QMenu * menu_;
QAction * showRGB_;
QAction * removeCluster_;
QAction * resetChanges_;
QAction * setPenWidth_;
};
}
#endif

2
guilib/src/ExportBundlerDialog.cpp
View File

@@ -25,7 +25,7 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include "ExportBundlerDialog.h"
#include "rtabmap/gui/ExportBundlerDialog.h"
#include "ui_exportBundlerDialog.h"
#include <QFileDialog>

71
guilib/src/ExportBundlerDialog.h
View File

@@ -1,71 +0,0 @@
/*
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.
*/
#ifndef EXPORTBUNDLERDIALOG_H_
#define EXPORTBUNDLERDIALOG_H_
#include <QDialog>
#include <QSettings>
class Ui_ExportBundlerDialog;
namespace rtabmap {
class ExportBundlerDialog : public QDialog
{
Q_OBJECT
public:
ExportBundlerDialog(QWidget * parent = 0);
virtual ~ExportBundlerDialog();
void saveSettings(QSettings & settings, const QString & group = "") const;
void loadSettings(QSettings & settings, const QString & group = "");
void setWorkingDirectory(const QString & path);
QString outputPath() const;
double maxLinearSpeed() const;
double maxAngularSpeed() const;
double laplacianThreshold() const;
signals:
void configChanged();
private slots:
void getPath();
void restoreDefaults();
private:
Ui_ExportBundlerDialog * _ui;
};
}
#endif /* EXPORTBUNDLERDIALOG_H_ */

4
guilib/src/ExportCloudsDialog.cpp
View File

@@ -25,11 +25,11 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include "ExportCloudsDialog.h"
#include "rtabmap/gui/ExportCloudsDialog.h"
#include "ui_exportCloudsDialog.h"
#include "rtabmap/gui/CloudViewer.h"
#include "TexturingState.h"
#include "rtabmap/gui/TexturingState.h"
#include "rtabmap/utilite/ULogger.h"
#include "rtabmap/utilite/UConversion.h"
#include "rtabmap/utilite/UThread.h"

139
guilib/src/ExportCloudsDialog.h
View File

@@ -1,139 +0,0 @@
/*
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.
*/
#ifndef EXPORTCLOUDSDIALOG_H_
#define EXPORTCLOUDSDIALOG_H_
#include <QDialog>
#include <QMap>
#include <QtCore/QSettings>
#include <rtabmap/core/Signature.h>
#include <rtabmap/core/Parameters.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/PolygonMesh.h>
#include <pcl/TextureMesh.h>
#include <pcl/pcl_base.h>
class Ui_ExportCloudsDialog;
class QAbstractButton;
namespace rtabmap {
class ProgressDialog;
class GainCompensator;
class DBDriver;
class ExportCloudsDialog : public QDialog
{
Q_OBJECT
public:
ExportCloudsDialog(QWidget *parent = 0);
virtual ~ExportCloudsDialog();
void saveSettings(QSettings & settings, const QString & group = "") const;
void loadSettings(QSettings & settings, const QString & group = "");
void setDBDriver(const DBDriver * dbDriver) {_dbDriver = dbDriver;}
void exportClouds(
const std::map<int, Transform> & poses,
const std::multimap<int, Link> & links,
const std::map<int, int> & mapIds,
const QMap<int, Signature> & cachedSignatures,
const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> > & cachedClouds,
const std::map<int, cv::Mat> & cachedScans,
const QString & workingDirectory,
const ParametersMap & parameters);
void viewClouds(
const std::map<int, Transform> & poses,
const std::multimap<int, Link> & links,
const std::map<int, int> & mapIds,
const QMap<int, Signature> & cachedSignatures,
const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> > & cachedClouds,
const std::map<int, cv::Mat> & cachedScans,
const QString & workingDirectory,
const ParametersMap & parameters);
static bool removeDirRecursively(const QString & dirName);
signals:
void configChanged();
public slots:
void restoreDefaults();
private slots:
void updateReconstructionFlavor();
void selectDistortionModel();
void updateMLSGrpVisibility();
void cancel();
private:
std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > getClouds(
const std::map<int, Transform> & poses,
const QMap<int, Signature> & cachedSignatures,
const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> > & cachedClouds,
const std::map<int, cv::Mat> & cachedScans,
const ParametersMap & parameters,
bool & has2dScans) const;
bool getExportedClouds(
const std::map<int, Transform> & poses,
const std::multimap<int, Link> & links,
const std::map<int, int> & mapIds,
const QMap<int, Signature> & cachedSignatures,
const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> > & cachedClouds,
const std::map<int, cv::Mat> & cachedScans,
const QString & workingDirectory,
const ParametersMap & parameters,
std::map<int, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr> & clouds,
std::map<int, pcl::PolygonMesh::Ptr> & meshes,
std::map<int, pcl::TextureMesh::Ptr> & textureMeshes,
std::vector<std::map<int, pcl::PointXY> > & textureVertexToPixels);
void saveClouds(const QString & workingDirectory, const std::map<int, Transform> & poses, const std::map<int, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr> & clouds, bool binaryMode = true);
void saveMeshes(const QString & workingDirectory, const std::map<int, Transform> & poses, const std::map<int, pcl::PolygonMesh::Ptr> & meshes, bool binaryMode = true);
void saveTextureMeshes(const QString & workingDirectory, const std::map<int, Transform> & poses, std::map<int, pcl::TextureMesh::Ptr> & textureMeshes, const QMap<int, Signature> & cachedSignatures, const std::vector<std::map<int, pcl::PointXY> > & textureVertexToPixels);
void setSaveButton();
void setOkButton();
private:
Ui_ExportCloudsDialog * _ui;
ProgressDialog * _progressDialog;
QString _workingDirectory;
bool _canceled;
GainCompensator * _compensator;
const DBDriver * _dbDriver;
};
}
#endif /* EXPORTCLOUDSDIALOG_H_ */

2
guilib/src/ExportDialog.cpp
View File

@@ -25,7 +25,7 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include "ExportDialog.h"
#include "rtabmap/gui/ExportDialog.h"
#include "ui_exportDialog.h"
#include <QFileDialog>

73
guilib/src/ExportDialog.h
View File

@@ -1,73 +0,0 @@
/*
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.
*/
#ifndef EXPORTDIALOG_H_
#define EXPORTDIALOG_H_
#include <QDialog>
#include <QSettings>
class Ui_ExportDialog;
namespace rtabmap {
class ExportDialog : public QDialog
{
Q_OBJECT
public:
ExportDialog(QWidget * parent = 0);
virtual ~ExportDialog();
void saveSettings(QSettings & settings, const QString & group) const;
void loadSettings(QSettings & settings, const QString & group);
QString outputPath() const;
int framesIgnored() const;
double targetFramerate() const;
int sessionExported() const;
bool isRgbExported() const;
bool isDepthExported() const;
bool isDepth2dExported() const;
bool isOdomExported() const;
bool isUserDataExported() const;
signals:
void configChanged();
private slots:
void getPath();
void restoreDefaults();
private:
Ui_ExportDialog * _ui;
};
}
#endif /* EXPORTDIALOG_H_ */

14
guilib/src/ImageView.cpp
View File

@@ -148,6 +148,7 @@ ImageView::ImageView(QWidget * parent) :
QWidget(parent),
_savedFileName((QDir::homePath()+ "/") + "picture" + ".png"),
_alpha(50),
_defaultBgColor(Qt::black),
_imageItem(0),
_imageDepthItem(0)
{
@@ -202,6 +203,7 @@ void ImageView::saveSettings(QSettings & settings, const QString & group) const
settings.setValue("features_shown", this->isFeaturesShown());
settings.setValue("lines_shown", this->isLinesShown());
settings.setValue("alpha", this->getAlpha());
settings.setValue("bg_color", this->getDefaultBackgroundColor());
settings.setValue("graphics_view", this->isGraphicsViewMode());
settings.setValue("graphics_view_scale", this->isGraphicsViewScaled());
if(!group.isEmpty())
@@ -221,6 +223,7 @@ void ImageView::loadSettings(QSettings & settings, const QString & group)
this->setFeaturesShown(settings.value("features_shown", this->isFeaturesShown()).toBool());
this->setLinesShown(settings.value("lines_shown", this->isLinesShown()).toBool());
this->setAlpha(settings.value("alpha", this->getAlpha()).toInt());
this->setDefaultBackgroundColor(settings.value("bg_color", this->getDefaultBackgroundColor()).value<QColor>());
this->setGraphicsViewMode(settings.value("graphics_view", this->isGraphicsViewMode()).toBool());
this->setGraphicsViewScaled(settings.value("graphics_view_scale", this->isGraphicsViewScaled()).toBool());
if(!group.isEmpty())
@@ -259,6 +262,11 @@ bool ImageView::isGraphicsViewScaled() const
return _graphicsViewScaled->isChecked();
}
const QColor & ImageView::getDefaultBackgroundColor() const
{
return _defaultBgColor;
}
const QColor & ImageView::getBackgroundColor() const
{
return _graphicsView->backgroundBrush().color();
@@ -416,6 +424,12 @@ void ImageView::setGraphicsViewScaled(bool scaled)
}
}
void ImageView::setDefaultBackgroundColor(const QColor & color)
{
_defaultBgColor = color;
setBackgroundColor(color);
}
void ImageView::setBackgroundColor(const QColor & color)
{
_graphicsView->setBackgroundBrush(QBrush(color));

277
guilib/src/MainWindow.cpp
View File

@@ -53,6 +53,12 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/gui/ProgressDialog.h"
#include "rtabmap/gui/CloudViewer.h"
#include "rtabmap/gui/LoopClosureViewer.h"
#include "rtabmap/gui/ExportCloudsDialog.h"
#include "rtabmap/gui/ExportBundlerDialog.h"
#include "rtabmap/gui/AboutDialog.h"
#include "rtabmap/gui/PostProcessingDialog.h"
#include "rtabmap/gui/DepthCalibrationDialog.h"
#include "rtabmap/gui/RecoveryState.h"
#include <rtabmap/utilite/UStl.h>
#include <rtabmap/utilite/ULogger.h>
@@ -62,13 +68,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/utilite/UPlot.h"
#include "rtabmap/utilite/UCv2Qt.h"
#include "ExportCloudsDialog.h"
#include "ExportBundlerDialog.h"
#include "AboutDialog.h"
#include "PostProcessingDialog.h"
#include "DepthCalibrationDialog.h"
#include "RecoveryState.h"
#include <QtGui/QCloseEvent>
#include <QtGui/QPixmap>
#include <QtCore/QDir>
@@ -130,7 +129,7 @@ inline static void initGuiResource() { Q_INIT_RESOURCE(GuiLib); }
namespace rtabmap {
MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent, bool showSplashScreen) :
QMainWindow(parent),
_ui(0),
_state(kIdle),
@@ -177,11 +176,15 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
initGuiResource();
QPixmap pixmap(":images/RTAB-Map.png");
QSplashScreen splash(pixmap);
splash.show();
splash.showMessage(tr("Loading..."));
QApplication::processEvents();
QSplashScreen * splash = 0;
if (showSplashScreen)
{
QPixmap pixmap(":images/RTAB-Map.png");
splash = new QSplashScreen(pixmap);
splash->show();
splash->showMessage(tr("Loading..."));
QApplication::processEvents();
}
// Create dialogs
_aboutDialog = new AboutDialog(this);
@@ -265,9 +268,9 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_logEventTime->start();
//Graphics scenes
_ui->imageView_source->setBackgroundColor(Qt::black);
_ui->imageView_loopClosure->setBackgroundColor(Qt::black);
_ui->imageView_odometry->setBackgroundColor(Qt::black);
_ui->imageView_source->setBackgroundColor(_ui->imageView_source->getDefaultBackgroundColor());
_ui->imageView_loopClosure->setBackgroundColor(_ui->imageView_loopClosure->getDefaultBackgroundColor());
_ui->imageView_odometry->setBackgroundColor(_ui->imageView_odometry->getDefaultBackgroundColor());
_ui->imageView_odometry->setAlpha(200);
_preferencesDialog->loadWidgetState(_ui->imageView_source);
_preferencesDialog->loadWidgetState(_ui->imageView_loopClosure);
@@ -290,9 +293,9 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_ui->rawLikelihoodPlot->addCurve(_rawLikelihoodCurve, false);
_ui->rawLikelihoodPlot->showLegend(false);
_initProgressDialog = new ProgressDialog(this);
_initProgressDialog->setMinimumWidth(800);
connect(_initProgressDialog, SIGNAL(canceled()), this, SLOT(cancelProgress()));
_progressDialog = new ProgressDialog(this);
_progressDialog->setMinimumWidth(800);
connect(_progressDialog, SIGNAL(canceled()), this, SLOT(cancelProgress()));
connect(_ui->widget_mapVisibility, SIGNAL(visibilityChanged(int, bool)), this, SLOT(updateNodeVisibility(int, bool)));
@@ -326,7 +329,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_ui->toolBar_2->setWindowTitle(tr("Control toolbar"));
QAction * a = _ui->menuShow_view->addAction("Progress dialog");
a->setCheckable(false);
connect(a, SIGNAL(triggered(bool)), _initProgressDialog, SLOT(show()));
connect(a, SIGNAL(triggered(bool)), _progressDialog, SLOT(show()));
QAction * statusBarAction = _ui->menuShow_view->addAction("Status bar");
statusBarAction->setCheckable(true);
statusBarAction->setChecked(statusBarShown);
@@ -618,7 +621,11 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_loopClosureViewer->setDecimation(_preferencesDialog->getCloudDecimation(0));
_loopClosureViewer->setMaxDepth(_preferencesDialog->getCloudMaxDepth(0));
splash.close();
if (splash)
{
splash->close();
delete splash;
}
this->setFocus();
@@ -650,6 +657,30 @@ void MainWindow::setupMainLayout(bool vertical)
}
}
void MainWindow::setCloudViewer(rtabmap::CloudViewer * cloudViewer)
{
UASSERT(cloudViewer);
delete _cloudViewer;
_cloudViewer = cloudViewer;
_cloudViewer->setParent(_ui->layout_cloudViewer);
_cloudViewer->setObjectName("widget_cloudViewer");
_ui->layout_cloudViewer->layout()->addWidget(_cloudViewer);
_cloudViewer->setBackfaceCulling(true, false);
_preferencesDialog->loadWidgetState(_cloudViewer);
connect(_cloudViewer, SIGNAL(configChanged()), this, SLOT(configGUIModified()));
}
void MainWindow::setLoopClosureViewer(rtabmap::LoopClosureViewer * loopClosureViewer)
{
UASSERT(loopClosureViewer);
delete _loopClosureViewer;
_loopClosureViewer = loopClosureViewer;
_loopClosureViewer->setParent(_ui->layout_loopClosureViewer);
_loopClosureViewer->setObjectName("widget_loopClosureViewer");
_ui->layout_loopClosureViewer->layout()->addWidget(_loopClosureViewer);
}
void MainWindow::closeEvent(QCloseEvent* event)
{
// Try to close all children
@@ -950,7 +981,7 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
UDEBUG("odom ok");
lostStateChanged = _cloudViewer->getBackgroundColor() == Qt::darkRed;
_cloudViewer->setBackgroundColor(_cloudViewer->getDefaultBackgroundColor());
_ui->imageView_odometry->setBackgroundColor(Qt::black);
_ui->imageView_odometry->setBackgroundColor(_ui->imageView_odometry->getDefaultBackgroundColor());
}
if(!pose.isNull() && (_ui->dockWidget_cloudViewer->isVisible() || _ui->graphicsView_graphView->isVisible()))
@@ -1501,8 +1532,8 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
_ui->imageView_source->clear();
_ui->imageView_loopClosure->clear();
_ui->imageView_source->setBackgroundColor(Qt::black);
_ui->imageView_loopClosure->setBackgroundColor(Qt::black);
_ui->imageView_source->setBackgroundColor(_ui->imageView_source->getDefaultBackgroundColor());
_ui->imageView_loopClosure->setBackgroundColor(_ui->imageView_loopClosure->getDefaultBackgroundColor());
_ui->label_matchId->clear();
}
@@ -1970,7 +2001,7 @@ void MainWindow::updateMapCloud(
if(verboseProgress)
{
_initProgressDialog->appendText(tr("Map update: %1 nodes shown of %2 (cloud filtering is on)").arg(poses.size()).arg(posesIn.size()));
_progressDialog->appendText(tr("Map update: %1 nodes shown of %2 (cloud filtering is on)").arg(poses.size()).arg(posesIn.size()));
QApplication::processEvents();
}
}
@@ -2181,8 +2212,8 @@ void MainWindow::updateMapCloud(
if(verboseProgress)
{
_initProgressDialog->appendText(tr("Updated cloud %1 (%2/%3)").arg(iter->first).arg(i).arg(poses.size()));
_initProgressDialog->incrementStep();
_progressDialog->appendText(tr("Updated cloud %1 (%2/%3)").arg(iter->first).arg(i).arg(poses.size()));
_progressDialog->incrementStep();
if(poses.size() < 200 || i % 100 == 0)
{
QApplication::processEvents();
@@ -3441,13 +3472,13 @@ void MainWindow::processRtabmapEventInit(int status, const QString & info)
{
if((RtabmapEventInit::Status)status == RtabmapEventInit::kInitializing)
{
_initProgressDialog->resetProgress();
_initProgressDialog->show();
_progressDialog->resetProgress();
_progressDialog->show();
this->changeState(MainWindow::kInitializing);
}
else if((RtabmapEventInit::Status)status == RtabmapEventInit::kInitialized)
{
_initProgressDialog->setValue(_initProgressDialog->maximumSteps());
_progressDialog->setValue(_progressDialog->maximumSteps());
this->changeState(MainWindow::kInitialized);
if(!_openedDatabasePath.isEmpty())
@@ -3457,8 +3488,8 @@ void MainWindow::processRtabmapEventInit(int status, const QString & info)
}
else if((RtabmapEventInit::Status)status == RtabmapEventInit::kClosing)
{
_initProgressDialog->resetProgress();
_initProgressDialog->show();
_progressDialog->resetProgress();
_progressDialog->show();
if(_state!=kApplicationClosing)
{
this->changeState(MainWindow::kClosing);
@@ -3466,7 +3497,7 @@ void MainWindow::processRtabmapEventInit(int status, const QString & info)
}
else if((RtabmapEventInit::Status)status == RtabmapEventInit::kClosed)
{
_initProgressDialog->setValue(_initProgressDialog->maximumSteps());
_progressDialog->setValue(_progressDialog->maximumSteps());
if(_databaseUpdated)
{
@@ -3544,46 +3575,46 @@ void MainWindow::processRtabmapEventInit(int status, const QString & info)
}
else
{
_initProgressDialog->incrementStep();
_progressDialog->incrementStep();
QString msg(info);
if((RtabmapEventInit::Status)status == RtabmapEventInit::kError)
{
_openedDatabasePath.clear();
_newDatabasePath.clear();
_newDatabasePathOutput.clear();
_initProgressDialog->setAutoClose(false);
_progressDialog->setAutoClose(false);
msg.prepend(tr("[ERROR] "));
_initProgressDialog->appendText(msg);
_progressDialog->appendText(msg);
this->changeState(MainWindow::kIdle);
}
else
{
_initProgressDialog->appendText(msg);
_progressDialog->appendText(msg);
}
}
}
void MainWindow::processRtabmapEvent3DMap(const rtabmap::RtabmapEvent3DMap & event)
{
_initProgressDialog->appendText("Downloading the map... done.");
_initProgressDialog->incrementStep();
_progressDialog->appendText("Downloading the map... done.");
_progressDialog->incrementStep();
if(event.getCode())
{
UERROR("Map received with code error %d!", event.getCode());
_initProgressDialog->appendText(uFormat("[ERROR] Map received with code error %d!", event.getCode()).c_str());
_initProgressDialog->setAutoClose(false);
_progressDialog->appendText(uFormat("[ERROR] Map received with code error %d!", event.getCode()).c_str());
_progressDialog->setAutoClose(false);
}
else
{
_processingDownloadedMap = true;
UINFO("Received map!");
_initProgressDialog->appendText(tr(" poses = %1").arg(event.getPoses().size()));
_initProgressDialog->appendText(tr(" constraints = %1").arg(event.getConstraints().size()));
_progressDialog->appendText(tr(" poses = %1").arg(event.getPoses().size()));
_progressDialog->appendText(tr(" constraints = %1").arg(event.getConstraints().size()));
_initProgressDialog->setMaximumSteps(int(event.getSignatures().size()+event.getPoses().size()+1));
_initProgressDialog->appendText(QString("Inserting data in the cache (%1 signatures downloaded)...").arg(event.getSignatures().size()));
_progressDialog->setMaximumSteps(int(event.getSignatures().size()+event.getPoses().size()+1));
_progressDialog->appendText(QString("Inserting data in the cache (%1 signatures downloaded)...").arg(event.getSignatures().size()));
QApplication::processEvents();
int addedSignatures = 0;
@@ -3610,34 +3641,34 @@ void MainWindow::processRtabmapEvent3DMap(const rtabmap::RtabmapEvent3DMap & eve
_cachedMemoryUsage += iter->second.sensorData().getMemoryUsed();
++addedSignatures;
}
_initProgressDialog->incrementStep();
_progressDialog->incrementStep();
QApplication::processEvents();
}
_initProgressDialog->appendText(tr("Inserted %1 new signatures.").arg(addedSignatures));
_initProgressDialog->incrementStep();
_progressDialog->appendText(tr("Inserted %1 new signatures.").arg(addedSignatures));
_progressDialog->incrementStep();
QApplication::processEvents();
_initProgressDialog->appendText("Inserting data in the cache... done.");
_progressDialog->appendText("Inserting data in the cache... done.");
if(event.getPoses().size())
{
_initProgressDialog->appendText("Updating the 3D map cloud...");
_initProgressDialog->incrementStep();
_initProgressDialog->setCancelButtonVisible(true);
_progressDialog->appendText("Updating the 3D map cloud...");
_progressDialog->incrementStep();
_progressDialog->setCancelButtonVisible(true);
_progressCanceled = false;
QApplication::processEvents();
std::map<int, Transform> poses = event.getPoses();
alignPosesToGroundTruth(poses, groundTruth);
this->updateMapCloud(poses, event.getConstraints(), mapIds, labels, groundTruth, true);
_initProgressDialog->appendText("Updating the 3D map cloud... done.");
_progressDialog->appendText("Updating the 3D map cloud... done.");
}
else
{
_initProgressDialog->appendText("No poses received! The map cloud cannot be updated...");
_progressDialog->appendText("No poses received! The map cloud cannot be updated...");
UINFO("Map received is empty! Cannot update the map cloud...");
}
_initProgressDialog->appendText(tr("%1 locations are updated to/inserted in the cache.").arg(event.getPoses().size()));
_progressDialog->appendText(tr("%1 locations are updated to/inserted in the cache.").arg(event.getPoses().size()));
if(!_preferencesDialog->isImagesKept())
{
@@ -3652,8 +3683,8 @@ void MainWindow::processRtabmapEvent3DMap(const rtabmap::RtabmapEvent3DMap & eve
}
_processingDownloadedMap = false;
}
_initProgressDialog->setValue(_initProgressDialog->maximumSteps());
_initProgressDialog->setCancelButtonVisible(false);
_progressDialog->setValue(_progressDialog->maximumSteps());
_progressDialog->setCancelButtonVisible(false);
_progressCanceled = false;
}
@@ -4158,7 +4189,7 @@ void MainWindow::beep()
void MainWindow::cancelProgress()
{
_progressCanceled = true;
_initProgressDialog->appendText(tr("Canceled!"));
_progressDialog->appendText(tr("Canceled!"));
}
void MainWindow::configGUIModified()
@@ -5094,11 +5125,11 @@ void MainWindow::postProcessing()
return;
}
_initProgressDialog->resetProgress();
_initProgressDialog->clear();
_initProgressDialog->show();
_initProgressDialog->appendText("Post-processing beginning!");
_initProgressDialog->setCancelButtonVisible(true);
_progressDialog->resetProgress();
_progressDialog->clear();
_progressDialog->show();
_progressDialog->appendText("Post-processing beginning!");
_progressDialog->setCancelButtonVisible(true);
_progressCanceled = false;
int totalSteps = 0;
@@ -5114,8 +5145,8 @@ void MainWindow::postProcessing()
{
totalSteps+=1;
}
_initProgressDialog->setMaximumSteps(totalSteps);
_initProgressDialog->show();
_progressDialog->setMaximumSteps(totalSteps);
_progressDialog->show();
ParametersMap parameters = _preferencesDialog->getAllParameters();
Optimizer * optimizer = Optimizer::create(parameters);
@@ -5138,7 +5169,7 @@ void MainWindow::postProcessing()
UASSERT(detectLoopClosureIterations>0);
for(int n=0; n<detectLoopClosureIterations && !_progressCanceled; ++n)
{
_initProgressDialog->appendText(tr("Looking for more loop closures, clustering poses... (iteration=%1/%2, radius=%3 m angle=%4 degrees)")
_progressDialog->appendText(tr("Looking for more loop closures, clustering poses... (iteration=%1/%2, radius=%3 m angle=%4 degrees)")
.arg(n+1).arg(detectLoopClosureIterations).arg(clusterRadius).arg(clusterAngle));
std::multimap<int, int> clusters = graph::radiusPosesClustering(
@@ -5146,8 +5177,8 @@ void MainWindow::postProcessing()
clusterRadius,
clusterAngle*CV_PI/180.0);
_initProgressDialog->setMaximumSteps(_initProgressDialog->maximumSteps()+(int)clusters.size());
_initProgressDialog->appendText(tr("Looking for more loop closures, clustering poses... found %1 clusters.").arg(clusters.size()));
_progressDialog->setMaximumSteps(_progressDialog->maximumSteps()+(int)clusters.size());
_progressDialog->appendText(tr("Looking for more loop closures, clustering poses... found %1 clusters.").arg(clusters.size()));
QApplication::processEvents();
int i=0;
@@ -5353,7 +5384,7 @@ void MainWindow::postProcessing()
if(!msg.empty())
{
UWARN("%s", msg.c_str());
_initProgressDialog->appendText(tr("%1").arg(msg.c_str()));
_progressDialog->appendText(tr("%1").arg(msg.c_str()));
QApplication::processEvents();
updateConstraint = false;
}
@@ -5367,7 +5398,7 @@ void MainWindow::postProcessing()
_currentLinksMap.insert(std::make_pair(from, Link(from, to, Link::kUserClosure, transform, info.covariance.inv())));
++loopClosuresAdded;
_initProgressDialog->appendText(tr("Detected loop closure %1->%2! (%3/%4)").arg(from).arg(to).arg(i+1).arg(clusters.size()));
_progressDialog->appendText(tr("Detected loop closure %1->%2! (%3/%4)").arg(from).arg(to).arg(i+1).arg(clusters.size()));
}
}
}
@@ -5375,9 +5406,9 @@ void MainWindow::postProcessing()
}
}
QApplication::processEvents();
_initProgressDialog->incrementStep();
_progressDialog->incrementStep();
}
_initProgressDialog->appendText(tr("Iteration %1/%2: Detected %3 loop closures!").arg(n+1).arg(detectLoopClosureIterations).arg(addedLinks.size()/2));
_progressDialog->appendText(tr("Iteration %1/%2: Detected %3 loop closures!").arg(n+1).arg(detectLoopClosureIterations).arg(addedLinks.size()/2));
if(addedLinks.size() == 0)
{
break;
@@ -5385,7 +5416,7 @@ void MainWindow::postProcessing()
if(n+1 < detectLoopClosureIterations)
{
_initProgressDialog->appendText(tr("Optimizing graph with new links (%1 nodes, %2 constraints)...")
_progressDialog->appendText(tr("Optimizing graph with new links (%1 nodes, %2 constraints)...")
.arg(odomPoses.size()).arg(_currentLinksMap.size()));
QApplication::processEvents();
@@ -5401,11 +5432,11 @@ void MainWindow::postProcessing()
linksOut);
optimizedPoses = optimizer->optimize(fromId, posesOut, linksOut);
_currentPosesMap = optimizedPoses;
_initProgressDialog->appendText(tr("Optimizing graph with new links... done!"));
_progressDialog->appendText(tr("Optimizing graph with new links... done!"));
}
}
UINFO("Added %d loop closures.", loopClosuresAdded);
_initProgressDialog->appendText(tr("Total new loop closures detected=%1").arg(loopClosuresAdded));
_progressDialog->appendText(tr("Total new loop closures detected=%1").arg(loopClosuresAdded));
}
if(!_progressCanceled && (refineNeighborLinks || refineLoopClosureLinks))
@@ -5413,10 +5444,10 @@ void MainWindow::postProcessing()
UDEBUG("");
if(refineLoopClosureLinks)
{
_initProgressDialog->setMaximumSteps(_initProgressDialog->maximumSteps()+loopClosuresAdded);
_progressDialog->setMaximumSteps(_progressDialog->maximumSteps()+loopClosuresAdded);
}
// TODO: support ICP from laser scans?
_initProgressDialog->appendText(tr("Refining links..."));
_progressDialog->appendText(tr("Refining links..."));
QApplication::processEvents();
RegistrationIcp regIcp(parameters);
@@ -5432,8 +5463,8 @@ void MainWindow::postProcessing()
int from = iter->second.from();
int to = iter->second.to();
_initProgressDialog->appendText(tr("Refining link %1->%2 (%3/%4)").arg(from).arg(to).arg(i+1).arg(_currentLinksMap.size()));
_initProgressDialog->incrementStep();
_progressDialog->appendText(tr("Refining link %1->%2 (%3/%4)").arg(from).arg(to).arg(i+1).arg(_currentLinksMap.size()));
_progressDialog->incrementStep();
QApplication::processEvents();
if(!_cachedSignatures.contains(from))
@@ -5467,7 +5498,7 @@ void MainWindow::postProcessing()
else
{
QString str = tr("Cannot refine link %1->%2 (%3").arg(from).arg(to).arg(info.rejectedMsg.c_str());
_initProgressDialog->appendText(str, Qt::darkYellow);
_progressDialog->appendText(str, Qt::darkYellow);
UWARN("%s", str.toStdString().c_str());
warn = true;
}
@@ -5484,17 +5515,17 @@ void MainWindow::postProcessing()
str = tr("Cannot refine link %1->%2 (scans empty!)").arg(from).arg(to);
}
_initProgressDialog->appendText(str, Qt::darkYellow);
_progressDialog->appendText(str, Qt::darkYellow);
UWARN("%s", str.toStdString().c_str());
warn = true;
}
}
}
}
_initProgressDialog->appendText(tr("Refining links...done!"));
_progressDialog->appendText(tr("Refining links...done!"));
}
_initProgressDialog->appendText(tr("Optimizing graph with updated links (%1 nodes, %2 constraints)...")
_progressDialog->appendText(tr("Optimizing graph with updated links (%1 nodes, %2 constraints)...")
.arg(odomPoses.size()).arg(_currentLinksMap.size()));
int fromId = optimizeFromGraphEnd?odomPoses.rbegin()->first:odomPoses.begin()->first;
@@ -5508,13 +5539,13 @@ void MainWindow::postProcessing()
posesOut,
linksOut);
optimizedPoses = optimizer->optimize(fromId, posesOut, linksOut);
_initProgressDialog->appendText(tr("Optimizing graph with updated links... done!"));
_initProgressDialog->incrementStep();
_progressDialog->appendText(tr("Optimizing graph with updated links... done!"));
_progressDialog->incrementStep();
if(!_progressCanceled && sba)
{
UASSERT(Optimizer::isAvailable(sbaType));
_initProgressDialog->appendText(tr("SBA (%1 nodes, %2 constraints, %3 iterations)...")
_progressDialog->appendText(tr("SBA (%1 nodes, %2 constraints, %3 iterations)...")
.arg(optimizedPoses.size()).arg(linksOut.size()).arg(sbaIterations));
QApplication::processEvents();
uSleep(100);
@@ -5529,17 +5560,17 @@ void MainWindow::postProcessing()
if(newPoses.size())
{
optimizedPoses = newPoses;
_initProgressDialog->appendText(tr("SBA... done!"));
_progressDialog->appendText(tr("SBA... done!"));
}
else
{
_initProgressDialog->appendText(tr("SBA... failed!"));
_initProgressDialog->setAutoClose(false);
_progressDialog->appendText(tr("SBA... failed!"));
_progressDialog->setAutoClose(false);
}
_initProgressDialog->incrementStep();
_progressDialog->incrementStep();
}
_initProgressDialog->appendText(tr("Updating map..."));
_progressDialog->appendText(tr("Updating map..."));
alignPosesToGroundTruth(optimizedPoses, _currentGTPosesMap);
this->updateMapCloud(
optimizedPoses,
@@ -5548,16 +5579,16 @@ void MainWindow::postProcessing()
std::map<int, std::string>(_currentLabels),
std::map<int, Transform>(_currentGTPosesMap),
false);
_initProgressDialog->appendText(tr("Updating map... done!"));
_progressDialog->appendText(tr("Updating map... done!"));
if(warn)
{
_initProgressDialog->setAutoClose(false);
_progressDialog->setAutoClose(false);
}
_initProgressDialog->setValue(_initProgressDialog->maximumSteps());
_initProgressDialog->appendText("Post-processing finished!");
_initProgressDialog->setCancelButtonVisible(false);
_progressDialog->setValue(_progressDialog->maximumSteps());
_progressDialog->appendText("Post-processing finished!");
_progressDialog->setCancelButtonVisible(false);
_progressCanceled = false;
delete optimizer;
@@ -5816,9 +5847,9 @@ void MainWindow::updateCacheFromDatabase(const QString & path)
if(driver->openConnection(path.toStdString()))
{
UINFO("Update cache...");
_initProgressDialog->resetProgress();
_initProgressDialog->show();
_initProgressDialog->appendText(tr("Downloading the map from \"%1\" (without poses and links)...")
_progressDialog->resetProgress();
_progressDialog->show();
_progressDialog->appendText(tr("Downloading the map from \"%1\" (without poses and links)...")
.arg(path));
std::set<int> ids;
@@ -5879,9 +5910,9 @@ void MainWindow::downloadAllClouds()
}
UINFO("Download clouds...");
_initProgressDialog->resetProgress();
_initProgressDialog->show();
_initProgressDialog->appendText(tr("Downloading the map (global=%1 ,optimized=%2)...")
_progressDialog->resetProgress();
_progressDialog->show();
_progressDialog->appendText(tr("Downloading the map (global=%1 ,optimized=%2)...")
.arg(global?"true":"false").arg(optimized?"true":"false"));
this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdPublish3DMap, global, optimized, false));
}
@@ -5923,9 +5954,9 @@ void MainWindow::downloadPoseGraph()
}
UINFO("Download the graph...");
_initProgressDialog->resetProgress();
_initProgressDialog->show();
_initProgressDialog->appendText(tr("Downloading the graph (global=%1 ,optimized=%2)...")
_progressDialog->resetProgress();
_progressDialog->show();
_progressDialog->appendText(tr("Downloading the graph (global=%1 ,optimized=%2)...")
.arg(global?"true":"false").arg(optimized?"true":"false"));
this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdPublish3DMap, global, optimized, true));
@@ -5993,9 +6024,9 @@ void MainWindow::clearTheCache()
_ui->imageView_source->clear();
_ui->imageView_loopClosure->clear();
_ui->imageView_odometry->clear();
_ui->imageView_source->setBackgroundColor(Qt::black);
_ui->imageView_loopClosure->setBackgroundColor(Qt::black);
_ui->imageView_odometry->setBackgroundColor(Qt::black);
_ui->imageView_source->setBackgroundColor(_ui->imageView_source->getDefaultBackgroundColor());
_ui->imageView_loopClosure->setBackgroundColor(_ui->imageView_loopClosure->getDefaultBackgroundColor());
_ui->imageView_odometry->setBackgroundColor(_ui->imageView_odometry->getDefaultBackgroundColor());
#ifdef RTABMAP_OCTOMAP
// re-create one if the resolution has changed
UASSERT(_octomap != 0);
@@ -6169,20 +6200,20 @@ void MainWindow::selectScreenCaptureFormat(bool checked)
}
targetDir += QDir::separator();
_initProgressDialog->resetProgress();
_initProgressDialog->show();
_initProgressDialog->setMaximumSteps(_autoScreenCaptureCachedImages.size());
_progressDialog->resetProgress();
_progressDialog->show();
_progressDialog->setMaximumSteps(_autoScreenCaptureCachedImages.size());
int i=0;
for(QMap<QString, QByteArray>::iterator iter=_autoScreenCaptureCachedImages.begin(); iter!=_autoScreenCaptureCachedImages.end(); ++iter)
{
QPixmap figure;
figure.loadFromData(iter.value(), "PNG");
figure.save(targetDir + iter.key(), "PNG");
_initProgressDialog->appendText(tr("Saved image \"%1\" (%2/%3).").arg(targetDir + iter.key()).arg(++i).arg(_autoScreenCaptureCachedImages.size()));
_initProgressDialog->incrementStep();
_progressDialog->appendText(tr("Saved image \"%1\" (%2/%3).").arg(targetDir + iter.key()).arg(++i).arg(_autoScreenCaptureCachedImages.size()));
_progressDialog->incrementStep();
}
_autoScreenCaptureCachedImages.clear();
_initProgressDialog->setValue(_initProgressDialog->maximumSteps());
_progressDialog->setValue(_progressDialog->maximumSteps());
}
}
@@ -6563,9 +6594,9 @@ void MainWindow::exportImages()
tr("Data in the cache don't seem to have images (tested node %1). Calibration file will not be saved. Try refreshing the cache (with clouds).").arg(poses.rbegin()->first));
}
_initProgressDialog->resetProgress();
_initProgressDialog->show();
_initProgressDialog->setMaximumSteps(_cachedSignatures.size());
_progressDialog->resetProgress();
_progressDialog->show();
_progressDialog->setMaximumSteps(_cachedSignatures.size());
unsigned int saved = 0;
for(std::map<int, Transform>::iterator iter=poses.begin(); iter!=poses.end(); ++iter)
@@ -6602,22 +6633,22 @@ void MainWindow::exportImages()
warn = true;
}
saved += warn?0:1;
_initProgressDialog->appendText(info, !warn?Qt::black:Qt::darkYellow);
_initProgressDialog->incrementStep();
_progressDialog->appendText(info, !warn?Qt::black:Qt::darkYellow);
_progressDialog->incrementStep();
QApplication::processEvents();
}
if(saved!=poses.size())
{
_initProgressDialog->setAutoClose(false);
_initProgressDialog->appendText(tr("%1 images of %2 saved to \"%3\".").arg(saved).arg(poses.size()).arg(path));
_progressDialog->setAutoClose(false);
_progressDialog->appendText(tr("%1 images of %2 saved to \"%3\".").arg(saved).arg(poses.size()).arg(path));
}
else
{
_initProgressDialog->appendText(tr("%1 images saved to \"%2\".").arg(saved).arg(path));
_progressDialog->appendText(tr("%1 images saved to \"%2\".").arg(saved).arg(path));
}
_initProgressDialog->setValue(_initProgressDialog->maximumSteps());
_progressDialog->setValue(_progressDialog->maximumSteps());
}
}

2
guilib/src/MapVisibilityWidget.cpp
View File

@@ -25,7 +25,7 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include "MapVisibilityWidget.h"
#include "rtabmap/gui/MapVisibilityWidget.h"
#include <QCheckBox>
#include <QVBoxLayout>

67
guilib/src/MapVisibilityWidget.h
View File

@@ -1,67 +0,0 @@
/*
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.
*/
#ifndef MAPVISIBILITYWIDGET_H_
#define MAPVISIBILITYWIDGET_H_
#include <QWidget>
#include <rtabmap/core/Transform.h>
#include <map>
namespace rtabmap {
class MapVisibilityWidget : public QWidget {
Q_OBJECT;
public:
MapVisibilityWidget(QWidget * parent = 0);
virtual ~MapVisibilityWidget();
void setMap(const std::map<int, Transform> & poses, const std::map<int, bool> & mask);
std::map<int, Transform> getVisiblePoses() const;
void clear();
protected:
virtual void showEvent(QShowEvent * event);
private slots:
void signalVisibility();
void selectAll(bool);
private:
void updateCheckBoxes();
signals:
void visibilityChanged(int id, bool visible);
private:
std::map<int, Transform> _poses;
std::map<int, bool> _mask;
};
} /* namespace rtabmap */
#endif /* MAPVISIBILITYWIDGET_H_ */

2
guilib/src/ParametersToolBox.cpp
View File

@@ -32,7 +32,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/core/Parameters.h>
#include <rtabmap/core/Optimizer.h>
#include "ParametersToolBox.h"
#include "rtabmap/gui/ParametersToolBox.h"
#include <QComboBox>
#include <QDoubleSpinBox>
#include <QLineEdit>

88
guilib/src/ParametersToolBox.h
View File

@@ -1,88 +0,0 @@
/*
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.
*/
//
// Original version from Find-Object: https://github.com/introlab/find-object
//
#ifndef PARAMETERSTOOLBOX_H_
#define PARAMETERSTOOLBOX_H_
#include <rtabmap/core/Parameters.h>
#include <QWidget>
#include <QSet>
class QVBoxLayout;
class QStackedWidget;
class QComboBox;
namespace rtabmap {
class ParametersToolBox: public QWidget
{
Q_OBJECT
public:
ParametersToolBox(QWidget *parent = 0);
virtual ~ParametersToolBox();
void setupUi(const ParametersMap & parameters);
QWidget * getParameterWidget(const QString & key);
void updateParameter(const std::string & key, const std::string & value);
const ParametersMap & getParameters() const {return parameters_;}
private:
void addParameter(QVBoxLayout * layout, const std::string & key, const std::string & value);
void addParameter(QVBoxLayout * layout, const QString & key, const QString & value);
void addParameter(QVBoxLayout * layout, const QString & key, const int & value);
void addParameter(QVBoxLayout * layout, const QString & key, const double & value);
void addParameter(QVBoxLayout * layout, const QString & key, const bool & value);
void addParameter(QVBoxLayout * layout, const QString & name, QWidget * widget);
Q_SIGNALS:
void parametersChanged(const QStringList & name);
private Q_SLOTS:
void changeParameter();
void changeParameter(const QString & value);
void changeParameter(const int & value);
void resetCurrentPage();
void resetAllPages();
private:
QStringList resetPage(int index);
void updateParametersVisibility();
private:
QComboBox * comboBox_;
QStackedWidget * stackedWidget_;
ParametersMap parameters_;
};
} // namespace find_object
#endif /* PARAMETERSTOOLBOX_H_ */

2
guilib/src/PostProcessingDialog.cpp
View File

@@ -25,7 +25,7 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include "PostProcessingDialog.h"
#include "rtabmap/gui/PostProcessingDialog.h"
#include "ui_postProcessingDialog.h"
#include <QPushButton>

94
guilib/src/PostProcessingDialog.h
View File

@@ -1,94 +0,0 @@
/*
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.
*/
#ifndef POSTPROCESSINGDIALOG_H_
#define POSTPROCESSINGDIALOG_H_
#include <QDialog>
#include <QtCore/QSettings>
#include <rtabmap/core/Optimizer.h>
class Ui_PostProcessingDialog;
class QAbstractButton;
namespace rtabmap {
class PostProcessingDialog : public QDialog
{
Q_OBJECT
public:
PostProcessingDialog(QWidget * parent = 0);
virtual ~PostProcessingDialog();
void saveSettings(QSettings & settings, const QString & group = "") const;
void loadSettings(QSettings & settings, const QString & group = "");
//getters
bool isDetectMoreLoopClosures() const;
double clusterRadius() const;
double clusterAngle() const;
int iterations() const;
bool isRefineNeighborLinks() const;
bool isRefineLoopClosureLinks() const;
bool isSBA() const;
int sbaIterations() const;
double sbaVariance() const;
Optimizer::Type sbaType() const;
//setters
void setDetectMoreLoopClosures(bool on);
void setClusterRadius(double radius);
void setClusterAngle(double angle);
void setIterations(int iterations);
void setRefineNeighborLinks(bool on);
void setRefineLoopClosureLinks(bool on);
void setSBA(bool on);
void setSBAIterations(int iterations);
void setSBAVariance(double variance);
void setSBAType(Optimizer::Type type);
signals:
void configChanged();
public slots:
void restoreDefaults();
private slots:
void updateVisibility();
void updateButtonBox();
private:
Ui_PostProcessingDialog * _ui;
};
}
#endif /* POSTPROCESSINGDIALOG_H_ */

10
guilib/src/PreferencesDialog.cpp
View File

@@ -68,11 +68,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/gui/CloudViewer.h"
#include "rtabmap/gui/ImageView.h"
#include "rtabmap/gui/GraphViewer.h"
#include "ExportCloudsDialog.h"
#include "ExportBundlerDialog.h"
#include "PostProcessingDialog.h"
#include "CreateSimpleCalibrationDialog.h"
#include "DepthCalibrationDialog.h"
#include "rtabmap/gui/ExportCloudsDialog.h"
#include "rtabmap/gui/ExportBundlerDialog.h"
#include "rtabmap/gui/PostProcessingDialog.h"
#include "rtabmap/gui/CreateSimpleCalibrationDialog.h"
#include "rtabmap/gui/DepthCalibrationDialog.h"
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UConversion.h>

103
guilib/src/RecoveryState.h
View File

@@ -1,103 +0,0 @@
/*
Copyright (c) 2010-2017, 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.
*/
#ifndef RECOVERYSTATE_H_
#define RECOVERYSTATE_H_
#include "rtabmap/gui/ProgressDialog.h"
#include "rtabmap/core/ProgressState.h"
#include "rtabmap/utilite/UStl.h"
#include "rtabmap/utilite/UConversion.h"
#include <QApplication>
namespace rtabmap {
class RecoveryState : public QObject, public ProgressState
{
Q_OBJECT
public:
RecoveryState(ProgressDialog * dialog): dialog_(dialog)
{
connect(dialog_, SIGNAL(canceled()), this, SLOT(cancel()));
}
virtual ~RecoveryState() {}
virtual bool callback(const std::string & msg) const
{
if(!msg.empty())
{
QString msgQt = msg.c_str();
if(msgQt.contains("Processed"))
{
dialog_->incrementStep();
dialog_->appendText(msg.c_str());
}
else if(msgQt.contains("Found"))
{
std::list<std::string> strSplit = uSplitNumChar(msg);
if(strSplit.size() == 3)
{
int nodes = uStr2Int(*(++strSplit.begin()));
if(nodes > 0)
{
dialog_->setMaximumSteps(nodes);
}
}
dialog_->appendText(msg.c_str());
}
else if(msgQt.contains("Skipping") ||
msgQt.contains("Failed processing"))
{
dialog_->appendText(msg.c_str(), Qt::darkYellow);
}
else
{
dialog_->appendText(msg.c_str());
}
}
QApplication::processEvents();
if(!isCanceled())
{
return ProgressState::callback(msg);
}
return false;
}
public slots:
void cancel()
{
setCanceled(true);
}
private:
ProgressDialog * dialog_;
};
}
#endif /* RECOVERYSTATE_H_ */

80
guilib/src/TexturingState.h
View File

@@ -1,80 +0,0 @@
/*
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.
*/
#ifndef GUILIB_SRC_TEXTURINGSTATE_H_
#define GUILIB_SRC_TEXTURINGSTATE_H_
#include "rtabmap/gui/ProgressDialog.h"
#include "rtabmap/core/ProgressState.h"
#include <QApplication>
namespace rtabmap {
class TexturingState : public QObject, public ProgressState
{
Q_OBJECT
public:
TexturingState(ProgressDialog * dialog, bool incrementOnMsgReceived): dialog_(dialog)
{
_increment = incrementOnMsgReceived;
connect(dialog_, SIGNAL(canceled()), this, SLOT(cancel()));
}
virtual ~TexturingState() {}
virtual bool callback(const std::string & msg) const
{
if(!msg.empty())
{
dialog_->appendText(msg.c_str());
if(_increment)
{
dialog_->incrementStep();
}
}
QApplication::processEvents();
if(!isCanceled())
{
return ProgressState::callback(msg);
}
return false;
}
public slots:
void cancel()
{
setCanceled(true);
}
private:
ProgressDialog * dialog_;
bool _increment;
};
}
#endif /* GUILIB_SRC_TEXTURINGSTATE_H_ */

127
guilib/src/ui/DatabaseViewer.ui
View File

@@ -21,16 +21,7 @@
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -61,8 +52,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>388</width>
<height>242</height>
<width>438</width>
<height>202</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout" columnstretch="0,1">
@@ -253,8 +244,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>387</width>
<height>242</height>
<width>437</width>
<height>202</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout_2" columnstretch="0,1">
@@ -434,16 +425,7 @@
</item>
<item row="1" column="0">
<layout class="QHBoxLayout" name="horizontalLayout">
<property name="leftMargin">
<number>12</number>
</property>
<property name="topMargin">
<number>12</number>
</property>
<property name="rightMargin">
<number>12</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>12</number>
</property>
<item>
@@ -499,16 +481,7 @@
</item>
<item row="1" column="1">
<layout class="QHBoxLayout" name="horizontalLayout_2">
<property name="leftMargin">
<number>12</number>
</property>
<property name="topMargin">
<number>12</number>
</property>
<property name="rightMargin">
<number>12</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>12</number>
</property>
<item>
@@ -579,7 +552,7 @@
<x>0</x>
<y>0</y>
<width>1547</width>
<height>25</height>
<height>21</height>
</rect>
</property>
<widget class="QMenu" name="menuFile">
@@ -1070,16 +1043,7 @@
</attribute>
<widget class="QWidget" name="dockWidgetContents_3">
<layout class="QVBoxLayout" name="verticalLayout_10">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -1133,8 +1097,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>340</width>
<height>186</height>
<width>274</width>
<height>192</height>
</rect>
</property>
<attribute name="label">
@@ -1269,8 +1233,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>282</width>
<height>626</height>
<width>206</width>
<height>520</height>
</rect>
</property>
<attribute name="label">
@@ -1632,8 +1596,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>205</width>
<height>117</height>
<width>152</width>
<height>96</height>
</rect>
</property>
<attribute name="label">
@@ -1732,8 +1696,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>185</width>
<height>487</height>
<width>138</width>
<height>381</height>
</rect>
</property>
<attribute name="label">
@@ -1835,16 +1799,7 @@
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -1957,16 +1912,7 @@
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -2097,16 +2043,7 @@
</attribute>
<widget class="QWidget" name="dockWidgetContents_7">
<layout class="QVBoxLayout" name="verticalLayout_13">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -2124,16 +2061,7 @@
</attribute>
<widget class="QWidget" name="dockWidgetContents_5">
<layout class="QVBoxLayout" name="verticalLayout_7">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -2178,16 +2106,7 @@
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -2436,7 +2355,7 @@
<customwidget>
<class>rtabmap::ParametersToolBox</class>
<extends>QWidget</extends>
<header>ParametersToolBox.h</header>
<header>../include/rtabmap/gui/ParametersToolBox.h</header>
<container>1</container>
</customwidget>
</customwidgets>

125
guilib/src/ui/mainWindow.ui
View File

@@ -27,7 +27,7 @@
<x>0</x>
<y>0</y>
<width>1012</width>
<height>25</height>
<height>21</height>
</rect>
</property>
<widget class="QMenu" name="menuFile">
@@ -319,16 +319,7 @@
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -366,16 +357,7 @@
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -618,16 +600,7 @@
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -648,16 +621,7 @@
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -678,16 +642,7 @@
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -708,16 +663,7 @@
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
</layout>
@@ -735,16 +681,7 @@
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
</layout>
@@ -765,16 +702,7 @@
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -795,16 +723,7 @@
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -828,16 +747,7 @@
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -907,16 +817,7 @@
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -1485,7 +1386,7 @@
<customwidget>
<class>rtabmap::MapVisibilityWidget</class>
<extends>QWidget</extends>
<header>MapVisibilityWidget.h</header>
<header>../include/rtabmap/gui/MapVisibilityWidget.h</header>
<container>1</container>
</customwidget>
<customwidget>