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Export Clouds: export scans integrated in the same dialog (remove export scans dialog)

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This commit is contained in:
matlabbe
2017-05-11 13:20:51 -04:00
parent d2255adc4e
commit 58e6424bf7
14 changed files with 487 additions and 1519 deletions
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70
guilib/src/MainWindow.cpp
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@@ -62,7 +62,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/utilite/UCv2Qt.h"
#include "ExportCloudsDialog.h"
#include "ExportScansDialog.h"
#include "AboutDialog.h"
#include "PostProcessingDialog.h"
#include "DepthCalibrationDialog.h"
@@ -137,7 +136,6 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_preferencesDialog(0),
_aboutDialog(0),
_exportCloudsDialog(0),
_exportScansDialog(0),
_dataRecorder(0),
_lastId(0),
_firstStamp(0.0f),
@@ -185,8 +183,6 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_aboutDialog->setObjectName("AboutDialog");
_exportCloudsDialog = new ExportCloudsDialog(this);
_exportCloudsDialog->setObjectName("ExportCloudsDialog");
_exportScansDialog = new ExportScansDialog(this);
_exportScansDialog->setObjectName("ExportScansDialog");
_postProcessingDialog = new PostProcessingDialog(this);
_postProcessingDialog->setObjectName("PostProcessingDialog");
_depthCalibrationDialog = new DepthCalibrationDialog(this);
@@ -238,7 +234,6 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_preferencesDialog->loadMainWindowState(this, _savedMaximized, statusBarShown);
_preferencesDialog->loadWindowGeometry(_preferencesDialog);
_preferencesDialog->loadWindowGeometry(_exportCloudsDialog);
_preferencesDialog->loadWindowGeometry(_exportScansDialog);
_preferencesDialog->loadWindowGeometry(_postProcessingDialog);
_preferencesDialog->loadWindowGeometry(_depthCalibrationDialog);
_preferencesDialog->loadWindowGeometry(_aboutDialog);
@@ -372,11 +367,9 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
connect(_ui->action1080p, SIGNAL(triggered()), this, SLOT(setAspectRatio1080p()));
connect(_ui->actionCustom, SIGNAL(triggered()), this, SLOT(setAspectRatioCustom()));
connect(_ui->actionSave_point_cloud, SIGNAL(triggered()), this, SLOT(exportClouds()));
connect(_ui->actionExport_2D_scans_ply_pcd, SIGNAL(triggered()), this, SLOT(exportScans()));
connect(_ui->actionExport_2D_Grid_map_bmp_png, SIGNAL(triggered()), this, SLOT(exportGridMap()));
connect(_ui->actionExport_images_RGB_jpg_Depth_png, SIGNAL(triggered()), this , SLOT(exportImages()));
connect(_ui->actionExport_cameras_in_Bundle_format_out, SIGNAL(triggered()), SLOT(exportBundlerFormat()));
connect(_ui->actionView_scans, SIGNAL(triggered()), this, SLOT(viewScans()));
connect(_ui->actionExport_octomap, SIGNAL(triggered()), this, SLOT(exportOctomap()));
connect(_ui->actionView_high_res_point_cloud, SIGNAL(triggered()), this, SLOT(viewClouds()));
connect(_ui->actionReset_Odometry, SIGNAL(triggered()), this, SLOT(resetOdometry()));
@@ -467,7 +460,6 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
connect(_ui->graphicsView_graphView, SIGNAL(configChanged()), this, SLOT(configGUIModified()));
connect(_cloudViewer, SIGNAL(configChanged()), this, SLOT(configGUIModified()));
connect(_exportCloudsDialog, SIGNAL(configChanged()), this, SLOT(configGUIModified()));
connect(_exportScansDialog, SIGNAL(configChanged()), this, SLOT(configGUIModified()));
connect(_postProcessingDialog, SIGNAL(configChanged()), this, SLOT(configGUIModified()));
connect(_depthCalibrationDialog, SIGNAL(configChanged()), this, SLOT(configGUIModified()));
connect(_ui->toolBar->toggleViewAction(), SIGNAL(toggled(bool)), this, SLOT(configGUIModified()));
@@ -528,7 +520,6 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
//dialog states
_preferencesDialog->loadWidgetState(_exportCloudsDialog);
_preferencesDialog->loadWidgetState(_exportScansDialog);
_preferencesDialog->loadWidgetState(_postProcessingDialog);
_preferencesDialog->loadWidgetState(_depthCalibrationDialog);
@@ -2494,9 +2485,7 @@ void MainWindow::updateMapCloud(
{
_ui->actionSave_point_cloud->setEnabled(!_cachedSignatures.empty() || !_cachedClouds.empty());
_ui->actionView_high_res_point_cloud->setEnabled(!_cachedSignatures.empty() || !_cachedClouds.empty());
_ui->actionExport_2D_scans_ply_pcd->setEnabled(!_createdScans.empty());
_ui->actionExport_2D_Grid_map_bmp_png->setEnabled(!_occupancyGrid->addedNodes().empty());
_ui->actionView_scans->setEnabled(!_createdScans.empty());
#ifdef RTABMAP_OCTOMAP
_ui->actionExport_octomap->setEnabled(_octomap->octree()->size());
#else
@@ -2990,7 +2979,14 @@ void MainWindow::createAndAddScanToMap(int nodeId, const Transform & pose, int m
if(filtered)
{
//reconvert the voxelized cloud
scan = util3d::laserScanFromPointCloud(*cloud);
if(scan.channels() == 2)
{
scan = util3d::laserScan2dFromPointCloud(*cloud);
}
else
{
scan = util3d::laserScanFromPointCloud(*cloud);
}
}
else
{
@@ -4106,7 +4102,6 @@ void MainWindow::saveConfigGUI()
_preferencesDialog->saveWidgetState(_ui->imageView_loopClosure);
_preferencesDialog->saveWidgetState(_ui->imageView_odometry);
_preferencesDialog->saveWidgetState(_exportCloudsDialog);
_preferencesDialog->saveWidgetState(_exportScansDialog);
_preferencesDialog->saveWidgetState(_postProcessingDialog);
_preferencesDialog->saveWidgetState(_depthCalibrationDialog);
_preferencesDialog->saveWidgetState(_ui->graphicsView_graphView);
@@ -5800,13 +5795,11 @@ void MainWindow::clearTheCache()
_ui->statsToolBox->clear();
//disable save cloud action
_ui->actionExport_2D_Grid_map_bmp_png->setEnabled(false);
_ui->actionExport_2D_scans_ply_pcd->setEnabled(false);
_ui->actionPost_processing->setEnabled(false);
_ui->actionSave_point_cloud->setEnabled(false);
_ui->actionExport_cameras_in_Bundle_format_out->setEnabled(false);
_ui->actionDepth_Calibration->setEnabled(false);
_ui->actionExport_images_RGB_jpg_Depth_png->setEnabled(false);
_ui->actionView_scans->setEnabled(false);
_ui->actionExport_octomap->setEnabled(false);
_ui->actionView_high_res_point_cloud->setEnabled(false);
_likelihoodCurve->clear();
@@ -6162,37 +6155,6 @@ void MainWindow::exportGridMap()
}
}
void MainWindow::exportScans()
{
if(_exportScansDialog->isVisible())
{
return;
}
_exportScansDialog->exportScans(
_currentPosesMap,
_currentMapIds,
_cachedSignatures,
_createdScans,
_preferencesDialog->getWorkingDirectory());
}
void MainWindow::viewScans()
{
if(_exportScansDialog->isVisible())
{
return;
}
_exportScansDialog->viewScans(
_ui->widget_mapVisibility->getVisiblePoses(),
_currentMapIds,
_cachedSignatures,
_createdScans,
_preferencesDialog->getWorkingDirectory());
}
void MainWindow::exportClouds()
{
if(_exportCloudsDialog->isVisible())
@@ -6225,6 +6187,7 @@ void MainWindow::exportClouds()
_currentMapIds,
_cachedSignatures,
_cachedClouds,
_createdScans,
_preferencesDialog->getWorkingDirectory(),
_preferencesDialog->getAllParameters());
}
@@ -6261,6 +6224,7 @@ void MainWindow::viewClouds()
_currentMapIds,
_cachedSignatures,
_cachedClouds,
_createdScans,
_preferencesDialog->getWorkingDirectory(),
_preferencesDialog->getAllParameters());
@@ -6780,9 +6744,7 @@ void MainWindow::changeState(MainWindow::State newState)
_ui->menuExport_poses->setEnabled(!_currentPosesMap.empty());
_ui->actionSave_point_cloud->setEnabled(!_cachedSignatures.empty() || !_cachedClouds.empty());
_ui->actionView_high_res_point_cloud->setEnabled(!_cachedSignatures.empty() || !_cachedClouds.empty());
_ui->actionExport_2D_scans_ply_pcd->setEnabled(!_createdScans.empty());
_ui->actionExport_2D_Grid_map_bmp_png->setEnabled(!_occupancyGrid->addedNodes().empty());
_ui->actionView_scans->setEnabled(!_createdScans.empty());
#ifdef RTABMAP_OCTOMAP
_ui->actionExport_octomap->setEnabled(_octomap->octree()->size());
#else
@@ -6842,9 +6804,7 @@ void MainWindow::changeState(MainWindow::State newState)
_ui->menuExport_poses->setEnabled(!_currentPosesMap.empty());
_ui->actionSave_point_cloud->setEnabled(!_cachedSignatures.empty() || !_cachedClouds.empty());
_ui->actionView_high_res_point_cloud->setEnabled(!_cachedSignatures.empty() || !_cachedClouds.empty());
_ui->actionExport_2D_scans_ply_pcd->setEnabled(!_createdScans.empty());
_ui->actionExport_2D_Grid_map_bmp_png->setEnabled(!_occupancyGrid->addedNodes().empty());
_ui->actionView_scans->setEnabled(!_createdScans.empty());
#ifdef RTABMAP_OCTOMAP
_ui->actionExport_octomap->setEnabled(_octomap->octree()->size());
#else
@@ -6893,9 +6853,7 @@ void MainWindow::changeState(MainWindow::State newState)
_ui->menuExport_poses->setEnabled(false);
_ui->actionSave_point_cloud->setEnabled(false);
_ui->actionView_high_res_point_cloud->setEnabled(false);
_ui->actionExport_2D_scans_ply_pcd->setEnabled(false);
_ui->actionExport_2D_Grid_map_bmp_png->setEnabled(false);
_ui->actionView_scans->setEnabled(false);
_ui->actionExport_octomap->setEnabled(false);
_ui->actionExport_cameras_in_Bundle_format_out->setEnabled(false);
_ui->actionDepth_Calibration->setEnabled(false);
@@ -6937,9 +6895,7 @@ void MainWindow::changeState(MainWindow::State newState)
_ui->menuExport_poses->setEnabled(false);
_ui->actionSave_point_cloud->setEnabled(false);
_ui->actionView_high_res_point_cloud->setEnabled(false);
_ui->actionExport_2D_scans_ply_pcd->setEnabled(false);
_ui->actionExport_2D_Grid_map_bmp_png->setEnabled(false);
_ui->actionView_scans->setEnabled(false);
_ui->actionExport_octomap->setEnabled(false);
_ui->actionExport_cameras_in_Bundle_format_out->setEnabled(false);
_ui->actionDepth_Calibration->setEnabled(false);
@@ -6968,9 +6924,7 @@ void MainWindow::changeState(MainWindow::State newState)
_ui->menuExport_poses->setEnabled(!_currentPosesMap.empty());
_ui->actionSave_point_cloud->setEnabled(!_cachedSignatures.empty() || !_cachedClouds.empty());
_ui->actionView_high_res_point_cloud->setEnabled(!_cachedSignatures.empty() || !_cachedClouds.empty());
_ui->actionExport_2D_scans_ply_pcd->setEnabled(!_createdScans.empty());
_ui->actionExport_2D_Grid_map_bmp_png->setEnabled(!_occupancyGrid->addedNodes().empty());
_ui->actionView_scans->setEnabled(!_createdScans.empty());
#ifdef RTABMAP_OCTOMAP
_ui->actionExport_octomap->setEnabled(_octomap->octree()->size());
#else
@@ -7003,9 +6957,7 @@ void MainWindow::changeState(MainWindow::State newState)
_ui->menuExport_poses->setEnabled(false);
_ui->actionSave_point_cloud->setEnabled(false);
_ui->actionView_high_res_point_cloud->setEnabled(false);
_ui->actionExport_2D_scans_ply_pcd->setEnabled(false);
_ui->actionExport_2D_Grid_map_bmp_png->setEnabled(false);
_ui->actionView_scans->setEnabled(false);
_ui->actionExport_octomap->setEnabled(false);
_ui->actionExport_cameras_in_Bundle_format_out->setEnabled(false);
_ui->actionDepth_Calibration->setEnabled(false);
@@ -7035,9 +6987,7 @@ void MainWindow::changeState(MainWindow::State newState)
_ui->menuExport_poses->setEnabled(!_currentPosesMap.empty());
_ui->actionSave_point_cloud->setEnabled(!_cachedSignatures.empty() || !_cachedClouds.empty());
_ui->actionView_high_res_point_cloud->setEnabled(!_cachedSignatures.empty() || !_cachedClouds.empty());
_ui->actionExport_2D_scans_ply_pcd->setEnabled(!_createdScans.empty());
_ui->actionExport_2D_Grid_map_bmp_png->setEnabled(!_occupancyGrid->addedNodes().empty());
_ui->actionView_scans->setEnabled(!_createdScans.empty());
#ifdef RTABMAP_OCTOMAP
_ui->actionExport_octomap->setEnabled(_octomap->octree()->size());
#else