mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 17:40:23 +08:00
Added close buttons to CameraViewer and OdometryViewer dialogs
This commit is contained in:
matlabbe
@@ -81,11 +81,10 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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_ui(0),
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_indexModel(0),
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_initialized(false),
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_cameraThread(0),
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_odomThread(0),
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_calibrationDialog(new CalibrationDialog(false, ".", this))
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{
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ULOGGER_DEBUG("");
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_calibrationDialog->setWindowFlags(Qt::Window);
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_ui = new Ui_preferencesDialog();
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_ui->setupUi(this);
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@@ -3254,25 +3253,18 @@ void PreferencesDialog::testOdometry()
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void PreferencesDialog::testOdometry(int type)
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{
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if(_cameraThread)
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{
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QMessageBox::warning(this,
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tr("RTAB-Map"),
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tr("A camera is already running!"));
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return;
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}
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UASSERT(_odomThread == 0 && _cameraThread == 0);
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CameraRGBD * camera = this->createCameraRGBD();
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if(!camera->init(this->getCameraInfoDir().toStdString()))
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if(camera == 0 || !camera->init(this->getCameraInfoDir().toStdString()))
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{
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QMessageBox::warning(this,
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tr("RTAB-Map"),
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tr("RGBD camera initialization failed!"));
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delete camera;
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camera = 0;
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if(camera)
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{
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delete camera;
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}
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return;
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}
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else if(dynamic_cast<CameraOpenNI2*>(camera) != 0)
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{
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@@ -3287,110 +3279,56 @@ void PreferencesDialog::testOdometry(int type)
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}
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camera->setMirroringEnabled(isSourceMirroring());
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if(camera)
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ParametersMap parameters = this->getAllParameters();
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Odometry * odometry;
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if(this->getOdomStrategy() == 1)
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{
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ParametersMap parameters = this->getAllParameters();
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Odometry * odometry;
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if(this->getOdomStrategy() == 1)
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{
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odometry = new OdometryOpticalFlow(parameters);
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}
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else
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{
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odometry = new OdometryBOW(parameters);
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}
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_odomThread = new OdometryThread(odometry); // take ownership of odometry
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QDialog * window = new QDialog(this);
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window->setWindowModality(Qt::WindowModal);
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window->setWindowTitle(tr("Odometry viewer"));
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window->setMinimumWidth(800);
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window->setMinimumHeight(600);
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connect( window, SIGNAL(finished(int)), this, SLOT(cleanOdometryTest()) );
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OdometryViewer * odomViewer = new OdometryViewer(10,
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_ui->spinBox_decimation_odom->value(),
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_ui->doubleSpinBox_voxelSize_odom->value(),
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this->getOdomQualityWarnThr(),
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window);
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connect( window, SIGNAL(finished(int)), odomViewer, SLOT(clear()) );
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odomViewer->setCameraFree();
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odomViewer->setGridShown(true);
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QVBoxLayout *layout = new QVBoxLayout();
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layout->addWidget(odomViewer);
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window->setLayout(layout);
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UEventsManager::addHandler(_odomThread);
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UEventsManager::addHandler(odomViewer);
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_cameraThread = new CameraThread(camera);
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UEventsManager::createPipe(_cameraThread, _odomThread, "CameraEvent");
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UEventsManager::createPipe(_odomThread, odomViewer, "OdometryEvent");
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window->showNormal();
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_ui->pushButton_testOdometry->setEnabled(false);
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QApplication::processEvents();
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uSleep(500);
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QApplication::processEvents();
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_odomThread->start();
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_cameraThread->start();
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odometry = new OdometryOpticalFlow(parameters);
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}
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}
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void PreferencesDialog::cleanOdometryTest()
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{
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UDEBUG("");
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if(_cameraThread)
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else
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{
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_cameraThread->join(true);
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delete _cameraThread;
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_cameraThread = 0;
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odometry = new OdometryBOW(parameters);
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}
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if(_odomThread)
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{
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_odomThread->join(true);
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delete _odomThread;
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_odomThread = 0;
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}
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_ui->pushButton_testOdometry->setEnabled(true);
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}
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void PreferencesDialog::cleanRGBDCameraTest()
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{
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UDEBUG("");
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if(_cameraThread)
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{
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_cameraThread->join(true);
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delete _cameraThread;
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_cameraThread = 0;
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}
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_ui->pushButton_test_rgbd_camera->setEnabled(true);
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OdometryThread odomThread(odometry); // take ownership of odometry
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odomThread.registerToEventsManager();
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OdometryViewer * odomViewer = new OdometryViewer(10,
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_ui->spinBox_decimation_odom->value(),
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_ui->doubleSpinBox_voxelSize_odom->value(),
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this->getOdomQualityWarnThr(),
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this);
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odomViewer->setWindowTitle(tr("Odometry viewer"));
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odomViewer->resize(1280, 480+QPushButton().minimumHeight());
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odomViewer->registerToEventsManager();
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CameraThread cameraThread(camera); // take ownership of camera
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UEventsManager::createPipe(&cameraThread, &odomThread, "CameraEvent");
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UEventsManager::createPipe(&odomThread, odomViewer, "OdometryEvent");
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odomThread.start();
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cameraThread.start();
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odomViewer->exec();
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delete odomViewer;
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cameraThread.join(true);
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odomThread.join(true);
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}
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void PreferencesDialog::testRGBDCamera()
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{
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if(_cameraThread)
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{
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QMessageBox::warning(this,
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tr("RTAB-Map"),
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tr("A camera is already running!"));
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}
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CameraRGBD * camera = this->createCameraRGBD();
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if(!camera->init(this->getCameraInfoDir().toStdString()))
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if(camera == 0 || !camera->init(this->getCameraInfoDir().toStdString()))
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{
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QMessageBox::warning(this,
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tr("RTAB-Map"),
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tr("RGBD camera initialization failed!"));
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delete camera;
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camera = 0;
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if(camera)
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{
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delete camera;
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}
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return;
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}
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else if(dynamic_cast<CameraOpenNI2*>(camera) != 0)
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{
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@@ -3405,41 +3343,34 @@ void PreferencesDialog::testRGBDCamera()
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}
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camera->setMirroringEnabled(isSourceMirroring());
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// Create DataRecorder without init it, just to show images...
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CameraViewer * window = new CameraViewer(this);
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window->setWindowTitle(tr("RGBD camera viewer"));
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window->resize(1280, 480+QPushButton().minimumHeight());
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window->registerToEventsManager();
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if(camera)
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{
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_ui->pushButton_test_rgbd_camera->setEnabled(false);
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CameraThread cameraThread(camera);
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UEventsManager::createPipe(&cameraThread, window, "CameraEvent");
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// Create DataRecorder without init it, just to show images...
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CameraViewer * window = new CameraViewer(this);
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window->setWindowModality(Qt::WindowModal);
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window->setAttribute(Qt::WA_DeleteOnClose);
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window->setWindowFlags(Qt::Dialog);
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window->setWindowTitle(tr("RGBD camera viewer"));
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window->setMinimumWidth(1280);
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window->setMinimumHeight(480);
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connect( window, SIGNAL(destroyed(QObject*)), this, SLOT(cleanRGBDCameraTest()) );
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window->registerToEventsManager();
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_cameraThread = new CameraThread(camera);
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UEventsManager::createPipe(_cameraThread, window, "CameraEvent");
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window->showNormal();
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_cameraThread->start();
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}
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cameraThread.start();
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window->exec();
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delete window;
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cameraThread.join(true);
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}
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void PreferencesDialog::calibrate()
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{
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CameraRGBD * camera = this->createCameraRGBD();
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if(!camera->init("")) // don't set calibration folder to use raw images
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if(camera == 0 || !camera->init("")) // don't set calibration folder to use raw images
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{
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QMessageBox::warning(this,
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tr("RTAB-Map"),
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tr("RGBD camera initialization failed!"));
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delete camera;
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camera = 0;
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if(camera)
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{
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delete camera;
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}
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return;
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}
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else if(dynamic_cast<CameraOpenNI2*>(camera) != 0)
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{
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@@ -3455,34 +3386,31 @@ void PreferencesDialog::calibrate()
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camera->setMirroringEnabled(isSourceMirroring());
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if(camera)
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if(!this->getCameraInfoDir().isEmpty())
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{
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if(!this->getCameraInfoDir().isEmpty())
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QDir dir(this->getCameraInfoDir());
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if (!dir.exists())
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{
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QDir dir(this->getCameraInfoDir());
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if (!dir.exists())
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UINFO("Creating camera_info directory: \"%s\"", this->getCameraInfoDir().toStdString().c_str());
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if(!dir.mkpath(this->getCameraInfoDir()))
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{
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UINFO("Creating camera_info directory: \"%s\"", this->getCameraInfoDir().toStdString().c_str());
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if(!dir.mkpath(this->getCameraInfoDir()))
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{
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UWARN("Could create camera_info directory: \"%s\"", this->getCameraInfoDir().toStdString().c_str());
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}
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UWARN("Could create camera_info directory: \"%s\"", this->getCameraInfoDir().toStdString().c_str());
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}
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}
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_calibrationDialog->setStereoMode(dynamic_cast<CameraStereoDC1394*>(camera)!=0);
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_calibrationDialog->setSavingDirectory(this->getCameraInfoDir());
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_calibrationDialog->registerToEventsManager();
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CameraThread cameraThread(camera);
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UEventsManager::createPipe(&cameraThread, _calibrationDialog, "CameraEvent");
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cameraThread.start();
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_calibrationDialog->exec();
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_calibrationDialog->unregisterFromEventsManager();
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cameraThread.join(true);
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}
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_calibrationDialog->setStereoMode(dynamic_cast<CameraStereoDC1394*>(camera)!=0);
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_calibrationDialog->setSavingDirectory(this->getCameraInfoDir());
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_calibrationDialog->registerToEventsManager();
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CameraThread cameraThread(camera);
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UEventsManager::createPipe(&cameraThread, _calibrationDialog, "CameraEvent");
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cameraThread.start();
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_calibrationDialog->exec();
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_calibrationDialog->unregisterFromEventsManager();
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cameraThread.join(true);
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}
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}
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