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DatabaseViewer.cpp
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DatabaseViewer.cpp
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/*
Copyright (c) 2010-2016, 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.
*/
#include "rtabmap/gui/DatabaseViewer.h"
#include "rtabmap/gui/CloudViewer.h"
#include "ui_DatabaseViewer.h"
#include <QMessageBox>
#include <QFileDialog>
#include <QInputDialog>
#include <QDesktopWidget>
#include <QColorDialog>
#include <QGraphicsLineItem>
#include <QtGui/QCloseEvent>
#include <QGraphicsOpacityEffect>
#include <QtCore/QBuffer>
#include <QtCore/QTextStream>
#include <QtCore/QDateTime>
#include <QtCore/QSettings>
#include <QThread>
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UDirectory.h>
#include <rtabmap/utilite/UConversion.h>
#include <opencv2/core/core_c.h>
#include <opencv2/imgproc/types_c.h>
#include <opencv2/highgui/highgui.hpp>
#include <rtabmap/utilite/UTimer.h>
#include <rtabmap/utilite/UFile.h>
#include "rtabmap/utilite/UPlot.h"
#include "rtabmap/core/DBDriver.h"
#include "rtabmap/gui/KeypointItem.h"
#include "rtabmap/gui/CloudViewer.h"
#include "rtabmap/utilite/UCv2Qt.h"
#include "rtabmap/core/util3d.h"
#include "rtabmap/core/util3d_transforms.h"
#include "rtabmap/core/util3d_filtering.h"
#include "rtabmap/core/util3d_surface.h"
#include "rtabmap/core/util3d_registration.h"
#include "rtabmap/core/util3d_mapping.h"
#include "rtabmap/core/util2d.h"
#include "rtabmap/core/Signature.h"
#include "rtabmap/core/Memory.h"
#include "rtabmap/core/Features2d.h"
#include "rtabmap/core/Compression.h"
#include "rtabmap/core/Graph.h"
#include "rtabmap/core/Stereo.h"
#include "rtabmap/core/Optimizer.h"
#include "rtabmap/core/RegistrationVis.h"
#include "rtabmap/core/RegistrationIcp.h"
#include "rtabmap/core/OccupancyGrid.h"
#include "rtabmap/core/GeodeticCoords.h"
#include "rtabmap/core/Recovery.h"
#include "rtabmap/gui/DataRecorder.h"
#include "rtabmap/gui/ExportCloudsDialog.h"
#include "rtabmap/gui/EditDepthArea.h"
#include "rtabmap/gui/EditMapArea.h"
#include "rtabmap/core/SensorData.h"
#include "rtabmap/core/GainCompensator.h"
#include "rtabmap/core/VisualWord.h"
#include "rtabmap/gui/ExportDialog.h"
#include "rtabmap/gui/EditConstraintDialog.h"
#include "rtabmap/gui/ProgressDialog.h"
#include "rtabmap/gui/ParametersToolBox.h"
#include "rtabmap/gui/RecoveryState.h"
#include <pcl/io/pcd_io.h>
#include <pcl/io/ply_io.h>
#include <pcl/io/obj_io.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/filters/crop_box.h>
#include <pcl/common/transforms.h>
#include <pcl/common/common.h>
#ifdef RTABMAP_OCTOMAP
#include "rtabmap/core/OctoMap.h"
#endif
namespace rtabmap {
DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
QMainWindow(parent),
dbDriver_(0),
octomap_(0),
exportDialog_(new ExportCloudsDialog(this)),
editDepthDialog_(new QDialog(this)),
editMapDialog_(new QDialog(this)),
savedMaximized_(false),
firstCall_(true),
iniFilePath_(ini),
infoReducedGraph_(false),
infoTotalOdom_(0.0),
infoSessions_(0)
{
pathDatabase_ = QDir::homePath()+"/Documents/RTAB-Map"; //use home directory by default
if(!UDirectory::exists(pathDatabase_.toStdString()))
{
pathDatabase_ = QDir::homePath();
}
ui_ = new Ui_DatabaseViewer();
ui_->setupUi(this);
ui_->buttonBox->setVisible(false);
connect(ui_->buttonBox->button(QDialogButtonBox::Close), SIGNAL(clicked()), this, SLOT(close()));
ui_->comboBox_logger_level->setVisible(parent==0);
ui_->label_logger_level->setVisible(parent==0);
connect(ui_->comboBox_logger_level, SIGNAL(currentIndexChanged(int)), this, SLOT(updateLoggerLevel()));
connect(ui_->actionVertical_Layout, SIGNAL(toggled(bool)), this, SLOT(setupMainLayout(bool)));
editDepthDialog_->resize(640, 480);
QVBoxLayout * vLayout = new QVBoxLayout(editDepthDialog_);
editDepthArea_ = new EditDepthArea(editDepthDialog_);
vLayout->setContentsMargins(0,0,0,0);
vLayout->setSpacing(0);
vLayout->addWidget(editDepthArea_, 1);
QDialogButtonBox * buttonBox = new QDialogButtonBox(QDialogButtonBox::Save | QDialogButtonBox::Cancel | QDialogButtonBox::Reset, Qt::Horizontal, editDepthDialog_);
vLayout->addWidget(buttonBox);
connect(buttonBox, SIGNAL(accepted()), editDepthDialog_, SLOT(accept()));
connect(buttonBox, SIGNAL(rejected()), editDepthDialog_, SLOT(reject()));
connect(buttonBox->button(QDialogButtonBox::Reset), SIGNAL(clicked()), editDepthArea_, SLOT(resetChanges()));
editDepthDialog_->setLayout(vLayout);
editDepthDialog_->setWindowTitle(tr("Edit Depth Image"));
editMapDialog_->resize(640, 480);
vLayout = new QVBoxLayout(editMapDialog_);
editMapArea_ = new EditMapArea(editMapDialog_);
vLayout->setContentsMargins(0,0,0,0);
vLayout->setSpacing(0);
vLayout->addWidget(editMapArea_, 1);
buttonBox = new QDialogButtonBox(QDialogButtonBox::Save | QDialogButtonBox::Cancel | QDialogButtonBox::Reset, Qt::Horizontal, editMapDialog_);
vLayout->addWidget(buttonBox);
connect(buttonBox, SIGNAL(accepted()), editMapDialog_, SLOT(accept()));
connect(buttonBox, SIGNAL(rejected()), editMapDialog_, SLOT(reject()));
connect(buttonBox->button(QDialogButtonBox::Reset), SIGNAL(clicked()), editMapArea_, SLOT(resetChanges()));
editMapDialog_->setLayout(vLayout);
editMapDialog_->setWindowTitle(tr("Edit Optimized Map"));
QString title("RTAB-Map Database Viewer[*]");
this->setWindowTitle(title);
ui_->dockWidget_constraints->setVisible(false);
ui_->dockWidget_graphView->setVisible(false);
ui_->dockWidget_occupancyGridView->setVisible(false);
ui_->dockWidget_guiparameters->setVisible(false);
ui_->dockWidget_coreparameters->setVisible(false);
ui_->dockWidget_info->setVisible(false);
ui_->dockWidget_stereoView->setVisible(false);
ui_->dockWidget_view3d->setVisible(false);
ui_->dockWidget_statistics->setVisible(false);
// Create cloud viewers
constraintsViewer_ = new CloudViewer(ui_->dockWidgetContents);
cloudViewer_ = new CloudViewer(ui_->dockWidgetContents_3dviews);
stereoViewer_ = new CloudViewer(ui_->dockWidgetContents_stereo);
occupancyGridViewer_ = new CloudViewer(ui_->dockWidgetContents_occupancyGrid);
constraintsViewer_->setObjectName("constraintsViewer");
cloudViewer_->setObjectName("cloudViewerA");
stereoViewer_->setObjectName("stereoViewer");
occupancyGridViewer_->setObjectName("occupancyGridView");
ui_->layout_constraintsViewer->addWidget(constraintsViewer_);
ui_->horizontalLayout_3dviews->addWidget(cloudViewer_, 1);
ui_->horizontalLayout_stereo->addWidget(stereoViewer_, 1);
ui_->layout_occupancyGridView->addWidget(occupancyGridViewer_, 1);
constraintsViewer_->setCameraLockZ(false);
constraintsViewer_->setCameraFree();
occupancyGridViewer_->setCameraFree();
ui_->graphicsView_stereo->setAlpha(255);
#ifndef RTABMAP_OCTOMAP
ui_->checkBox_octomap->setEnabled(false);
ui_->checkBox_octomap->setChecked(false);
#endif
ParametersMap parameters;
uInsert(parameters, Parameters::getDefaultParameters("SURF"));
uInsert(parameters, Parameters::getDefaultParameters("SIFT"));
uInsert(parameters, Parameters::getDefaultParameters("BRIEF"));
uInsert(parameters, Parameters::getDefaultParameters("FAST"));
uInsert(parameters, Parameters::getDefaultParameters("GFTT"));
uInsert(parameters, Parameters::getDefaultParameters("ORB"));
uInsert(parameters, Parameters::getDefaultParameters("FREAK"));
uInsert(parameters, Parameters::getDefaultParameters("BRISK"));
uInsert(parameters, Parameters::getDefaultParameters("KAZE"));
uInsert(parameters, Parameters::getDefaultParameters("SuperPoint"));
uInsert(parameters, Parameters::getDefaultParameters("Optimizer"));
uInsert(parameters, Parameters::getDefaultParameters("g2o"));
uInsert(parameters, Parameters::getDefaultParameters("GTSAM"));
uInsert(parameters, Parameters::getDefaultParameters("Reg"));
uInsert(parameters, Parameters::getDefaultParameters("Vis"));
uInsert(parameters, Parameters::getDefaultParameters("Icp"));
uInsert(parameters, Parameters::getDefaultParameters("PyMatcher"));
uInsert(parameters, Parameters::getDefaultParameters("Stereo"));
uInsert(parameters, Parameters::getDefaultParameters("StereoBM"));
uInsert(parameters, Parameters::getDefaultParameters("StereoSGBM"));
uInsert(parameters, Parameters::getDefaultParameters("Grid"));
uInsert(parameters, Parameters::getDefaultParameters("GridGlobal"));
uInsert(parameters, Parameters::getDefaultParameters("Marker"));
parameters.insert(*Parameters::getDefaultParameters().find(Parameters::kRGBDOptimizeMaxError()));
parameters.insert(*Parameters::getDefaultParameters().find(Parameters::kRGBDLoopClosureReextractFeatures()));
parameters.insert(*Parameters::getDefaultParameters().find(Parameters::kRGBDLoopCovLimited()));
parameters.insert(*Parameters::getDefaultParameters().find(Parameters::kRGBDProximityPathFilteringRadius()));
ui_->parameters_toolbox->setupUi(parameters);
exportDialog_->setObjectName("ExportCloudsDialog");
restoreDefaultSettings();
this->readSettings();
setupMainLayout(ui_->actionVertical_Layout->isChecked());
ui_->comboBox_octomap_rendering_type->setVisible(ui_->checkBox_octomap->isChecked());
ui_->spinBox_grid_depth->setVisible(ui_->checkBox_octomap->isChecked());
ui_->checkBox_grid_empty->setVisible(!ui_->checkBox_octomap->isChecked() || ui_->comboBox_octomap_rendering_type->currentIndex()==0);
ui_->label_octomap_cubes->setVisible(ui_->checkBox_octomap->isChecked());
ui_->label_octomap_depth->setVisible(ui_->checkBox_octomap->isChecked());
ui_->label_octomap_empty->setVisible(!ui_->checkBox_octomap->isChecked() || ui_->comboBox_octomap_rendering_type->currentIndex()==0);
ui_->menuView->addAction(ui_->dockWidget_constraints->toggleViewAction());
ui_->menuView->addAction(ui_->dockWidget_graphView->toggleViewAction());
ui_->menuView->addAction(ui_->dockWidget_occupancyGridView->toggleViewAction());
ui_->menuView->addAction(ui_->dockWidget_stereoView->toggleViewAction());
ui_->menuView->addAction(ui_->dockWidget_view3d->toggleViewAction());
ui_->menuView->addAction(ui_->dockWidget_guiparameters->toggleViewAction());
ui_->menuView->addAction(ui_->dockWidget_coreparameters->toggleViewAction());
ui_->menuView->addAction(ui_->dockWidget_info->toggleViewAction());
ui_->menuView->addAction(ui_->dockWidget_statistics->toggleViewAction());
connect(ui_->dockWidget_graphView->toggleViewAction(), SIGNAL(triggered()), this, SLOT(updateGraphView()));
connect(ui_->dockWidget_occupancyGridView->toggleViewAction(), SIGNAL(triggered()), this, SLOT(updateGraphView()));
connect(ui_->dockWidget_statistics->toggleViewAction(), SIGNAL(triggered()), this, SLOT(updateStatistics()));
connect(ui_->dockWidget_info->toggleViewAction(), SIGNAL(triggered()), this, SLOT(updateInfo()));
connect(ui_->parameters_toolbox, SIGNAL(parametersChanged(const QStringList &)), this, SLOT(notifyParametersChanged(const QStringList &)));
connect(ui_->actionQuit, SIGNAL(triggered()), this, SLOT(close()));
ui_->actionOpen_database->setEnabled(true);
ui_->actionClose_database->setEnabled(false);
// connect actions with custom slots
ui_->actionSave_config->setShortcut(QKeySequence::Save);
connect(ui_->actionSave_config, SIGNAL(triggered()), this, SLOT(writeSettings()));
connect(ui_->actionOpen_database, SIGNAL(triggered()), this, SLOT(openDatabase()));
connect(ui_->actionClose_database, SIGNAL(triggered()), this, SLOT(closeDatabase()));
connect(ui_->actionDatabase_recovery, SIGNAL(triggered()), this, SLOT(recoverDatabase()));
connect(ui_->actionExport, SIGNAL(triggered()), this, SLOT(exportDatabase()));
connect(ui_->actionExtract_images, SIGNAL(triggered()), this, SLOT(extractImages()));
connect(ui_->actionEdit_depth_image, SIGNAL(triggered()), this, SLOT(editDepthImage()));
connect(ui_->actionGenerate_graph_dot, SIGNAL(triggered()), this, SLOT(generateGraph()));
connect(ui_->actionGenerate_local_graph_dot, SIGNAL(triggered()), this, SLOT(generateLocalGraph()));
connect(ui_->actionRaw_format_txt, SIGNAL(triggered()), this , SLOT(exportPosesRaw()));
connect(ui_->actionRGBD_SLAM_format_txt, SIGNAL(triggered()), this , SLOT(exportPosesRGBDSLAM()));
connect(ui_->actionRGBD_SLAM_motion_capture_format_txt, SIGNAL(triggered()), this , SLOT(exportPosesRGBDSLAMMotionCapture()));
connect(ui_->actionKITTI_format_txt, SIGNAL(triggered()), this , SLOT(exportPosesKITTI()));
connect(ui_->actionTORO_graph, SIGNAL(triggered()), this , SLOT(exportPosesTORO()));
connect(ui_->actionG2o_g2o, SIGNAL(triggered()), this , SLOT(exportPosesG2O()));
connect(ui_->actionPoses_KML, SIGNAL(triggered()), this , SLOT(exportPosesKML()));
connect(ui_->actionGPS_TXT, SIGNAL(triggered()), this , SLOT(exportGPS_TXT()));
connect(ui_->actionGPS_KML, SIGNAL(triggered()), this , SLOT(exportGPS_KML()));
connect(ui_->actionEdit_optimized_2D_map, SIGNAL(triggered()), this , SLOT(editSaved2DMap()));
connect(ui_->actionExport_saved_2D_map, SIGNAL(triggered()), this , SLOT(exportSaved2DMap()));
connect(ui_->actionImport_2D_map, SIGNAL(triggered()), this , SLOT(import2DMap()));
connect(ui_->actionRegenerate_optimized_2D_map, SIGNAL(triggered()), this , SLOT(regenerateSavedMap()));
connect(ui_->actionView_optimized_mesh, SIGNAL(triggered()), this , SLOT(viewOptimizedMesh()));
connect(ui_->actionExport_optimized_mesh, SIGNAL(triggered()), this , SLOT(exportOptimizedMesh()));
connect(ui_->actionUpdate_optimized_mesh, SIGNAL(triggered()), this , SLOT(updateOptimizedMesh()));
connect(ui_->actionView_3D_map, SIGNAL(triggered()), this, SLOT(view3DMap()));
connect(ui_->actionGenerate_3D_map_pcd, SIGNAL(triggered()), this, SLOT(generate3DMap()));
connect(ui_->actionDetect_more_loop_closures, SIGNAL(triggered()), this, SLOT(detectMoreLoopClosures()));
connect(ui_->actionUpdate_all_neighbor_covariances, SIGNAL(triggered()), this, SLOT(updateAllNeighborCovariances()));
connect(ui_->actionUpdate_all_loop_closure_covariances, SIGNAL(triggered()), this, SLOT(updateAllLoopClosureCovariances()));
connect(ui_->actionRefine_all_neighbor_links, SIGNAL(triggered()), this, SLOT(refineAllNeighborLinks()));
connect(ui_->actionRefine_all_loop_closure_links, SIGNAL(triggered()), this, SLOT(refineAllLoopClosureLinks()));
connect(ui_->actionRegenerate_local_grid_maps, SIGNAL(triggered()), this, SLOT(regenerateLocalMaps()));
connect(ui_->actionRegenerate_local_grid_maps_selected, SIGNAL(triggered()), this, SLOT(regenerateCurrentLocalMaps()));
connect(ui_->actionReset_all_changes, SIGNAL(triggered()), this, SLOT(resetAllChanges()));
connect(ui_->actionRestore_default_GUI_settings, SIGNAL(triggered()), this, SLOT(restoreDefaultSettings()));
//ICP buttons
connect(ui_->pushButton_refine, SIGNAL(clicked()), this, SLOT(refineConstraint()));
connect(ui_->pushButton_add, SIGNAL(clicked()), this, SLOT(addConstraint()));
connect(ui_->pushButton_reset, SIGNAL(clicked()), this, SLOT(resetConstraint()));
connect(ui_->pushButton_reject, SIGNAL(clicked()), this, SLOT(rejectConstraint()));
ui_->pushButton_refine->setEnabled(false);
ui_->pushButton_add->setEnabled(false);
ui_->pushButton_reset->setEnabled(false);
ui_->pushButton_reject->setEnabled(false);
ui_->menuEdit->setEnabled(false);
ui_->actionGenerate_3D_map_pcd->setEnabled(false);
ui_->actionExport->setEnabled(false);
ui_->actionExtract_images->setEnabled(false);
ui_->menuExport_poses->setEnabled(false);
ui_->menuExport_GPS->setEnabled(false);
ui_->actionPoses_KML->setEnabled(false);
ui_->actionEdit_optimized_2D_map->setEnabled(false);
ui_->actionExport_saved_2D_map->setEnabled(false);
ui_->actionImport_2D_map->setEnabled(false);
ui_->actionRegenerate_optimized_2D_map->setEnabled(false);
ui_->actionView_optimized_mesh->setEnabled(false);
ui_->actionExport_optimized_mesh->setEnabled(false);
ui_->actionUpdate_optimized_mesh->setEnabled(false);
ui_->horizontalSlider_A->setTracking(false);
ui_->horizontalSlider_B->setTracking(false);
ui_->horizontalSlider_A->setEnabled(false);
ui_->horizontalSlider_B->setEnabled(false);
connect(ui_->horizontalSlider_A, SIGNAL(valueChanged(int)), this, SLOT(sliderAValueChanged(int)));
connect(ui_->horizontalSlider_B, SIGNAL(valueChanged(int)), this, SLOT(sliderBValueChanged(int)));
connect(ui_->horizontalSlider_A, SIGNAL(sliderMoved(int)), this, SLOT(sliderAMoved(int)));
connect(ui_->horizontalSlider_B, SIGNAL(sliderMoved(int)), this, SLOT(sliderBMoved(int)));
connect(ui_->spinBox_mesh_angleTolerance, SIGNAL(valueChanged(int)), this, SLOT(update3dView()));
connect(ui_->spinBox_mesh_minClusterSize, SIGNAL(valueChanged(int)), this, SLOT(update3dView()));
connect(ui_->spinBox_mesh_fillDepthHoles, SIGNAL(valueChanged(int)), this, SLOT(update3dView()));
connect(ui_->spinBox_mesh_depthError, SIGNAL(valueChanged(int)), this, SLOT(update3dView()));
connect(ui_->checkBox_mesh_quad, SIGNAL(toggled(bool)), this, SLOT(update3dView()));
connect(ui_->spinBox_mesh_triangleSize, SIGNAL(valueChanged(int)), this, SLOT(update3dView()));
connect(ui_->checkBox_showWords, SIGNAL(toggled(bool)), this, SLOT(update3dView()));
connect(ui_->checkBox_showCloud, SIGNAL(toggled(bool)), this, SLOT(update3dView()));
connect(ui_->checkBox_showMesh, SIGNAL(toggled(bool)), this, SLOT(update3dView()));
connect(ui_->checkBox_showScan, SIGNAL(toggled(bool)), this, SLOT(update3dView()));
connect(ui_->checkBox_showMap, SIGNAL(toggled(bool)), this, SLOT(update3dView()));
connect(ui_->checkBox_showGrid, SIGNAL(toggled(bool)), this, SLOT(update3dView()));
connect(ui_->checkBox_odomFrame_3dview, SIGNAL(toggled(bool)), this, SLOT(update3dView()));
connect(ui_->checkBox_gravity_3dview, SIGNAL(toggled(bool)), this, SLOT(update3dView()));
ui_->horizontalSlider_neighbors->setTracking(false);
ui_->horizontalSlider_loops->setTracking(false);
ui_->horizontalSlider_neighbors->setEnabled(false);
ui_->horizontalSlider_loops->setEnabled(false);
connect(ui_->horizontalSlider_neighbors, SIGNAL(valueChanged(int)), this, SLOT(sliderNeighborValueChanged(int)));
connect(ui_->horizontalSlider_loops, SIGNAL(valueChanged(int)), this, SLOT(sliderLoopValueChanged(int)));
connect(ui_->horizontalSlider_neighbors, SIGNAL(sliderMoved(int)), this, SLOT(sliderNeighborValueChanged(int)));
connect(ui_->horizontalSlider_loops, SIGNAL(sliderMoved(int)), this, SLOT(sliderLoopValueChanged(int)));
connect(ui_->checkBox_showOptimized, SIGNAL(stateChanged(int)), this, SLOT(updateConstraintView()));
connect(ui_->checkBox_show3Dclouds, SIGNAL(stateChanged(int)), this, SLOT(updateConstraintView()));
connect(ui_->checkBox_show2DScans, SIGNAL(stateChanged(int)), this, SLOT(updateConstraintView()));
connect(ui_->checkBox_show3DWords, SIGNAL(stateChanged(int)), this, SLOT(updateConstraintView()));
connect(ui_->checkBox_odomFrame, SIGNAL(stateChanged(int)), this, SLOT(updateConstraintView()));
ui_->checkBox_showOptimized->setEnabled(false);
connect(ui_->toolButton_constraint, SIGNAL(clicked(bool)), this, SLOT(editConstraint()));
connect(ui_->checkBox_enableForAll, SIGNAL(stateChanged(int)), this, SLOT(updateConstraintButtons()));
ui_->horizontalSlider_iterations->setTracking(false);
ui_->horizontalSlider_iterations->setEnabled(false);
ui_->spinBox_optimizationsFrom->setEnabled(false);
connect(ui_->horizontalSlider_iterations, SIGNAL(valueChanged(int)), this, SLOT(sliderIterationsValueChanged(int)));
connect(ui_->horizontalSlider_iterations, SIGNAL(sliderMoved(int)), this, SLOT(sliderIterationsValueChanged(int)));
connect(ui_->spinBox_optimizationsFrom, SIGNAL(editingFinished()), this, SLOT(updateGraphView()));
connect(ui_->checkBox_iterativeOptimization, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
connect(ui_->checkBox_spanAllMaps, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
connect(ui_->checkBox_wmState, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
connect(ui_->graphViewer, SIGNAL(mapShownRequested()), this, SLOT(updateGraphView()));
connect(ui_->checkBox_ignorePoseCorrection, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
connect(ui_->checkBox_ignorePoseCorrection, SIGNAL(stateChanged(int)), this, SLOT(updateConstraintView()));
connect(ui_->checkBox_ignoreGlobalLoop, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
connect(ui_->checkBox_ignoreLocalLoopSpace, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
connect(ui_->checkBox_ignoreLocalLoopTime, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
connect(ui_->checkBox_ignoreUserLoop, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
connect(ui_->checkBox_ignoreLandmarks, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
connect(ui_->doubleSpinBox_optimizationScale, SIGNAL(editingFinished()), this, SLOT(updateGraphView()));
connect(ui_->checkBox_octomap, SIGNAL(stateChanged(int)), this, SLOT(updateGrid()));
connect(ui_->checkBox_grid_2d, SIGNAL(stateChanged(int)), this, SLOT(updateGrid()));
connect(ui_->comboBox_octomap_rendering_type, SIGNAL(currentIndexChanged(int)), this, SLOT(updateOctomapView()));
connect(ui_->spinBox_grid_depth, SIGNAL(valueChanged(int)), this, SLOT(updateOctomapView()));
connect(ui_->checkBox_grid_empty, SIGNAL(stateChanged(int)), this, SLOT(updateGrid()));
connect(ui_->doubleSpinBox_gainCompensationRadius, SIGNAL(valueChanged(double)), this, SLOT(updateConstraintView()));
connect(ui_->doubleSpinBox_voxelSize, SIGNAL(valueChanged(double)), this, SLOT(updateConstraintView()));
connect(ui_->doubleSpinBox_voxelSize, SIGNAL(valueChanged(double)), this, SLOT(update3dView()));
connect(ui_->spinBox_decimation, SIGNAL(valueChanged(int)), this, SLOT(updateConstraintView()));
connect(ui_->spinBox_decimation, SIGNAL(valueChanged(int)), this, SLOT(update3dView()));
connect(ui_->groupBox_posefiltering, SIGNAL(clicked(bool)), this, SLOT(updateGraphView()));
connect(ui_->doubleSpinBox_posefilteringRadius, SIGNAL(editingFinished()), this, SLOT(updateGraphView()));
connect(ui_->doubleSpinBox_posefilteringAngle, SIGNAL(editingFinished()), this, SLOT(updateGraphView()));
ui_->label_stereo_inliers_name->setStyleSheet("QLabel {color : blue; }");
ui_->label_stereo_flowOutliers_name->setStyleSheet("QLabel {color : red; }");
ui_->label_stereo_slopeOutliers_name->setStyleSheet("QLabel {color : yellow; }");
ui_->label_stereo_disparityOutliers_name->setStyleSheet("QLabel {color : magenta; }");
// connect configuration changed
connect(ui_->graphViewer, SIGNAL(configChanged()), this, SLOT(configModified()));
connect(ui_->graphicsView_A, SIGNAL(configChanged()), this, SLOT(configModified()));
connect(ui_->graphicsView_B, SIGNAL(configChanged()), this, SLOT(configModified()));
connect(ui_->comboBox_logger_level, SIGNAL(currentIndexChanged(int)), this, SLOT(configModified()));
connect(ui_->actionVertical_Layout, SIGNAL(toggled(bool)), this, SLOT(configModified()));
connect(ui_->checkBox_alignPosesWithGroundTruth, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
connect(ui_->checkBox_alignScansCloudsWithGroundTruth, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
connect(ui_->checkBox_ignoreIntermediateNodes, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->checkBox_ignoreIntermediateNodes, 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_->doubleSpinBox_gainCompensationRadius, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
connect(ui_->doubleSpinBox_voxelSize, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
connect(ui_->spinBox_decimation, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
connect(ui_->groupBox_posefiltering, SIGNAL(clicked(bool)), this, SLOT(configModified()));
connect(ui_->doubleSpinBox_posefilteringRadius, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
connect(ui_->doubleSpinBox_posefilteringAngle, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
connect(ui_->spinBox_icp_decimation, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
connect(ui_->doubleSpinBox_icp_maxDepth, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
connect(ui_->doubleSpinBox_icp_minDepth, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
connect(ui_->checkBox_icp_from_depth, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->doubleSpinBox_detectMore_radius, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
connect(ui_->doubleSpinBox_detectMore_angle, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
connect(ui_->spinBox_detectMore_iterations, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
connect(ui_->checkBox_detectMore_intraSession, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->checkBox_detectMore_interSession, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->lineEdit_obstacleColor, SIGNAL(textChanged(const QString &)), this, SLOT(configModified()));
connect(ui_->lineEdit_groundColor, SIGNAL(textChanged(const QString &)), this, SLOT(configModified()));
connect(ui_->lineEdit_emptyColor, SIGNAL(textChanged(const QString &)), this, SLOT(configModified()));
connect(ui_->lineEdit_obstacleColor, SIGNAL(textChanged(const QString &)), this, SLOT(updateGrid()));
connect(ui_->lineEdit_groundColor, SIGNAL(textChanged(const QString &)), this, SLOT(updateGrid()));
connect(ui_->lineEdit_emptyColor, SIGNAL(textChanged(const QString &)), this, SLOT(updateGrid()));
connect(ui_->toolButton_obstacleColor, SIGNAL(clicked(bool)), this, SLOT(selectObstacleColor()));
connect(ui_->toolButton_groundColor, SIGNAL(clicked(bool)), this, SLOT(selectGroundColor()));
connect(ui_->toolButton_emptyColor, SIGNAL(clicked(bool)), this, SLOT(selectEmptyColor()));
connect(ui_->spinBox_cropRadius, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
connect(exportDialog_, SIGNAL(configChanged()), this, SLOT(configModified()));
// dockwidget
QList<QDockWidget*> dockWidgets = this->findChildren<QDockWidget*>();
for(int i=0; i<dockWidgets.size(); ++i)
{
connect(dockWidgets[i], SIGNAL(dockLocationChanged(Qt::DockWidgetArea)), this, SLOT(configModified()));
connect(dockWidgets[i]->toggleViewAction(), SIGNAL(toggled(bool)), this, SLOT(configModified()));
}
ui_->dockWidget_constraints->installEventFilter(this);
ui_->dockWidget_graphView->installEventFilter(this);
ui_->dockWidget_occupancyGridView->installEventFilter(this);
ui_->dockWidget_stereoView->installEventFilter(this);
ui_->dockWidget_view3d->installEventFilter(this);
ui_->dockWidget_guiparameters->installEventFilter(this);
ui_->dockWidget_coreparameters->installEventFilter(this);
ui_->dockWidget_info->installEventFilter(this);
ui_->dockWidget_statistics->installEventFilter(this);
}
DatabaseViewer::~DatabaseViewer()
{
delete ui_;
delete dbDriver_;
#ifdef RTABMAP_OCTOMAP
delete octomap_;
#endif
}
void DatabaseViewer::setupMainLayout(bool vertical)
{
if(vertical)
{
qobject_cast<QHBoxLayout *>(ui_->horizontalLayout_imageViews->layout())->setDirection(QBoxLayout::TopToBottom);
}
else if(!vertical)
{
qobject_cast<QHBoxLayout *>(ui_->horizontalLayout_imageViews->layout())->setDirection(QBoxLayout::LeftToRight);
}
if(ids_.size())
{
sliderAValueChanged(ui_->horizontalSlider_A->value()); // update matching lines
}
}
void DatabaseViewer::showCloseButton(bool visible)
{
ui_->buttonBox->setVisible(visible);
}
void DatabaseViewer::configModified()
{
this->setWindowModified(true);
}
QString DatabaseViewer::getIniFilePath() const
{
if(!iniFilePath_.isEmpty())
{
return iniFilePath_;
}
QString privatePath = QDir::homePath() + "/.rtabmap";
if(!QDir(privatePath).exists())
{
QDir::home().mkdir(".rtabmap");
}
return privatePath + "/rtabmap.ini";
}
void DatabaseViewer::readSettings()
{
QString path = getIniFilePath();
QSettings settings(path, QSettings::IniFormat);
settings.beginGroup("DatabaseViewer");
//load window state / geometry
QByteArray bytes;
bytes = settings.value("geometry", QByteArray()).toByteArray();
if(!bytes.isEmpty())
{
this->restoreGeometry(bytes);
}
bytes = settings.value("state", QByteArray()).toByteArray();
if(!bytes.isEmpty())
{
this->restoreState(bytes);
}
savedMaximized_ = settings.value("maximized", false).toBool();
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_ignoreIntermediateNodes->setChecked(settings.value("ignoreIntermediateNodes", ui_->checkBox_ignoreIntermediateNodes->isChecked()).toBool());
ui_->checkBox_timeStats->setChecked(settings.value("timeStats", ui_->checkBox_timeStats->isChecked()).toBool());
// GraphViewer settings
ui_->graphViewer->loadSettings(settings, "GraphView");
settings.beginGroup("optimization");
ui_->doubleSpinBox_gainCompensationRadius->setValue(settings.value("gainCompensationRadius", ui_->doubleSpinBox_gainCompensationRadius->value()).toDouble());
ui_->doubleSpinBox_voxelSize->setValue(settings.value("voxelSize", ui_->doubleSpinBox_voxelSize->value()).toDouble());
ui_->spinBox_decimation->setValue(settings.value("decimation", ui_->spinBox_decimation->value()).toInt());
settings.endGroup();
settings.beginGroup("grid");
ui_->groupBox_posefiltering->setChecked(settings.value("poseFiltering", ui_->groupBox_posefiltering->isChecked()).toBool());
ui_->doubleSpinBox_posefilteringRadius->setValue(settings.value("poseFilteringRadius", ui_->doubleSpinBox_posefilteringRadius->value()).toDouble());
ui_->doubleSpinBox_posefilteringAngle->setValue(settings.value("poseFilteringAngle", ui_->doubleSpinBox_posefilteringAngle->value()).toDouble());
ui_->lineEdit_obstacleColor->setText(settings.value("colorObstacle", ui_->lineEdit_obstacleColor->text()).toString());
ui_->lineEdit_groundColor->setText(settings.value("colorGround", ui_->lineEdit_groundColor->text()).toString());
ui_->lineEdit_emptyColor->setText(settings.value("colorEmpty", ui_->lineEdit_emptyColor->text()).toString());
ui_->spinBox_cropRadius->setValue(settings.value("cropRadius", ui_->spinBox_cropRadius->value()).toInt());
settings.endGroup();
settings.beginGroup("mesh");
ui_->checkBox_mesh_quad->setChecked(settings.value("quad", ui_->checkBox_mesh_quad->isChecked()).toBool());
ui_->spinBox_mesh_angleTolerance->setValue(settings.value("angleTolerance", ui_->spinBox_mesh_angleTolerance->value()).toInt());
ui_->spinBox_mesh_minClusterSize->setValue(settings.value("minClusterSize", ui_->spinBox_mesh_minClusterSize->value()).toInt());
ui_->spinBox_mesh_fillDepthHoles->setValue(settings.value("fillDepthHolesSize", ui_->spinBox_mesh_fillDepthHoles->value()).toInt());
ui_->spinBox_mesh_depthError->setValue(settings.value("fillDepthHolesError", ui_->spinBox_mesh_depthError->value()).toInt());
ui_->spinBox_mesh_triangleSize->setValue(settings.value("triangleSize", ui_->spinBox_mesh_triangleSize->value()).toInt());
settings.endGroup();
// ImageViews
ui_->graphicsView_A->loadSettings(settings, "ImageViewA");
ui_->graphicsView_B->loadSettings(settings, "ImageViewB");
// ICP parameters
settings.beginGroup("icp");
ui_->spinBox_icp_decimation->setValue(settings.value("decimation", ui_->spinBox_icp_decimation->value()).toInt());
ui_->doubleSpinBox_icp_maxDepth->setValue(settings.value("maxDepth", ui_->doubleSpinBox_icp_maxDepth->value()).toDouble());
ui_->doubleSpinBox_icp_minDepth->setValue(settings.value("minDepth", ui_->doubleSpinBox_icp_minDepth->value()).toDouble());
ui_->checkBox_icp_from_depth->setChecked(settings.value("icpFromDepth", ui_->checkBox_icp_from_depth->isChecked()).toBool());
settings.endGroup();
settings.endGroup(); // DatabaseViewer
// Use same parameters used by RTAB-Map
settings.beginGroup("Gui");
exportDialog_->loadSettings(settings, exportDialog_->objectName());
settings.beginGroup("PostProcessingDialog");
ui_->doubleSpinBox_detectMore_radius->setValue(settings.value("cluster_radius", ui_->doubleSpinBox_detectMore_radius->value()).toDouble());
ui_->doubleSpinBox_detectMore_angle->setValue(settings.value("cluster_angle", ui_->doubleSpinBox_detectMore_angle->value()).toDouble());
ui_->spinBox_detectMore_iterations->setValue(settings.value("iterations", ui_->spinBox_detectMore_iterations->value()).toInt());
ui_->checkBox_detectMore_intraSession->setChecked(settings.value("intra_session", ui_->checkBox_detectMore_intraSession->isChecked()).toBool());
ui_->checkBox_detectMore_interSession->setChecked(settings.value("inter_session", ui_->checkBox_detectMore_interSession->isChecked()).toBool());
settings.endGroup();
settings.endGroup();
ParametersMap parameters;
Parameters::readINI(path.toStdString(), parameters);
for(ParametersMap::iterator iter = parameters.begin(); iter!= parameters.end(); ++iter)
{
ui_->parameters_toolbox->updateParameter(iter->first, iter->second);
}
}
void DatabaseViewer::writeSettings()
{
QString path = getIniFilePath();
QSettings settings(path, QSettings::IniFormat);
settings.beginGroup("DatabaseViewer");
//save window state / geometry
if(!this->isMaximized())
{
settings.setValue("geometry", this->saveGeometry());
}
settings.setValue("state", this->saveState());
settings.setValue("maximized", this->isMaximized());
savedMaximized_ = this->isMaximized();
settings.setValue("loggerLevel", ui_->comboBox_logger_level->currentIndex());
settings.setValue("verticalLayout", ui_->actionVertical_Layout->isChecked());
settings.setValue("ignoreIntermediateNodes", ui_->checkBox_ignoreIntermediateNodes->isChecked());
settings.setValue("timeStats", ui_->checkBox_timeStats->isChecked());
// save GraphViewer settings
ui_->graphViewer->saveSettings(settings, "GraphView");
// save optimization settings
settings.beginGroup("optimization");
settings.setValue("gainCompensationRadius", ui_->doubleSpinBox_gainCompensationRadius->value());
settings.setValue("voxelSize", ui_->doubleSpinBox_voxelSize->value());
settings.setValue("decimation", ui_->spinBox_decimation->value());
settings.endGroup();
// save Grid settings
settings.beginGroup("grid");
settings.setValue("poseFiltering", ui_->groupBox_posefiltering->isChecked());
settings.setValue("poseFilteringRadius", ui_->doubleSpinBox_posefilteringRadius->value());
settings.setValue("poseFilteringAngle", ui_->doubleSpinBox_posefilteringAngle->value());
settings.setValue("colorObstacle", ui_->lineEdit_obstacleColor->text());
settings.setValue("colorGround", ui_->lineEdit_groundColor->text());
settings.setValue("colorEmpty", ui_->lineEdit_emptyColor->text());
settings.setValue("cropRadius", ui_->spinBox_cropRadius->value());
settings.endGroup();
settings.beginGroup("mesh");
settings.setValue("quad", ui_->checkBox_mesh_quad->isChecked());
settings.setValue("angleTolerance", ui_->spinBox_mesh_angleTolerance->value());
settings.setValue("minClusterSize", ui_->spinBox_mesh_minClusterSize->value());
settings.setValue("fillDepthHolesSize", ui_->spinBox_mesh_fillDepthHoles->value());
settings.setValue("fillDepthHolesError", ui_->spinBox_mesh_depthError->value());
settings.setValue("triangleSize", ui_->spinBox_mesh_triangleSize->value());
settings.endGroup();
// ImageViews
ui_->graphicsView_A->saveSettings(settings, "ImageViewA");
ui_->graphicsView_B->saveSettings(settings, "ImageViewB");
// save ICP parameters
settings.beginGroup("icp");
settings.setValue("decimation", ui_->spinBox_icp_decimation->value());
settings.setValue("maxDepth", ui_->doubleSpinBox_icp_maxDepth->value());
settings.setValue("minDepth", ui_->doubleSpinBox_icp_minDepth->value());
settings.setValue("icpFromDepth", ui_->checkBox_icp_from_depth->isChecked());
settings.endGroup();
settings.endGroup(); // DatabaseViewer
// Use same parameters used by RTAB-Map
settings.beginGroup("Gui");
exportDialog_->saveSettings(settings, exportDialog_->objectName());
settings.beginGroup("PostProcessingDialog");
settings.setValue("cluster_radius", ui_->doubleSpinBox_detectMore_radius->value());
settings.setValue("cluster_angle", ui_->doubleSpinBox_detectMore_angle->value());
settings.setValue("iterations", ui_->spinBox_detectMore_iterations->value());
settings.setValue("intra_session", ui_->checkBox_detectMore_intraSession->isChecked());
settings.setValue("inter_session", ui_->checkBox_detectMore_interSession->isChecked());
settings.endGroup();
settings.endGroup();
ParametersMap parameters = ui_->parameters_toolbox->getParameters();
for(ParametersMap::iterator iter=parameters.begin(); iter!=parameters.end();)
{
if(!ui_->parameters_toolbox->getParameterWidget(iter->first.c_str()))
{
parameters.erase(iter++);
}
else
{
++iter;
}
}
Parameters::writeINI(path.toStdString(), parameters);
this->setWindowModified(false);
}
void DatabaseViewer::restoreDefaultSettings()
{
// reset GUI parameters
ui_->comboBox_logger_level->setCurrentIndex(1);
ui_->checkBox_alignPosesWithGroundTruth->setChecked(true);
ui_->checkBox_alignScansCloudsWithGroundTruth->setChecked(false);
ui_->checkBox_ignoreIntermediateNodes->setChecked(false);
ui_->checkBox_timeStats->setChecked(true);
ui_->checkBox_iterativeOptimization->setChecked(true);
ui_->checkBox_spanAllMaps->setChecked(true);
ui_->checkBox_wmState->setChecked(false);
ui_->checkBox_ignorePoseCorrection->setChecked(false);
ui_->checkBox_ignoreGlobalLoop->setChecked(false);
ui_->checkBox_ignoreLocalLoopSpace->setChecked(false);
ui_->checkBox_ignoreLocalLoopTime->setChecked(false);
ui_->checkBox_ignoreUserLoop->setChecked(false);
ui_->checkBox_ignoreLandmarks->setChecked(false);
ui_->doubleSpinBox_optimizationScale->setValue(1.0);
ui_->doubleSpinBox_gainCompensationRadius->setValue(0.0);
ui_->doubleSpinBox_voxelSize->setValue(0.0);
ui_->spinBox_decimation->setValue(1);
ui_->groupBox_posefiltering->setChecked(false);
ui_->doubleSpinBox_posefilteringRadius->setValue(0.1);
ui_->doubleSpinBox_posefilteringAngle->setValue(30);
ui_->checkBox_grid_empty->setChecked(true);
ui_->checkBox_octomap->setChecked(false);
ui_->lineEdit_obstacleColor->setText(QColor(Qt::red).name());
ui_->lineEdit_groundColor->setText(QColor(Qt::green).name());
ui_->lineEdit_emptyColor->setText(QColor(Qt::yellow).name());
ui_->spinBox_cropRadius->setValue(1);
ui_->checkBox_mesh_quad->setChecked(true);
ui_->spinBox_mesh_angleTolerance->setValue(15);
ui_->spinBox_mesh_minClusterSize->setValue(0);
ui_->spinBox_mesh_fillDepthHoles->setValue(false);
ui_->spinBox_mesh_depthError->setValue(10);
ui_->spinBox_mesh_triangleSize->setValue(2);
ui_->spinBox_icp_decimation->setValue(1);
ui_->doubleSpinBox_icp_maxDepth->setValue(0.0);
ui_->doubleSpinBox_icp_minDepth->setValue(0.0);
ui_->checkBox_icp_from_depth->setChecked(false);
ui_->doubleSpinBox_detectMore_radius->setValue(1.0);
ui_->doubleSpinBox_detectMore_angle->setValue(30.0);
ui_->spinBox_detectMore_iterations->setValue(5);
ui_->checkBox_detectMore_intraSession->setChecked(true);
ui_->checkBox_detectMore_interSession->setChecked(true);
}
void DatabaseViewer::openDatabase()
{
QString path = QFileDialog::getOpenFileName(this, tr("Select file"), pathDatabase_, tr("Databases (*.db)"));
if(!path.isEmpty())
{
openDatabase(path);
}
}
bool DatabaseViewer::openDatabase(const QString & path)
{
UDEBUG("Open database \"%s\"", path.toStdString().c_str());
if(QFile::exists(path))
{
if(QFileInfo(path).isFile())
{
std::string driverType = "sqlite3";
dbDriver_ = DBDriver::create();
if(!dbDriver_->openConnection(path.toStdString()))
{
ui_->actionClose_database->setEnabled(false);
ui_->actionOpen_database->setEnabled(true);
delete dbDriver_;
dbDriver_ = 0;
QMessageBox::warning(this, "Database error", tr("Can't open database \"%1\"").arg(path));
}
else
{
ui_->actionClose_database->setEnabled(true);
ui_->actionOpen_database->setEnabled(false);
pathDatabase_ = UDirectory::getDir(path.toStdString()).c_str();
if(pathDatabase_.isEmpty() || pathDatabase_.compare(".") == 0)
{
pathDatabase_ = QDir::currentPath();
}
databaseFileName_ = UFile::getName(path.toStdString());
ui_->graphViewer->setWorkingDirectory(pathDatabase_);
// look if there are saved parameters
ParametersMap parameters = dbDriver_->getLastParameters();
if(parameters.size())
{
const ParametersMap & currentParameters = ui_->parameters_toolbox->getParameters();
ParametersMap differentParameters;
for(ParametersMap::iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
{
ParametersMap::const_iterator jter = currentParameters.find(iter->first);
if(jter!=currentParameters.end() &&
ui_->parameters_toolbox->getParameterWidget(QString(iter->first.c_str())) != 0 &&
iter->second.compare(jter->second) != 0 &&
iter->first.compare(Parameters::kRtabmapWorkingDirectory()) != 0)
{
bool different = true;
if(Parameters::getType(iter->first).compare("double") ==0 ||
Parameters::getType(iter->first).compare("float") == 0)
{
if(uStr2Double(iter->second) == uStr2Double(jter->second))
{
different = false;
}
}
if(different)
{
differentParameters.insert(*iter);
QString msg = tr("Parameter \"%1\": database=\"%2\" Preferences=\"%3\"")
.arg(iter->first.c_str())
.arg(iter->second.c_str())
.arg(jter->second.c_str());
UWARN(msg.toStdString().c_str());
}
}
}
if(differentParameters.size())
{
int r = QMessageBox::question(this,
tr("Update parameters..."),
tr("The database is using %1 different parameter(s) than "
"those currently set in Core parameters panel. Do you want "
"to use database's parameters?").arg(differentParameters.size()),
QMessageBox::Yes | QMessageBox::No,
QMessageBox::Yes);
if(r == QMessageBox::Yes)
{
QStringList str;
for(rtabmap::ParametersMap::const_iterator iter = differentParameters.begin(); iter!=differentParameters.end(); ++iter)
{
ui_->parameters_toolbox->updateParameter(iter->first, iter->second);
str.push_back(iter->first.c_str());
}
notifyParametersChanged(str);
}
}
}
updateIds();
this->setWindowTitle("RTAB-Map Database Viewer - " + path + "[*]");
return true;
}
}
else // directory
{
pathDatabase_ = path;
if(pathDatabase_.isEmpty() || pathDatabase_.compare(".") == 0)
{
pathDatabase_ = QDir::currentPath();
}
ui_->graphViewer->setWorkingDirectory(pathDatabase_);
}
}
else
{
QMessageBox::warning(this, "Database error", tr("Database \"%1\" does not exist.").arg(path));
}
return false;
}
bool DatabaseViewer::closeDatabase()
{
this->setWindowTitle("RTAB-Map Database Viewer[*]");
if(dbDriver_)
{
if(linksAdded_.size() || linksRefined_.size() || linksRemoved_.size())
{
QMessageBox::StandardButton button = QMessageBox::question(this,
tr("Links modified"),
tr("Some links are modified (%1 added, %2 refined, %3 removed), do you want to save them?")
.arg(linksAdded_.size()).arg(linksRefined_.size()).arg(linksRemoved_.size()),
QMessageBox::Cancel | QMessageBox::Yes | QMessageBox::No,
QMessageBox::Cancel);
if(button == QMessageBox::Yes)
{
// Added links
for(std::multimap<int, rtabmap::Link>::iterator iter=linksAdded_.begin(); iter!=linksAdded_.end(); ++iter)
{
std::multimap<int, rtabmap::Link>::iterator refinedIter = rtabmap::graph::findLink(linksRefined_, iter->second.from(), iter->second.to());
if(refinedIter != linksRefined_.end())
{
dbDriver_->addLink(refinedIter->second);
dbDriver_->addLink(refinedIter->second.inverse());
}
else
{
dbDriver_->addLink(iter->second);
dbDriver_->addLink(iter->second.inverse());
}
}
//Refined links
for(std::multimap<int, rtabmap::Link>::iterator iter=linksRefined_.begin(); iter!=linksRefined_.end(); ++iter)
{
if(!containsLink(linksAdded_, iter->second.from(), iter->second.to()))
{
dbDriver_->updateLink(iter->second);
dbDriver_->updateLink(iter->second.inverse());
}
}
// Rejected links
for(std::multimap<int, rtabmap::Link>::iterator iter=linksRemoved_.begin(); iter!=linksRemoved_.end(); ++iter)
{
dbDriver_->removeLink(iter->second.to(), iter->second.from());
dbDriver_->removeLink(iter->second.from(), iter->second.to());
}
linksAdded_.clear();
linksRefined_.clear();
linksRemoved_.clear();
// Clear the optimized poses, this will force rtabmap to re-optimize the graph on initialization
Transform lastLocalizationPose;
if(!dbDriver_->loadOptimizedPoses(&lastLocalizationPose).empty())
{
dbDriver_->saveOptimizedPoses(std::map<int, Transform>(), lastLocalizationPose);
}
// This will force rtabmap_ros to regenerate the global occupancy grid if there was one
dbDriver_->save2DMap(cv::Mat(), 0, 0, 0);
dbDriver_->saveOptimizedMesh(cv::Mat());
}
if(button != QMessageBox::Yes && button != QMessageBox::No)
{
return false;
}
}
if( generatedLocalMaps_.size() &&
uStrNumCmp(dbDriver_->getDatabaseVersion(), "0.11.10") >= 0)
{
QMessageBox::StandardButton button = QMessageBox::question(this,
tr("Local occupancy grid maps modified"),
tr("%1 occupancy grid maps are modified, do you want to "
"save them? This will overwrite occupancy grids saved in the database.")
.arg(generatedLocalMaps_.size()),
QMessageBox::Cancel | QMessageBox::Yes | QMessageBox::No,
QMessageBox::Cancel);
if(button == QMessageBox::Yes)
{
UASSERT(generatedLocalMaps_.size() == generatedLocalMapsInfo_.size());
std::map<int, std::pair<std::pair<cv::Mat, cv::Mat>, cv::Mat > >::iterator mapIter = generatedLocalMaps_.begin();
std::map<int, std::pair<float, cv::Point3f> >::iterator infoIter = generatedLocalMapsInfo_.begin();
for(; mapIter!=generatedLocalMaps_.end(); ++mapIter, ++infoIter)
{
UASSERT(mapIter->first == infoIter->first);
dbDriver_->updateOccupancyGrid(
mapIter->first,
mapIter->second.first.first,
mapIter->second.first.second,
mapIter->second.second,
infoIter->second.first,
infoIter->second.second);
}
generatedLocalMaps_.clear();
generatedLocalMapsInfo_.clear();
localMaps_.clear();
localMapsInfo_.clear();
// This will force rtabmap_ros to regenerate the global occupancy grid if there was one
dbDriver_->save2DMap(cv::Mat(), 0, 0, 0);
}
if(button != QMessageBox::Yes && button != QMessageBox::No)
{
return false;
}
}
if(!modifiedLaserScans_.empty())
{
QMessageBox::StandardButton button = QMessageBox::question(this,
tr("Laser scans modified"),
tr("%1 laser scans are modified, do you want to "
"save them? This will overwrite laser scans saved in the database.")
.arg(modifiedLaserScans_.size()),
QMessageBox::Cancel | QMessageBox::Yes | QMessageBox::No,
QMessageBox::Cancel);
if(button == QMessageBox::Yes)
{
for(std::map<int, LaserScan>::iterator iter=modifiedLaserScans_.begin(); iter!=modifiedLaserScans_.end(); ++iter)
{
dbDriver_->updateLaserScan(iter->first, iter->second);
}
modifiedLaserScans_.clear();
}
if(button != QMessageBox::Yes && button != QMessageBox::No)