DbViewer: refining cancelable, statistics labels selectable and x-axis can be time or IDs

guilib/src/DatabaseViewer.cpp

@@ -331,6 +331,8 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
 	connect(ui_->actionVertical_Layout, SIGNAL(toggled(bool)), this, SLOT(configModified()));
 	connect(ui_->checkBox_alignPosesWithGroundTruth, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
 	connect(ui_->checkBox_alignPosesWithGroundTruth, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
+	connect(ui_->checkBox_timeStats, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
+	connect(ui_->checkBox_timeStats, SIGNAL(stateChanged(int)), this, SLOT(updateStatistics()));
 	// Graph view
 	connect(ui_->checkBox_spanAllMaps, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
 	connect(ui_->checkBox_ignorePoseCorrection, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
@@ -455,6 +457,7 @@ void DatabaseViewer::readSettings()
 	ui_->comboBox_logger_level->setCurrentIndex(settings.value("loggerLevel", ui_->comboBox_logger_level->currentIndex()).toInt());
 	ui_->actionVertical_Layout->setChecked(settings.value("verticalLayout", ui_->actionVertical_Layout->isChecked()).toBool());
 	ui_->checkBox_alignPosesWithGroundTruth->setChecked(settings.value("alignGroundTruth", ui_->checkBox_alignPosesWithGroundTruth->isChecked()).toBool());
+	ui_->checkBox_timeStats->setChecked(settings.value("timeStats", ui_->checkBox_timeStats->isChecked()).toBool());
 
 	// GraphViewer settings
 	ui_->graphViewer->loadSettings(settings, "GraphView");
@@ -544,6 +547,7 @@ void DatabaseViewer::writeSettings()
 	settings.setValue("loggerLevel", ui_->comboBox_logger_level->currentIndex());
 	settings.setValue("verticalLayout", ui_->actionVertical_Layout->isChecked());
 	settings.setValue("alignGroundTruth", ui_->checkBox_alignPosesWithGroundTruth->isChecked());
+	settings.setValue("timeStats", ui_->checkBox_timeStats->isChecked());
 
 	// save GraphViewer settings
 	ui_->graphViewer->saveSettings(settings, "GraphView");
@@ -630,6 +634,7 @@ void DatabaseViewer::restoreDefaultSettings()
 	// reset GUI parameters
 	ui_->comboBox_logger_level->setCurrentIndex(1);
 	ui_->checkBox_alignPosesWithGroundTruth->setChecked(true);
+	ui_->checkBox_timeStats->setChecked(true);
 
 	ui_->checkBox_spanAllMaps->setChecked(true);
 	ui_->checkBox_ignorePoseCorrection->setChecked(false);
@@ -707,6 +712,8 @@ bool DatabaseViewer::openDatabase(const QString & path)
 			ui_->checkBox_showOptimized->setEnabled(false);
 			ui_->toolBox_statistics->clear();
 			databaseFileName_.clear();
+			ui_->checkBox_alignPosesWithGroundTruth->setVisible(false);
+			ui_->label_alignPosesWithGroundTruth->setVisible(false);
 		}
 
 		std::string driverType = "sqlite3";
@@ -1283,6 +1290,8 @@ void DatabaseViewer::updateIds()
 	mapIds_.clear();
 	poses_.clear();
 	groundTruthPoses_.clear();
+	ui_->checkBox_alignPosesWithGroundTruth->setVisible(false);
+	ui_->label_alignPosesWithGroundTruth->setVisible(false);
 	links_.clear();
 	linksAdded_.clear();
 	linksRefined_.clear();
@@ -1382,6 +1391,12 @@ void DatabaseViewer::updateIds()
 			}
 		}
 	}
+	if(!groundTruthPoses_.empty())
+	{
+		ui_->checkBox_alignPosesWithGroundTruth->setVisible(true);
+		ui_->label_alignPosesWithGroundTruth->setVisible(true);
+	}
+
 	UINFO("Loaded %d ids, %d poses and %d links", (int)ids_.size(), (int)poses_.size(), (int)links_.size());
 
 	if(ids_.size() && ui_->toolBox_statistics->isVisible())
@@ -1547,7 +1562,7 @@ void DatabaseViewer::updateStatistics()
 			}
 			for(std::map<std::string, float>::iterator iter=statistics.begin(); iter!=statistics.end(); ++iter)
 			{
-				ui_->toolBox_statistics->updateStat(iter->first.c_str(), float(stamp-firstStamp), iter->second, true);
+				ui_->toolBox_statistics->updateStat(iter->first.c_str(), ui_->checkBox_timeStats->isChecked()?float(stamp-firstStamp):ids_[i], iter->second, true);
 			}
 		}
 	}
@@ -2315,9 +2330,12 @@ void DatabaseViewer::refineAllNeighborLinks()
 {
 	if(neighborLinks_.size())
 	{
-		rtabmap::ProgressDialog progressDialog(this);
+		rtabmap::ProgressDialog * progressDialog = new rtabmap::ProgressDialog(this);
-		progressDialog.setMaximumSteps(neighborLinks_.size());
+		progressDialog->setAttribute(Qt::WA_DeleteOnClose);
-		progressDialog.show();
+		progressDialog->setMaximumSteps(neighborLinks_.size());
+		progressDialog->setCancelButtonVisible(true);
+		progressDialog->setMinimumWidth(800);
+		progressDialog->show();
 
 		for(int i=0; i<neighborLinks_.size(); ++i)
 		{
@@ -2325,14 +2343,18 @@ void DatabaseViewer::refineAllNeighborLinks()
 			int to = neighborLinks_[i].to();
 			this->refineConstraint(neighborLinks_[i].from(), neighborLinks_[i].to(), true);
 
-			progressDialog.appendText(tr("Refined link %1->%2 (%3/%4)").arg(from).arg(to).arg(i+1).arg(neighborLinks_.size()));
+			progressDialog->appendText(tr("Refined link %1->%2 (%3/%4)").arg(from).arg(to).arg(i+1).arg(neighborLinks_.size()));
-			progressDialog.incrementStep();
+			progressDialog->incrementStep();
 			QApplication::processEvents();
+			if(progressDialog->isCanceled())
+			{
+				break;
+			}
 		}
 		this->updateGraphView();
 
-		progressDialog.setValue(progressDialog.maximumSteps());
+		progressDialog->setValue(progressDialog->maximumSteps());
-		progressDialog.appendText("Refining links finished!");
+		progressDialog->appendText("Refining links finished!");
 	}
 }
 
@@ -2340,9 +2362,12 @@ void DatabaseViewer::refineAllLoopClosureLinks()
 {
 	if(loopLinks_.size())
 	{
-		rtabmap::ProgressDialog progressDialog(this);
+		rtabmap::ProgressDialog * progressDialog = new rtabmap::ProgressDialog(this);
-		progressDialog.setMaximumSteps(loopLinks_.size());
+		progressDialog->setAttribute(Qt::WA_DeleteOnClose);
-		progressDialog.show();
+		progressDialog->setMaximumSteps(neighborLinks_.size());
+		progressDialog->setCancelButtonVisible(true);
+		progressDialog->setMinimumWidth(800);
+		progressDialog->show();
 
 		for(int i=0; i<loopLinks_.size(); ++i)
 		{
@@ -2350,14 +2375,18 @@ void DatabaseViewer::refineAllLoopClosureLinks()
 			int to = loopLinks_[i].to();
 			this->refineConstraint(loopLinks_[i].from(), loopLinks_[i].to(), true);
 
-			progressDialog.appendText(tr("Refined link %1->%2 (%3/%4)").arg(from).arg(to).arg(i+1).arg(loopLinks_.size()));
+			progressDialog->appendText(tr("Refined link %1->%2 (%3/%4)").arg(from).arg(to).arg(i+1).arg(loopLinks_.size()));
-			progressDialog.incrementStep();
+			progressDialog->incrementStep();
 			QApplication::processEvents();
+			if(progressDialog->isCanceled())
+			{
+				break;
+			}
 		}
 		this->updateGraphView();
 
-		progressDialog.setValue(progressDialog.maximumSteps());
+		progressDialog->setValue(progressDialog->maximumSteps());
-		progressDialog.appendText("Refining links finished!");
+		progressDialog->appendText("Refining links finished!");
 	}
 }
 

guilib/src/StatsToolBox.cpp

@@ -154,8 +154,10 @@ void StatItem::setupUi(QGridLayout * grid)
 	_button->setPopupMode(QToolButton::InstantPopup);
 	_button->setMenu(_menu);
 	_name = new QLabel(this);
+	_name->setTextInteractionFlags(Qt::TextSelectableByMouse);
 	_name->setWordWrap(true);
 	_value = new QLabel(this);
+	_value->setTextInteractionFlags(Qt::TextSelectableByMouse);
 	_unit = new QLabel(this);
 
 	if(grid)

guilib/src/ui/DatabaseViewer.ui

@@ -52,7 +52,7 @@
           <rect>
            <x>0</x>
            <y>0</y>
-           <width>394</width>
+           <width>381</width>
            <height>196</height>
           </rect>
          </property>
@@ -210,7 +210,7 @@
           <rect>
            <x>0</x>
            <y>0</y>
-           <width>394</width>
+           <width>381</width>
            <height>196</height>
           </rect>
          </property>
@@ -916,6 +916,26 @@
          </property>
         </widget>
        </item>
+       <item row="1" column="1">
+        <widget class="QLabel" name="label_alignPosesWithGroundTruth">
+         <property name="text">
+          <string>Align poses with ground truth</string>
+         </property>
+         <property name="wordWrap">
+          <bool>true</bool>
+         </property>
+        </widget>
+       </item>
+       <item row="1" column="0">
+        <widget class="QCheckBox" name="checkBox_alignPosesWithGroundTruth">
+         <property name="text">
+          <string/>
+         </property>
+         <property name="checked">
+          <bool>true</bool>
+         </property>
+        </widget>
+       </item>
       </layout>
      </item>
     </layout>
@@ -936,19 +956,12 @@
    </attribute>
    <widget class="QWidget" name="dockWidgetContents_3">
     <layout class="QVBoxLayout" name="verticalLayout_10">
+     <property name="margin">
+      <number>0</number>
+     </property>
      <item>
-      <layout class="QGridLayout" name="gridLayout_4" columnstretch="0,0,1">
+      <layout class="QGridLayout" name="gridLayout_4" columnstretch="0,1">
-       <item row="0" column="2">
+       <item row="0" column="0">
-        <widget class="QLabel" name="label_logger_level">
-         <property name="text">
-          <string>Logger level</string>
-         </property>
-         <property name="wordWrap">
-          <bool>true</bool>
-         </property>
-        </widget>
-       </item>
-       <item row="0" column="1">
         <widget class="QComboBox" name="comboBox_logger_level">
          <property name="currentIndex">
           <number>1</number>
@@ -975,32 +988,22 @@
          </item>
         </widget>
        </item>
-       <item row="1" column="2">
+       <item row="0" column="1">
-        <widget class="QLabel" name="label_logger_level_2">
+        <widget class="QLabel" name="label_logger_level">
          <property name="text">
-          <string>Align poses with ground truth</string>
+          <string>Logger level</string>
          </property>
          <property name="wordWrap">
           <bool>true</bool>
          </property>
         </widget>
        </item>
-       <item row="1" column="1">
-        <widget class="QCheckBox" name="checkBox_alignPosesWithGroundTruth">
-         <property name="text">
-          <string/>
-         </property>
-         <property name="checked">
-          <bool>true</bool>
-         </property>
-        </widget>
-       </item>
       </layout>
      </item>
      <item>
       <widget class="QToolBox" name="toolBox">
        <property name="currentIndex">
-        <number>1</number>
+        <number>0</number>
        </property>
        <widget class="QWidget" name="page_3">
         <property name="geometry">
@@ -1008,7 +1011,7 @@
           <x>0</x>
           <y>0</y>
           <width>339</width>
-          <height>210</height>
+          <height>186</height>
          </rect>
         </property>
         <attribute name="label">
@@ -1143,8 +1146,8 @@
          <rect>
           <x>0</x>
           <y>0</y>
-          <width>282</width>
+          <width>326</width>
-          <height>626</height>
+          <height>609</height>
          </rect>
         </property>
         <attribute name="label">
@@ -1506,8 +1509,8 @@
          <rect>
           <x>0</x>
           <y>0</y>
-          <width>295</width>
+          <width>339</width>
-          <height>223</height>
+          <height>173</height>
          </rect>
         </property>
         <attribute name="label">
@@ -1606,8 +1609,8 @@
          <rect>
           <x>0</x>
           <y>0</y>
-          <width>282</width>
+          <width>326</width>
-          <height>266</height>
+          <height>249</height>
          </rect>
         </property>
         <attribute name="label">
@@ -1974,6 +1977,30 @@
      <property name="margin">
       <number>0</number>
      </property>
+     <item>
+      <layout class="QGridLayout" name="gridLayout_8" columnstretch="0,1">
+       <item row="0" column="0">
+        <widget class="QCheckBox" name="checkBox_timeStats">
+         <property name="text">
+          <string/>
+         </property>
+         <property name="checked">
+          <bool>true</bool>
+         </property>
+        </widget>
+       </item>
+       <item row="0" column="1">
+        <widget class="QLabel" name="label_logger_level_3">
+         <property name="text">
+          <string>Time (s) used in figures for x-axis instead of node IDs.</string>
+         </property>
+         <property name="wordWrap">
+          <bool>true</bool>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </item>
      <item>
       <widget class="rtabmap::StatsToolBox" name="toolBox_statistics" native="true"/>
      </item>