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Updated ImageView with GraphicsView mode disabled by default. Updated DataRecorder.

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This commit is contained in:
matlabbe
2015-03-30 10:47:38 -04:00
parent 80c7102e67
commit 56e372f8d2
13 changed files with 718 additions and 445 deletions
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73
guilib/src/DataRecorder.cpp
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@@ -30,6 +30,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UTimer.h>
#include <rtabmap/core/Memory.h>
#include <rtabmap/core/Signature.h>
#include <rtabmap/core/CameraEvent.h>
#include <rtabmap/core/util3d.h>
#include <rtabmap/gui/ImageView.h>
@@ -37,7 +38,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <QtCore/QMetaType>
#include <QMessageBox>
#include <QtGui/QCloseEvent>
#include <QHBoxLayout>
#include <QLabel>
#include <QVBoxLayout>
namespace rtabmap {
@@ -46,18 +48,25 @@ DataRecorder::DataRecorder(QWidget * parent) :
QWidget(parent),
memory_(0),
imageView_(new ImageView(this)),
dataQueue_(0)
label_(new QLabel(this)),
processingImages_(false),
count_(0),
totalSizeKB_(0)
{
qRegisterMetaType<rtabmap::SensorData>("rtabmap::SensorData");
qRegisterMetaType<cv::Mat>("cv::Mat");
imageView_->setImageDepthShown(true);
QHBoxLayout * layout = new QHBoxLayout(this);
imageView_->setMinimumSize(320, 240);
QVBoxLayout * layout = new QVBoxLayout(this);
layout->setMargin(0);
layout->addWidget(imageView_);
layout->addWidget(label_);
layout->setStretch(0,1);
this->setLayout(layout);
}
bool DataRecorder::init(const QString & path, bool recordInRAM)
{
UScopeMutex scope(memoryMutex_);
if(!memory_)
{
ParametersMap customParameters;
@@ -88,11 +97,16 @@ bool DataRecorder::init(const QString & path, bool recordInRAM)
void DataRecorder::closeRecorder()
{
memoryMutex_.lock();
if(memory_)
{
delete memory_;
memory_ = 0;
}
memoryMutex_.unlock();
processingImages_ = false;
count_ = 0;
totalSizeKB_ = 0;
UINFO("Data recorded to \"%s\".", this->path().toStdString().c_str());
if(this->isVisible())
{
@@ -102,36 +116,39 @@ void DataRecorder::closeRecorder()
DataRecorder::~DataRecorder()
{
this->unregisterFromEventsManager();
this->closeRecorder();
}
void DataRecorder::addData(const rtabmap::SensorData & data)
{
memoryMutex_.lock();
if(memory_)
{
//save to database
UTimer time;
memory_->update(data);
const Signature * s = memory_->getLastWorkingSignature();
totalSizeKB_ += s->getImageCompressed().total()/1000;
totalSizeKB_ += s->getDepthCompressed().total()/1000;
memory_->cleanup();
if(data.id() % 30)
if(++count_ % 30)
{
memory_->emptyTrash();
}
UDEBUG("Time to process a message = %f s", time.ticks());
}
--dataQueue_;
memoryMutex_.unlock();
}
void DataRecorder::showImage(const rtabmap::SensorData & data)
void DataRecorder::showImage(const cv::Mat & image, const cv::Mat & depth)
{
if(this->isVisible() && data.isValid())
{
imageView_->setImage(uCvMat2QImage(data.image()));
imageView_->setImageDepth(uCvMat2QImage(data.depth()));
imageView_->fitInView(imageView_->sceneRect(), Qt::KeepAspectRatio);
}
processingImages_ = true;
imageView_->setImage(uCvMat2QImage(image));
imageView_->setImageDepth(uCvMat2QImage(depth));
label_->setText(tr("Images=%1 (~%2 MB)").arg(count_).arg(totalSizeKB_/1000));
processingImages_ = false;
}
void DataRecorder::closeEvent(QCloseEvent* event)
@@ -142,24 +159,26 @@ void DataRecorder::closeEvent(QCloseEvent* event)
void DataRecorder::handleEvent(UEvent * event)
{
if(event->getClassName().compare("CameraEvent") == 0)
if(memory_)
{
CameraEvent * camEvent = (CameraEvent*)event;
if(camEvent->getCode() == CameraEvent::kCodeImageDepth ||
camEvent->getCode() == CameraEvent::kCodeImage)
if(event->getClassName().compare("CameraEvent") == 0)
{
if(camEvent->data().isValid())
CameraEvent * camEvent = (CameraEvent*)event;
if(camEvent->getCode() == CameraEvent::kCodeImageDepth ||
camEvent->getCode() == CameraEvent::kCodeImage)
{
UINFO("Receiving rate = %f Hz", 1.0f/timer_.ticks());
if(memory_)
if(camEvent->data().isValid())
{
QMetaObject::invokeMethod(this, "addData", Q_ARG(rtabmap::SensorData, camEvent->data()));
++dataQueue_;
}
UINFO("Receiving rate = %f Hz", 1.0f/timer_.ticks());
this->addData(camEvent->data());
if(dataQueue_ < 2 && this->isVisible())
{
QMetaObject::invokeMethod(this, "showImage", Q_ARG(rtabmap::SensorData, camEvent->data()));
if(!processingImages_ && this->isVisible() && camEvent->data().isValid())
{
processingImages_ = true;
QMetaObject::invokeMethod(this, "showImage",
Q_ARG(cv::Mat, camEvent->data().image()),
Q_ARG(cv::Mat, camEvent->data().depth()));
}
}
}
}