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Fixed GUI crash when using rectified RGB only (with odometry). Fixed empty local map when loading a fixed local map for OdometryF2M.

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This commit is contained in:
matlabbe
2016-11-25 19:52:34 -05:00
parent da1cac1e55
commit 693f623e5e
6 changed files with 23 additions and 66 deletions
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2
guilib/src/ImageView.cpp
View File

@@ -775,6 +775,8 @@ void ImageView::setImageDepth(const QImage & imageDepth)
{
_imageDepth = QPixmap::fromImage(imageDepth);
UASSERT(_imageDepth.width() && _imageDepth.height());
if( _image.width() > 0 &&
_image.width() > _imageDepth.width() &&
_image.height() > _imageDepth.height() &&

2
guilib/src/MainWindow.cpp
View File

@@ -1245,7 +1245,7 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
}
_ui->imageView_odometry->setImage(uCvMat2QImage(odom.data().imageRaw()));
if(_ui->imageView_odometry->isImageDepthShown())
if(_ui->imageView_odometry->isImageDepthShown() && !odom.data().depthOrRightRaw().empty())
{
_ui->imageView_odometry->setImageDepth(uCvMat2QImage(odom.data().depthOrRightRaw()));
}

59
guilib/src/PreferencesDialog.cpp
View File

@@ -2189,65 +2189,8 @@ void PreferencesDialog::writeCoreSettings(const QString & filePath) const
{
path = filePath;
}
QSettings settings(path, QSettings::IniFormat);
settings.beginGroup("Core");
settings.remove("");
// save current RTAB-Map version
settings.setValue("Version", QString(RTABMAP_VERSION));
const rtabmap::ParametersMap & parameters = Parameters::getDefaultParameters();
for(rtabmap::ParametersMap::const_iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
{
QObject * obj = _ui->stackedWidget->findChild<QObject*>((*iter).first.c_str());
if(obj)
{
QSpinBox * spin = qobject_cast<QSpinBox *>(obj);
QDoubleSpinBox * doubleSpin = qobject_cast<QDoubleSpinBox *>(obj);
QComboBox * combo = qobject_cast<QComboBox *>(obj);
QCheckBox * check = qobject_cast<QCheckBox *>(obj);
QRadioButton * radio = qobject_cast<QRadioButton *>(obj);
QLineEdit * lineEdit = qobject_cast<QLineEdit *>(obj);
QGroupBox * groupBox = qobject_cast<QGroupBox *>(obj);
if(spin)
{
settings.setValue(obj->objectName(), spin->value());
}
else if(doubleSpin)
{
settings.setValue(obj->objectName(), doubleSpin->value());
}
else if(combo)
{
settings.setValue(obj->objectName(), combo->currentIndex());
}
else if(check)
{
settings.setValue(obj->objectName(), uBool2Str(check->isChecked()).c_str());
}
else if(radio)
{
settings.setValue(obj->objectName(), uBool2Str(radio->isChecked()).c_str());
}
else if(lineEdit)
{
settings.setValue(obj->objectName(), lineEdit->text());
}
else if(groupBox)
{
settings.setValue(obj->objectName(), uBool2Str(groupBox->isChecked()).c_str());
}
else
{
ULOGGER_WARN("QObject called %s can't be cast to a supported widget", (*iter).first.c_str());
}
}
else
{
ULOGGER_WARN("Can't find the related QObject for parameter %s", (*iter).first.c_str());
}
}
settings.endGroup(); // Core
Parameters::writeINI(path.toStdString(), this->getAllParameters());
}
bool PreferencesDialog::validateForm()