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Added notification message box when a global path is computed. Refactoring occupancy grid.

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This commit is contained in:
Mathieu Labbe
2015-05-05 17:38:38 -04:00
parent b2bfa91153
commit f32319f0dc
9 changed files with 117 additions and 68 deletions
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15
guilib/src/DatabaseViewer.cpp
View File

@@ -151,6 +151,7 @@ DatabaseViewer::DatabaseViewer(QWidget * parent) :
connect(ui_->actionRefine_all_loop_closure_links, SIGNAL(triggered()), this, SLOT(refineAllLoopClosureLinks()));
connect(ui_->actionVisual_Refine_all_neighbor_links, SIGNAL(triggered()), this, SLOT(refineVisuallyAllNeighborLinks()));
connect(ui_->actionVisual_Refine_all_loop_closure_links, SIGNAL(triggered()), this, SLOT(refineVisuallyAllLoopClosureLinks()));
connect(ui_->actionReset_all_changes, SIGNAL(triggered()), this, SLOT(resetAllChanges()));
//ICP buttons
connect(ui_->pushButton_refine, SIGNAL(clicked()), this, SLOT(refineConstraint()));
@@ -627,6 +628,11 @@ void DatabaseViewer::closeEvent(QCloseEvent* event)
void DatabaseViewer::showEvent(QShowEvent* anEvent)
{
this->setWindowModified(false);
if(ui_->graphViewer->isVisible() && graphes_.size() && localMaps_.size()==0)
{
sliderIterationsValueChanged((int)graphes_.size()-1);
}
}
void DatabaseViewer::moveEvent(QMoveEvent* anEvent)
@@ -1367,6 +1373,15 @@ void DatabaseViewer::refineVisuallyAllLoopClosureLinks()
}
}
void DatabaseViewer::resetAllChanges()
{
linksAdded_.clear();
linksRefined_.clear();
linksRemoved_.clear();
updateLoopClosuresSlider();
this->updateGraphView();
}
void DatabaseViewer::sliderAValueChanged(int value)
{
this->update(value,

4
guilib/src/GraphViewer.cpp
View File

@@ -396,6 +396,10 @@ void GraphViewer::updateReferentialPosition(const Transform & t)
_localRadius->setTransform(qt);
this->ensureVisible(_referential);
if(_localRadius->isVisible())
{
this->ensureVisible(_localRadius, 0, 0);
}
}
void GraphViewer::updateMap(const cv::Mat & map8U, float resolution, float xMin, float yMin)

80
guilib/src/MainWindow.cpp
View File

@@ -1479,27 +1479,13 @@ void MainWindow::updateMapCloud(
{
float xMin, yMin;
float resolution = _preferencesDialog->getGridMapResolution();
cv::Mat map8S;
if(_preferencesDialog->isGridMapFrom3DCloud())
{
map8S = util3d::create2DMapFromOccupancyLocalMaps(
cv::Mat map8S = util3d::create2DMapFromOccupancyLocalMaps(
poses,
_projectionLocalMaps,
_preferencesDialog->isGridMapFrom3DCloud()?_projectionLocalMaps:_gridLocalMaps,
resolution,
xMin, yMin,
0,
_preferencesDialog->isGridMapEroded());
}
else if(_gridLocalMaps.size())
{
map8S = util3d::create2DMapFromOccupancyLocalMaps(
poses,
_gridLocalMaps,
resolution,
xMin, yMin,
0,
_preferencesDialog->isGridMapEroded());
}
if(!map8S.empty())
{
//convert to gray scaled map
@@ -1977,20 +1963,40 @@ void MainWindow::processRtabmapEvent3DMap(const rtabmap::RtabmapEvent3DMap & eve
void MainWindow::processRtabmapGlobalPathEvent(const rtabmap::RtabmapGlobalPathEvent & event)
{
if(event.getPoses().empty())
{
QMessageBox::warning(this, tr("Setting goal failed"), tr("Setting goal to location %1 failed. "
"Some reasons: \n"
"1) the location doesn't exist in the graph,\n"
"2) the location is not linked to the global graph or\n"
"3) the location is too near of the current location (goal already reached).").arg(event.getGoal()));
}
else
if(!event.getPoses().empty())
{
_ui->graphicsView_graphView->setGlobalPath(event.getPoses());
_ui->statusbar->showMessage(
tr("Global path computed from %1 (%2 poses, %3 m)!").arg(event.getGoal()).arg(event.getPoses().size()).arg(graph::computePathLength(event.getPoses())),
10000);
}
if(_preferencesDialog->notifyWhenNewGlobalPathIsReceived())
{
// use MessageBox
if(event.getPoses().empty())
{
QMessageBox * warn = new QMessageBox(
QMessageBox::Warning,
tr("Setting goal failed!"),
tr("Setting goal to location %1 failed. "
"Some reasons: \n"
"1) the location doesn't exist in the graph,\n"
"2) the location is not linked to the global graph or\n"
"3) the location is too near of the current location (goal already reached).").arg(event.getGoal()),
QMessageBox::Ok,
this);
warn->setAttribute(Qt::WA_DeleteOnClose, true);
warn->show();
}
else
{
QMessageBox * info = new QMessageBox(
QMessageBox::Information,
tr("Goal detected!"),
tr("Global path computed from %1 to %2 (%3 poses, %4 m).").arg(event.getPoses().front().first).arg(event.getGoal()).arg(event.getPoses().size()).arg(graph::computePathLength(event.getPoses())),
QMessageBox::Ok,
this);
info->setAttribute(Qt::WA_DeleteOnClose, true);
info->show();
}
}
}
@@ -4038,27 +4044,13 @@ void MainWindow::exportGridMap()
// create the map
float xMin=0.0f, yMin=0.0f;
cv::Mat pixels;
if(_preferencesDialog->isGridMapFrom3DCloud())
{
pixels = util3d::create2DMapFromOccupancyLocalMaps(
cv::Mat pixels = util3d::create2DMapFromOccupancyLocalMaps(
poses,
_projectionLocalMaps,
_preferencesDialog->isGridMapFrom3DCloud()?_projectionLocalMaps:_gridLocalMaps,
gridCellSize,
xMin, yMin,
0,
_preferencesDialog->isGridMapEroded());
}
else
{
pixels = util3d::create2DMapFromOccupancyLocalMaps(
poses,
_gridLocalMaps,
gridCellSize,
xMin, yMin,
0,
_preferencesDialog->isGridMapEroded());
}
if(!pixels.empty())
{

8
guilib/src/PreferencesDialog.cpp
View File

@@ -192,6 +192,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->checkBox_imageRejectedShown, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
connect(_ui->checkBox_imageHighestHypShown, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
connect(_ui->checkBox_beep, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
connect(_ui->checkBox_notifyWhenNewGlobalPathIsReceived, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
connect(_ui->spinBox_odomQualityWarnThr, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
connect(_ui->checkBox_posteriorGraphView, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
@@ -881,6 +882,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
{
_ui->general_checkBox_imagesKept->setChecked(true);
_ui->checkBox_beep->setChecked(false);
_ui->checkBox_notifyWhenNewGlobalPathIsReceived->setChecked(false);
_ui->checkBox_verticalLayoutUsed->setChecked(true);
_ui->checkBox_imageRejectedShown->setChecked(true);
_ui->checkBox_imageHighestHypShown->setChecked(false);
@@ -1143,6 +1145,7 @@ void PreferencesDialog::readGuiSettings(const QString & filePath)
_ui->checkBox_imageRejectedShown->setChecked(settings.value("imageRejectedShown", _ui->checkBox_imageRejectedShown->isChecked()).toBool());
_ui->checkBox_imageHighestHypShown->setChecked(settings.value("imageHighestHypShown", _ui->checkBox_imageHighestHypShown->isChecked()).toBool());
_ui->checkBox_beep->setChecked(settings.value("beep", _ui->checkBox_beep->isChecked()).toBool());
_ui->checkBox_notifyWhenNewGlobalPathIsReceived->setChecked(settings.value("notifyNewGlobalPath", _ui->checkBox_notifyWhenNewGlobalPathIsReceived->isChecked()).toBool());
_ui->spinBox_odomQualityWarnThr->setValue(settings.value("odomQualityThr", _ui->spinBox_odomQualityWarnThr->value()).toInt());
_ui->checkBox_posteriorGraphView->setChecked(settings.value("posteriorGraphView", _ui->checkBox_posteriorGraphView->isChecked()).toBool());
@@ -1412,6 +1415,7 @@ void PreferencesDialog::writeGuiSettings(const QString & filePath) const
settings.setValue("imageRejectedShown", _ui->checkBox_imageRejectedShown->isChecked());
settings.setValue("imageHighestHypShown", _ui->checkBox_imageHighestHypShown->isChecked());
settings.setValue("beep", _ui->checkBox_beep->isChecked());
settings.setValue("notifyNewGlobalPath", _ui->checkBox_notifyWhenNewGlobalPathIsReceived->isChecked());
settings.setValue("odomQualityThr", _ui->spinBox_odomQualityWarnThr->value());
settings.setValue("posteriorGraphView", _ui->checkBox_posteriorGraphView->isChecked());
@@ -2868,6 +2872,10 @@ bool PreferencesDialog::beepOnPause() const
{
return _ui->checkBox_beep->isChecked();
}
bool PreferencesDialog::notifyWhenNewGlobalPathIsReceived() const
{
return _ui->checkBox_notifyWhenNewGlobalPathIsReceived->isChecked();
}
int PreferencesDialog::getOdomQualityWarnThr() const
{
return _ui->spinBox_odomQualityWarnThr->value();

7
guilib/src/ui/DatabaseViewer.ui
View File

@@ -414,6 +414,8 @@
<addaction name="actionVisual_Refine_all_loop_closure_links"/>
<addaction name="actionRefine_all_loop_closure_links"/>
<addaction name="separator"/>
<addaction name="actionReset_all_changes"/>
<addaction name="separator"/>
<addaction name="actionView_3D_map"/>
<addaction name="actionGenerate_3D_map_pcd"/>
</widget>
@@ -1756,6 +1758,11 @@
<string>Save config</string>
</property>
</action>
<action name="actionReset_all_changes">
<property name="text">
<string>Reset all changes</string>
</property>
</action>
</widget>
<customwidgets>
<customwidget>

24
guilib/src/ui/preferencesDialog.ui
View File

@@ -65,7 +65,7 @@
<x>0</x>
<y>0</y>
<width>760</width>
<height>1502</height>
<height>1029</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>19</number>
<number>0</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29">
@@ -135,6 +135,26 @@
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_102">
<property name="text">
<string>Notify when a new global path is received.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QCheckBox" name="checkBox_notifyWhenNewGlobalPathIsReceived">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
<item>