i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 09:30:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fixed "Export octomap..." not enabled on first load of the OctoMap

Browse Source
This commit is contained in:
matlabbe
2017-03-08 08:33:43 -05:00
parent 1b14263bb8
commit 719416741f
1 changed files with 47 additions and 46 deletions
Download Patch File Download Diff File Expand all files Collapse all files

93
guilib/src/MainWindow.cpp
View File

@@ -2109,21 +2109,6 @@ void MainWindow::updateMapCloud(
++i;
}
// activate actions
if(_state != kMonitoring && _state != kDetecting)
{
_ui->actionSave_point_cloud->setEnabled(!_cachedSignatures.empty() || !_cachedClouds.empty());
_ui->actionView_high_res_point_cloud->setEnabled(!_cachedSignatures.empty() || !_cachedClouds.empty());
_ui->actionExport_2D_scans_ply_pcd->setEnabled(!_createdScans.empty());
_ui->actionExport_2D_Grid_map_bmp_png->setEnabled(!_gridLocalMaps.empty());
_ui->actionView_scans->setEnabled(!_createdScans.empty());
#ifdef RTABMAP_OCTOMAP
_ui->actionExport_octomap->setEnabled(_octomap->octree()->size());
#else
_ui->actionExport_octomap->setEnabled(false);
#endif
}
//remove not used clouds
for(QMap<std::string, Transform>::iterator iter = viewerClouds.begin(); iter!=viewerClouds.end(); ++iter)
{
@@ -2283,6 +2268,38 @@ void MainWindow::updateMapCloud(
UDEBUG("");
#ifdef RTABMAP_OCTOMAP
_cloudViewer->removeOctomap();
_cloudViewer->removeCloud("octomap_cloud");
if(_preferencesDialog->isOctomapUpdated())
{
UDEBUG("");
UTimer time;
_octomap->update(poses);
UINFO("Octomap update time = %fs", time.ticks());
}
if(_preferencesDialog->isOctomapShown())
{
UDEBUG("");
UTimer time;
if(_preferencesDialog->isOctomapCubeRendering())
{
_cloudViewer->addOctomap(_octomap, _preferencesDialog->getOctomapTreeDepth());
}
else
{
pcl::IndicesPtr obstacles(new std::vector<int>);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = _octomap->createCloud(_preferencesDialog->getOctomapTreeDepth(), obstacles.get());
if(obstacles->size())
{
_cloudViewer->addCloud("octomap_cloud", cloud);
}
}
UINFO("Octomap show 3d map time = %fs", time.ticks());
}
UDEBUG("");
#endif
// Update occupancy grid map in 3D map view and graph view
if(_ui->graphicsView_graphView->isVisible())
{
@@ -2348,37 +2365,6 @@ void MainWindow::updateMapCloud(
_cloudViewer->removeOccupancyGridMap();
}
#ifdef RTABMAP_OCTOMAP
_cloudViewer->removeOctomap();
_cloudViewer->removeCloud("octomap_cloud");
if(_preferencesDialog->isOctomapUpdated())
{
UDEBUG("");
UTimer time;
_octomap->update(poses);
UINFO("Octomap update time = %fs", time.ticks());
}
if(_preferencesDialog->isOctomapShown())
{
UDEBUG("");
UTimer time;
if(_preferencesDialog->isOctomapCubeRendering())
{
_cloudViewer->addOctomap(_octomap, _preferencesDialog->getOctomapTreeDepth());
}
else
{
pcl::IndicesPtr obstacles(new std::vector<int>);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = _octomap->createCloud(_preferencesDialog->getOctomapTreeDepth(), obstacles.get());
if(obstacles->size())
{
_cloudViewer->addCloud("octomap_cloud", cloud);
}
}
UINFO("Octomap show 3d map time = %fs", time.ticks());
}
#endif
if(viewerClouds.contains("cloudOdom"))
{
if(!_preferencesDialog->isCloudsShown(1))
@@ -2439,6 +2425,21 @@ void MainWindow::updateMapCloud(
}
}
// activate actions
if(_state != kMonitoring && _state != kDetecting)
{
_ui->actionSave_point_cloud->setEnabled(!_cachedSignatures.empty() || !_cachedClouds.empty());
_ui->actionView_high_res_point_cloud->setEnabled(!_cachedSignatures.empty() || !_cachedClouds.empty());
_ui->actionExport_2D_scans_ply_pcd->setEnabled(!_createdScans.empty());
_ui->actionExport_2D_Grid_map_bmp_png->setEnabled(!_gridLocalMaps.empty());
_ui->actionView_scans->setEnabled(!_createdScans.empty());
#ifdef RTABMAP_OCTOMAP
_ui->actionExport_octomap->setEnabled(_octomap->octree()->size());
#else
_ui->actionExport_octomap->setEnabled(false);
#endif
}
UDEBUG("");
_cloudViewer->update();
UDEBUG("");