Added dialogs when starting/stopping sensors/detection. Fixed nullptr bug on MainWindow::handleEvents

app/src/main.cpp

@@ -52,6 +52,10 @@ int main(int argc, char* argv[])
 	ULogger::setLevel(ULogger::kWarning);
 
 #ifdef WIN32
+	// STA (single-threaded apartment) is required for the native file dialogs / File Explorer
+	// (see commit d75cc04, "Fixed File Explorer hanging (Qt 5.12)"). Do NOT switch to MTA
+	// (CoInitializeEx COINIT_MULTITHREADED): it deadlocks the
+	// native file dialogs.
 	CoInitialize(nullptr);
 #endif
 

guilib/src/MainWindow.cpp

@@ -78,6 +78,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <QtCore/QFileInfo>
 #include <QMessageBox>
 #include <QFileDialog>
+#include <QProgressDialog>
 #include <QGraphicsEllipseItem>
 #include <QDockWidget>
 #include <QtCore/QBuffer>
@@ -958,7 +959,7 @@ bool MainWindow::handleEvent(UEvent* anEvent)
 		else
 		{
 			Q_EMIT cameraInfoReceived(sensorEvent->info());
-			if (_odomThread == 0 && (_sensorCapture->odomProvided()) && _preferencesDialog->isRGBDMode())
+			if (_odomThread == 0 && _sensorCapture && _sensorCapture->odomProvided() && _preferencesDialog->isRGBDMode())
 			{
 				OdometryInfo odomInfo;
 				odomInfo.reg.covariance = sensorEvent->info().odomCovariance;
@@ -5932,6 +5933,18 @@ void MainWindow::startDetection()
 	Camera * camera = 0;
 	Lidar * lidar = 0;
 
+	// Creating the sensors below opens the devices (createLidar/createCamera/createOdomSensor ->
+	// init(), a few seconds for ZED/RealSense) on the GUI thread; show a busy dialog (min==max==0
+	// => indeterminate) so the window isn't just frozen. Hidden once all sensors are created below.
+	QProgressDialog progress(tr("Starting detection..."), QString(), 0, 0, this);
+	progress.setWindowModality(Qt::ApplicationModal);
+	progress.setCancelButton(0);
+	progress.setMinimumDuration(0);
+	progress.setValue(0);
+	progress.show();
+	QApplication::processEvents();
+	QApplication::processEvents(); // make sure it is drawn
+
 	if(_preferencesDialog->getLidarSourceDriver() != PreferencesDialog::kSrcUndef)
 	{
 		lidar = _preferencesDialog->createLidar();
@@ -5989,6 +6002,8 @@ void MainWindow::startDetection()
 		}
 	}
 
+	progress.hide(); // all sensors created/opened
+
 	_sensorCapture = new SensorCaptureThread(lidar, camera, odomSensor, extrinsics, poseTimeOffset, scaleFactor, waitTime, parameters);
 
 	_sensorCapture->setOdomAsGroundTruth(_preferencesDialog->isOdomSensorAsGt());
@@ -6229,6 +6244,24 @@ void MainWindow::stopDetection()
 	}
 
 	ULOGGER_DEBUG("");
+
+	// Closing the camera runs on the GUI thread in "delete _sensorCapture" below (via
+	// ~SensorCaptureThread -> ~Camera::close()) and can block for a while - e.g. the first 2-3
+	// RealSense closes per launch stall ~20s in the Motion Module stop() (librealsense warm-up).
+	// Show a busy dialog (min==max==0 => indeterminate) so the window isn't just frozen. It is
+	// declared here so it stays visible across the joins/deletes and closes on scope exit.
+	QProgressDialog progress(tr("Stopping detection..."), QString(), 0, 0, this);
+	if(_sensorCapture)
+	{
+		progress.setWindowModality(Qt::ApplicationModal);
+		progress.setCancelButton(0);
+		progress.setMinimumDuration(0);
+		progress.setValue(0);
+		progress.show();
+		QApplication::processEvents();
+		QApplication::processEvents(); // make sure it is drawn
+	}
+
 	// kill the processes
 	if(_imuThread)
 	{

guilib/src/PreferencesDialog.cpp

@@ -49,6 +49,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <QtGui/QStandardItemModel>
 #include <QMainWindow>
 #include <QProgressDialog>
+#include <QApplication>
+#include <functional>
 #include <QScrollBar>
 #include <QStatusBar>
 #include <QFormLayout>
@@ -7745,7 +7747,20 @@ void PreferencesDialog::setSLAMMode(bool enabled)
 
 void PreferencesDialog::testOdometry()
 {
+	// One progress dialog, reused for both the (slow) camera init and the (slow) close.
+	// Declared here so it outlives cameraThread below and stays visible while cameraThread's
+	// destructor closes the device at function scope end.
+	QProgressDialog progress(tr("Starting camera..."), QString(), 0, 0, this);
+	progress.setWindowModality(Qt::ApplicationModal);
+	progress.setCancelButton(0);
+	progress.setMinimumDuration(0);
+	progress.setValue(0);
+	progress.show();
+	QApplication::processEvents();
+	QApplication::processEvents(); // make sure it is drawn
+
 	Camera * camera = this->createCamera();
+	progress.hide();
 	if(!camera)
 	{
 		return;
@@ -7861,6 +7876,7 @@ void PreferencesDialog::testOdometry()
 	}
 
 	odomViewer->exec();
+	UDEBUG("Dialog closed, stopping sensor...");
 
 	// Tear down the pipes first so no more events are routed to the threads/viewer being
 	// destroyed, then stop the threads, then delete the viewer. This avoids delivering
@@ -7877,6 +7893,14 @@ void PreferencesDialog::testOdometry()
 	{
 		imuThread->join(true);
 	}
+
+	// Reuse the same dialog for the close. The device close() runs in cameraThread's destructor
+	// at function scope end (not in join()), so 'progress' stays visible across it. On Windows
+	// the first 2-3 RealSense closes per launch stall ~20s in the Motion Module stop().
+	progress.setLabelText(tr("Closing camera..."));
+	progress.show();
+	QApplication::processEvents();
+	QApplication::processEvents(); // make sure it is drawn
 	cameraThread.join(true);
 	odomThread.join(true);
 
@@ -7900,7 +7924,21 @@ void PreferencesDialog::testCamera()
 	window->resize(1280, 480+QPushButton().minimumHeight());
 	window->registerToEventsManager();
 
+	// One progress dialog, reused for both the (slow) camera init and the (slow) close.
+	// min==max==0 => indeterminate/busy bar. Declared in this outer scope so it outlives
+	// cameraThread below and stays visible while cameraThread's destructor closes the device.
+	QProgressDialog progress(tr("Starting camera..."), QString(), 0, 0, this);
+	progress.setWindowModality(Qt::ApplicationModal);
+	progress.setCancelButton(0);
+	progress.setMinimumDuration(0);
+	progress.setValue(0);
+	progress.show();
+	QApplication::processEvents();
+	QApplication::processEvents(); // make sure it is drawn
+
+	// createCamera() init()s the device on the GUI thread (required by ZED) and takes a few seconds.
 	Camera * camera = this->createCamera();
+	progress.hide();
 	if(camera)
 	{
 		SensorCaptureThread cameraThread(camera, this->getAllParameters());
@@ -7945,8 +7983,18 @@ void PreferencesDialog::testCamera()
 
 		cameraThread.start();
 		window->exec();
+		UDEBUG("Dialog closed, stopping sensor...");
 		UEventsManager::removePipe(&cameraThread, window, "SensorEvent");
-		cameraThread.join(true);
+
+		// Reuse the same dialog for the close. The device close() runs in cameraThread's
+		// destructor at scope end (not in join()), so 'progress' - declared in the outer scope -
+		// stays visible across it. On Windows the first 2-3 RealSense closes per launch stall
+		// ~20s in the Motion Module stop() (librealsense warm-up); this keeps the user informed.
+		progress.setLabelText(tr("Closing camera..."));
+		progress.show();
+		QApplication::processEvents();
+		QApplication::processEvents(); // make sure it is drawn
+		cameraThread.join(true); // cameraThread's destructor (scope end) closes the device
 		// deleteLater() (not delete): defer destruction to the event loop so Qt finishes
 		// tearing down the OpenGL widget's context and window-proc subclass and drains
 		// pending activation messages first.
@@ -8428,7 +8476,20 @@ void PreferencesDialog::testLidar()
 	window->registerToEventsManager();
 	window->setDecimation(1);
 
+	// One progress dialog, reused for both the (slow) sensor init and the (slow) close.
+	// Declared in this outer scope so it outlives lidarThread below and stays visible while
+	// lidarThread's destructor closes the device.
+	QProgressDialog progress(tr("Starting sensor..."), QString(), 0, 0, this);
+	progress.setWindowModality(Qt::ApplicationModal);
+	progress.setCancelButton(0);
+	progress.setMinimumDuration(0);
+	progress.setValue(0);
+	progress.show();
+	QApplication::processEvents();
+	QApplication::processEvents(); // make sure it is drawn
+
 	Lidar * lidar = this->createLidar();
+	progress.hide();
 	if(lidar)
 	{
 		SensorCaptureThread lidarThread(lidar, this->getAllParameters());
@@ -8447,8 +8508,17 @@ void PreferencesDialog::testLidar()
 
 		lidarThread.start();
 		window->exec();
+		UDEBUG("Dialog closed, stopping sensor...");
 		UEventsManager::removePipe(&lidarThread, window, "SensorEvent");
-		lidarThread.join(true);
+
+		// Reuse the same dialog for the close. The device close() runs in lidarThread's
+		// destructor at scope end (not in join()), so 'progress' - declared in the outer
+		// scope - stays visible across it.
+		progress.setLabelText(tr("Closing sensor..."));
+		progress.show();
+		QApplication::processEvents();
+		QApplication::processEvents(); // make sure it is drawn
+		lidarThread.join(true); // lidarThread's destructor (scope end) closes the device
 		// deleteLater() (not delete): see testCamera() - avoids a dangling OpenGL platform
 		// window that crashes in QWindowsWindow::alertWindow when Preferences later closes.
 		window->deleteLater();

tools/CameraRGBD/main.cpp

@@ -97,7 +97,7 @@ void sighandler(int sig)
 int main(int argc, char * argv[])
 {
 	ULogger::setType(ULogger::kTypeConsole);
-	ULogger::setLevel(ULogger::kInfo);
+	ULogger::setLevel(ULogger::kDebug);
 	//ULogger::setPrintTime(false);
 	//ULogger::setPrintWhere(false);
 
@@ -272,7 +272,7 @@ int main(int argc, char * argv[])
 			UERROR("Not built with ZED sdk support...");
 			exit(-1);
 		}
-		camera = new rtabmap::CameraStereoZed(deviceId.empty()?0:uStr2Int(deviceId), -1, 1, 100, false, rate);
+		camera = new rtabmap::CameraStereoZed(deviceId.empty()?0:uStr2Int(deviceId), -1, 1, 0, 100, false, rate);
 	}
 	else if (driver == 9)
 	{
@@ -523,5 +523,6 @@ int main(int argc, char * argv[])
 		cameraViewer.exec();
 		cameraThread.join(true);
 	}
+	printf("Exiting cleanly.\n");
 	return 0;
 }

tools/OdometryViewer/main.cpp

@@ -404,13 +404,16 @@ int main (int argc, char * argv[])
 		{
 			printf("The camera is not calibrated! You should calibrate the camera first.\n");
 			delete camera;
+			return 1;
 		}
 	}
 	else
 	{
 		printf("Failed to initialize the camera! Please select another driver (see \"--help\").\n");
 		delete camera;
+		return 1;
 	}
 
+	printf("Exiting cleanly.\n");
 	return 0;
 }