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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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187
guilib/src/ui/DatabaseViewer.ui
View File

@@ -6,8 +6,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>736</width>
<height>456</height>
<width>1041</width>
<height>637</height>
</rect>
</property>
<property name="windowTitle">
@@ -287,7 +287,7 @@
<rect>
<x>0</x>
<y>0</y>
<width>736</width>
<width>1041</width>
<height>25</height>
</rect>
</property>
@@ -298,6 +298,7 @@
<addaction name="actionOpen_database"/>
<addaction name="separator"/>
<addaction name="actionExport"/>
<addaction name="actionExtract_images"/>
<addaction name="separator"/>
<addaction name="actionQuit"/>
</widget>
@@ -311,10 +312,167 @@
<addaction name="actionClean_database"/>
<addaction name="actionClean_local_graph"/>
<addaction name="separator"/>
<addaction name="actionView_3D_map"/>
<addaction name="actionGenerate_3D_map_pcd"/>
</widget>
<widget class="QMenu" name="menuView">
<property name="title">
<string>View</string>
</property>
</widget>
<addaction name="menuFile"/>
<addaction name="menuEdit"/>
<addaction name="menuView"/>
</widget>
<widget class="QDockWidget" name="dockWidget_constraints">
<property name="windowTitle">
<string>Constraints view</string>
</property>
<attribute name="dockWidgetArea">
<number>2</number>
</attribute>
<widget class="QWidget" name="dockWidgetContents">
<layout class="QVBoxLayout" name="verticalLayout_8" stretch="1,0,0">
<item>
<widget class="rtabmap::CloudViewer" name="constraintsViewer" native="true"/>
</item>
<item>
<widget class="QLabel" name="label_constraint">
<property name="text">
<string/>
</property>
</widget>
</item>
<item>
<layout class="QFormLayout" name="formLayout">
<item row="0" column="0">
<widget class="QLabel" name="label">
<property name="text">
<string>Neighbor links</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QSlider" name="horizontalSlider_neighbors">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="tickPosition">
<enum>QSlider::TicksAbove</enum>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_6">
<property name="text">
<string>Loop closure links</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QSlider" name="horizontalSlider_loops">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="tickPosition">
<enum>QSlider::TicksAbove</enum>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</widget>
<widget class="QDockWidget" name="dockWidget_graphView">
<property name="windowTitle">
<string>Graph view</string>
</property>
<attribute name="dockWidgetArea">
<number>1</number>
</attribute>
<widget class="QWidget" name="dockWidgetContents_2">
<layout class="QVBoxLayout" name="verticalLayout_9">
<item>
<widget class="rtabmap::GraphViewer" name="graphViewer"/>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_4">
<item>
<widget class="QLabel" name="label_iterations">
<property name="text">
<string>#</string>
</property>
</widget>
</item>
<item>
<widget class="QSlider" name="horizontalSlider_iterations">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="tickPosition">
<enum>QSlider::TicksAbove</enum>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QFormLayout" name="formLayout_2">
<item row="0" column="0">
<widget class="QLabel" name="label_7">
<property name="text">
<string>TORO iterations:</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QSpinBox" name="spinBox_iterations">
<property name="suffix">
<string/>
</property>
<property name="minimum">
<number>10</number>
</property>
<property name="maximum">
<number>1000</number>
</property>
<property name="value">
<number>100</number>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_8">
<property name="text">
<string>Optimize from:</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QSpinBox" name="spinBox_optimizationsFrom"/>
</item>
<item row="1" column="1">
<widget class="QCheckBox" name="checkBox_initGuess">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_9">
<property name="text">
<string>Initial tree guess:</string>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</widget>
<action name="actionOpen_database">
<property name="text">
@@ -358,7 +516,7 @@
</action>
<action name="actionGenerate_3D_map_pcd">
<property name="text">
<string>Generate 3D map (.pcd) ...</string>
<string>Export 3D map (.pcd) ...</string>
</property>
</action>
<action name="actionExport">
@@ -366,6 +524,16 @@
<string>Export...</string>
</property>
</action>
<action name="actionExtract_images">
<property name="text">
<string>Extract images...</string>
</property>
</action>
<action name="actionView_3D_map">
<property name="text">
<string>View 3D map...</string>
</property>
</action>
</widget>
<customwidgets>
<customwidget>
@@ -373,6 +541,17 @@
<extends>QGraphicsView</extends>
<header>rtabmap/gui/ImageView.h</header>
</customwidget>
<customwidget>
<class>rtabmap::CloudViewer</class>
<extends>QWidget</extends>
<header>rtabmap/gui/CloudViewer.h</header>
<container>1</container>
</customwidget>
<customwidget>
<class>rtabmap::GraphViewer</class>
<extends>QGraphicsView</extends>
<header>GraphViewer.h</header>
</customwidget>
</customwidgets>
<resources/>
<connections/>

206
guilib/src/ui/mainWindow.ui
View File

@@ -6,8 +6,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>809</width>
<height>661</height>
<width>947</width>
<height>741</height>
</rect>
</property>
<property name="windowTitle">
@@ -20,88 +20,13 @@
<property name="dockOptions">
<set>QMainWindow::AllowNestedDocks|QMainWindow::AllowTabbedDocks|QMainWindow::AnimatedDocks|QMainWindow::VerticalTabs</set>
</property>
<widget class="QWidget" name="centralwidget">
<layout class="QHBoxLayout" name="horizontalLayout_3">
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<number>0</number>
</property>
<item>
<layout class="QVBoxLayout" name="verticalLayout_2">
<property name="spacing">
<number>0</number>
</property>
<item>
<widget class="QLabel" name="label_refId">
<property name="minimumSize">
<size>
<width>0</width>
<height>18</height>
</size>
</property>
<property name="text">
<string/>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<widget class="rtabmap::ImageView" name="imageView_source">
<property name="verticalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
<property name="horizontalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QVBoxLayout" name="verticalLayout">
<property name="spacing">
<number>0</number>
</property>
<item>
<widget class="QLabel" name="label_matchId">
<property name="minimumSize">
<size>
<width>0</width>
<height>18</height>
</size>
</property>
<property name="text">
<string/>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<widget class="rtabmap::ImageView" name="imageView_loopClosure">
<property name="verticalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
<property name="horizontalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
<widget class="QWidget" name="widget_mainWindow"/>
<widget class="QMenuBar" name="menubar">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>809</width>
<width>947</width>
<height>25</height>
</rect>
</property>
@@ -116,7 +41,9 @@
<string>Edit</string>
</property>
<addaction name="actionApply_settings_to_the_detector"/>
<addaction name="separator"/>
<addaction name="actionDownload_all_clouds"/>
<addaction name="actionDownload_graph"/>
<addaction name="separator"/>
<addaction name="actionOpen_working_directory"/>
<addaction name="actionPrint_loop_closure_IDs_to_console"/>
@@ -212,6 +139,7 @@
</widget>
<addaction name="menuShow_view"/>
<addaction name="menuFigures"/>
<addaction name="actionScreenshot"/>
<addaction name="actionAuto_screen_capture"/>
<addaction name="menuAspect_ratio_2"/>
<addaction name="separator"/>
@@ -642,6 +570,111 @@
</layout>
</widget>
</widget>
<widget class="QDockWidget" name="dockWidget_graphViewer">
<property name="windowTitle">
<string>Graph view</string>
</property>
<attribute name="dockWidgetArea">
<number>8</number>
</attribute>
<widget class="QWidget" name="dockWidgetContents_9">
<layout class="QVBoxLayout" name="verticalLayout_10">
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<number>0</number>
</property>
<item>
<widget class="rtabmap::GraphViewer" name="graphicsView_graphView"/>
</item>
</layout>
</widget>
</widget>
<widget class="QDockWidget" name="dockWidget_imageView">
<property name="windowTitle">
<string>Loop closure detection</string>
</property>
<attribute name="dockWidgetArea">
<number>2</number>
</attribute>
<widget class="QWidget" name="layout_imageview">
<layout class="QHBoxLayout" name="horizontalLayout_2">
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<number>0</number>
</property>
<item>
<layout class="QVBoxLayout" name="verticalLayout_2">
<property name="spacing">
<number>0</number>
</property>
<item>
<widget class="QLabel" name="label_refId">
<property name="minimumSize">
<size>
<width>0</width>
<height>18</height>
</size>
</property>
<property name="text">
<string/>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<widget class="rtabmap::ImageView" name="imageView_source">
<property name="verticalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
<property name="horizontalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QVBoxLayout" name="verticalLayout">
<property name="spacing">
<number>0</number>
</property>
<item>
<widget class="QLabel" name="label_matchId">
<property name="minimumSize">
<size>
<width>0</width>
<height>18</height>
</size>
</property>
<property name="text">
<string/>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<widget class="rtabmap::ImageView" name="imageView_loopClosure">
<property name="verticalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
<property name="horizontalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</widget>
<action name="actionExit">
<property name="text">
<string>Exit</string>
@@ -936,6 +969,16 @@
<string>Generate TORO graph (*.graph)...</string>
</property>
</action>
<action name="actionDownload_graph">
<property name="text">
<string>Download graph only</string>
</property>
</action>
<action name="actionScreenshot">
<property name="text">
<string>Take a screenshot</string>
</property>
</action>
</widget>
<customwidgets>
<customwidget>
@@ -979,6 +1022,11 @@
<header>MapVisibilityWidget.h</header>
<container>1</container>
</customwidget>
<customwidget>
<class>rtabmap::GraphViewer</class>
<extends>QGraphicsView</extends>
<header>GraphViewer.h</header>
</customwidget>
</customwidgets>
<resources>
<include location="../GuiLib.qrc"/>

32
guilib/src/ui/preferencesDialog.ui
View File

@@ -64,8 +64,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>777</width>
<height>826</height>
<width>761</width>
<height>867</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>0</number>
<number>12</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29">
@@ -3713,8 +3713,8 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_7" stretch="0,1">
<item>
<layout class="QFormLayout" name="formLayout_5">
<item row="0" column="0">
<widget class="QComboBox" name="globalDetection_icpType">
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
@@ -3736,13 +3736,33 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</item>
</widget>
</item>
<item>
<item row="0" column="1">
<widget class="QLabel" name="label_19">
<property name="text">
<string>Use ICP estimation. If ICP 2D is selected, laser scans are required.</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_31">
<property name="text">
<string>TORO graph optimization iterations</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QSpinBox" name="globalDetection_toroIterations">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>10000</number>
</property>
<property name="value">
<number>100</number>
</property>
</widget>
</item>
</layout>
</item>
</layout>