CloudViewer: fixed save/load background color

examples/RGBDMapping/MapBuilder.h

@@ -91,7 +91,7 @@ private slots:
 		}
 		else
 		{
-			cloudViewer_->setBackgroundColor(Qt::black);
+			cloudViewer_->setBackgroundColor(cloudViewer_->getDefaultBackgroundColor());
 		}
 		if(!pose.isNull())
 		{

guilib/include/rtabmap/gui/CloudViewer.h

@@ -156,6 +156,7 @@ public:
 	bool getCloudVisibility(const std::string & id);
 
 	const QMap<std::string, Transform> & getAddedClouds() const {return _addedClouds;} //including meshes
+	const QColor & getDefaultBackgroundColor() const;
 	const QColor & getBackgroundColor() const;
 	Transform getTargetPose() const;
 	void getCameraPosition(
@@ -184,6 +185,7 @@ public:
 	void setWorkingDirectory(const QString & path) {_workingDirectory = path;}
 
 public slots:
+	void setDefaultBackgroundColor(const QColor & color);
 	void setBackgroundColor(const QColor & color);
 	void setCloudVisibility(const std::string & id, bool isVisible);
 	void setCloudOpacity(const std::string & id, double opacity = 1.0);
@@ -232,7 +234,8 @@ private:
     std::list<std::string> _gridLines;
     QSet<Qt::Key> _keysPressed;
     QString _workingDirectory;
-    QColor _backgroundColor;
+    QColor _defaultBgColor;
+    QColor _currentBgColor;
 };
 
 } /* namespace rtabmap */

guilib/src/CloudViewer.cpp

@@ -76,7 +76,8 @@ CloudViewer::CloudViewer(QWidget *parent) :
 		_gridCellCount(50),
 		_gridCellSize(1),
 		_workingDirectory("."),
-		_backgroundColor(Qt::black)
+		_defaultBgColor(Qt::black),
+		_currentBgColor(Qt::black)
 {
 	this->setMinimumSize(200, 200);
 
@@ -202,7 +203,7 @@ void CloudViewer::saveSettings(QSettings & settings, const QString & group) cons
 	settings.setValue("camera_free", this->isCameraFree());
 	settings.setValue("camera_lockZ", this->isCameraLockZ());
 
-	settings.setValue("bg_color", this->getBackgroundColor());
+	settings.setValue("bg_color", this->getDefaultBackgroundColor());
 	if(!group.isEmpty())
 	{
 		settings.endGroup();
@@ -239,7 +240,7 @@ void CloudViewer::loadSettings(QSettings & settings, const QString & group)
 	}
 	this->setCameraLockZ(settings.value("camera_lockZ", this->isCameraLockZ()).toBool());
 
-	this->setBackgroundColor(settings.value("bg_color", this->getBackgroundColor()).value<QColor>());
+	this->setDefaultBackgroundColor(settings.value("bg_color", this->getDefaultBackgroundColor()).value<QColor>());
 	if(!group.isEmpty())
 	{
 		settings.endGroup();
@@ -776,14 +777,28 @@ void CloudViewer::updateCameraTargetPosition(const Transform & pose)
 	_lastPose = pose;
 }
 
+const QColor & CloudViewer::getDefaultBackgroundColor() const
+{
+	return _defaultBgColor;
+}
+
+void CloudViewer::setDefaultBackgroundColor(const QColor & color)
+{
+	if(_currentBgColor == _defaultBgColor)
+	{
+		setBackgroundColor(color);
+	}
+	_defaultBgColor = color;
+}
+
 const QColor & CloudViewer::getBackgroundColor() const
 {
-	return _backgroundColor;
+	return _currentBgColor;
 }
 
 void CloudViewer::setBackgroundColor(const QColor & color)
 {
-	_backgroundColor = color;
+	_currentBgColor = color;
 	_visualizer->setBackgroundColor(color.redF(), color.greenF(), color.blueF());
 }
 
@@ -1237,9 +1252,12 @@ void CloudViewer::handleAction(QAction * a)
 	}
 	else if(a == _aSetBackgroundColor)
 	{
-		QColor color = this->getBackgroundColor();
+		QColor color = this->getDefaultBackgroundColor();
 		color = QColorDialog::getColor(color, this);
-		this->setBackgroundColor(color);
+		if(color.isValid())
+		{
+			this->setDefaultBackgroundColor(color);
+		}
 	}
 	else if(a == _aLockViewZ)
 	{

guilib/src/MainWindow.cpp

@@ -687,7 +687,7 @@ void MainWindow::processOdometry(const rtabmap::SensorData & data, const rtabmap
 	{
 		UDEBUG("odom ok");
 		lostStateChanged = _ui->widget_cloudViewer->getBackgroundColor() == Qt::darkRed;
-		_ui->widget_cloudViewer->setBackgroundColor(Qt::black);
+		_ui->widget_cloudViewer->setBackgroundColor(_ui->widget_cloudViewer->getDefaultBackgroundColor());
 		_ui->imageView_odometry->setBackgroundBrush(QBrush(Qt::black));
 	}
 	if(info.inliers >= 0)
@@ -3713,7 +3713,7 @@ void MainWindow::clearTheCache()
 	_projectionLocalMaps.clear();
 	_ui->widget_cloudViewer->removeAllClouds();
 	_ui->widget_cloudViewer->removeAllGraphs();
-	_ui->widget_cloudViewer->setBackgroundColor(Qt::black);
+	_ui->widget_cloudViewer->setBackgroundColor(_ui->widget_cloudViewer->getDefaultBackgroundColor());
 	_ui->widget_cloudViewer->clearTrajectory();
 	_ui->widget_mapVisibility->clear();
 	_currentPosesMap.clear();

guilib/src/OdometryViewer.cpp

@@ -155,7 +155,7 @@ void OdometryViewer::processData()
 			}
 			else
 			{
-				this->setBackgroundColor(Qt::black);
+				this->setBackgroundColor(this->getDefaultBackgroundColor());
 			}
 		}
 		else