mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
Mathieu Labbe
744e2fb3c7
Libraries are installed in lib directly with symbolic links, not in lib/rtabmap-0.8. Removed the need of RPATH in cmake. Saving variance of each link in database (new field Link.variance). The variance is used to generate the constraint information matrices for TORO optimization. ICP: computing variance instead of fitness. ICP3: added correspondences ratio parameter Added OdometryInfo class Refactoring: renamed depth2d stuff to laserScan. rtabmap::Memory and rtabmap::Signature classes (no more distinct neighbor, loop closure or child loop closure links, only links with different types)
148 lines
5.1 KiB
C++
148 lines
5.1 KiB
C++
/*
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Copyright (c) 2010-2014, 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 DATABASEVIEWER_H_
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#define DATABASEVIEWER_H_
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#include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
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#include <QtGui/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 <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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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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namespace rtabmap
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{
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class Memory;
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class ImageView;
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class Signature;
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class RTABMAPGUI_EXP DatabaseViewer : public QMainWindow
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{
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Q_OBJECT
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public:
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DatabaseViewer(QWidget * parent = 0);
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virtual ~DatabaseViewer();
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bool openDatabase(const QString & path);
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protected:
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virtual void showEvent(QShowEvent* anEvent);
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virtual void resizeEvent(QResizeEvent* anEvent);
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virtual void closeEvent(QCloseEvent* event);
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private slots:
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void openDatabase();
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void generateGraph();
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void exportDatabase();
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void extractImages();
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void generateLocalGraph();
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void generateTOROGraph();
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void view3DMap();
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void generate3DMap();
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void detectMoreLoopClosures();
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void refineAllNeighborLinks();
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void refineAllLoopClosureLinks();
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void refineVisuallyAllNeighborLinks();
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void refineVisuallyAllLoopClosureLinks();
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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 sliderNeighborValueChanged(int);
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void sliderLoopValueChanged(int);
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void sliderIterationsValueChanged(int);
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void updateGraphView();
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void refineConstraint();
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void refineConstraintVisually();
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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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private:
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void updateIds();
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void update(int value,
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QLabel * labelIndex,
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QLabel * labelParents,
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QLabel * labelChildren,
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rtabmap::ImageView * view,
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QLabel * labelId,
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bool updateConstraintView = true);
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void updateStereo(const Signature * data);
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void updateWordsMatching();
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void updateConstraintView(const rtabmap::Link & link,
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const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloudFrom = pcl::PointCloud<pcl::PointXYZ>::Ptr(new pcl::PointCloud<pcl::PointXYZ>),
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const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloudTo = pcl::PointCloud<pcl::PointXYZ>::Ptr(new pcl::PointCloud<pcl::PointXYZ>),
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bool updateImageSliders = true);
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void updateConstraintButtons();
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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 updateLoopClosuresSlider(int from = 0, int to = 0);
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void refineConstraint(int from, int to, bool updateGraph);
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void refineConstraintVisually(int from, int to, bool updateGraph);
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bool addConstraint(int from, int to, bool silent, bool updateGraph);
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private:
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Ui_DatabaseViewer * ui_;
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QList<int> ids_;
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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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rtabmap::Memory * memory_;
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QString pathDatabase_;
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std::list<std::map<int, rtabmap::Transform> > graphes_;
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std::map<int, rtabmap::Transform> poses_;
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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, pcl::PointCloud<pcl::PointXYZ>::Ptr > scans_;
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};
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}
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#endif /* DATABASEVIEWER_H_ */
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