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Refactored how visualization data are transfered between core and gui: using only Signature object instead of separated image,deph,fx,fy...

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1928 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-10-26 21:47:29 +00:00
parent 60b0fd2e98
commit 457c068e0f
23 changed files with 514 additions and 1027 deletions
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395
guilib/src/MainWindow.cpp
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@@ -189,7 +189,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_ui->imageView_source->setBackgroundBrush(QBrush(Qt::black));
_ui->imageView_loopClosure->setBackgroundBrush(QBrush(Qt::black));
_posteriorCurve = new PdfPlotCurve("Posterior", &_imagesMap, this);
_posteriorCurve = new PdfPlotCurve("Posterior", &_cachedSignatures, this);
_ui->posteriorPlot->addCurve(_posteriorCurve, false);
_ui->posteriorPlot->showLegend(false);
_ui->posteriorPlot->setFixedYAxis(0,1);
@@ -197,11 +197,11 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
tc = _ui->posteriorPlot->addThreshold("Loop closure thr", float(_preferencesDialog->getLoopThr()));
connect(this, SIGNAL(loopClosureThrChanged(float)), tc, SLOT(setThreshold(float)));
_likelihoodCurve = new PdfPlotCurve("Likelihood", &_imagesMap, this);
_likelihoodCurve = new PdfPlotCurve("Likelihood", &_cachedSignatures, this);
_ui->likelihoodPlot->addCurve(_likelihoodCurve, false);
_ui->likelihoodPlot->showLegend(false);
_rawLikelihoodCurve = new PdfPlotCurve("Likelihood", &_imagesMap, this);
_rawLikelihoodCurve = new PdfPlotCurve("Likelihood", &_cachedSignatures, this);
_ui->rawLikelihoodPlot->addCurve(_rawLikelihoodCurve, false);
_ui->rawLikelihoodPlot->showLegend(false);
@@ -698,63 +698,16 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
_ui->imageView_loopClosure->setBackgroundBrush(QBrush(Qt::black));
// update cache
if(_preferencesDialog->isImagesKept())
{
// images
for(std::map<int, std::vector<unsigned char> >::const_iterator iter = stat.getImages().begin();
iter != stat.getImages().end();
++iter)
{
if(!iter->second.empty() && !_imagesMap.contains(iter->first))
{
_imagesMap.insert(iter->first, iter->second);
}
}
// depths
for(std::map<int, std::vector<unsigned char> >::const_iterator iter = stat.getDepths().begin();
iter != stat.getDepths().end();
++iter)
{
if(!iter->second.empty() && !_depthsMap.contains(iter->first))
{
float fx = uValue(stat.getDepthFxs(), iter->first, 0.0f);
float fy = uValue(stat.getDepthFys(), iter->first, 0.0f);
float cx = uValue(stat.getDepthCxs(), iter->first, 0.0f);
float cy = uValue(stat.getDepthCys(), iter->first, 0.0f);
Transform transform = uValue(stat.getLocalTransforms(), iter->first, Transform());
if(fx > 0.0f && fy > 0.0f && !transform.isNull())
{
_depthsMap.insert(iter->first, iter->second);
_depthFxsMap.insert(iter->first, fx);
_depthFysMap.insert(iter->first, fy);
_depthCxsMap.insert(iter->first, cx);
_depthCysMap.insert(iter->first, cy);
_localTransformsMap.insert(iter->first, transform);
}
else
{
UERROR("Invalid depth data for id=%d", iter->first);
}
}
}
// depths2d
for(std::map<int, std::vector<unsigned char> >::const_iterator iter = stat.getDepth2ds().begin();
iter != stat.getDepth2ds().end();
++iter)
{
if(!iter->second.empty())
{
_depths2DMap.insert(iter->first, iter->second);
}
}
Signature & signature = *_cachedSignatures.insert(stat.getSignature().id(), stat.getSignature());
signature.uncompressData(); // make sure data are already uncompressed
UDEBUG("");
// map ids
for(std::map<int, int>::const_iterator iter = stat.getMapIds().begin();
iter != stat.getMapIds().end();
++iter)
{
_mapIds.insert(iter->first, iter->second);
}
// map ids
for(std::map<int, int>::const_iterator iter = stat.getMapIds().begin();
iter != stat.getMapIds().end();
++iter)
{
_mapIds.insert(iter->first, iter->second);
}
int rehearsed = (int)uValue(stat.data(), Statistics::kMemoryRehearsal_merged(), 0.0f);
@@ -778,16 +731,12 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
UDEBUG("time= %d ms", time.restart());
std::vector<unsigned char> refImage = uValue(stat.getImages(), stat.refImageId(), std::vector<unsigned char>());
std::vector<unsigned char> refDepth = uValue(stat.getDepths(), stat.refImageId(), std::vector<unsigned char>());
std::vector<unsigned char> refDepth2D = uValue(stat.getDepth2ds(), stat.refImageId(), std::vector<unsigned char>());
std::vector<unsigned char> loopImage = uValue(stat.getImages(), stat.loopClosureId()>0?stat.loopClosureId():stat.localLoopClosureId(), std::vector<unsigned char>());
std::vector<unsigned char> loopDepth = uValue(stat.getDepths(), stat.loopClosureId()>0?stat.loopClosureId():stat.localLoopClosureId(), std::vector<unsigned char>());
std::vector<unsigned char> loopDepth2D = uValue(stat.getDepth2ds(), stat.loopClosureId()>0?stat.loopClosureId():stat.localLoopClosureId(), std::vector<unsigned char>());
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;
int shownLoopId = 0;
if(highestHypothesisId > 0 || stat.localLoopClosureId()>0)
{
bool show = true;
@@ -829,23 +778,12 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
if(show)
{
if(loopImage.empty())
shownLoopId = stat.loopClosureId()>0?stat.loopClosureId():stat.localLoopClosureId()>0?stat.localLoopClosureId():highestHypothesisId;
QMap<int, Signature>::iterator iter = _cachedSignatures.find(shownLoopId);
if(iter != _cachedSignatures.end())
{
int id = stat.loopClosureId()>0?stat.loopClosureId():stat.localLoopClosureId()>0?stat.localLoopClosureId():highestHypothesisId;
QMap<int, std::vector<unsigned char> >::iterator iter = _imagesMap.find(id);
if(iter != _imagesMap.end())
{
loopImage = iter.value();
}
}
if(loopDepth.empty())
{
int id = stat.loopClosureId()>0?stat.loopClosureId():stat.localLoopClosureId()>0?stat.localLoopClosureId():highestHypothesisId;
QMap<int, std::vector<unsigned char> >::iterator iter = _depthsMap.find(id);
if(iter != _depthsMap.end())
{
loopDepth = iter.value();
}
loopImage = iter.value().getImageRaw();
loopDepth = iter.value().getDepthRaw();
}
}
}
@@ -854,24 +792,10 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
//update image views
{
util3d::CompressionThread imageThread(refImage, true);
util3d::CompressionThread imageLoopThread(loopImage, true);
util3d::CompressionThread depthThread(refDepth, true);
util3d::CompressionThread depthLoopThread(loopDepth, true);
imageThread.start();
depthThread.start();
imageLoopThread.start();
depthLoopThread.start();
imageThread.join();
depthThread.join();
imageLoopThread.join();
depthLoopThread.join();
UDEBUG("time= %d ms", time.restart());
UCvMat2QImageThread qimageThread(imageThread.getUncompressedData());
UCvMat2QImageThread qimageLoopThread(imageLoopThread.getUncompressedData());
UCvMat2QImageThread qdepthThread(depthThread.getUncompressedData());
UCvMat2QImageThread qdepthLoopThread(depthLoopThread.getUncompressedData());
UCvMat2QImageThread qimageThread(signature.getImageRaw());
UCvMat2QImageThread qimageLoopThread(loopImage);
UCvMat2QImageThread qdepthThread(signature.getDepthRaw());
UCvMat2QImageThread qdepthLoopThread(loopDepth);
qimageThread.start();
qdepthThread.start();
qimageLoopThread.start();
@@ -912,7 +836,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
// We use the reference image to resize the 2 views
_ui->imageView_source->resetZoom();
_ui->imageView_loopClosure->resetZoom();
if(refImage.empty())
if(signature.getImageRaw().empty())
{
_ui->imageView_source->setSceneRect(_ui->imageView_source->scene()->itemsBoundingRect());
_ui->imageView_loopClosure->setSceneRect(_ui->imageView_source->scene()->itemsBoundingRect());
@@ -921,14 +845,16 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
_ui->imageView_loopClosure->fitInView(_ui->imageView_source->sceneRect(), Qt::KeepAspectRatio);
// do it after scaling
if(_ui->imageView_loopClosure->items().size() || stat.loopClosureId()>0)
std::multimap<int, cv::KeyPoint> loopWords;
if(shownLoopId)
{
this->drawKeypoints(stat.refWords(), stat.loopWords());
}
else
{
this->drawKeypoints(stat.refWords(), std::multimap<int, cv::KeyPoint>()); //empty loop keypoints...
QMap<int, Signature>::iterator iter = _cachedSignatures.find(shownLoopId);
if(iter!=_cachedSignatures.end())
{
loopWords = iter->getWords();
}
}
this->drawKeypoints(signature.getWords(), loopWords);
if(_preferencesDialog->isImageFlipped())
{
@@ -938,9 +864,8 @@ 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(), stat.refWords().size());
_ui->statsToolBox->updateStat("Keypoint/Keypoints count in the loop signature/", stat.refImageId(), stat.loopWords().size());
ULOGGER_DEBUG("");
_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());
// PDF AND LIKELIHOOD
if(!stat.posterior().empty() && _ui->dockWidget_posterior->isVisible())
@@ -986,7 +911,9 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
if(stat.poses().size())
{
// update pose only if a odometry is not received
updateMapCloud(stat.poses(), _odometryReceived?Transform():stat.currentPose(), stat.constraints());
updateMapCloud(stat.poses(),
_odometryReceived||stat.poses().size()==0?Transform():stat.poses().rbegin()->second,
stat.constraints());
_odometryReceived = false;
@@ -1008,44 +935,19 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
}
int loopNewId = stat.refImageId();
// Add to loop closure viewer if all data is saved
Signature * loopOld = new Signature(
loopOldId,
loopMapId,
std::multimap<int, cv::KeyPoint>(),
std::multimap<int, pcl::PointXYZ>(),
Transform(),
_depths2DMap.value(loopOldId, std::vector<unsigned char>()),
_imagesMap.value(loopOldId, std::vector<unsigned char>()),
_depthsMap.value(loopOldId, std::vector<unsigned char>()),
_depthFxsMap.value(loopOldId, 0.0f),
_depthFysMap.value(loopOldId, 0.0f),
_depthCxsMap.value(loopOldId, 0.0f),
_depthCysMap.value(loopOldId, 0.0f),
_localTransformsMap.value(loopOldId, Transform()));
QMap<int, Signature>::iterator newIter = _cachedSignatures.find(loopNewId);
QMap<int, Signature>::iterator oldIter = _cachedSignatures.find(loopOldId);
Signature * loopNew = new Signature(
loopNewId,
refMapId,
std::multimap<int, cv::KeyPoint>(),
std::multimap<int, pcl::PointXYZ>(),
loopClosureTransform,
_depths2DMap.value(loopNewId, std::vector<unsigned char>()),
_imagesMap.value(loopNewId, std::vector<unsigned char>()),
_depthsMap.value(loopNewId, std::vector<unsigned char>()),
_depthFxsMap.value(loopNewId, 0.0f),
_depthFysMap.value(loopNewId, 0.0f),
_depthCxsMap.value(loopNewId, 0.0f),
_depthCysMap.value(loopNewId, 0.0f),
_localTransformsMap.value(loopNewId, Transform()));
_ui->widget_loopClosureViewer->setData(loopOld, loopNew);
if(_ui->dockWidget_loopClosureViewer->isVisible())
if(newIter!=_cachedSignatures.end() && oldIter!=_cachedSignatures.end())
{
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));
_ui->widget_loopClosureViewer->setData(*oldIter, *newIter);
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());
@@ -1078,14 +980,18 @@ void MainWindow::updateMapCloud(
_currentPosesMap = posesIn;
if(_currentPosesMap.size())
{
if(_depthsMap.size())
if(!_ui->actionSave_point_cloud->isEnabled() &&
_cachedSignatures.size() &&
(--_cachedSignatures.end())->getDepth().size())
{
//enable save cloud action
_ui->actionSave_point_cloud->setEnabled(true);
_ui->actionView_high_res_point_cloud->setEnabled(true);
}
if(_depths2DMap.size())
if(!_ui->actionView_scans->isEnabled() &&
_cachedSignatures.size() &&
(--_cachedSignatures.end())->getDepth2D().size())
{
_ui->actionExport_2D_scans_ply_pcd->setEnabled(true);
_ui->actionExport_2D_Grid_map_bmp_png->setEnabled(true);
@@ -1147,9 +1053,13 @@ void MainWindow::updateMapCloud(
_ui->widget_cloudViewer->setCloudOpacity(cloudName, _preferencesDialog->getCloudOpacity(0));
_ui->widget_cloudViewer->setCloudPointSize(cloudName, _preferencesDialog->getCloudPointSize(0));
}
else if(_imagesMap.contains(iter->first) && _depthsMap.contains(iter->first))
else if(_cachedSignatures.contains(iter->first))
{
this->createAndAddCloudToMap(iter->first, iter->second);
QMap<int, Signature>::iterator jter = _cachedSignatures.find(iter->first);
if(!jter->getImageRaw().empty() && !jter->getDepthRaw().empty())
{
this->createAndAddCloudToMap(iter->first, iter->second);
}
}
}
else if(viewerClouds.contains(cloudName))
@@ -1178,9 +1088,13 @@ void MainWindow::updateMapCloud(
_ui->widget_cloudViewer->setCloudOpacity(scanName, _preferencesDialog->getScanOpacity(0));
_ui->widget_cloudViewer->setCloudPointSize(scanName, _preferencesDialog->getScanPointSize(0));
}
else if(_depths2DMap.contains(iter->first))
else if(_cachedSignatures.contains(iter->first))
{
this->createAndAddScanToMap(iter->first, iter->second);
QMap<int, Signature>::iterator jter = _cachedSignatures.find(iter->first);
if(!jter->getDepth2DRaw().empty())
{
this->createAndAddScanToMap(iter->first, iter->second);
}
}
if(!_preferencesDialog->isScansShown(0))
{
@@ -1302,15 +1216,23 @@ void MainWindow::createAndAddCloudToMap(int nodeId, const Transform & pose)
UERROR("Cloud %d already added to map.", nodeId);
return;
}
QMap<int, Signature>::iterator iter = _cachedSignatures.find(nodeId);
if(iter == _cachedSignatures.end())
{
UERROR("Node %d is not in the cache.", nodeId);
return;
}
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
cloud = createCloud(nodeId,
util3d::uncompressImage(_imagesMap.value(nodeId)),
util3d::uncompressImage(_depthsMap.value(nodeId)),
_depthFxsMap.value(nodeId),
_depthFysMap.value(nodeId),
_depthCxsMap.value(nodeId),
_depthCysMap.value(nodeId),
_localTransformsMap.value(nodeId),
iter->getImageRaw(),
iter->getDepthRaw(),
iter->getDepthFx(),
iter->getDepthFy(),
iter->getDepthCx(),
iter->getDepthCy(),
iter->getLocalTransform(),
Transform::getIdentity(),
_preferencesDialog->getCloudVoxelSize(0),
_preferencesDialog->getCloudDecimation(0),
@@ -1318,6 +1240,7 @@ void MainWindow::createAndAddCloudToMap(int nodeId, const Transform & pose)
if(cloud->size() && _preferencesDialog->isGridMapFrom3DCloud())
{
UTimer timer;
float cellSize = _preferencesDialog->getGridMapResolution();
float groundNormalMaxAngle = M_PI_4;
int minClusterSize = 20;
@@ -1326,6 +1249,7 @@ void MainWindow::createAndAddCloudToMap(int nodeId, const Transform & pose)
{
_occupancyLocalMaps.insert(std::make_pair(nodeId, std::make_pair(ground, obstacles)));
}
UDEBUG("time gridMapFrom2DCloud = %f s", timer.ticks());
}
if(_preferencesDialog->isCloudMeshing())
@@ -1396,9 +1320,16 @@ void MainWindow::createAndAddScanToMap(int nodeId, const Transform & pose)
UERROR("Scan %d already added to map.", nodeId);
return;
}
QMap<int, Signature>::iterator iter = _cachedSignatures.find(nodeId);
if(iter == _cachedSignatures.end())
{
UERROR("Node %d is not in the cache.", nodeId);
return;
}
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud;
cv::Mat depth2d = util3d::uncompressData(_depths2DMap.value(nodeId));
cloud = util3d::depth2DToPointCloud(depth2d);
cloud = util3d::depth2DToPointCloud(iter->getDepth2DRaw());
QColor color = Qt::red;
int mapId = _mapIds.value(nodeId, -1);
if(mapId >= 0)
@@ -1422,7 +1353,7 @@ void MainWindow::updateNodeVisibility(int nodeId, bool visible)
if(_currentPosesMap.find(nodeId) != _currentPosesMap.end())
{
QMap<std::string, Transform> viewerClouds = _ui->widget_cloudViewer->getAddedClouds();
if(_preferencesDialog->isCloudsShown(0) && _depthsMap.contains(nodeId))
if(_preferencesDialog->isCloudsShown(0) && _cachedSignatures.contains(nodeId))
{
std::string cloudName = uFormat("cloud%d", nodeId);
if(visible && !viewerClouds.contains(cloudName))
@@ -1440,7 +1371,7 @@ void MainWindow::updateNodeVisibility(int nodeId, bool visible)
}
}
if(_preferencesDialog->isScansShown(0) && _depths2DMap.contains(nodeId))
if(_preferencesDialog->isScansShown(0) && _cachedSignatures.contains(nodeId))
{
std::string scanName = uFormat("scan%d", nodeId);
if(visible && !viewerClouds.contains(scanName))
@@ -1501,72 +1432,31 @@ void MainWindow::processRtabmapEvent3DMap(const rtabmap::RtabmapEvent3DMap & eve
{
UINFO("Received map!");
UINFO(" images = %d", event.getImages().size());
UINFO(" depths = %d", event.getDepths().size());
UINFO(" depths2d = %d", event.getDepths2d().size());
UINFO(" depthFxs = %d", event.getDepthFxs().size());
UINFO(" depthFys = %d", event.getDepthFys().size());
UINFO(" depthCxs = %d", event.getDepthCxs().size());
UINFO(" depthCys = %d", event.getDepthCys().size());
UINFO(" signatures = %d", event.getSignatures().size());
UINFO(" map ids = %d", event.getMapIds().size());
UINFO(" localTransforms = %d", event.getLocalTransforms().size());
UINFO(" poses = %d", event.getPoses().size());
UINFO(" constraints = %d", event.getConstraints().size());
_initProgressDialog->appendText("Inserting data in the cache...");
_initProgressDialog->setMaximumSteps(event.getSignatures().size());
_initProgressDialog->appendText(QString("Inserting data in the cache (%1 signatures downloaded)...").arg(event.getSignatures().size()));
for(std::map<int, std::vector<unsigned char> >::const_iterator iter = event.getImages().begin();
iter!=event.getImages().end();
int addedSignatures = 0;
for(std::map<int, Signature>::const_iterator iter = event.getSignatures().begin();
iter!=event.getSignatures().end();
++iter)
{
_imagesMap.insert(iter->first, iter->second);
if(!_cachedSignatures.contains(iter->first))
{
QMap<int, Signature>::iterator inserted = _cachedSignatures.insert(iter->first, iter->second);
//uncompress data if required
if(inserted->getImageRaw().empty() && inserted->getImage().size())
{
inserted->uncompressData();
++addedSignatures;
}
}
}
_initProgressDialog->appendText(tr("Inserted %1 images.").arg(_imagesMap.size()));
_initProgressDialog->incrementStep();
for(std::map<int, std::vector<unsigned char> >::const_iterator iter = event.getDepths().begin();
iter!=event.getDepths().end();
++iter)
{
_depthsMap.insert(iter->first, iter->second);
}
_initProgressDialog->appendText(tr("Inserted %1 depth images.").arg(_depthsMap.size()));
_initProgressDialog->incrementStep();
for(std::map<int, float>::const_iterator iter = event.getDepthFxs().begin();
iter!=event.getDepthFxs().end();
++iter)
{
_depthFxsMap.insert(iter->first, iter->second);
}
_initProgressDialog->appendText(tr("Inserted %1 depth fx parameters.").arg(_depthFxsMap.size()));
_initProgressDialog->incrementStep();
for(std::map<int, float>::const_iterator iter = event.getDepthFys().begin();
iter!=event.getDepthFys().end();
++iter)
{
_depthFysMap.insert(iter->first, iter->second);
}
_initProgressDialog->appendText(tr("Inserted %1 depth fy parameters.").arg(_depthFysMap.size()));
_initProgressDialog->incrementStep();
for(std::map<int, float>::const_iterator iter = event.getDepthCxs().begin();
iter!=event.getDepthCxs().end();
++iter)
{
_depthCxsMap.insert(iter->first, iter->second);
}
_initProgressDialog->appendText(tr("Inserted %1 depth cx parameters.").arg(_depthCxsMap.size()));
_initProgressDialog->incrementStep();
for(std::map<int, float>::const_iterator iter = event.getDepthCys().begin();
iter!=event.getDepthCys().end();
++iter)
{
_depthCysMap.insert(iter->first, iter->second);
}
_initProgressDialog->appendText(tr("Inserted %1 depth cy parameters.").arg(_depthCysMap.size()));
_initProgressDialog->appendText(tr("Inserted %1 new signatures.").arg(addedSignatures));
_initProgressDialog->incrementStep();
for(std::map<int, int>::const_iterator iter = event.getMapIds().begin();
@@ -1578,24 +1468,6 @@ void MainWindow::processRtabmapEvent3DMap(const rtabmap::RtabmapEvent3DMap & eve
_initProgressDialog->appendText(tr("Inserted %1 map ids").arg(_mapIds.size()));
_initProgressDialog->incrementStep();
for(std::map<int, std::vector<unsigned char> >::const_iterator iter = event.getDepths2d().begin();
iter!=event.getDepths2d().end();
++iter)
{
_depths2DMap.insert(iter->first, iter->second);
}
_initProgressDialog->appendText(tr("Inserted %1 laser scans.").arg(_depths2DMap.size()));
_initProgressDialog->incrementStep();
for(std::map<int, Transform>::const_iterator iter = event.getLocalTransforms().begin();
iter!=event.getLocalTransforms().end();
++iter)
{
_localTransformsMap.insert(iter->first, iter->second);
}
_initProgressDialog->appendText(tr("Inserted %1 local transforms.").arg(_localTransformsMap.size()));
_initProgressDialog->incrementStep();
_initProgressDialog->appendText("Inserting data in the cache... done.");
if(event.getPoses().size())
@@ -2779,15 +2651,8 @@ void MainWindow::downloadPoseGraph()
void MainWindow::clearTheCache()
{
_imagesMap.clear();
_depthsMap.clear();
_depths2DMap.clear();
_depthFxsMap.clear();
_depthFysMap.clear();
_depthCxsMap.clear();
_depthCysMap.clear();
_cachedSignatures.clear();
_mapIds.clear();
_localTransformsMap.clear();
_createdClouds.clear();
_createdScans.clear();
_occupancyLocalMaps.clear();
@@ -3854,19 +3719,20 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr MainWindow::getAssembledCloud(
bool inserted = false;
if(!iter->second.isNull())
{
if(_imagesMap.contains(iter->first) && _depthsMap.contains(iter->first))
if(_cachedSignatures.contains(iter->first))
{
QMap<int, Signature>::const_iterator jter = _cachedSignatures.find(iter->first);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
if(regenerateClouds)
{
cloud = createCloud(iter->first,
util3d::uncompressImage(_imagesMap.value(iter->first)),
util3d::uncompressImage(_depthsMap.value(iter->first)),
_depthFxsMap.value(iter->first),
_depthFysMap.value(iter->first),
_depthCxsMap.value(iter->first),
_depthCysMap.value(iter->first),
_localTransformsMap.value(iter->first),
jter->getImageRaw(),
jter->getDepthRaw(),
jter->getDepthFx(),
jter->getDepthFy(),
jter->getDepthCx(),
jter->getDepthCy(),
jter->getLocalTransform(),
iter->second,
regenerateVoxelSize,
regenerateDecimation,
@@ -3937,19 +3803,20 @@ std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > MainWindow::getClouds(
bool inserted = false;
if(!iter->second.isNull())
{
if(_imagesMap.contains(iter->first) && _depthsMap.contains(iter->first))
if(_cachedSignatures.contains(iter->first))
{
QMap<int, Signature>::const_iterator jter = _cachedSignatures.find(iter->first);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
if(regenerateClouds)
{
cloud = createCloud(iter->first,
util3d::uncompressImage(_imagesMap.value(iter->first)),
util3d::uncompressImage(_depthsMap.value(iter->first)),
_depthFxsMap.value(iter->first),
_depthFysMap.value(iter->first),
_depthCxsMap.value(iter->first),
_depthCysMap.value(iter->first),
_localTransformsMap.value(iter->first),
jter->getImageRaw(),
jter->getDepthRaw(),
jter->getDepthFx(),
jter->getDepthFy(),
jter->getDepthCx(),
jter->getDepthCy(),
jter->getLocalTransform(),
Transform::getIdentity(),
regenerateVoxelSize,
regenerateDecimation,