mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 09:30:25 +08:00
321 lines
10 KiB
C++
321 lines
10 KiB
C++
/*
|
|
Copyright (c) 2010-2014, 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 MAINWINDOW_H_
|
|
#define MAINWINDOW_H_
|
|
|
|
#include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
|
|
|
|
#include "rtabmap/utilite/UEventsHandler.h"
|
|
#include <QMainWindow>
|
|
#include <QtCore/QSet>
|
|
#include "rtabmap/core/RtabmapEvent.h"
|
|
#include "rtabmap/core/SensorData.h"
|
|
#include "rtabmap/core/OdometryEvent.h"
|
|
#include "rtabmap/core/CameraInfo.h"
|
|
#include "rtabmap/gui/PreferencesDialog.h"
|
|
|
|
#include <pcl/point_cloud.h>
|
|
#include <pcl/point_types.h>
|
|
#include <pcl/PolygonMesh.h>
|
|
#include <pcl/pcl_base.h>
|
|
#include <pcl/TextureMesh.h>
|
|
|
|
namespace rtabmap {
|
|
class CameraThread;
|
|
class DBReader;
|
|
class CameraOpenni;
|
|
class CameraFreenect;
|
|
class OdometryThread;
|
|
class CloudViewer;
|
|
}
|
|
|
|
class QGraphicsScene;
|
|
class Ui_mainWindow;
|
|
class QActionGroup;
|
|
|
|
namespace rtabmap {
|
|
|
|
class LikelihoodScene;
|
|
class AboutDialog;
|
|
class Plot;
|
|
class PdfPlotCurve;
|
|
class StatsToolBox;
|
|
class ProgressDialog;
|
|
class TwistGridWidget;
|
|
class ExportCloudsDialog;
|
|
class PostProcessingDialog;
|
|
class DataRecorder;
|
|
|
|
class RTABMAPGUI_EXP MainWindow : public QMainWindow, public UEventsHandler
|
|
{
|
|
Q_OBJECT
|
|
|
|
public:
|
|
enum State {
|
|
kIdle,
|
|
kInitializing,
|
|
kInitialized,
|
|
kApplicationClosing,
|
|
kClosing,
|
|
kStartingDetection,
|
|
kDetecting,
|
|
kPaused,
|
|
kMonitoring,
|
|
kMonitoringPaused
|
|
};
|
|
|
|
public:
|
|
/**
|
|
* @param prefDialog If NULL, a default dialog is created. This
|
|
* dialog is automatically destroyed with the MainWindow.
|
|
*/
|
|
MainWindow(PreferencesDialog * prefDialog = 0, QWidget * parent = 0);
|
|
virtual ~MainWindow();
|
|
|
|
QString getWorkingDirectory() const;
|
|
void setMonitoringState(bool pauseChecked = false); // in monitoring state, only some actions are enabled
|
|
bool isSavedMaximized() const {return _savedMaximized;}
|
|
|
|
bool isProcessingStatistics() const {return _processingStatistics;}
|
|
bool isProcessingOdometry() const {return _processingOdometry;}
|
|
|
|
public slots:
|
|
void processStats(const rtabmap::Statistics & stat);
|
|
void updateCacheFromDatabase(const QString & path);
|
|
|
|
protected:
|
|
virtual void closeEvent(QCloseEvent* event);
|
|
virtual void handleEvent(UEvent* anEvent);
|
|
virtual void showEvent(QShowEvent* anEvent);
|
|
virtual void moveEvent(QMoveEvent* anEvent);
|
|
virtual void resizeEvent(QResizeEvent* anEvent);
|
|
virtual bool eventFilter(QObject *obj, QEvent *event);
|
|
|
|
private slots:
|
|
void changeState(MainWindow::State state);
|
|
void beep();
|
|
void configGUIModified();
|
|
void saveConfigGUI();
|
|
void newDatabase();
|
|
void openDatabase();
|
|
bool closeDatabase();
|
|
void editDatabase();
|
|
void startDetection();
|
|
void pauseDetection();
|
|
void stopDetection();
|
|
void notifyNoMoreImages();
|
|
void printLoopClosureIds();
|
|
void generateGraphDOT();
|
|
void exportPosesRaw();
|
|
void exportPosesRGBDSLAM();
|
|
void exportPosesKITTI();
|
|
void exportPosesTORO();
|
|
void exportPosesG2O();
|
|
void exportImages();
|
|
void postProcessing();
|
|
void deleteMemory();
|
|
void openWorkingDirectory();
|
|
void updateEditMenu();
|
|
void selectStream();
|
|
void selectOpenni();
|
|
void selectFreenect();
|
|
void selectOpenniCv();
|
|
void selectOpenniCvAsus();
|
|
void selectOpenni2();
|
|
void selectFreenect2();
|
|
void selectStereoDC1394();
|
|
void selectStereoFlyCapture2();
|
|
void dumpTheMemory();
|
|
void dumpThePrediction();
|
|
void sendGoal();
|
|
void sendWaypoints();
|
|
void postGoal(const QString & goal);
|
|
void cancelGoal();
|
|
void label();
|
|
void updateCacheFromDatabase();
|
|
void downloadAllClouds();
|
|
void downloadPoseGraph();
|
|
void anchorCloudsToGroundTruth();
|
|
void clearTheCache();
|
|
void openPreferences();
|
|
void openPreferencesSource();
|
|
void setDefaultViews();
|
|
void selectScreenCaptureFormat(bool checked);
|
|
void takeScreenshot();
|
|
void updateElapsedTime();
|
|
void processCameraInfo(const rtabmap::CameraInfo & info);
|
|
void processOdometry(const rtabmap::OdometryEvent & odom);
|
|
void applyPrefSettings(PreferencesDialog::PANEL_FLAGS flags);
|
|
void applyPrefSettings(const rtabmap::ParametersMap & parameters);
|
|
void processRtabmapEventInit(int status, const QString & info);
|
|
void processRtabmapEvent3DMap(const rtabmap::RtabmapEvent3DMap & event);
|
|
void processRtabmapGlobalPathEvent(const rtabmap::RtabmapGlobalPathEvent & event);
|
|
void processRtabmapLabelErrorEvent(int id, const QString & label);
|
|
void processRtabmapGoalStatusEvent(int status);
|
|
void changeImgRateSetting();
|
|
void changeDetectionRateSetting();
|
|
void changeTimeLimitSetting();
|
|
void changeMappingMode();
|
|
void setAspectRatio(int w, int h);
|
|
void setAspectRatio16_9();
|
|
void setAspectRatio16_10();
|
|
void setAspectRatio4_3();
|
|
void setAspectRatio240p();
|
|
void setAspectRatio360p();
|
|
void setAspectRatio480p();
|
|
void setAspectRatio720p();
|
|
void setAspectRatio1080p();
|
|
void setAspectRatioCustom();
|
|
void exportGridMap();
|
|
void exportScans();
|
|
void exportClouds();
|
|
void exportBundlerFormat();
|
|
void viewScans();
|
|
void viewClouds();
|
|
void resetOdometry();
|
|
void triggerNewMap();
|
|
void dataRecorder();
|
|
void dataRecorderDestroyed();
|
|
void updateNodeVisibility(int, bool);
|
|
|
|
signals:
|
|
void statsReceived(const rtabmap::Statistics &);
|
|
void cameraInfoReceived(const rtabmap::CameraInfo &);
|
|
void odometryReceived(const rtabmap::OdometryEvent &);
|
|
void thresholdsChanged(int, int);
|
|
void stateChanged(MainWindow::State);
|
|
void rtabmapEventInitReceived(int status, const QString & info);
|
|
void rtabmapEvent3DMapReceived(const rtabmap::RtabmapEvent3DMap & event);
|
|
void rtabmapGlobalPathEventReceived(const rtabmap::RtabmapGlobalPathEvent & event);
|
|
void rtabmapLabelErrorReceived(int id, const QString & label);
|
|
void rtabmapGoalStatusEventReceived(int status);
|
|
void imgRateChanged(double);
|
|
void detectionRateChanged(double);
|
|
void timeLimitChanged(float);
|
|
void mappingModeChanged(bool);
|
|
void noMoreImagesReceived();
|
|
void loopClosureThrChanged(float);
|
|
void twistReceived(float x, float y, float z, float roll, float pitch, float yaw, int row, int col);
|
|
|
|
private:
|
|
void update3DMapVisibility(bool cloudsShown, bool scansShown);
|
|
void updateMapCloud(
|
|
const std::map<int, Transform> & poses,
|
|
const Transform & pose,
|
|
const std::multimap<int, Link> & constraints,
|
|
const std::map<int, int> & mapIds,
|
|
const std::map<int, std::string> & labels,
|
|
const std::map<int, Transform> & groundTruths,
|
|
bool verboseProgress = false);
|
|
void createAndAddCloudToMap(int nodeId, const Transform & pose, int mapId);
|
|
void createAndAddScanToMap(int nodeId, const Transform & pose, int mapId);
|
|
Transform alignPosesToGroundTruth(std::map<int, Transform> & poses, const std::map<int, Transform> & groundTruth);
|
|
void drawKeypoints(const std::multimap<int, cv::KeyPoint> & refWords, const std::multimap<int, cv::KeyPoint> & loopWords);
|
|
void setupMainLayout(bool vertical);
|
|
void updateSelectSourceMenu();
|
|
void applyPrefSettings(const rtabmap::ParametersMap & parameters, bool postParamEvent);
|
|
void saveFigures();
|
|
void loadFigures();
|
|
void exportPoses(int format);
|
|
QString captureScreen(bool cacheInRAM = false);
|
|
|
|
bool getExportedScans(std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > & scans);
|
|
void saveScans(const std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr> & clouds, bool binaryMode = true);
|
|
|
|
private:
|
|
Ui_mainWindow * _ui;
|
|
|
|
State _state;
|
|
rtabmap::CameraThread * _camera;
|
|
rtabmap::DBReader * _dbReader;
|
|
rtabmap::OdometryThread * _odomThread;
|
|
|
|
//Dialogs
|
|
PreferencesDialog * _preferencesDialog;
|
|
AboutDialog * _aboutDialog;
|
|
ExportCloudsDialog * _exportDialog;
|
|
PostProcessingDialog * _postProcessingDialog;
|
|
DataRecorder * _dataRecorder;
|
|
|
|
QSet<int> _lastIds;
|
|
int _lastId;
|
|
bool _processingStatistics;
|
|
bool _processingDownloadedMap;
|
|
bool _odometryReceived;
|
|
QString _newDatabasePath;
|
|
QString _newDatabasePathOutput;
|
|
QString _openedDatabasePath;
|
|
bool _databaseUpdated;
|
|
bool _odomImageShow;
|
|
bool _odomImageDepthShow;
|
|
bool _savedMaximized;
|
|
QStringList _waypoints;
|
|
int _waypointsIndex;
|
|
|
|
QMap<int, Signature> _cachedSignatures;
|
|
std::map<int, Transform> _currentPosesMap; // <nodeId, pose>
|
|
std::map<int, Transform> _currentGTPosesMap; // <nodeId, pose>
|
|
std::multimap<int, Link> _currentLinksMap; // <nodeFromId, link>
|
|
std::map<int, int> _currentMapIds; // <nodeId, mapId>
|
|
std::map<int, std::string> _currentLabels; // <nodeId, label>
|
|
std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > _createdClouds;
|
|
std::pair<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > _previousCloud; // used for subtraction
|
|
|
|
std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > _createdScans;
|
|
std::map<int, std::pair<cv::Mat, cv::Mat> > _projectionLocalMaps; // <ground, obstacles>
|
|
std::map<int, std::pair<cv::Mat, cv::Mat> > _gridLocalMaps; // <ground, obstacles>
|
|
Transform _odometryCorrection;
|
|
Transform _lastOdomPose;
|
|
bool _processingOdometry;
|
|
|
|
QTimer * _oneSecondTimer;
|
|
QTime * _elapsedTime;
|
|
QTime * _logEventTime;
|
|
|
|
PdfPlotCurve * _posteriorCurve;
|
|
PdfPlotCurve * _likelihoodCurve;
|
|
PdfPlotCurve * _rawLikelihoodCurve;
|
|
|
|
ProgressDialog * _initProgressDialog;
|
|
|
|
QString _graphSavingFileName;
|
|
QMap<int, QString> _exportPosesFileName;
|
|
bool _autoScreenCaptureOdomSync;
|
|
bool _autoScreenCaptureRAM;
|
|
QMap<QString, QByteArray> _autoScreenCaptureCachedImages;
|
|
|
|
QVector<int> _refIds;
|
|
QVector<int> _loopClosureIds;
|
|
|
|
bool _firstCall;
|
|
};
|
|
|
|
}
|
|
|
|
#endif /* MainWindow_H_ */
|