OdometryViewer.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
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    * 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.
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      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.

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#include "rtabmap/gui/OdometryViewer.h"

#include "rtabmap/core/util3d_transforms.h"
#include "rtabmap/core/util3d_filtering.h"
#include "rtabmap/core/util3d.h"
#include "rtabmap/core/OdometryEvent.h"
#include "rtabmap/core/Odometry.h"
#include "rtabmap/utilite/ULogger.h"
#include "rtabmap/utilite/UConversion.h"
#include "rtabmap/utilite/UCv2Qt.h"

#include "rtabmap/gui/ImageView.h"
#include "rtabmap/gui/CloudViewer.h"

#include <QPushButton>
#include <QSpinBox>
#include <QDoubleSpinBox>
#include <QCheckBox>
#include <QLabel>
#include <QHBoxLayout>
#include <QVBoxLayout>
#include <QApplication>

namespace rtabmap {

OdometryViewer::OdometryViewer(
        int maxClouds, 
        int decimation, 
        float voxelSize, 
        float maxDepth, 
        int qualityWarningThr, 
        QWidget * parent,
        const ParametersMap & parameters) :
                QDialog(parent),
                imageView_(new ImageView(this)),
                cloudView_(new CloudViewer(this)),
                processingData_(false),
                odomImageShow_(true),
                odomImageDepthShow_(true),
                lastOdomPose_(Transform::getIdentity()),
                qualityWarningThr_(qualityWarningThr),
                id_(0),
                validDecimationValue_(1),
                parameters_(parameters)
{

        qRegisterMetaType<rtabmap::OdometryEvent>("rtabmap::OdometryEvent");

        imageView_->setImageDepthShown(false);
        imageView_->setMinimumSize(320, 240);
        imageView_->setAlpha(255);

        cloudView_->setCameraTargetLocked();
        cloudView_->setGridShown(true);
        cloudView_->setFrustumShown(true);

        QLabel * maxCloudsLabel = new QLabel("Max clouds", this);
        QLabel * voxelLabel = new QLabel("Voxel", this);
        QLabel * maxDepthLabel = new QLabel("Max depth", this);
        QLabel * decimationLabel = new QLabel("Decimation", this);
        maxCloudsSpin_ = new QSpinBox(this);
        maxCloudsSpin_->setMinimum(0);
        maxCloudsSpin_->setMaximum(100);
        maxCloudsSpin_->setValue(maxClouds);
        voxelSpin_ = new QDoubleSpinBox(this);
        voxelSpin_->setMinimum(0);
        voxelSpin_->setMaximum(1);
        voxelSpin_->setDecimals(3);
        voxelSpin_->setSingleStep(0.01);
        voxelSpin_->setSuffix(" m");
        voxelSpin_->setValue(voxelSize);
        maxDepthSpin_ = new QDoubleSpinBox(this);
        maxDepthSpin_->setMinimum(0);
        maxDepthSpin_->setMaximum(100);
        maxDepthSpin_->setDecimals(0);
        maxDepthSpin_->setSingleStep(1);
        maxDepthSpin_->setSuffix(" m");
        maxDepthSpin_->setValue(maxDepth);
        decimationSpin_ = new QSpinBox(this);
        decimationSpin_->setMinimum(1);
        decimationSpin_->setMaximum(16);
        decimationSpin_->setValue(decimation);
        cloudShown_ = new QCheckBox(this);
        cloudShown_->setText("Cloud");
        cloudShown_->setChecked(true);
        scanShown_ = new QCheckBox(this);
        scanShown_->setText("Scan");
        scanShown_->setChecked(true);
        featuresShown_ = new QCheckBox(this);
        featuresShown_->setText("Features");
        featuresShown_->setChecked(true);
        timeLabel_ = new QLabel(this);
        QPushButton * resetButton = new QPushButton("reset", this);
        QPushButton * clearButton = new QPushButton("clear", this);
        QPushButton * closeButton = new QPushButton("close", this);
        connect(resetButton, SIGNAL(clicked()), this, SLOT(reset()));
        connect(clearButton, SIGNAL(clicked()), this, SLOT(clear()));
        connect(closeButton, SIGNAL(clicked()), this, SLOT(reject()));

        //layout
        QHBoxLayout * layout = new QHBoxLayout();
        layout->setMargin(0);
        layout->setSpacing(0);
        layout->addWidget(imageView_,1);
        layout->addWidget(cloudView_,1);

        QHBoxLayout * hlayout2 = new QHBoxLayout();
        hlayout2->setMargin(0);
        hlayout2->addWidget(maxCloudsLabel);
        hlayout2->addWidget(maxCloudsSpin_);
        hlayout2->addWidget(voxelLabel);
        hlayout2->addWidget(voxelSpin_);
        hlayout2->addWidget(maxDepthLabel);
        hlayout2->addWidget(maxDepthSpin_);
        hlayout2->addWidget(decimationLabel);
        hlayout2->addWidget(decimationSpin_);
        hlayout2->addWidget(cloudShown_);
        hlayout2->addWidget(scanShown_);
        hlayout2->addWidget(featuresShown_);
        hlayout2->addWidget(timeLabel_);
        hlayout2->addStretch(1);
        hlayout2->addWidget(resetButton);
        hlayout2->addWidget(clearButton);
        hlayout2->addWidget(closeButton);

        QVBoxLayout * vlayout = new QVBoxLayout(this);
        vlayout->setMargin(0);
        vlayout->setSpacing(0);
        vlayout->addLayout(layout, 1);
        vlayout->addLayout(hlayout2);

        this->setLayout(vlayout);
}

OdometryViewer::~OdometryViewer()
{
        this->unregisterFromEventsManager();
        this->clear();
        UDEBUG("");
}

void OdometryViewer::reset()
{
        this->post(new OdometryResetEvent());
}

void OdometryViewer::clear()
{
        addedClouds_.clear();
        cloudView_->clear();
}

void OdometryViewer::processData(const rtabmap::OdometryEvent & odom)
{
        processingData_ = true;
        int quality = odom.info().reg.inliers;

        bool lost = false;
        bool lostStateChanged = false;

        if(odom.pose().isNull())
        {
                UDEBUG("odom lost"); // use last pose
                lostStateChanged = imageView_->getBackgroundColor() != Qt::darkRed;
                imageView_->setBackgroundColor(Qt::darkRed);
                cloudView_->setBackgroundColor(Qt::darkRed);

                lost = true;
        }
        else if(odom.info().reg.inliers>0 &&
                        qualityWarningThr_ &&
                        odom.info().reg.inliers < qualityWarningThr_)
        {
                UDEBUG("odom warn, quality(inliers)=%d thr=%d", odom.info().reg.inliers, qualityWarningThr_);
                lostStateChanged = imageView_->getBackgroundColor() == Qt::darkRed;
                imageView_->setBackgroundColor(Qt::darkYellow);
                cloudView_->setBackgroundColor(Qt::darkYellow);
        }
        else
        {
                UDEBUG("odom ok");
                lostStateChanged = imageView_->getBackgroundColor() == Qt::darkRed;
                imageView_->setBackgroundColor(cloudView_->getDefaultBackgroundColor());
                cloudView_->setBackgroundColor(Qt::black);
        }

        timeLabel_->setText(QString("%1 s").arg(odom.info().timeEstimation));

        if(cloudShown_->isChecked() &&
                !odom.data().imageRaw().empty() &&
                !odom.data().depthOrRightRaw().empty() &&
                (odom.data().stereoCameraModels().size() || odom.data().cameraModels().size()))
        {
                UDEBUG("New pose = %s, quality=%d", odom.pose().prettyPrint().c_str(), quality);

                if(!odom.data().depthRaw().empty())
                {
                        if(odom.data().imageRaw().cols % decimationSpin_->value() == 0 &&
                           odom.data().imageRaw().rows % decimationSpin_->value() == 0)
                        {
                                validDecimationValue_ = decimationSpin_->value();
                        }
                        else
                        {
                                UWARN("Decimation (%d) must be a denominator of the width and height of "
                                                "the image (%d/%d). Using last valid decimation value (%d).",
                                                decimationSpin_->value(),
                                                odom.data().imageRaw().cols,
                                                odom.data().imageRaw().rows,
                                                validDecimationValue_);
                        }
                }
                else
                {
                        validDecimationValue_ = decimationSpin_->value();
                }

                // visualization: buffering the clouds
                // Create the new cloud
                pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
                pcl::IndicesPtr validIndices(new std::vector<int>);
                cloud = util3d::cloudRGBFromSensorData(
                                odom.data(),
                                validDecimationValue_,
                                0,
                                0,
                                validIndices.get(),
                                parameters_);

                if(voxelSpin_->value())
                {
                        cloud = util3d::voxelize(cloud, validIndices, voxelSpin_->value());
                }

                if(cloud->size())
                {
                        if(!odom.pose().isNull())
                        {
                                if(cloudView_->getAddedClouds().contains("cloudtmp"))
                                {
                                        cloudView_->removeCloud("cloudtmp");
                                }

                                while(maxCloudsSpin_->value()>0 && (int)addedClouds_.size() > maxCloudsSpin_->value())
                                {
                                        UASSERT(cloudView_->removeCloud(addedClouds_.first()));
                                        addedClouds_.pop_front();
                                }

                                odom.data().id()?id_=odom.data().id():++id_;
                                std::string cloudName = uFormat("cloud%d", id_);
                                addedClouds_.push_back(cloudName);
                                UASSERT(cloudView_->addCloud(cloudName, cloud, odom.pose()));
                        }
                        else
                        {
                                cloudView_->addCloud("cloudtmp", cloud, lastOdomPose_);
                        }
                }
        }
        else if(!cloudShown_->isChecked())
        {
                while(!addedClouds_.empty())
                {
                        UASSERT(cloudView_->removeCloud(addedClouds_.first()));
                        addedClouds_.pop_front();
                }
        }

        if(!odom.pose().isNull())
        {
                lastOdomPose_ = odom.pose();
                cloudView_->updateCameraTargetPosition(odom.pose());

                if(odom.data().cameraModels().size() && !odom.data().cameraModels()[0].localTransform().isNull())
                {
                        cloudView_->updateCameraFrustums(odom.pose(), odom.data().cameraModels());
                }
                else if(odom.data().stereoCameraModels().size() && !odom.data().stereoCameraModels()[0].localTransform().isNull())
                {
                        cloudView_->updateCameraFrustums(odom.pose(), odom.data().stereoCameraModels());
                }
        }

        if(scanShown_->isChecked())
        {
                // scan local map
                if(!odom.info().localScanMap.isEmpty())
                {
                        pcl::PointCloud<pcl::PointNormal>::Ptr cloud;
                        cloud = util3d::laserScanToPointCloudNormal(odom.info().localScanMap, odom.info().localScanMap.localTransform());
                        if(!cloudView_->addCloud("scanMapOdom", cloud, Transform::getIdentity(), Qt::blue))
                        {
                                UERROR("Adding scanMapOdom to viewer failed!");
                        }
                        else
                        {
                                cloudView_->setCloudVisibility("scanMapOdom", true);
                                cloudView_->setCloudOpacity("scanMapOdom", 0.5);
                        }
                }
                // scan cloud
                if(!odom.data().laserScanRaw().isEmpty())
                {
                        LaserScan scan = odom.data().laserScanRaw();

                        pcl::PointCloud<pcl::PointNormal>::Ptr cloud;
                        cloud = util3d::laserScanToPointCloudNormal(scan, odom.pose() * scan.localTransform());

                        if(!cloudView_->addCloud("scanOdom", cloud, Transform::getIdentity(), Qt::magenta))
                        {
                                UERROR("Adding scanOdom to viewer failed!");
                        }
                        else
                        {
                                cloudView_->setCloudVisibility("scanOdom", true);
                                cloudView_->setCloudOpacity("scanOdom", 0.5);
                        }
                }
        }
        else
        {
                cloudView_->removeCloud("scanMapOdom");
                cloudView_->removeCloud("scanOdom");
        }

        // 3d features
        if(featuresShown_->isChecked())
        {
                if(!odom.info().localMap.empty() && !odom.pose().isNull())
                {
                        pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
                        cloud->resize(odom.info().localMap.size());
                        int i=0;
                        for(std::map<int, cv::Point3f>::const_iterator iter=odom.info().localMap.begin(); iter!=odom.info().localMap.end(); ++iter)
                        {
                                // filter very far features from current location
                                if(uNormSquared(iter->second.x-odom.pose().x(), iter->second.y-odom.pose().y(), iter->second.z-odom.pose().z()) < 50*50)
                                {
                                        (*cloud)[i].x = iter->second.x;
                                        (*cloud)[i].y = iter->second.y;
                                        (*cloud)[i].z = iter->second.z;

                                        // green = inlier, yellow = outliers
                                        bool inlier = odom.info().words.find(iter->first) != odom.info().words.end();
                                        (*cloud)[i].r = inlier?0:255;
                                        (*cloud)[i].g = 255;
                                        (*cloud)[i++].b = 0;
                                }
                        }
                        cloud->resize(i);

                        if(!cloudView_->addCloud("featuresOdom", cloud))
                        {
                                UERROR("Adding featuresOdom to viewer failed!");
                        }
                        else
                        {
                                cloudView_->setCloudVisibility("featuresOdom", true);
                                cloudView_->setCloudPointSize("featuresOdom", 3);
                        }
                }
        }
        else
        {
                cloudView_->removeCloud("featuresOdom");
        }

        if(!odom.data().imageRaw().empty())
        {
                if(odom.info().type == (int)Odometry::kTypeF2M || odom.info().type == (int)Odometry::kTypeORBSLAM)
                {
                        imageView_->setFeatures(odom.info().words, odom.data().depthRaw(), Qt::yellow);
                }
                else if(odom.info().type == (int)Odometry::kTypeF2F ||
                                odom.info().type == (int)Odometry::kTypeViso2 ||
                                odom.info().type == (int)Odometry::kTypeFovis ||
                                odom.info().type == (int)Odometry::kTypeMSCKF)
                {
                        std::vector<cv::KeyPoint> kpts;
                        cv::KeyPoint::convert(odom.info().newCorners, kpts, 7);
                        imageView_->setFeatures(kpts, odom.data().depthRaw(), Qt::red);
                }

                imageView_->clearLines();
                if(lost)
                {
                        if(lostStateChanged)
                        {
                                // save state
                                odomImageShow_ = imageView_->isImageShown();
                                odomImageDepthShow_ = imageView_->isImageDepthShown();
                        }
                        imageView_->setImageDepth(odom.data().imageRaw());
                        imageView_->setImageShown(true);
                        imageView_->setImageDepthShown(true);
                }
                else
                {
                        if(lostStateChanged)
                        {
                                // restore state
                                imageView_->setImageShown(odomImageShow_);
                                imageView_->setImageDepthShown(odomImageDepthShow_);
                        }

                        imageView_->setImage(uCvMat2QImage(odom.data().imageRaw()));
                        if(imageView_->isImageDepthShown())
                        {
                                imageView_->setImageDepth(odom.data().depthOrRightRaw());
                        }

                        if( odom.info().type == Odometry::kTypeF2M ||
                                odom.info().type == (int)Odometry::kTypeORBSLAM ||
                                odom.info().type == (int)Odometry::kTypeMSCKF)
                        {
                                if(imageView_->isFeaturesShown())
                                {
                                        for(unsigned int i=0; i<odom.info().reg.matchesIDs.size(); ++i)
                                        {
                                                imageView_->setFeatureColor(odom.info().reg.matchesIDs[i], Qt::red); // outliers
                                        }
                                        for(unsigned int i=0; i<odom.info().reg.inliersIDs.size(); ++i)
                                        {
                                                imageView_->setFeatureColor(odom.info().reg.inliersIDs[i], Qt::green); // inliers
                                        }
                                }
                        }
                }
                if((odom.info().type == (int)Odometry::kTypeF2F ||
                        odom.info().type == (int)Odometry::kTypeViso2 ||
                        odom.info().type == (int)Odometry::kTypeFovis) && odom.info().cornerInliers.size())
                {
                        if(imageView_->isFeaturesShown() || imageView_->isLinesShown())
                        {
                                //draw lines
                                UASSERT(odom.info().refCorners.size() == odom.info().newCorners.size());
                                for(unsigned int i=0; i<odom.info().cornerInliers.size(); ++i)
                                {
                                        if(imageView_->isFeaturesShown())
                                        {
                                                imageView_->setFeatureColor(odom.info().cornerInliers[i], Qt::green); // inliers
                                        }
                                        if(imageView_->isLinesShown())
                                        {
                                                imageView_->addLine(
                                                                odom.info().newCorners[odom.info().cornerInliers[i]].x,
                                                                odom.info().newCorners[odom.info().cornerInliers[i]].y,
                                                                odom.info().refCorners[odom.info().cornerInliers[i]].x,
                                                                odom.info().refCorners[odom.info().cornerInliers[i]].y,
                                                                Qt::blue);
                                        }
                                }
                        }
                }

                if(!odom.data().imageRaw().empty())
                {
                        imageView_->setSceneRect(QRectF(0,0,(float)odom.data().imageRaw().cols, (float)odom.data().imageRaw().rows));
                }
        }

        imageView_->update();
        cloudView_->update();
        QApplication::processEvents();
        processingData_ = false;
}

bool OdometryViewer::handleEvent(UEvent * event)
{
        if(!processingData_ && this->isVisible())
        {
                if(event->getClassName().compare("OdometryEvent") == 0)
                {
                        rtabmap::OdometryEvent * odomEvent = (rtabmap::OdometryEvent*)event;
                        if(odomEvent->data().isValid())
                        {
                                processingData_ = true;
                                QMetaObject::invokeMethod(this, "processData",
                                                Q_ARG(rtabmap::OdometryEvent, *odomEvent));
                        }
                }
        }
        return false;
}

} /* namespace rtabmap */