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MainWindow: don't save empty database. Odometry: return null pose when not initialized.

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This commit is contained in:
Mathieu Labbe
2014-12-03 22:27:31 -05:00
parent 9e1d38fe09
commit 821c1602bf
6 changed files with 20 additions and 11 deletions
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8
guilib/src/MainWindow.cpp
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@@ -2415,8 +2415,6 @@ void MainWindow::startDetection()
"progress will not be shown in the GUI."));
}
_emptyNewDatabase = false; // if a new database is used, it won't be empty anymore...
emit stateChanged(kDetecting);
}
@@ -3069,6 +3067,10 @@ void MainWindow::deleteMemory()
}
this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdResetMemory));
if(_state!=kDetecting)
{
_emptyNewDatabase = true;
}
this->clearTheCache();
}
@@ -4648,6 +4650,8 @@ void MainWindow::changeState(MainWindow::State newState)
_elapsedTime->start();
_oneSecondTimer->start();
_emptyNewDatabase = false; // if a new database is used, it won't be empty anymore...
if(_camera)
{
_camera->start();

2
guilib/src/PreferencesDialog.cpp
View File

@@ -847,7 +847,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->doubleSpinBox_mlsRadius->setValue(0.04);
_ui->groupBox_poseFiltering->setChecked(true);
_ui->doubleSpinBox_cloudFilterRadius->setValue(0.3);
_ui->doubleSpinBox_cloudFilterRadius->setValue(0.1);
_ui->doubleSpinBox_cloudFilterAngle->setValue(30);
_ui->checkBox_map_shown->setChecked(false);

8
guilib/src/ui/preferencesDialog.ui
View File

@@ -64,8 +64,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>736</width>
<height>909</height>
<width>744</width>
<height>1074</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>3</number>
<number>1</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29">
@@ -384,7 +384,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.200000000000000</double>
<double>0.100000000000000</double>
</property>
</widget>
</item>