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Cleanup gui

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Fixed crash when a new location (B merged with previous location A through rehearsal) and then loop on a location already merged with the location A (which is not anymore in WM)
Updated rejected hypothesis tag

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@299 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2011-07-23 03:55:05 +00:00
parent 9fe16dd504
commit 649153e1df
9 changed files with 156 additions and 201 deletions
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71
guilib/src/MainWindow.cpp
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@@ -50,6 +50,7 @@
#include <QtCore/QStringList>
#include <QtCore/QProcess>
#include <QtGui/QSplashScreen>
#include <QtGui/QInputDialog>
#define LOG_FILE_NAME "LogRtabmap.txt"
#define SHARE_SHOW_LOG_FILE "share/rtabmap/showlogs.m"
@@ -75,7 +76,8 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_oneSecondTimer(0),
_elapsedTime(0),
_posteriorCurve(0),
_likelihoodCurve(0)
_likelihoodCurve(0),
_autoScreenCaptureFormat("png")
{
ULOGGER_DEBUG("");
@@ -166,6 +168,8 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_ui->menuShow_view->addAction(_ui->dockWidget_likelihood->toggleViewAction());
_ui->menuShow_view->addAction(_ui->dockWidget_statsV2->toggleViewAction());
_ui->menuShow_view->addAction(_ui->dockWidget_console->toggleViewAction());
_ui->menuShow_view->addAction(_ui->toolBar->toggleViewAction());
_ui->toolBar->setWindowTitle(tr("Control toolbar"));
QAction * a = _ui->menuShow_view->addAction("Status");
a->setCheckable(false);
connect(a, SIGNAL(triggered(bool)), _initProgressDialog, SLOT(show()));
@@ -183,6 +187,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
connect(_ui->actionGenerate_map, SIGNAL(triggered()), this , SLOT(generateMap()));
connect(_ui->actionDelete_memory, SIGNAL(triggered()), this , SLOT(deleteMemory()));
connect(_ui->menuEdit, SIGNAL(aboutToShow()), this, SLOT(updateEditMenu()));
connect(_ui->actionAuto_screen_capture, SIGNAL(triggered(bool)), this, SLOT(selectScreenCaptureFormat(bool)));
#if defined(Q_WS_MAC) or defined(Q_WS_WIN)
connect(_ui->actionOpen_working_directory, SIGNAL(triggered()), SLOT(openWorkingDirectory()));
@@ -219,10 +224,6 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
connect(_ui->doubleSpinBox_stats_timeLimit, SIGNAL(editingFinished()), this, SLOT(changeTimeLimitSetting()));
connect(this, SIGNAL(imgRateChanged(double)), _preferencesDialog, SLOT(setImgRate(double)));
connect(this, SIGNAL(timeLimitChanged(double)), _preferencesDialog, SLOT(setTimeLimit(double)));
connect(_ui->checkBox_showFeatures, SIGNAL(toggled(bool)), this, SLOT(updateItemsShown()));
connect(_ui->checkBox_showFeaturesLoop, SIGNAL(toggled(bool)), this, SLOT(updateItemsShown()));
connect(_ui->checkBox_showImage, SIGNAL(toggled(bool)), this, SLOT(updateItemsShown()));
connect(_ui->checkBox_showImageLoop, SIGNAL(toggled(bool)), this, SLOT(updateItemsShown()));
// Statistics from the detector
qRegisterMetaType<rtabmap::Statistics>("rtabmap::Statistics");
@@ -410,7 +411,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
}
QRectF sceneRect = img.rect();
refPixmap = QPixmap::fromImage(img);
_ui->imageView_source->scene()->addPixmap(refPixmap)->setVisible(this->_ui->checkBox_showImage->isChecked());
_ui->imageView_source->scene()->addPixmap(refPixmap)->setVisible(this->_ui->imageView_source->isImageShown());
_ui->imageView_source->setSceneRect(sceneRect);
_ui->imageView_loopClosure->setSceneRect(sceneRect);
}
@@ -439,6 +440,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
}
ULOGGER_DEBUG("");
int rejectedHyp = bool(uValue(stat.data(), Statistics::kLoopRejectedHypothesis(), 0.0f));
float highestHypothesisValue = uValue(stat.data(), Statistics::kLoopHighest_hypothesis_value(), 0.0f);
if(highestHypothesisId > 0)
{
bool show = true;
@@ -452,7 +454,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
}
_ui->label_matchId->setText(QString("Match ID = %1").arg(stat.loopClosureId()));
}
else if(rejectedHyp)
else if(rejectedHyp && highestHypothesisValue >= _preferencesDialog->getLoopThr())
{
show = _preferencesDialog->imageRejectedShown() || _preferencesDialog->imageHighestHypShown();;
if(show)
@@ -493,7 +495,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
if(!lcImg.isNull())
{
_ui->imageView_loopClosure->scene()->addPixmap(QPixmap::fromImage(lcImg))->setVisible(this->_ui->checkBox_showImageLoop->isChecked());
_ui->imageView_loopClosure->scene()->addPixmap(QPixmap::fromImage(lcImg))->setVisible(this->_ui->imageView_loopClosure->isImageShown());
}
if(highestHypothesisIsSaved)
{
@@ -744,7 +746,7 @@ void MainWindow::drawKeypoints(const std::multimap<int, cv::KeyPoint> & refWords
// GREEN = NEW
item = new KeypointItem(r.pt.x-radius, r.pt.y-radius, radius*2, info, QColor(0, 255, 0, alpha));
}
item->setVisible(this->_ui->checkBox_showFeatures->isChecked());
item->setVisible(this->_ui->imageView_source->isFeaturesShown());
this->_ui->imageView_source->scene()->addItem(item);
item->setZValue(1);
}
@@ -786,7 +788,7 @@ void MainWindow::drawKeypoints(const std::multimap<int, cv::KeyPoint> & refWords
// GREEN = NEW
item = new KeypointItem(r.pt.x-radius, r.pt.y-radius, radius*2, info, QColor(0, 255, 0, alpha));
}
item->setVisible(this->_ui->checkBox_showFeaturesLoop->isChecked());
item->setVisible(this->_ui->imageView_loopClosure->isFeaturesShown());
this->_ui->imageView_loopClosure->scene()->addItem(item);
item->setZValue(1);
}
@@ -802,35 +804,6 @@ void MainWindow::drawKeypoints(const std::multimap<int, cv::KeyPoint> & refWords
}
}
void MainWindow::updateItemsShown()
{
QList<QGraphicsItem*> items = _ui->imageView_source->scene()->items();
for(int i=0; i<items.size(); ++i)
{
if(qgraphicsitem_cast<KeypointItem*>(items.at(i)))
{
items.at(i)->setVisible(_ui->checkBox_showFeatures->isChecked());
}
else if(qgraphicsitem_cast<QGraphicsPixmapItem*>(items.at(i)))
{
items.at(i)->setVisible(_ui->checkBox_showImage->isChecked());
}
}
items = _ui->imageView_loopClosure->scene()->items();
for(int i=0; i<items.size(); ++i)
{
if(qgraphicsitem_cast<KeypointItem*>(items.at(i)))
{
items.at(i)->setVisible(_ui->checkBox_showFeaturesLoop->isChecked());
}
else if(qgraphicsitem_cast<QGraphicsPixmapItem*>(items.at(i)))
{
items.at(i)->setVisible(_ui->checkBox_showImageLoop->isChecked());
}
}
}
void MainWindow::resizeEvent(QResizeEvent* anEvent)
{
_ui->imageView_source->fitInView(_ui->imageView_source->sceneRect(), Qt::KeepAspectRatio);
@@ -888,7 +861,7 @@ void MainWindow::captureScreen()
dir.mkdir(targetDir);
}
targetDir += "/";
QString name = QDateTime::currentDateTime().toString("yyMMddhhmmsszzz") + ".png";
QString name = (QDateTime::currentDateTime().toString("yyMMddhhmmsszzz") + ".") + _autoScreenCaptureFormat;
_ui->statusbar->clearMessage();
QPixmap figure = QPixmap::grabWidget(this);
figure.save(targetDir + name);
@@ -1251,6 +1224,24 @@ void MainWindow::loadFigures()
}
void MainWindow::selectScreenCaptureFormat(bool checked)
{
if(checked)
{
QStringList items;
items << QString("png") << QString("jpg");
bool ok;
QString item = QInputDialog::getItem(this, tr("Select format"), tr("Format:"), items, 0, false, &ok);
if(ok && !item.isEmpty())
{
_autoScreenCaptureFormat = item;
}
this->captureScreen();
}
}
//END ACTIONS
// STATES
// Must be called by the GUI thread, use signal StateChanged()
void MainWindow::changeState(MainWindow::State newState)