MultiSessionLocWidget.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.
 
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#include "rtabmap/gui/MultiSessionLocWidget.h"
#include "rtabmap/gui/MultiSessionLocSubView.h"
#include "rtabmap/gui/ImageView.h"
#include "rtabmap/utilite/UStl.h"
#include "rtabmap/core/Graph.h"
 
#include <QHBoxLayout>
#include <QPushButton>
#include <QProgressBar>
 
namespace rtabmap {
 
MultiSessionLocWidget::MultiSessionLocWidget(
                const QMap<int, Signature> * cache,
                const std::map<int, int> * mapIds,
                QWidget * parent) :
                                QWidget(parent),
                                cache_(cache),
                                mapIds_(mapIds),
                                totalFrames_(0),
                                totalLoops_(0)
{
        UASSERT(cache != 0);
        UASSERT(mapIds != 0);
        imageView_ = new ImageView(this);
        imageView_->setObjectName("multisession_imageview");
        totalLocProgressBar_ = new QProgressBar(this);
        resetbutton_ = new QPushButton(this);
        resetbutton_->setText("Reset");
 
        // setup layout
        this->setLayout(new QHBoxLayout());
        QVBoxLayout * vLayout = new QVBoxLayout();
        vLayout->addWidget(imageView_, 1);
        QHBoxLayout * hLayout = new QHBoxLayout();
        hLayout->addWidget(resetbutton_, 0);
        hLayout->addWidget(totalLocProgressBar_, 1);
        vLayout->addLayout(hLayout, 0);
        ((QHBoxLayout*)this->layout())->addLayout(vLayout, 1);
 
        connect(resetbutton_, SIGNAL(clicked()), this, SLOT(clear()));
}
MultiSessionLocWidget::~MultiSessionLocWidget() {}
 
void MultiSessionLocWidget::updateView(
                const Signature & lastSignature,
                const Statistics & stats)
{
        ++totalFrames_;
        std::multimap<int, Link> loopLinks = graph::filterLinks(lastSignature.getLinks(), Link::kGlobalClosure, true);
        std::multimap<int, Link> localLinks = graph::filterLinks(lastSignature.getLinks(), Link::kLocalSpaceClosure, true);
        loopLinks.insert(localLinks.begin(), localLinks.end());
 
        if(!loopLinks.empty())
        {
                ++totalLoops_;
                totalLocProgressBar_->setValue(float(totalLoops_)/float(totalFrames_) * 100);
        }
 
        if(!lastSignature.sensorData().imageRaw().empty() ||
           !lastSignature.sensorData().imageCompressed().empty())
        {
                cv::Mat image;
                lastSignature.sensorData().uncompressDataConst(&image, 0);
                if(!image.empty())
                {
                        imageView_->setImage(uCvMat2QImage(image));
                        imageView_->setFeatures(lastSignature.getWordsKpts(), cv::Mat(), imageView_->getDefaultMatchingFeatureColor());
                        imageView_->setBackgroundColor(Qt::black);
                }
                else
                {
                        imageView_->clear();
                }
        }
        else
        {
                imageView_->clear();
        }
 
        std::map<int, std::pair<int, float> > top;
        const std::map<int, float> & likelihood = stats.posterior();
        for(std::map<int, float>::const_iterator iter=likelihood.begin(); iter!=likelihood.end(); ++iter)
        {
                if(mapIds_->find(iter->first) != mapIds_->end())
                {
                        int mapId = mapIds_->at(iter->first);
                        if(subViews_.find(mapId)==subViews_.end())
                        {
                                MultiSessionLocSubView * subView = new MultiSessionLocSubView(imageView_, mapId, this);
                                ((QHBoxLayout*)this->layout())->addWidget(subView, 1);
                                subViews_.insert(std::make_pair(mapId, std::make_pair(subView, 0)));
                        }
 
                        if(top.find(mapId) == top.end() || top.at(mapId).second < iter->second)
                        {
                                uInsert(top, std::make_pair(mapId, std::make_pair(iter->first, iter->second)));
                        }
                }
        }
 
        // update highest loop closure hypotheses per session
        for(std::map<int, std::pair<MultiSessionLocSubView*, int> >::iterator iter=subViews_.begin(); iter!=subViews_.end(); ++iter)
        {
 
                for(std::multimap<int, Link>::iterator jter=loopLinks.begin(); jter!=loopLinks.end(); ++jter)
                {
                        if(mapIds_->find(jter->first)!= mapIds_->end())
                        {
                                int mapId = mapIds_->at(jter->first);
                                iter->second.second += mapId==iter->first?1:0;
                        }
                }
 
                if(uContains(top, iter->first))
                {
                        int nodeId = top.at(iter->first).first;
                        if(cache_->contains(nodeId))
                        {
                                cv::Mat image;
                                const Signature & s = (*cache_)[nodeId];
 
                                Link link = loopLinks.find(nodeId) != loopLinks.end()?loopLinks.find(nodeId)->second:Link();
                                std::multimap<int, cv::KeyPoint> keypoints;
                                for(std::multimap<int, int>::const_iterator jter=s.getWords().begin(); jter!=s.getWords().end(); ++jter)
                                {
                                        if(jter->first>0 && lastSignature.getWords().find(jter->first) != lastSignature.getWords().end())
                                        {
                                                keypoints.insert(std::make_pair(jter->first, s.getWordsKpts()[jter->second]));
                                        }
                                }
 
                                if(!keypoints.empty())
                                {
                                        s.sensorData().uncompressDataConst(&image, 0);
                                        if(!image.empty())
                                        {
                                                iter->second.first->updateView(
                                                                nodeId,
                                                                uCvMat2QImage(image),
                                                                keypoints,
                                                                float(iter->second.second)/float(totalFrames_),
                                                                link.type() == Link::kLocalSpaceClosure?Qt::yellow:
                                                                link.type() == Link::kGlobalClosure?Qt::green:Qt::gray);
                                        }
                                        else
                                        {
                                                iter->second.first->clear();
                                        }
                                }
                                else
                                {
                                        iter->second.first->clear();
                                }
                        }
                        else
                        {
                                iter->second.first->clear();
                        }
                }
                else
                {
                        iter->second.first->clear();
                }
        }
}
void MultiSessionLocWidget::clear()
{
        for(std::map<int, std::pair<MultiSessionLocSubView*, int> >::iterator iter=subViews_.begin(); iter!=subViews_.end(); ++iter)
        {
                delete iter->second.first;
        }
        subViews_.clear();
        imageView_->clear();
        totalFrames_ = 0;
        totalLoops_ = 0;
        totalLocProgressBar_->setValue(0);
}
 
} /* namespace rtabmap */