Updated for issue #36: Moved "Export Poses..." to File menu, added "Export images..." action too, updated when some export actions are enabled or disabled

corelib/include/rtabmap/core/Graph.h

@@ -231,6 +231,13 @@ private:
 	float minInliers_;
 };
 
+bool RTABMAP_EXP exportPoses(
+		const std::string & filePath,
+		int format, // 0=Raw (*.txt), 1=RGBD-SLAM (*.txt), 2=KITTI (*.txt), 3=TORO (*.graph), 4=g2o (*.g2o)
+		const std::map<int, Transform> & poses,
+		const std::multimap<int, Link> & constraints, // required for formats 3 and 4
+		const std::map<int, double> & stamps); // required for format 1
+
 ////////////////////////////////////////////
 // Graph utilities
 ////////////////////////////////////////////

corelib/include/rtabmap/core/Rtabmap.h

@@ -112,7 +112,7 @@ public:
 			const std::string & path,
 			bool optimized,
 			bool global,
-			int type // 0=raw/KITTI format, 1=rgbd-slam format, 2=TORO
+			int format // 0=raw, 1=rgbd-slam format, 2=KITTI format, 3=TORO, 4=g2o
 	);
 	void resetMemory();
 	void dumpPrediction() const;

corelib/src/Graph.cpp

@@ -31,6 +31,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/utilite/UMath.h>
 #include <rtabmap/utilite/UConversion.h>
 #include <rtabmap/utilite/UTimer.h>
+#include <rtabmap/utilite/UFile.h>
 #include <rtabmap/core/Memory.h>
 #include <pcl/search/kdtree.h>
 #include <pcl/common/eigen.h>
@@ -1573,6 +1574,109 @@ std::map<int, Transform> CVSBAOptimizer::optimizeBA(
 #endif
 }
 
+bool exportPoses(
+		const std::string & filePath,
+		int format, // 0=Raw, 1=RGBD-SLAM, 2=KITTI, 3=TORO, 4=g2o
+		const std::map<int, Transform> & poses,
+		const std::multimap<int, Link> & constraints, // required for formats 3 and 4
+		const std::map<int, double> & stamps) // required for format 1
+{
+	std::string tmpPath = filePath;
+	if(format==3) // TORO
+	{
+		if(UFile::getExtension(tmpPath).empty())
+		{
+			tmpPath+=".graph";
+		}
+		return graph::TOROOptimizer::saveGraph(tmpPath, poses, constraints);
+	}
+	else if(format == 4) // g2o
+	{
+		if(UFile::getExtension(tmpPath).empty())
+		{
+			tmpPath+=".g2o";
+		}
+#ifdef WITH_G2O
+		return graph::G2OOptimizer::saveGraph(tmpPath, poses, constraints);
+#else
+		UERROR("Cannot export in g2o format because RTAB-Map is not built with g2o support!");
+		return false;
+#endif
+	}
+	else
+	{
+		if(UFile::getExtension(tmpPath).empty())
+		{
+			tmpPath+=".txt";
+		}
+
+		if(format == 1)
+		{
+			if(stamps.size() != poses.size())
+			{
+				UERROR("When exporting poses to format 1 (RGBD-SLAM), stamps and poses maps should have the same size!");
+				return false;
+			}
+		}
+
+		FILE* fout = 0;
+#ifdef _MSC_VER
+		fopen_s(&fout, tmpPath.c_str(), "w");
+#else
+		fout = fopen(tmpPath.c_str(), "w");
+#endif
+		if(fout)
+		{
+			for(std::map<int, Transform>::const_iterator iter=poses.begin(); iter!=poses.end(); ++iter)
+			{
+				if(format == 1) // rgbd-slam format
+				{
+					// Format: stamp x y z qw qx qy qz
+					Eigen::Quaternionf q = (*iter).second.getQuaternionf();
+
+					UASSERT(uContains(stamps, iter->first));
+					fprintf(fout, "%f %f %f %f %f %f %f %f\n",
+							stamps.at(iter->first),
+							(*iter).second.x(),
+							(*iter).second.y(),
+							(*iter).second.z(),
+							q.w(),
+							q.x(),
+							q.y(),
+							q.z());
+				}
+				else // default / KITTI format
+				{
+					Transform pose = iter->second;
+					if(format == 2)
+					{
+						// for KITTI, we need to remove optical rotation
+						// z pointing front, x left, y down
+						Transform t( 0, 0, 1, 0,
+									-1, 0, 0, 0,
+									 0,-1, 0, 0);
+						pose = t.inverse() * pose * t;
+					}
+
+					// Format: r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz
+					const float * p = (const float *)pose.data();
+
+					fprintf(fout, "%f", p[0]);
+					for(int i=1; i<pose.size(); i++)
+					{
+						fprintf(fout, " %f", p[i]);
+					}
+					fprintf(fout, "\n");
+				}
+			}
+			fclose(fout);
+			return true;
+		}
+	}
+	return false;
+}
+
+
 ////////////////////////////////////////////
 // Graph utilities
 ////////////////////////////////////////////

corelib/src/Rtabmap.cpp

@@ -740,7 +740,7 @@ void Rtabmap::generateDOTGraph(const std::string & path, int id, int margin)
 	}
 }
 
-void Rtabmap::exportPoses(const std::string & path, bool optimized, bool global, int type)
+void Rtabmap::exportPoses(const std::string & path, bool optimized, bool global, int format)
 {
 	if(_memory && _memory->getLastWorkingSignature())
 	{
@@ -757,89 +757,21 @@ void Rtabmap::exportPoses(const std::string & path, bool optimized, bool global,
 			_memory->getMetricConstraints(uKeysSet(ids), poses, constraints, global);
 		}
 
-		if(type==3) // TORO
+		std::map<int, double> stamps;
+		if(format == 1)
 		{
-			graph::TOROOptimizer::saveGraph(path, poses, constraints);
+			for(std::map<int, Transform>::iterator iter=poses.begin(); iter!=poses.end(); ++iter)
-		}
-		else if(type == 4) // g2o
-		{
-#ifdef WITH_G2O
-			graph::G2OOptimizer::saveGraph(path, poses, constraints);
-#else
-			UERROR("Cannot export in g2o format because RTAB-Map is not built with g2o support!");
-#endif
-		}
-		else
-		{
-			//get timestamps
-			std::map<int, double> stamps;
-			if(type == 1)
 			{
-				for(std::map<int, Transform>::iterator iter=poses.begin(); iter!=poses.end(); ++iter)
+				Transform o;
-				{
+				int m, w;
-					Transform o;
+				std::string l;
-					int m, w;
+				double stamp = 0.0;
-					std::string l;
+				_memory->getNodeInfo(iter->first, o, m, w, l, stamp, true);
-					double stamp = 0.0;
+				stamps.insert(std::make_pair(iter->first, stamp));
-					_memory->getNodeInfo(iter->first, o, m, w, l, stamp, true);
-					stamps.insert(std::make_pair(iter->first, stamp));
-				}
-				UASSERT(stamps.size()== 0 || stamps.size() == poses.size());
-			}
-
-			FILE* fout = 0;
-#ifdef _MSC_VER
-			fopen_s(&fout, path.c_str(), "w");
-#else
-			fout = fopen(path.c_str(), "w");
-#endif
-			if(fout)
-			{
-				for(std::map<int, Transform>::const_iterator iter=poses.begin(); iter!=poses.end(); ++iter)
-				{
-					if(type == 1) // rgbd-slam format
-					{
-						// Format: stamp x y z qw qx qy qz
-						Eigen::Quaternionf q = (*iter).second.getQuaternionf();
-
-						UASSERT(uContains(stamps, iter->first));
-						fprintf(fout, "%f %f %f %f %f %f %f %f\n",
-								stamps.at(iter->first),
-								(*iter).second.x(),
-								(*iter).second.y(),
-								(*iter).second.z(),
-								q.w(),
-								q.x(),
-								q.y(),
-								q.z());
-					}
-					else // default / KITTI format
-					{
-						Transform pose = iter->second;
-						if(type == 2)
-						{
-							// for KITTI, we need to remove optical rotation
-							// z pointing front, x left, y down
-							Transform t( 0, 0, 1, 0,
-									    -1, 0, 0, 0,
-									     0,-1, 0, 0);
-							pose = t.inverse() * pose * t;
-						}
-
-						// Format: r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz
-						const float * p = (const float *)pose.data();
-
-						fprintf(fout, "%f", p[0]);
-						for(int i=1; i<pose.size(); i++)
-						{
-							fprintf(fout, " %f", p[i]);
-						}
-						fprintf(fout, "\n");
-					}
-				}
-				fclose(fout);
 			}
 		}
+
+		graph::exportPoses(path, format, poses, constraints, stamps);
 	}
 }
 

guilib/include/rtabmap/gui/MainWindow.h

@@ -134,6 +134,7 @@ private slots:
 	void exportPosesKITTI();
 	void exportPosesTORO();
 	void exportPosesG2O();
+	void exportImages();
 	void postProcessing();
 	void deleteMemory();
 	void openWorkingDirectory();

guilib/src/MainWindow.cpp

@@ -329,6 +329,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
 	connect(_ui->actionSave_point_cloud, SIGNAL(triggered()), this, SLOT(exportClouds()));
 	connect(_ui->actionExport_2D_scans_ply_pcd, SIGNAL(triggered()), this, SLOT(exportScans()));
 	connect(_ui->actionExport_2D_Grid_map_bmp_png, SIGNAL(triggered()), this, SLOT(exportGridMap()));
+	connect(_ui->actionExport_images_RGB_jpg_Depth_png, SIGNAL(triggered()), this , SLOT(exportImages()));
 	connect(_ui->actionExport_cameras_in_Bundle_format_out, SIGNAL(triggered()), SLOT(exportBundlerFormat()));
 	connect(_ui->actionView_scans, SIGNAL(triggered()), this, SLOT(viewScans()));
 	connect(_ui->actionView_high_res_point_cloud, SIGNAL(triggered()), this, SLOT(viewClouds()));
@@ -339,12 +340,6 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
 
 	_ui->actionPause->setShortcut(Qt::Key_Space);
 	_ui->actionSave_GUI_config->setShortcut(QKeySequence::Save);
-	_ui->actionSave_point_cloud->setEnabled(false);
-	_ui->actionExport_2D_scans_ply_pcd->setEnabled(false);
-	_ui->actionExport_2D_Grid_map_bmp_png->setEnabled(false);
-	_ui->actionExport_cameras_in_Bundle_format_out->setEnabled(false);
-	_ui->actionView_scans->setEnabled(false);
-	_ui->actionView_high_res_point_cloud->setEnabled(false);
 	_ui->actionReset_Odometry->setEnabled(false);
 	_ui->actionPost_processing->setEnabled(false);
 
@@ -1348,6 +1343,11 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
 	{
 		_cachedSignatures.clear();
 	}
+	if(_state != kMonitoring && _state != kDetecting)
+	{
+		_ui->actionExport_images_RGB_jpg_Depth_png->setEnabled(!_cachedSignatures.empty() && !_currentPosesMap.empty());
+		_ui->actionExport_cameras_in_Bundle_format_out->setEnabled(!_cachedSignatures.empty() && !_currentPosesMap.empty());
+	}
 
 	_processingStatistics = false;
 }
@@ -1371,6 +1371,7 @@ void MainWindow::updateMapCloud(
 		if(_state != kMonitoring && _state != kDetecting)
 		{
 			_ui->actionPost_processing->setEnabled(_cachedSignatures.size() >= 2 && _currentPosesMap.size() >= 2 && _currentLinksMap.size() >= 1);
+			_ui->menuExport_poses->setEnabled(!_currentPosesMap.empty());
 		}
 	}
 
@@ -1517,12 +1518,14 @@ void MainWindow::updateMapCloud(
 	}
 
 	// activate actions
-	_ui->actionSave_point_cloud->setEnabled(!_createdClouds.empty());
+	if(_state != kMonitoring && _state != kDetecting)
-	_ui->actionView_high_res_point_cloud->setEnabled(!_createdClouds.empty());
+	{
-	_ui->actionExport_2D_scans_ply_pcd->setEnabled(!_createdScans.empty());
+		_ui->actionSave_point_cloud->setEnabled(!_createdClouds.empty());
-	_ui->actionExport_2D_Grid_map_bmp_png->setEnabled(!_gridLocalMaps.empty() || !_projectionLocalMaps.empty());
+		_ui->actionView_high_res_point_cloud->setEnabled(!_createdClouds.empty());
-	_ui->actionView_scans->setEnabled(!_createdScans.empty());
+		_ui->actionExport_2D_scans_ply_pcd->setEnabled(!_createdScans.empty());
-	_ui->actionExport_cameras_in_Bundle_format_out->setEnabled(!_createdClouds.empty());
+		_ui->actionExport_2D_Grid_map_bmp_png->setEnabled(!_gridLocalMaps.empty() || !_projectionLocalMaps.empty());
+		_ui->actionView_scans->setEnabled(!_createdScans.empty());
+	}
 
 	//remove not used clouds
 	for(QMap<std::string, Transform>::iterator iter = viewerClouds.begin(); iter!=viewerClouds.end(); ++iter)
@@ -2173,6 +2176,11 @@ void MainWindow::processRtabmapEvent3DMap(const rtabmap::RtabmapEvent3DMap & eve
 		{
 			_cachedSignatures.clear();
 		}
+		if(_state != kMonitoring && _state != kDetecting)
+		{
+			_ui->actionExport_images_RGB_jpg_Depth_png->setEnabled(!_cachedSignatures.empty() && !_currentPosesMap.empty());
+			_ui->actionExport_cameras_in_Bundle_format_out->setEnabled(!_cachedSignatures.empty() && !_currentPosesMap.empty());
+		}
 		_processingDownloadedMap = false;
 	}
 	_initProgressDialog->setValue(_initProgressDialog->maximumSteps());
@@ -3229,36 +3237,24 @@ void MainWindow::exportPosesG2O()
 
 void MainWindow::exportPoses(int format)
 {
-	QStringList items;
+	if(_currentPosesMap.size())
-	items.append("Local map optimized");
-	items.append("Local map not optimized");
-	items.append("Global map optimized");
-	items.append("Global map not optimized");
-	bool ok;
-	QString item = QInputDialog::getItem(this, tr("Parameters"), tr("Options:"), items, 2, false, &ok);
-	if(ok)
 	{
-		bool optimized=false, global=false;
+		std::map<int, double> stamps;
-		if(item.compare("Local map optimized") == 0)
+		if(format == 1)
 		{
-			optimized = true;
+			for(std::map<int, Transform>::iterator iter=_currentPosesMap.begin(); iter!=_currentPosesMap.end(); ++iter)
-		}
+			{
-		else if(item.compare("Local map not optimized") == 0)
+				if(_cachedSignatures.contains(iter->first))
-		{
+				{
-
+					stamps.insert(std::make_pair(iter->first, _cachedSignatures.value(iter->first).getStamp()));
-		}
+				}
-		else if(item.compare("Global map optimized") == 0)
+			}
-		{
+			if(stamps.size()!=_currentPosesMap.size())
-			global=true;
+			{
-			optimized=true;
+				QMessageBox::warning(this, tr("Export poses..."), tr("RGB-D SLAM format: Poses (%1) and stamps (%2) have not the same size! Try again after updating the cache.")
-		}
+						.arg(_currentPosesMap.size()).arg(stamps.size()));
-		else if(item.compare("Global map not optimized") == 0)
+				return;
-		{
+			}
-			global=true;
-		}
-		else
-		{
-			UFATAL("Item \"%s\" not found?!?", item.toStdString().c_str());
 		}
 
 		if(_exportPosesFileName[format].isEmpty())
@@ -3276,17 +3272,25 @@ void MainWindow::exportPoses(int format)
 		{
 			_exportPosesFileName[format] = path;
 
-			this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdExportPoses, global, optimized, path.toStdString(), format));
+			bool saved = graph::exportPoses(path.toStdString(), format, _currentPosesMap, _currentLinksMap, stamps);
 
-			_ui->dockWidget_console->show();
+			if(saved)
-			_ui->widget_console->appendMsg(
+			{
-					QString("%1 saved (global=%2, optimized=%3)... %4")
+				QMessageBox::information(this,
-					.arg(format == 3?"TORO graph":format == 4?"g2o graph":"Poses")
+						tr("Export poses..."),
-					.arg(global?"true":"false")
+						tr("%1 saved to \"%2\".")
-					.arg(optimized?"true":"false")
+						.arg(format == 3?"TORO graph":format == 4?"g2o graph":"Poses")
-					.arg(_exportPosesFileName[format]));
+						.arg(_exportPosesFileName[format]));
+			}
+			else
+			{
+				QMessageBox::information(this,
+						tr("Export poses..."),
+						tr("Failed to save %1 to \"%2\"!")
+						.arg(format == 3?"TORO graph":format == 4?"g2o graph":"poses")
+						.arg(_exportPosesFileName[format]));
+			}
 		}
-
 	}
 }
 
@@ -4149,6 +4153,7 @@ void MainWindow::clearTheCache()
 	_ui->actionPost_processing->setEnabled(false);
 	_ui->actionSave_point_cloud->setEnabled(false);
 	_ui->actionExport_cameras_in_Bundle_format_out->setEnabled(false);
+	_ui->actionExport_images_RGB_jpg_Depth_png->setEnabled(false);
 	_ui->actionView_scans->setEnabled(false);
 	_ui->actionView_high_res_point_cloud->setEnabled(false);
 	_likelihoodCurve->clear();
@@ -5040,6 +5045,163 @@ bool MainWindow::getExportedClouds(
 	return false;
 }
 
+void MainWindow::exportImages()
+{
+	if(_cachedSignatures.empty())
+	{
+		QMessageBox::warning(this, tr("Export images..."), tr("Cannot export images, the cache is empty!"));
+		return;
+	}
+	std::map<int, Transform> poses = _ui->widget_mapVisibility->getVisiblePoses();
+
+	if(poses.empty())
+	{
+		QMessageBox::warning(this, tr("Export images..."), tr("There is no map!"));
+		return;
+	}
+
+	QString path = QFileDialog::getExistingDirectory(this, tr("Select directory where to save images..."), this->getWorkingDirectory());
+	if(!path.isNull())
+	{
+		SensorData data;
+		if(_cachedSignatures.contains(poses.rbegin()->first))
+		{
+			data = _cachedSignatures.value(poses.rbegin()->first).sensorData();
+			data.uncompressData();
+		}
+		if(!data.imageRaw().empty() && !data.rightRaw().empty())
+		{
+			QDir dir;
+			dir.mkdir(QString("%1/left").arg(path));
+			dir.mkdir(QString("%1/right").arg(path));
+			if(data.stereoCameraModel().isValid())
+			{
+				std::string cameraName = "calibration";
+				StereoCameraModel model(
+						cameraName,
+						data.imageRaw().size(),
+						data.stereoCameraModel().left().K(),
+						data.stereoCameraModel().left().D(),
+						data.stereoCameraModel().left().R(),
+						data.stereoCameraModel().left().P(),
+						data.rightRaw().size(),
+						data.stereoCameraModel().right().K(),
+						data.stereoCameraModel().right().D(),
+						data.stereoCameraModel().right().R(),
+						data.stereoCameraModel().right().P(),
+						data.stereoCameraModel().R(),
+						data.stereoCameraModel().T(),
+						data.stereoCameraModel().E(),
+						data.stereoCameraModel().F(),
+						data.stereoCameraModel().left().localTransform());
+				if(model.save(path.toStdString()))
+				{
+					UINFO("Saved stereo calibration \"%s\"", (path.toStdString()+"/"+cameraName).c_str());
+				}
+				else
+				{
+					UERROR("Failed saving calibration \"%s\"", (path.toStdString()+"/"+cameraName).c_str());
+				}
+			}
+		}
+		else if(!data.imageRaw().empty())
+		{
+			if(!data.depthRaw().empty())
+			{
+				QDir dir;
+				dir.mkdir(QString("%1/rgb").arg(path));
+				dir.mkdir(QString("%1/depth").arg(path));
+			}
+
+			if(data.cameraModels().size() > 1)
+			{
+				UERROR("Only one camera calibration can be saved at this time (%d detected)", (int)data.cameraModels().size());
+			}
+			else if(data.cameraModels().size() == 1 && data.cameraModels().front().isValid())
+			{
+				std::string cameraName = "calibration";
+				CameraModel model(cameraName,
+						data.imageRaw().size(),
+						data.cameraModels().front().K(),
+						data.cameraModels().front().D(),
+						data.cameraModels().front().R(),
+						data.cameraModels().front().P(),
+						data.cameraModels().front().localTransform());
+				if(model.save(path.toStdString()))
+				{
+					UINFO("Saved calibration \"%s\"", (path.toStdString()+"/"+cameraName).c_str());
+				}
+				else
+				{
+					UERROR("Failed saving calibration \"%s\"", (path.toStdString()+"/"+cameraName).c_str());
+				}
+			}
+		}
+		else
+		{
+			QMessageBox::warning(this,
+					tr("Export images..."),
+					tr("Data in the cache don't seem to have images (tested node %1). Calibration file will not be saved. Try refreshing the cache (with clouds).").arg(poses.rbegin()->first));
+		}
+	}
+
+	_initProgressDialog->resetProgress();
+	_initProgressDialog->show();
+	_initProgressDialog->setMaximumSteps(_cachedSignatures.size());
+
+	int saved = 0;
+	for(std::map<int, Transform>::iterator iter=poses.begin(); iter!=poses.end(); ++iter)
+	{
+		int id = iter->first;
+		SensorData data;
+		if(_cachedSignatures.contains(iter->first))
+		{
+			data = _cachedSignatures.value(iter->first).sensorData();
+			data.uncompressData();
+		}
+		QString info;
+		bool warn = false;
+		if(!data.imageRaw().empty() && !data.rightRaw().empty())
+		{
+			cv::imwrite(QString("%1/left/%2.jpg").arg(path).arg(id).toStdString(), data.imageRaw());
+			cv::imwrite(QString("%1/right/%2.jpg").arg(path).arg(id).toStdString(), data.rightRaw());
+			info = tr("Saved left/%1.jpg and right/%1.jpg.").arg(id);
+		}
+		else if(!data.imageRaw().empty() && !data.depthRaw().empty())
+		{
+			cv::imwrite(QString("%1/rgb/%2.jpg").arg(path).arg(id).toStdString(), data.imageRaw());
+			cv::imwrite(QString("%1/depth/%2.png").arg(path).arg(id).toStdString(), data.depthRaw());
+			info = tr("Saved rgb/%1.jpg and depth/%1.png.").arg(id);
+		}
+		else if(!data.imageRaw().empty())
+		{
+			cv::imwrite(QString("%1/%2.jpg").arg(path).arg(id).toStdString(), data.imageRaw());
+			info = tr("Saved %1.jpg.").arg(id);
+		}
+		else
+		{
+			info = tr("No images saved for node %1!").arg(id);
+			warn = true;
+		}
+		saved += warn?0:1;
+		_initProgressDialog->appendText(info, !warn?Qt::black:Qt::darkYellow);
+		_initProgressDialog->incrementStep();
+		QApplication::processEvents();
+
+	}
+	if(saved!=poses.size())
+	{
+		_initProgressDialog->setAutoClose(false);
+		_initProgressDialog->appendText(tr("%1 images of %2 saved to \"%3\".").arg(saved).arg(poses.size()).arg(path));
+	}
+	else
+	{
+		_initProgressDialog->appendText(tr("%1 images saved to \"%2\".").arg(saved).arg(path));
+	}
+
+	_initProgressDialog->setValue(_initProgressDialog->maximumSteps());
+}
+
 void MainWindow::exportBundlerFormat()
 {
 	std::map<int, Transform> posesIn = _ui->widget_mapVisibility->getVisiblePoses();
@@ -5148,7 +5310,7 @@ void MainWindow::exportBundlerFormat()
 	}
 	else
 	{
-		QMessageBox::warning(this, tr("Exporting cameras..."), tr("No poses exported..."));
+		QMessageBox::warning(this, tr("Exporting cameras..."), tr("No poses exported because of missing images. Try refreshing the cache (with clouds)."));
 	}
 }
 
@@ -5823,7 +5985,6 @@ void MainWindow::changeState(MainWindow::State newState)
 	_ui->actionDump_the_prediction_matrix->setVisible(!monitoring);
 	_ui->actionGenerate_map->setVisible(!monitoring);
 	_ui->actionUpdate_cache_from_database->setVisible(monitoring);
-	_ui->menuExport_poses->menuAction()->setVisible(!monitoring);
 	_ui->actionOpen_working_directory->setVisible(!monitoring);
 	_ui->actionData_recorder->setVisible(!monitoring);
 	_ui->menuSelect_source->menuAction()->setVisible(!monitoring);
@@ -5844,7 +6005,7 @@ void MainWindow::changeState(MainWindow::State newState)
 		}
 	}
 	actions = _ui->menuFile->actions();
-	if(actions.size()>=10)
+	if(actions.size()==15)
 	{
 		if(actions.at(2)->isSeparator())
 		{
@@ -5854,9 +6015,9 @@ void MainWindow::changeState(MainWindow::State newState)
 		{
 			UWARN("Menu File separators have not the same order.");
 		}
-		if(actions.at(9)->isSeparator())
+		if(actions.at(11)->isSeparator())
 		{
-			actions.at(9)->setVisible(!monitoring);
+			actions.at(11)->setVisible(!monitoring);
 		}
 		else
 		{
@@ -5884,7 +6045,6 @@ void MainWindow::changeState(MainWindow::State newState)
 		UWARN("Menu File separators have not the same order.");
 	}
 
-
 	switch (newState)
 	{
 	case kIdle: // RTAB-Map is not initialized yet
@@ -5904,8 +6064,15 @@ void MainWindow::changeState(MainWindow::State newState)
 		_ui->actionDump_the_prediction_matrix->setEnabled(false);
 		_ui->actionDelete_memory->setEnabled(false);
 		_ui->actionPost_processing->setEnabled(_cachedSignatures.size() >= 2 && _currentPosesMap.size() >= 2 && _currentLinksMap.size() >= 1);
+		_ui->actionExport_images_RGB_jpg_Depth_png->setEnabled(!_cachedSignatures.empty() && !_currentPosesMap.empty());
 		_ui->actionGenerate_map->setEnabled(false);
-		_ui->menuExport_poses->setEnabled(false);
+		_ui->menuExport_poses->setEnabled(!_currentPosesMap.empty());
+		_ui->actionSave_point_cloud->setEnabled(!_createdClouds.empty());
+		_ui->actionView_high_res_point_cloud->setEnabled(!_createdClouds.empty());
+		_ui->actionExport_2D_scans_ply_pcd->setEnabled(!_createdScans.empty());
+		_ui->actionExport_2D_Grid_map_bmp_png->setEnabled(!_gridLocalMaps.empty() || !_projectionLocalMaps.empty());
+		_ui->actionView_scans->setEnabled(!_createdScans.empty());
+		_ui->actionExport_cameras_in_Bundle_format_out->setEnabled(!_cachedSignatures.empty() && !_currentPosesMap.empty());
 		_ui->actionDownload_all_clouds->setEnabled(false);
 		_ui->actionDownload_graph->setEnabled(false);
 		_ui->menuSelect_source->setEnabled(false);
@@ -5953,8 +6120,15 @@ void MainWindow::changeState(MainWindow::State newState)
 		_ui->actionDump_the_prediction_matrix->setEnabled(true);
 		_ui->actionDelete_memory->setEnabled(true);
 		_ui->actionPost_processing->setEnabled(_cachedSignatures.size() >= 2 && _currentPosesMap.size() >= 2 && _currentLinksMap.size() >= 1);
+		_ui->actionExport_images_RGB_jpg_Depth_png->setEnabled(!_cachedSignatures.empty() && !_currentPosesMap.empty());
 		_ui->actionGenerate_map->setEnabled(true);
-		_ui->menuExport_poses->setEnabled(true);
+		_ui->menuExport_poses->setEnabled(!_currentPosesMap.empty());
+		_ui->actionSave_point_cloud->setEnabled(!_createdClouds.empty());
+		_ui->actionView_high_res_point_cloud->setEnabled(!_createdClouds.empty());
+		_ui->actionExport_2D_scans_ply_pcd->setEnabled(!_createdScans.empty());
+		_ui->actionExport_2D_Grid_map_bmp_png->setEnabled(!_gridLocalMaps.empty() || !_projectionLocalMaps.empty());
+		_ui->actionView_scans->setEnabled(!_createdScans.empty());
+		_ui->actionExport_cameras_in_Bundle_format_out->setEnabled(!_cachedSignatures.empty() && !_currentPosesMap.empty());
 		_ui->actionDownload_all_clouds->setEnabled(true);
 		_ui->actionDownload_graph->setEnabled(true);
 		_ui->menuSelect_source->setEnabled(true);
@@ -5991,8 +6165,15 @@ void MainWindow::changeState(MainWindow::State newState)
 		_ui->actionDump_the_prediction_matrix->setEnabled(false);
 		_ui->actionDelete_memory->setEnabled(false);
 		_ui->actionPost_processing->setEnabled(false);
+		_ui->actionExport_images_RGB_jpg_Depth_png->setEnabled(false);
 		_ui->actionGenerate_map->setEnabled(false);
 		_ui->menuExport_poses->setEnabled(false);
+		_ui->actionSave_point_cloud->setEnabled(false);
+		_ui->actionView_high_res_point_cloud->setEnabled(false);
+		_ui->actionExport_2D_scans_ply_pcd->setEnabled(false);
+		_ui->actionExport_2D_Grid_map_bmp_png->setEnabled(false);
+		_ui->actionView_scans->setEnabled(false);
+		_ui->actionExport_cameras_in_Bundle_format_out->setEnabled(false);
 		_ui->actionDownload_all_clouds->setEnabled(false);
 		_ui->actionDownload_graph->setEnabled(false);
 		_ui->menuSelect_source->setEnabled(false);
@@ -6031,8 +6212,15 @@ void MainWindow::changeState(MainWindow::State newState)
 			_ui->actionDump_the_prediction_matrix->setEnabled(false);
 			_ui->actionDelete_memory->setEnabled(false);
 			_ui->actionPost_processing->setEnabled(false);
+			_ui->actionExport_images_RGB_jpg_Depth_png->setEnabled(false);
 			_ui->actionGenerate_map->setEnabled(false);
 			_ui->menuExport_poses->setEnabled(false);
+			_ui->actionSave_point_cloud->setEnabled(false);
+			_ui->actionView_high_res_point_cloud->setEnabled(false);
+			_ui->actionExport_2D_scans_ply_pcd->setEnabled(false);
+			_ui->actionExport_2D_Grid_map_bmp_png->setEnabled(false);
+			_ui->actionView_scans->setEnabled(false);
+			_ui->actionExport_cameras_in_Bundle_format_out->setEnabled(false);
 			_ui->actionDownload_all_clouds->setEnabled(false);
 			_ui->actionDownload_graph->setEnabled(false);
 			_state = kDetecting;
@@ -6058,8 +6246,15 @@ void MainWindow::changeState(MainWindow::State newState)
 			_ui->actionDump_the_prediction_matrix->setEnabled(true);
 			_ui->actionDelete_memory->setEnabled(false);
 			_ui->actionPost_processing->setEnabled(_cachedSignatures.size() >= 2 && _currentPosesMap.size() >= 2 && _currentLinksMap.size() >= 1);
+			_ui->actionExport_images_RGB_jpg_Depth_png->setEnabled(!_cachedSignatures.empty() && !_currentPosesMap.empty());
 			_ui->actionGenerate_map->setEnabled(true);
-			_ui->menuExport_poses->setEnabled(true);
+			_ui->menuExport_poses->setEnabled(!_currentPosesMap.empty());
+			_ui->actionSave_point_cloud->setEnabled(!_createdClouds.empty());
+			_ui->actionView_high_res_point_cloud->setEnabled(!_createdClouds.empty());
+			_ui->actionExport_2D_scans_ply_pcd->setEnabled(!_createdScans.empty());
+			_ui->actionExport_2D_Grid_map_bmp_png->setEnabled(!_gridLocalMaps.empty() || !_projectionLocalMaps.empty());
+			_ui->actionView_scans->setEnabled(!_createdScans.empty());
+			_ui->actionExport_cameras_in_Bundle_format_out->setEnabled(!_cachedSignatures.empty() && !_currentPosesMap.empty());
 			_ui->actionDownload_all_clouds->setEnabled(true);
 			_ui->actionDownload_graph->setEnabled(true);
 			_state = kPaused;
@@ -6086,6 +6281,14 @@ void MainWindow::changeState(MainWindow::State newState)
 		_ui->actionPause_when_a_loop_hypothesis_is_rejected->setEnabled(true);
 		_ui->actionReset_Odometry->setEnabled(true);
 		_ui->actionPost_processing->setEnabled(false);
+		_ui->actionExport_images_RGB_jpg_Depth_png->setEnabled(false);
+		_ui->menuExport_poses->setEnabled(false);
+		_ui->actionSave_point_cloud->setEnabled(false);
+		_ui->actionView_high_res_point_cloud->setEnabled(false);
+		_ui->actionExport_2D_scans_ply_pcd->setEnabled(false);
+		_ui->actionExport_2D_Grid_map_bmp_png->setEnabled(false);
+		_ui->actionView_scans->setEnabled(false);
+		_ui->actionExport_cameras_in_Bundle_format_out->setEnabled(false);
 		_ui->actionDelete_memory->setEnabled(true);
 		_ui->actionDownload_all_clouds->setEnabled(true);
 		_ui->actionDownload_graph->setEnabled(true);
@@ -6108,6 +6311,14 @@ void MainWindow::changeState(MainWindow::State newState)
 		_ui->actionPause_when_a_loop_hypothesis_is_rejected->setEnabled(true);
 		_ui->actionReset_Odometry->setEnabled(true);
 		_ui->actionPost_processing->setEnabled(_cachedSignatures.size() >= 2 && _currentPosesMap.size() >= 2 && _currentLinksMap.size() >= 1);
+		_ui->actionExport_images_RGB_jpg_Depth_png->setEnabled(!_cachedSignatures.empty() && !_currentPosesMap.empty());
+		_ui->menuExport_poses->setEnabled(!_currentPosesMap.empty());
+		_ui->actionSave_point_cloud->setEnabled(!_createdClouds.empty());
+		_ui->actionView_high_res_point_cloud->setEnabled(!_createdClouds.empty());
+		_ui->actionExport_2D_scans_ply_pcd->setEnabled(!_createdScans.empty());
+		_ui->actionExport_2D_Grid_map_bmp_png->setEnabled(!_gridLocalMaps.empty() || !_projectionLocalMaps.empty());
+		_ui->actionView_scans->setEnabled(!_createdScans.empty());
+		_ui->actionExport_cameras_in_Bundle_format_out->setEnabled(!_cachedSignatures.empty() && !_currentPosesMap.empty());
 		_ui->actionDelete_memory->setEnabled(true);
 		_ui->actionDownload_all_clouds->setEnabled(true);
 		_ui->actionDownload_graph->setEnabled(true);

guilib/src/ui/DatabaseViewer.ui

@@ -50,7 +50,7 @@
             <rect>
              <x>0</x>
              <y>0</y>
-             <width>166</width>
+             <width>197</width>
              <height>173</height>
             </rect>
            </property>
@@ -236,7 +236,7 @@
             <rect>
              <x>0</x>
              <y>0</y>
-             <width>165</width>
+             <width>196</width>
              <height>173</height>
             </rect>
            </property>
@@ -429,6 +429,7 @@
     <addaction name="separator"/>
     <addaction name="actionSave_config"/>
     <addaction name="separator"/>
+    <addaction name="actionGenerate_3D_map_pcd"/>
     <addaction name="actionExport"/>
     <addaction name="actionExtract_images"/>
     <addaction name="separator"/>
@@ -452,7 +453,6 @@
     <addaction name="actionReset_all_changes"/>
     <addaction name="separator"/>
     <addaction name="actionView_3D_map"/>
-    <addaction name="actionGenerate_3D_map_pcd"/>
    </widget>
    <widget class="QMenu" name="menuView">
     <property name="title">
@@ -836,7 +836,7 @@
          <rect>
           <x>0</x>
           <y>0</y>
-          <width>338</width>
+          <width>314</width>
           <height>303</height>
          </rect>
         </property>
@@ -1375,7 +1375,7 @@
          <rect>
           <x>0</x>
           <y>0</y>
-          <width>338</width>
+          <width>333</width>
           <height>333</height>
          </rect>
         </property>
@@ -1613,8 +1613,8 @@
         <property name="geometry">
          <rect>
           <x>0</x>
-          <y>-100</y>
+          <y>0</y>
-          <width>338</width>
+          <width>276</width>
           <height>377</height>
          </rect>
         </property>
@@ -1871,7 +1871,7 @@
          <rect>
           <x>0</x>
           <y>0</y>
-          <width>351</width>
+          <width>289</width>
           <height>176</height>
          </rect>
         </property>
@@ -1971,7 +1971,7 @@
          <rect>
           <x>0</x>
           <y>0</y>
-          <width>338</width>
+          <width>285</width>
           <height>309</height>
          </rect>
         </property>
@@ -2363,7 +2363,7 @@
   </action>
   <action name="actionExport">
    <property name="text">
-    <string>Export...</string>
+    <string>Export database...</string>
    </property>
   </action>
   <action name="actionExtract_images">

guilib/src/ui/mainWindow.ui

@@ -34,6 +34,16 @@
     <property name="title">
      <string>File</string>
     </property>
+    <widget class="QMenu" name="menuExport_poses">
+     <property name="title">
+      <string>Export poses...</string>
+     </property>
+     <addaction name="actionRaw_format_txt"/>
+     <addaction name="actionRGBD_SLAM_format_txt"/>
+     <addaction name="actionKITTI_format_txt"/>
+     <addaction name="actionTORO_graph"/>
+     <addaction name="actionG2o_g2o"/>
+    </widget>
     <addaction name="actionNew_database"/>
     <addaction name="actionOpen_database"/>
     <addaction name="separator"/>
@@ -42,6 +52,8 @@
     <addaction name="actionSave_point_cloud"/>
     <addaction name="actionExport_2D_scans_ply_pcd"/>
     <addaction name="actionExport_2D_Grid_map_bmp_png"/>
+    <addaction name="menuExport_poses"/>
+    <addaction name="actionExport_images_RGB_jpg_Depth_png"/>
     <addaction name="actionExport_cameras_in_Bundle_format_out"/>
     <addaction name="separator"/>
     <addaction name="actionClose_database"/>
@@ -56,21 +68,10 @@
      <property name="title">
       <string>Advanced</string>
      </property>
-     <widget class="QMenu" name="menuExport_poses">
-      <property name="title">
-       <string>Export poses...</string>
-      </property>
-      <addaction name="actionRaw_format_txt"/>
-      <addaction name="actionRGBD_SLAM_format_txt"/>
-      <addaction name="actionKITTI_format_txt"/>
-      <addaction name="actionTORO_graph"/>
-      <addaction name="actionG2o_g2o"/>
-     </widget>
      <addaction name="actionOpen_working_directory"/>
      <addaction name="actionDump_the_memory"/>
      <addaction name="actionDump_the_prediction_matrix"/>
      <addaction name="actionGenerate_map"/>
-     <addaction name="menuExport_poses"/>
      <addaction name="actionPrint_loop_closure_IDs_to_console"/>
     </widget>
     <addaction name="actionDownload_all_clouds"/>
@@ -1283,6 +1284,11 @@
     <string>Update cache from a local database copy...</string>
    </property>
   </action>
+  <action name="actionExport_images_RGB_jpg_Depth_png">
+   <property name="text">
+    <string>Export images (RGB=*.jpg Depth=*.png)...</string>
+   </property>
+  </action>
  </widget>
  <customwidgets>
   <customwidget>