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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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6
corelib/include/rtabmap/core/impl/util3d.hpp
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@@ -96,7 +96,7 @@ typename pcl::PointCloud<PointT>::Ptr passThrough(
} }
template<typename PointT> template<typename PointT>
typename pcl::PointCloud<PointT>::Ptr RTABMAP_EXP removeNaNFromPointCloud( typename pcl::PointCloud<PointT>::Ptr removeNaNFromPointCloud(
const typename pcl::PointCloud<PointT>::Ptr & cloud) const typename pcl::PointCloud<PointT>::Ptr & cloud)
{ {
typedef typename pcl::PointCloud<PointT> PointCloud; typedef typename pcl::PointCloud<PointT> PointCloud;
@@ -108,7 +108,7 @@ typename pcl::PointCloud<PointT>::Ptr RTABMAP_EXP removeNaNFromPointCloud(
} }
template<typename PointT> template<typename PointT>
typename pcl::PointCloud<PointT>::Ptr RTABMAP_EXP removeNaNNormalsFromPointCloud( typename pcl::PointCloud<PointT>::Ptr removeNaNNormalsFromPointCloud(
const typename pcl::PointCloud<PointT>::Ptr & cloud) const typename pcl::PointCloud<PointT>::Ptr & cloud)
{ {
typedef typename pcl::PointCloud<PointT> PointCloud; typedef typename pcl::PointCloud<PointT> PointCloud;
@@ -120,7 +120,7 @@ typename pcl::PointCloud<PointT>::Ptr RTABMAP_EXP removeNaNNormalsFromPointCloud
} }
template<typename PointT> template<typename PointT>
typename pcl::PointCloud<PointT>::Ptr RTABMAP_EXP transformPointCloud( typename pcl::PointCloud<PointT>::Ptr transformPointCloud(
const typename pcl::PointCloud<PointT>::Ptr & cloud, const typename pcl::PointCloud<PointT>::Ptr & cloud,
const Transform & transform) const Transform & transform)
{ {

6
corelib/src/DBDriverSqlite3.cpp
View File

@@ -1964,7 +1964,7 @@ void DBDriverSqlite3::stepImage(sqlite3_stmt * ppStmt,
if(image.size()) if(image.size())
{ {
rc = sqlite3_bind_blob(ppStmt, index++, image.data(), image.size(), SQLITE_STATIC); rc = sqlite3_bind_blob(ppStmt, index++, image.data(), (int)image.size(), SQLITE_STATIC);
} }
else else
{ {
@@ -2015,7 +2015,7 @@ void DBDriverSqlite3::stepDepth(sqlite3_stmt * ppStmt,
if(depth.size()) if(depth.size())
{ {
rc = sqlite3_bind_blob(ppStmt, index++, depth.data(), depth.size(), SQLITE_STATIC); rc = sqlite3_bind_blob(ppStmt, index++, depth.data(), (int)depth.size(), SQLITE_STATIC);
} }
else else
{ {
@@ -2045,7 +2045,7 @@ void DBDriverSqlite3::stepDepth(sqlite3_stmt * ppStmt,
if(depth2d.size()) if(depth2d.size())
{ {
rc = sqlite3_bind_blob(ppStmt, index++, depth2d.data(), depth2d.size(), SQLITE_STATIC); rc = sqlite3_bind_blob(ppStmt, index++, depth2d.data(), (int)depth2d.size(), SQLITE_STATIC);
} }
else else
{ {

8
corelib/src/Features2d.cpp
View File

@@ -92,7 +92,7 @@ void Feature2D::filterKeypointsByDepth(
} }
else else
{ {
cv::Mat newDescriptors(keypoints.size(), descriptors.cols, descriptors.type()); cv::Mat newDescriptors((int)keypoints.size(), descriptors.cols, descriptors.type());
int di = 0; int di = 0;
for(unsigned int i=0; i<indexes.size(); ++i) for(unsigned int i=0; i<indexes.size(); ++i)
{ {
@@ -159,7 +159,7 @@ void Feature2D::filterKeypointsByDisparity(
} }
else else
{ {
cv::Mat newDescriptors(keypoints.size(), descriptors.cols, descriptors.type()); cv::Mat newDescriptors((int)keypoints.size(), descriptors.cols, descriptors.type());
int di = 0; int di = 0;
for(unsigned int i=0; i<indexes.size(); ++i) for(unsigned int i=0; i<indexes.size(); ++i)
{ {
@@ -205,7 +205,7 @@ void Feature2D::limitKeypoints(std::vector<cv::KeyPoint> & keypoints, cv::Mat &
} }
// Remove them from the signature // Remove them from the signature
int removed = hessianMap.size()-maxKeypoints; int removed = (int)hessianMap.size()-maxKeypoints;
std::multimap<float, int>::reverse_iterator iter = hessianMap.rbegin(); std::multimap<float, int>::reverse_iterator iter = hessianMap.rbegin();
std::vector<cv::KeyPoint> kptsTmp(maxKeypoints); std::vector<cv::KeyPoint> kptsTmp(maxKeypoints);
cv::Mat descriptorsTmp; cv::Mat descriptorsTmp;
@@ -228,7 +228,7 @@ void Feature2D::limitKeypoints(std::vector<cv::KeyPoint> & keypoints, cv::Mat &
} }
} }
} }
ULOGGER_DEBUG("%d keypoints removed, (kept %d), minimum response=%f", removed, keypoints.size(), kptsTmp.size()?kptsTmp.back().response:0.0f); ULOGGER_DEBUG("%d keypoints removed, (kept %d), minimum response=%f", removed, (int)keypoints.size(), kptsTmp.size()?kptsTmp.back().response:0.0f);
ULOGGER_DEBUG("removing words time = %f s", timer.ticks()); ULOGGER_DEBUG("removing words time = %f s", timer.ticks());
keypoints = kptsTmp; keypoints = kptsTmp;
if(descriptors.rows) if(descriptors.rows)

6
corelib/src/Memory.cpp
View File

@@ -1033,7 +1033,7 @@ void Memory::clear()
_lastSignature?_lastSignature->id():0, _lastSignature?_lastSignature->id():0,
UProcessInfo::getMemoryUsage(), UProcessInfo::getMemoryUsage(),
_dbDriver->getMemoryUsed(), _dbDriver->getMemoryUsed(),
_vwd->getVisualWords().size()); (int)_vwd->getVisualWords().size());
} }
UDEBUG(""); UDEBUG("");
@@ -2936,7 +2936,7 @@ int Memory::getNi(int signatureId) const
const Signature * s = this->getSignature(signatureId); const Signature * s = this->getSignature(signatureId);
if(s) if(s)
{ {
ni = ((Signature *)s)->getWords().size(); ni = (int)((Signature *)s)->getWords().size();
} }
else else
{ {
@@ -3055,7 +3055,7 @@ Signature * Memory::createSignature(const SensorData & data, bool keepRawData, S
} }
} }
int treeSize= _workingMem.size() + _stMem.size(); int treeSize= int(_workingMem.size() + _stMem.size());
int meanWordsPerLocation = 0; int meanWordsPerLocation = 0;
if(treeSize > 0) if(treeSize > 0)
{ {

6
corelib/src/Odometry.cpp
View File

@@ -228,7 +228,7 @@ Transform OdometryBOW::computeTransform(const SensorData & data, int * quality,
const Signature * newSignature = _memory->getLastWorkingSignature(); const Signature * newSignature = _memory->getLastWorkingSignature();
if(newSignature) if(newSignature)
{ {
nFeatures = newSignature->getWords().size(); nFeatures = (int)newSignature->getWords().size();
} }
if(previousSignature && newSignature) if(previousSignature && newSignature)
@@ -260,7 +260,7 @@ Transform OdometryBOW::computeTransform(const SensorData & data, int * quality,
if((int)inliers1->size() >= this->getMinInliers()) if((int)inliers1->size() >= this->getMinInliers())
{ {
correspondences = inliers1->size(); correspondences = (int)inliers1->size();
// the transform returned is global odometry pose, not incremental one // the transform returned is global odometry pose, not incremental one
std::vector<int> inliersV; std::vector<int> inliersV;
@@ -272,7 +272,7 @@ Transform OdometryBOW::computeTransform(const SensorData & data, int * quality,
this->getRefineIterations()>0, 3.0, this->getRefineIterations(), this->getRefineIterations()>0, 3.0, this->getRefineIterations(),
&inliersV); &inliersV);
inliers = inliersV.size(); inliers = (int)inliersV.size();
if(!transform.isNull()) if(!transform.isNull())
{ {
// make it incremental // make it incremental

9
corelib/src/Rtabmap.cpp
View File

@@ -280,6 +280,15 @@ void Rtabmap::init(const std::string & configFile, const std::string & databaseP
void Rtabmap::close() void Rtabmap::close()
{ {
_retrievedId = 0;
_lcHypothesisValue = 0;
_lcHypothesisId = 0;
_lastProcessTime = 0.0;
_optimizedPoses.clear();
_constraints.clear();
_mapCorrection.setIdentity();
_mapTransform.setIdentity();
flushStatisticLogs(); flushStatisticLogs();
if(_foutFloat) if(_foutFloat)
{ {

27
corelib/src/Signature.cpp
View File

@@ -108,7 +108,7 @@ void Signature::addNeighbor(int neighbor, const Transform & transform)
void Signature::removeNeighbor(int neighborId) void Signature::removeNeighbor(int neighborId)
{ {
int count = _neighbors.erase(neighborId); int count = (int)_neighbors.erase(neighborId);
if(count) if(count)
{ {
_neighborsModified = true; _neighborsModified = true;
@@ -172,7 +172,7 @@ float Signature::compareTo(const Signature * s) const
if(words.size() != 0 && _words.size() != 0) if(words.size() != 0 && _words.size() != 0)
{ {
std::list<std::pair<int, std::pair<cv::KeyPoint, cv::KeyPoint> > > pairs; std::list<std::pair<int, std::pair<cv::KeyPoint, cv::KeyPoint> > > pairs;
int totalWords = _words.size()>words.size()?_words.size():words.size(); unsigned int totalWords = _words.size()>words.size()?_words.size():words.size();
EpipolarGeometry::findPairs(words, _words, pairs); EpipolarGeometry::findPairs(words, _words, pairs);
similarity = float(pairs.size()) / float(totalWords); similarity = float(pairs.size()) / float(totalWords);
@@ -244,22 +244,7 @@ SensorData Signature::toSensorData()
void Signature::uncompressData() void Signature::uncompressData()
{ {
if(_imageRaw.empty() && _image.size()) uncompressData(&_imageRaw, &_depthRaw, &_depth2DRaw);
{
//uncompress data
util3d::CompressionThread ctImage(&_image, true);
util3d::CompressionThread ctDepth(&_depth, true);
util3d::CompressionThread ctDepth2D(&_depth2D, false);
ctImage.start();
ctDepth.start();
ctDepth2D.start();
ctImage.join();
ctDepth.join();
ctDepth2D.join();
_imageRaw = ctImage.getUncompressedData();
_depthRaw = ctDepth.getUncompressedData();
_depth2DRaw = ctDepth2D.getUncompressedData();
}
} }
void Signature::uncompressData(cv::Mat * image, cv::Mat * depth, cv::Mat * depth2D) const void Signature::uncompressData(cv::Mat * image, cv::Mat * depth, cv::Mat * depth2D) const
@@ -298,15 +283,15 @@ void Signature::uncompressData(cv::Mat * image, cv::Mat * depth, cv::Mat * depth
ctImage.join(); ctImage.join();
ctDepth.join(); ctDepth.join();
ctDepth2D.join(); ctDepth2D.join();
if(image) if(image && image->empty())
{ {
*image = ctImage.getUncompressedData(); *image = ctImage.getUncompressedData();
} }
if(depth) if(depth && depth->empty())
{ {
*depth = ctDepth.getUncompressedData(); *depth = ctDepth.getUncompressedData();
} }
if(depth2D) if(depth2D && depth2D->empty())
{ {
*depth2D = ctDepth2D.getUncompressedData(); *depth2D = ctDepth2D.getUncompressedData();
} }

10
corelib/src/util3d.cpp
View File

@@ -1443,7 +1443,7 @@ Transform transformFromXYZCorrespondences(
std::vector<int> target_indices (cloud1->size()); std::vector<int> target_indices (cloud1->size());
// Copy the query-match indices // Copy the query-match indices
for (size_t i = 0; i < cloud1->size(); ++i) for (int i = 0; i < (int)cloud1->size(); ++i)
{ {
source_indices[i] = i; source_indices[i] = i;
target_indices[i] = i; target_indices[i] = i;
@@ -1486,8 +1486,8 @@ Transform transformFromXYZCorrespondences(
// Select the new inliers based on the optimized coefficients and new threshold // Select the new inliers based on the optimized coefficients and new threshold
model->selectWithinDistance (new_model_coefficients, error_threshold, new_inliers); model->selectWithinDistance (new_model_coefficients, error_threshold, new_inliers);
UDEBUG("RANSAC refineModel: Number of inliers found (before/after): %zu/%zu, with an error threshold of %g.", UDEBUG("RANSAC refineModel: Number of inliers found (before/after): %d/%d, with an error threshold of %f.",
prev_inliers.size (), new_inliers.size (), error_threshold); (int)prev_inliers.size (), (int)new_inliers.size (), error_threshold);
if (new_inliers.empty ()) if (new_inliers.empty ())
{ {
@@ -1503,7 +1503,7 @@ Transform transformFromXYZCorrespondences(
double variance = model->computeVariance (); double variance = model->computeVariance ();
error_threshold = sqrt (std::min (inlier_distance_threshold_sqr, sigma_sqr * variance)); error_threshold = sqrt (std::min (inlier_distance_threshold_sqr, sigma_sqr * variance));
UDEBUG ("RANSAC refineModel: New estimated error threshold: %g on iteration %d out of %d.", UDEBUG ("RANSAC refineModel: New estimated error threshold: %f on iteration %d out of %d.",
error_threshold, refine_iterations, refineModelIterations); error_threshold, refine_iterations, refineModelIterations);
inlier_changed = false; inlier_changed = false;
std::swap (prev_inliers, new_inliers); std::swap (prev_inliers, new_inliers);
@@ -1568,7 +1568,7 @@ Transform transformFromXYZCorrespondences(
bestTransformation.row (3) = model_coefficients.segment<4>(12); bestTransformation.row (3) = model_coefficients.segment<4>(12);
transform = util3d::transformFromEigen4f(bestTransformation); transform = util3d::transformFromEigen4f(bestTransformation);
UDEBUG("RANSAC inliers=%zu/%zu tf=%s", inliers.size(), cloud1->size(), transform.prettyPrint().c_str()); UDEBUG("RANSAC inliers=%d/%d tf=%s", (int)inliers.size(), (int)cloud1->size(), transform.prettyPrint().c_str());
return transform.inverse(); // inverse to get actual pose transform (not correspondences transform) return transform.inverse(); // inverse to get actual pose transform (not correspondences transform)
} }

4
guilib/src/DatabaseViewer.cpp
View File

@@ -521,7 +521,7 @@ void DatabaseViewer::generateTOROGraph()
return; return;
} }
bool ok = false; 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) if(ok)
{ {
@@ -842,7 +842,7 @@ void DatabaseViewer::generate3DMap()
if(ids.size() > 0) if(ids.size() > 0)
{ {
rtabmap::DetailedProgressDialog progressDialog; rtabmap::DetailedProgressDialog progressDialog;
progressDialog.setMaximumSteps(ids.size()+2); progressDialog.setMaximumSteps((int)ids.size()+2);
progressDialog.show(); progressDialog.show();
progressDialog.appendText("Graph generation..."); 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 signature = stat.getSignature();
signature.uncompressData(); // make sure data are uncompressed signature.uncompressData(); // make sure data are uncompressed
_cachedSignatures.insert(stat.getSignature().id(), signature); _cachedSignatures.insert(stat.getSignature().id(), signature);
UDEBUG("");
// map ids // map ids
for(std::map<int, int>::const_iterator iter = stat.getMapIds().begin(); 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)); int rejectedHyp = bool(uValue(stat.data(), Statistics::kLoopRejectedHypothesis(), 0.0f));
float highestHypothesisValue = uValue(stat.data(), Statistics::kLoopHighest_hypothesis_value(), 0.0f); float highestHypothesisValue = uValue(stat.data(), Statistics::kLoopHighest_hypothesis_value(), 0.0f);
int matchId = 0; int matchId = 0;
cv::Mat loopImage; Signature loopSignature;
cv::Mat loopDepth;
cv::Mat loopDepth2D;
int shownLoopId = 0; int shownLoopId = 0;
if(highestHypothesisId > 0 || stat.localLoopClosureId()>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); QMap<int, Signature>::iterator iter = _cachedSignatures.find(shownLoopId);
if(iter != _cachedSignatures.end()) 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 //update image views
{ {
UCvMat2QImageThread qimageThread(signature.getImageRaw()); UCvMat2QImageThread qimageThread(signature.getImageRaw());
UCvMat2QImageThread qimageLoopThread(loopImage); UCvMat2QImageThread qimageLoopThread(loopSignature.getImageRaw());
UCvMat2QImageThread qdepthThread(signature.getDepthRaw()); UCvMat2QImageThread qdepthThread(signature.getDepthRaw());
UCvMat2QImageThread qdepthLoopThread(loopDepth); UCvMat2QImageThread qdepthLoopThread(loopSignature.getDepthRaw());
qimageThread.start(); qimageThread.start();
qdepthThread.start(); qdepthThread.start();
qimageLoopThread.start(); qimageLoopThread.start();
@@ -873,16 +871,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
_ui->imageView_loopClosure->fitInView(_ui->imageView_source->sceneRect(), Qt::KeepAspectRatio); _ui->imageView_loopClosure->fitInView(_ui->imageView_source->sceneRect(), Qt::KeepAspectRatio);
// do it after scaling // do it after scaling
std::multimap<int, cv::KeyPoint> loopWords; this->drawKeypoints(signature.getWords(), loopSignature.getWords());
if(shownLoopId)
{
QMap<int, Signature>::iterator iter = _cachedSignatures.find(shownLoopId);
if(iter!=_cachedSignatures.end())
{
loopWords = iter->getWords();
}
}
this->drawKeypoints(signature.getWords(), loopWords);
if(_preferencesDialog->isImageFlipped()) if(_preferencesDialog->isImageFlipped())
{ {
@@ -893,7 +882,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
UDEBUG("time= %d ms", time.restart()); 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 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 // PDF AND LIKELIHOOD
if(!stat.posterior().empty() && _ui->dockWidget_posterior->isVisible()) if(!stat.posterior().empty() && _ui->dockWidget_posterior->isVisible())
@@ -952,36 +941,19 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
// loop closure view // loop closure view
if((stat.loopClosureId() > 0 || stat.localLoopClosureId() > 0) && if((stat.loopClosureId() > 0 || stat.localLoopClosureId() > 0) &&
!stat.loopClosureTransform().isNull()) !stat.loopClosureTransform().isNull() &&
!loopSignature.getImageRaw().empty())
{ {
// the last loop closure data // the last loop closure data
Transform loopClosureTransform = stat.loopClosureTransform(); Transform loopClosureTransform = stat.loopClosureTransform();
int loopOldId = stat.loopClosureId(); signature.setPose(loopClosureTransform);
if(!loopOldId) _ui->widget_loopClosureViewer->setData(loopSignature, signature);
if(_ui->dockWidget_loopClosureViewer->isVisible())
{ {
loopOldId = stat.localLoopClosureId(); UTimer loopTimer;
} _ui->widget_loopClosureViewer->updateView();
UINFO("Updating loop closure cloud view time=%fs", loopTimer.elapsed());
QMap<int, Signature>::iterator oldIter = _cachedSignatures.find(loopOldId); _ui->statsToolBox->updateStat("/Gui RGB-D closure view/ms", stat.refImageId(), int(loopTimer.elapsed()*1000.0f));
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));
}
} }
UDEBUG("time= %d ms", time.restart()); UDEBUG("time= %d ms", time.restart());
@@ -1533,7 +1505,7 @@ void MainWindow::processRtabmapEvent3DMap(const rtabmap::RtabmapEvent3DMap & eve
UINFO(" poses = %d", event.getPoses().size()); UINFO(" poses = %d", event.getPoses().size());
UINFO(" constraints = %d", event.getConstraints().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())); _initProgressDialog->appendText(QString("Inserting data in the cache (%1 signatures downloaded)...").arg(event.getSignatures().size()));
QApplication::processEvents(); QApplication::processEvents();
@@ -4060,6 +4032,7 @@ void MainWindow::changeState(MainWindow::State newState)
case kInitializing: case kInitializing:
_ui->actionNew_database->setEnabled(false); _ui->actionNew_database->setEnabled(false);
_ui->actionOpen_database->setEnabled(false); _ui->actionOpen_database->setEnabled(false);
_ui->actionClose_database->setEnabled(false);
_ui->actionEdit_database->setEnabled(false); _ui->actionEdit_database->setEnabled(false);
_state = newState; _state = newState;
break; break;
@@ -4101,6 +4074,10 @@ void MainWindow::changeState(MainWindow::State newState)
break; break;
case kDetecting: 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->actionStart->setEnabled(false);
_ui->actionPause->setEnabled(true); _ui->actionPause->setEnabled(true);
_ui->actionPause->setChecked(false); _ui->actionPause->setChecked(false);