mirror of
https://github.com/introlab/rtabmap.git
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265 lines
8.5 KiB
C++
265 lines
8.5 KiB
C++
/*
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Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef RTABMAP_DATABASEVIEWER_H_
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#define RTABMAP_DATABASEVIEWER_H_
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#include "rtabmap/gui/rtabmap_gui_export.h" // DLL export/import defines
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#include <QMainWindow>
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#include <QtCore/QByteArray>
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#include <QtCore/QMap>
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#include <QtCore/QSet>
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#include <QtGui/QImage>
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#include <opencv2/core/core.hpp>
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#include <opencv2/features2d/features2d.hpp>
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#include <set>
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#include <vector>
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#include <pcl/point_cloud.h>
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#include <pcl/point_types.h>
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#include <rtabmap/core/Link.h>
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#include <rtabmap/core/Signature.h>
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#include <rtabmap/core/GlobalMap.h>
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class Ui_DatabaseViewer;
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class QGraphicsScene;
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class QGraphicsView;
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class QLabel;
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class QToolButton;
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class QDialog;
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class QSpinBox;
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namespace rtabmap
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{
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class DBDriver;
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class ImageView;
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class SensorData;
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class CloudViewer;
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class OctoMap;
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class ExportCloudsDialog;
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class EditDepthArea;
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class EditMapArea;
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class LinkRefiningDialog;
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class Registration;
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class RegistrationIcp;
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class RTABMAP_GUI_EXPORT DatabaseViewer : public QMainWindow
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{
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Q_OBJECT
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public:
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DatabaseViewer(const QString & ini = QString(), QWidget * parent = 0);
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virtual ~DatabaseViewer();
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bool openDatabase(const QString & path, const ParametersMap & overridenParameters = ParametersMap());
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bool isSavedMaximized() const {return savedMaximized_;}
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void showCloseButton(bool visible = true);
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protected:
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virtual void showEvent(QShowEvent* anEvent);
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virtual void moveEvent(QMoveEvent* anEvent);
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virtual void resizeEvent(QResizeEvent* anEvent);
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virtual void keyPressEvent(QKeyEvent *event);
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virtual void closeEvent(QCloseEvent* event);
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virtual bool eventFilter(QObject *obj, QEvent *event);
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private Q_SLOTS:
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void writeSettings();
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void restoreDefaultSettings();
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void configModified();
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void openDatabase();
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bool closeDatabase();
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void recoverDatabase();
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void updateInfo();
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void updateStatistics();
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void selectObstacleColor();
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void selectGroundColor();
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void selectEmptyColor();
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void selectFrontierColor();
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void editDepthImage();
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void generateGraph();
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void editSaved2DMap();
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void exportSaved2DMap();
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void import2DMap();
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void regenerateSavedMap();
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void viewOptimizedMesh();
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void exportOptimizedMesh();
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void updateOptimizedMesh();
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void exportDatabase();
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void extractImages();
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void exportPosesRaw();
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void exportPosesRGBDSLAMMotionCapture();
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void exportPosesRGBDSLAM();
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void exportPosesRGBDSLAMID();
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void exportPosesKITTI();
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void exportPosesTORO();
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void exportPosesG2O();
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void exportPosesKML();
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void exportGPS_TXT();
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void exportGPS_KML();
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void generateLocalGraph();
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void regenerateLocalMaps();
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void regenerateCurrentLocalMaps();
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void view3DMap();
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void generate3DMap();
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void detectMoreLoopClosures();
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void updateAllNeighborCovariances();
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void updateAllLoopClosureCovariances();
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void updateAllLandmarkCovariances();
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void refineLinks();
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void resetAllChanges();
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void graphNodeSelected(int);
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void graphLinkSelected(int, int);
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void sliderAValueChanged(int);
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void sliderBValueChanged(int);
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void sliderAMoved(int);
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void sliderBMoved(int);
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void update3dView();
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void sliderNeighborValueChanged(int);
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void sliderLoopValueChanged(int);
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void sliderIterationsValueChanged(int);
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void editConstraint();
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void updateGrid();
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void updateOctomapView();
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void updateGraphRotation();
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void updateGraphView();
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void refineConstraint();
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void addConstraint();
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void resetConstraint();
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void rejectConstraint();
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void updateConstraintView();
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void updateLoggerLevel();
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void updateStereo();
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void notifyParametersChanged(const QStringList &);
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void setupMainLayout(bool vertical);
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void updateConstraintButtons();
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private:
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QString getIniFilePath() const;
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void readSettings();
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void updateIds();
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void update(int value,
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QSpinBox * spinBoxIndex,
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QLabel * labelParents,
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QLabel * labelChildren,
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QLabel * weight,
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QLabel * label,
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QLabel * stamp,
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rtabmap::ImageView * view,
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QLabel * labelId,
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QLabel * labelMapId,
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QLabel * labelPose,
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QLabel * labelOptPose,
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QLabel * labelVelocity,
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QLabel * labelCalib,
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QLabel * labelScan,
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QLabel * labelGravity,
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QLabel * labelPrior,
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QToolButton * editPriorButton,
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QToolButton * removePriorButton,
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QLabel * labelGps,
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QLabel * labelGt,
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QLabel * labelSensors,
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bool updateConstraintView);
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void updateStereo(const SensorData * data);
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void updateWordsMatching(const std::vector<int> & inliers = std::vector<int>());
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void updateConstraintView(
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const rtabmap::Link & link,
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bool updateImageSliders = true,
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const Signature & signatureFrom = Signature(0),
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const Signature & signatureTo = Signature(0));
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Link findActiveLink(int from, int to);
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bool containsLink(
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std::multimap<int, Link> & links,
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int from,
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int to);
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std::multimap<int, rtabmap::Link> updateLinksWithModifications(
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const std::multimap<int, rtabmap::Link> & edgeConstraints);
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void updateNeighborsSlider(int from = 0, int to = 0);
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void updateLoopClosuresSlider(int from = 0, int to = 0);
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void updateCovariances(const QList<Link> & links);
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void refineLinks(const QList<Link> & links);
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void refineConstraint(int from, int to, Registration * reg, RegistrationIcp * regIcp, bool silent);
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bool addConstraint(int from, int to, Registration * reg, bool silent, bool silentlyUseOptimizedGraphAsGuess = false);
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void exportPoses(int format);
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void exportGPS(int format);
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private:
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Ui_DatabaseViewer * ui_;
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CloudViewer * constraintsViewer_;
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CloudViewer * cloudViewer_;
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CloudViewer * stereoViewer_;
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CloudViewer * occupancyGridViewer_;
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QList<int> ids_;
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std::set<int> lastWmIds_;
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std::map<int, int> mapIds_;
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std::map<int, int> weights_;
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std::map<int, std::vector<int> > wmStates_;
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QMap<int, int> idToIndex_;
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QList<rtabmap::Link> neighborLinks_;
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QList<rtabmap::Link> loopLinks_;
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int lastSliderIndexBrowsed_;
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rtabmap::DBDriver * dbDriver_;
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QString pathDatabase_;
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std::string databaseFileName_;
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std::list<std::map<int, rtabmap::Transform> > graphes_;
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std::multimap<int, rtabmap::Link> graphLinks_;
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std::map<int, rtabmap::Transform> odomPoses_;
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std::map<int, rtabmap::Transform> groundTruthPoses_;
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std::map<int, rtabmap::Transform> gpsPoses_;
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std::map<int, GPS> gpsValues_;
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std::multimap<int, rtabmap::Link> links_;
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std::multimap<int, rtabmap::Link> linksRefined_;
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std::multimap<int, rtabmap::Link> linksAdded_;
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std::multimap<int, rtabmap::Link> linksRemoved_;
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std::map<int, LaserScan> modifiedLaserScans_;
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std::vector<double> odomMaxInf_;
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LocalGridCache localMaps_;
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LocalGridCache generatedLocalMaps_;
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OctoMap * octomap_;
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ExportCloudsDialog * exportDialog_;
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QDialog * editDepthDialog_;
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EditDepthArea * editDepthArea_;
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QDialog * editMapDialog_;
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EditMapArea * editMapArea_;
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LinkRefiningDialog * linkRefiningDialog_;
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bool savedMaximized_;
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bool firstCall_;
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QString iniFilePath_;
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bool infoReducedGraph_;
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double infoTotalOdom_;
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double infoTotalTime_;
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int infoSessions_;
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};
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}
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#endif /* DATABASEVIEWER_H_ */
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