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New classes: Link and GraphViewer (TORO graph visualization and laser scans occupancy grid)

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New parameter: RGBD/ToroIterations=100
Rtabmap: added getGraph() method to get TORO poses/link constraints
Fixed ICP correspondences ratio over 1
CloudViewer: added frustum culling and camera view up z lock in render(), moving camera using arrow keys, Menu options: Camera far plane clipping, background color
DatabaseViewer: added 3D Map view and Graph view
MainWindow: Moved main widget (loop closure image status) to a dock widget, added Graph view.


git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1075 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-02-11 23:04:22 +00:00
parent df3d694829
commit ea570abb8c
27 changed files with 2178 additions and 242 deletions
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13
guilib/include/rtabmap/gui/CloudViewer.h
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@@ -11,12 +11,16 @@
#include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
#include <QVTKWidget.h>
#include <pcl/pcl_base.h>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <pcl/PolygonMesh.h>
#include "rtabmap/core/Transform.h"
#include <QtCore/QMap>
#include <QtCore/QSet>
#include <QtCore/qnamespace.h>
#include <pcl/visualization/mouse_event.h>
#include <pcl/PCLPointCloud2.h>
namespace pcl {
@@ -110,12 +114,17 @@ public slots:
void setCloudPointSize(const std::string & id, int size);
protected:
virtual void keyReleaseEvent(QKeyEvent * event);
virtual void keyPressEvent(QKeyEvent * event);
virtual void contextMenuEvent(QContextMenuEvent * event);
virtual void handleAction(QAction * event);
QMenu * menu() {return _menu;}
private:
void createMenu();
bool frustumCulling(const pcl::PointXYZ & cloud);
pcl::IndicesPtr frustumCulling(const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud);
void mouseEventOccurred (const pcl::visualization::MouseEvent &event, void* viewer_void);
private:
pcl::visualization::PCLVisualizer * _visualizer;
@@ -127,12 +136,16 @@ private:
QAction * _aSetTrajectorySize;
QAction * _aClearTrajectory;
QAction * _aShowGrid;
QAction * _aSetBackgroundColor;
QAction * _setFarPlaneDistance;
QMenu * _menu;
pcl::PointCloud<pcl::PointXYZ>::Ptr _trajectory;
unsigned int _maxTrajectorySize;
QMap<std::string, Transform> _addedClouds; // include meshes
Transform _lastPose;
std::list<std::string> _gridLines;
float _farPlaneDistance;
QSet<Qt::Key> _keysPressed;
};
} /* namespace rtabmap */

16
guilib/include/rtabmap/gui/DatabaseViewer.h
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@@ -31,6 +31,8 @@
#include <opencv2/features2d/features2d.hpp>
#include <set>
#include <rtabmap/core/Link.h>
class Ui_DatabaseViewer;
class QGraphicsScene;
class QGraphicsView;
@@ -55,12 +57,18 @@ private slots:
void openDatabase();
void generateGraph();
void exportDatabase();
void extractImages();
void generateLocalGraph();
void view3DMap();
void generate3DMap();
void sliderAValueChanged(int);
void sliderBValueChanged(int);
void sliderAMoved(int);
void sliderBMoved(int);
void sliderNeighborValueChanged(int);
void sliderLoopValueChanged(int);
void sliderIterationsValueChanged(int);
void updateGraphView();
private:
void updateIds();
@@ -71,12 +79,20 @@ private:
QLabel * labelChildren,
rtabmap::ImageView * view,
QLabel * labelId);
void updateConstraintView(const rtabmap::Link & link);
private:
Ui_DatabaseViewer * ui_;
QList<int> ids_;
QMap<int, int> idToIndex_;
QList<rtabmap::Link> neighborLinks_;
QList<rtabmap::Link> loopLinks_;
rtabmap::Memory * memory_;
QString pathDatabase_;
std::list<std::map<int, rtabmap::Transform> > graphes_;
std::map<int, rtabmap::Transform> poses_;
std::multimap<int, rtabmap::Link> links_;
std::map<int, std::vector<unsigned char> > scans_;
};
#endif /* DATABASEVIEWER_H_ */

6
guilib/include/rtabmap/gui/MainWindow.h
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@@ -116,11 +116,13 @@ private slots:
void dumpTheMemory();
void dumpThePrediction();
void downloadAllClouds();
void downloadPoseGraph();
void clearTheCache();
void saveFigures();
void loadFigures();
void openPreferences();
void selectScreenCaptureFormat(bool checked);
void takeScreenshot();
void updateElapsedTime();
void processOdometry(const rtabmap::Image & data);
void applyAllPrefSettings();
@@ -214,7 +216,7 @@ private:
QMap<int, std::vector<unsigned char> > _imagesMap;
QMap<int, std::vector<unsigned char> > _depthsMap;
QMap<int, std::vector<unsigned char> > _depths2DMap;
std::map<int, std::vector<unsigned char> > _depths2DMap;
QMap<int, float> _depthConstantsMap;
QMap<int, Transform> _localTransformsMap;
std::map<int, Transform> _currentPosesMap;
@@ -234,7 +236,7 @@ private:
QString _graphSavingFileName;
QString _toroSavingFileName;
QString _autoScreenCaptureFormat;
bool _autoScreenCaptureOdomSync;
QVector<int> _refIds;
QVector<int> _loopClosureIds;