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fixed delete database action when memory is not yet initialized, enabled gpu SURF option when available

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1055 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2013-12-14 02:43:26 +00:00
parent a3c0158650
commit 4a150e3215
7 changed files with 73 additions and 64 deletions
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1
guilib/include/rtabmap/gui/PreferencesDialog.h
View File

@@ -126,6 +126,7 @@ public:
int getScanPointSize(int index) const; // 0=map, 1=odom, 2=save
QString getWorkingDirectory() const;
QString getDatabasePath() const;
// source panel
double getGeneralInputRate() const;

32
guilib/src/MainWindow.cpp
View File

@@ -831,15 +831,6 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
UDEBUG("time= %d ms", time.restart());
if(_ui->imageView_loopClosure->items().size() || stat.loopClosureId()>0)
{
this->drawKeypoints(stat.refWords(), stat.loopWords());
}
else
{
this->drawKeypoints(stat.refWords(), std::multimap<int, cv::KeyPoint>()); //empty loop keypoints...
}
// We use the reference image to resize the 2 views
_ui->imageView_source->resetZoom();
_ui->imageView_loopClosure->resetZoom();
@@ -851,6 +842,16 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
_ui->imageView_source->fitInView(_ui->imageView_source->sceneRect(), Qt::KeepAspectRatio);
_ui->imageView_loopClosure->fitInView(_ui->imageView_source->sceneRect(), Qt::KeepAspectRatio);
// do it after scaling
if(_ui->imageView_loopClosure->items().size() || stat.loopClosureId()>0)
{
this->drawKeypoints(stat.refWords(), stat.loopWords());
}
else
{
this->drawKeypoints(stat.refWords(), std::multimap<int, cv::KeyPoint>()); //empty loop keypoints...
}
if(_preferencesDialog->isImageFlipped())
{
_ui->imageView_source->scale(-1.0, 1.0);
@@ -1543,13 +1544,16 @@ void MainWindow::drawKeypoints(const std::multimap<int, cv::KeyPoint> & refWords
}
// Draw lines between corresponding features...
int deltaX = _ui->imageView_source->sceneRect().width();
float scaleX = _ui->imageView_source->transform().m11();
float scaleY = _ui->imageView_source->transform().m22();
UDEBUG("scaleX=%f scaleY=%f", scaleX, scaleY);
int deltaX = _ui->imageView_source->width()/scaleX;
int deltaY = 0;
if(_preferencesDialog->isVerticalLayoutUsed())
{
deltaX = 0;
deltaY = _ui->imageView_source->sceneRect().height();
deltaY += _ui->label_matchId->height()/_ui->imageView_source->transform().m22();
deltaY = _ui->imageView_source->height()/scaleY;
deltaY += _ui->label_matchId->height()/scaleY;
}
for(QList<QPair<KeypointItem*, KeypointItem*> >::iterator iter = uniqueCorrespondences.begin();
iter!=uniqueCorrespondences.end();
@@ -2147,7 +2151,7 @@ void MainWindow::generateLocalMap()
void MainWindow::deleteMemory()
{
QMessageBox::StandardButton button;
QString dbPath = _preferencesDialog->getWorkingDirectory() + QDir::separator() + "rtabmap.db";
QString dbPath = _preferencesDialog->getDatabasePath();
if(_state == kMonitoring || _state == kMonitoringPaused)
{
button = QMessageBox::question(this,
@@ -2170,7 +2174,7 @@ void MainWindow::deleteMemory()
return;
}
this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdDeleteMemory));
this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdDeleteMemory, dbPath.toStdString()));
this->clearTheCache();
}

15
guilib/src/PreferencesDialog.cpp
View File

@@ -49,6 +49,8 @@
#include <rtabmap/utilite/UEventsManager.h>
#include "utilite/UPlot.h"
#include <opencv2/gpu/gpu.hpp>
using namespace rtabmap;
namespace rtabmap {
@@ -115,6 +117,14 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->label_space2->setEnabled(false);
_ui->label_space3->setEnabled(false);
_ui->loopClosure_icpType->setEnabled(false);
_ui->surf_checkBox_gpuVersion->setEnabled(false);
_ui->label_surf_checkBox_gpuVersion->setEnabled(false);
#else
if(cv::gpu::getCudaEnabledDeviceCount() == 0)
{
_ui->surf_checkBox_gpuVersion->setEnabled(false);
_ui->label_surf_checkBox_gpuVersion->setEnabled(false);
}
#endif
_ui->predictionPlot->showLegend(false);
@@ -824,6 +834,11 @@ QString PreferencesDialog::getWorkingDirectory() const
return _ui->lineEdit_workingDirectory->text();
}
QString PreferencesDialog::getDatabasePath() const
{
return _ui->lineEdit_databasePath->text();
}
QString PreferencesDialog::getIniFilePath() const
{
#ifdef DEMO_BUILD

14
guilib/src/ui/preferencesDialog.ui
View File

@@ -64,8 +64,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>939</width>
<height>724</height>
<width>955</width>
<height>685</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>1</number>
<number>9</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29">
@@ -3048,7 +3048,7 @@ generate the number of words requested.</string>
<item row="5" column="0">
<widget class="QCheckBox" name="surf_checkBox_gpuVersion">
<property name="enabled">
<bool>false</bool>
<bool>true</bool>
</property>
<property name="text">
<string/>
@@ -3056,12 +3056,12 @@ generate the number of words requested.</string>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_48">
<widget class="QLabel" name="label_surf_checkBox_gpuVersion">
<property name="enabled">
<bool>false</bool>
<bool>true</bool>
</property>
<property name="text">
<string>GPU version (as well for descriptor). Experimental.</string>
<string>GPU version (as well for descriptor).</string>
</property>
<property name="wordWrap">
<bool>true</bool>