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fixed compilation error on Windows (on util3d::removeNaNFromPointCloud() method)

Browse Source 
increased stability of new actions added (New/Open/Close database).

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1933 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-10-28 04:16:36 +00:00
parent d950c88373
commit 4340748fec
10 changed files with 60 additions and 89 deletions
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4
guilib/src/DatabaseViewer.cpp
View File

@@ -521,7 +521,7 @@ void DatabaseViewer::generateTOROGraph()
return;
}
bool ok = false;
int id = QInputDialog::getInt(this, tr("Which iteration?"), tr("Iteration (0 -> %1)").arg(graphes_.size()-1), graphes_.size()-1, 0, graphes_.size()-1, 1, &ok);
int id = QInputDialog::getInt(this, tr("Which iteration?"), tr("Iteration (0 -> %1)").arg((int)graphes_.size()-1), (int)graphes_.size()-1, 0, graphes_.size()-1, 1, &ok);
if(ok)
{
@@ -842,7 +842,7 @@ void DatabaseViewer::generate3DMap()
if(ids.size() > 0)
{
rtabmap::DetailedProgressDialog progressDialog;
progressDialog.setMaximumSteps(ids.size()+2);
progressDialog.setMaximumSteps((int)ids.size()+2);
progressDialog.show();
progressDialog.appendText("Graph generation...");

67
guilib/src/MainWindow.cpp
View File

@@ -728,7 +728,6 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
Signature signature = stat.getSignature();
signature.uncompressData(); // make sure data are uncompressed
_cachedSignatures.insert(stat.getSignature().id(), signature);
UDEBUG("");
// map ids
for(std::map<int, int>::const_iterator iter = stat.getMapIds().begin();
@@ -762,9 +761,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
int rejectedHyp = bool(uValue(stat.data(), Statistics::kLoopRejectedHypothesis(), 0.0f));
float highestHypothesisValue = uValue(stat.data(), Statistics::kLoopHighest_hypothesis_value(), 0.0f);
int matchId = 0;
cv::Mat loopImage;
cv::Mat loopDepth;
cv::Mat loopDepth2D;
Signature loopSignature;
int shownLoopId = 0;
if(highestHypothesisId > 0 || stat.localLoopClosureId()>0)
{
@@ -811,7 +808,8 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
QMap<int, Signature>::iterator iter = _cachedSignatures.find(shownLoopId);
if(iter != _cachedSignatures.end())
{
iter.value().uncompressData(&loopImage, &loopDepth, &loopDepth2D);
iter.value().uncompressData();
loopSignature = iter.value();
}
}
}
@@ -821,9 +819,9 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
//update image views
{
UCvMat2QImageThread qimageThread(signature.getImageRaw());
UCvMat2QImageThread qimageLoopThread(loopImage);
UCvMat2QImageThread qimageLoopThread(loopSignature.getImageRaw());
UCvMat2QImageThread qdepthThread(signature.getDepthRaw());
UCvMat2QImageThread qdepthLoopThread(loopDepth);
UCvMat2QImageThread qdepthLoopThread(loopSignature.getDepthRaw());
qimageThread.start();
qdepthThread.start();
qimageLoopThread.start();
@@ -873,16 +871,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
_ui->imageView_loopClosure->fitInView(_ui->imageView_source->sceneRect(), Qt::KeepAspectRatio);
// do it after scaling
std::multimap<int, cv::KeyPoint> loopWords;
if(shownLoopId)
{
QMap<int, Signature>::iterator iter = _cachedSignatures.find(shownLoopId);
if(iter!=_cachedSignatures.end())
{
loopWords = iter->getWords();
}
}
this->drawKeypoints(signature.getWords(), loopWords);
this->drawKeypoints(signature.getWords(), loopSignature.getWords());
if(_preferencesDialog->isImageFlipped())
{
@@ -893,7 +882,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
UDEBUG("time= %d ms", time.restart());
_ui->statsToolBox->updateStat("Keypoint/Keypoints count in the last signature/", stat.refImageId(), signature.getWords().size());
_ui->statsToolBox->updateStat("Keypoint/Keypoints count in the loop signature/", stat.refImageId(), loopWords.size());
_ui->statsToolBox->updateStat("Keypoint/Keypoints count in the loop signature/", stat.refImageId(), loopSignature.getWords().size());
// PDF AND LIKELIHOOD
if(!stat.posterior().empty() && _ui->dockWidget_posterior->isVisible())
@@ -952,36 +941,19 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
// loop closure view
if((stat.loopClosureId() > 0 || stat.localLoopClosureId() > 0) &&
!stat.loopClosureTransform().isNull())
!stat.loopClosureTransform().isNull() &&
!loopSignature.getImageRaw().empty())
{
// the last loop closure data
Transform loopClosureTransform = stat.loopClosureTransform();
int loopOldId = stat.loopClosureId();
if(!loopOldId)
signature.setPose(loopClosureTransform);
_ui->widget_loopClosureViewer->setData(loopSignature, signature);
if(_ui->dockWidget_loopClosureViewer->isVisible())
{
loopOldId = stat.localLoopClosureId();
}
QMap<int, Signature>::iterator oldIter = _cachedSignatures.find(loopOldId);
if(oldIter!=_cachedSignatures.end())
{
Signature old = oldIter.value();
if(old.getImageRaw().empty())
{
old.setImageRaw(loopImage);
old.setDepthRaw(loopDepth);
old.setDepth2DRaw(loopDepth2D);
}
signature.setPose(loopClosureTransform);
_ui->widget_loopClosureViewer->setData(*oldIter, signature);
if(_ui->dockWidget_loopClosureViewer->isVisible())
{
UTimer loopTimer;
_ui->widget_loopClosureViewer->updateView();
UINFO("Updating loop closure cloud view time=%fs", loopTimer.elapsed());
_ui->statsToolBox->updateStat("/Gui RGB-D closure view/ms", stat.refImageId(), int(loopTimer.elapsed()*1000.0f));
}
UTimer loopTimer;
_ui->widget_loopClosureViewer->updateView();
UINFO("Updating loop closure cloud view time=%fs", loopTimer.elapsed());
_ui->statsToolBox->updateStat("/Gui RGB-D closure view/ms", stat.refImageId(), int(loopTimer.elapsed()*1000.0f));
}
UDEBUG("time= %d ms", time.restart());
@@ -1533,7 +1505,7 @@ void MainWindow::processRtabmapEvent3DMap(const rtabmap::RtabmapEvent3DMap & eve
UINFO(" poses = %d", event.getPoses().size());
UINFO(" constraints = %d", event.getConstraints().size());
_initProgressDialog->setMaximumSteps(event.getSignatures().size()+event.getPoses().size()+1);
_initProgressDialog->setMaximumSteps(int(event.getSignatures().size()+event.getPoses().size()+1));
_initProgressDialog->appendText(QString("Inserting data in the cache (%1 signatures downloaded)...").arg(event.getSignatures().size()));
QApplication::processEvents();
@@ -4060,6 +4032,7 @@ void MainWindow::changeState(MainWindow::State newState)
case kInitializing:
_ui->actionNew_database->setEnabled(false);
_ui->actionOpen_database->setEnabled(false);
_ui->actionClose_database->setEnabled(false);
_ui->actionEdit_database->setEnabled(false);
_state = newState;
break;
@@ -4101,6 +4074,10 @@ void MainWindow::changeState(MainWindow::State newState)
break;
case kDetecting:
_ui->actionNew_database->setEnabled(false);
_ui->actionOpen_database->setEnabled(false);
_ui->actionClose_database->setEnabled(false);
_ui->actionEdit_database->setEnabled(false);
_ui->actionStart->setEnabled(false);
_ui->actionPause->setEnabled(true);
_ui->actionPause->setChecked(false);