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
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/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->setContentsMargins(0,0,0,0);
        layout->setSpacing(0);
        layout->addWidget(imageView_,1);
        layout->addWidget(cloudView_,1);
 
        QHBoxLayout * hlayout2 = new QHBoxLayout();
        hlayout2->setContentsMargins(0,0,0,0);
        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->setContentsMargins(0,0,0,0);
        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 */