i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-01 17:10:26 +08:00
Code Issues Packages Projects Releases Wiki Activity

Export dialog keeps last config. Updated "clear the cache" to remove all visible images/trajectory/background color.

Browse Source 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1811 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-10-01 17:52:27 +00:00
parent 1367143171
commit 9559eee614
6 changed files with 72 additions and 34 deletions
Download Patch File Download Diff File Expand all files Collapse all files

1
guilib/include/rtabmap/gui/CloudViewer.h
View File

@@ -127,6 +127,7 @@ public:
void setTrajectoryShown(bool shown);
void setTrajectorySize(int value);
void clearTrajectory();
void removeAllClouds(); //including meshes
bool removeCloud(const std::string & id); //including mesh

2
guilib/include/rtabmap/gui/MainWindow.h
View File

@@ -63,6 +63,7 @@ class PdfPlotCurve;
class StatsToolBox;
class DetailedProgressDialog;
class TwistGridWidget;
class ExportCloudsDialog;
class RTABMAPGUI_EXP MainWindow : public QMainWindow, public UEventsHandler
{
@@ -240,6 +241,7 @@ private:
//Dialogs
PreferencesDialog * _preferencesDialog;
AboutDialog * _aboutDialog;
ExportCloudsDialog * _exportDialog;
QSet<int> _lastIds;
int _lastId;

11
guilib/src/CloudViewer.cpp
View File

@@ -429,6 +429,13 @@ void CloudViewer::setTrajectorySize(int value)
_maxTrajectorySize = value;
}
void CloudViewer::clearTrajectory()
{
_trajectory->clear();
_visualizer->removeShape("trajectory");
this->render();
}
void CloudViewer::removeAllClouds()
{
_addedClouds.clear();
@@ -877,9 +884,7 @@ void CloudViewer::handleAction(QAction * a)
}
else if(a == _aClearTrajectory)
{
_trajectory->clear();
_visualizer->removeShape("trajectory");
this->render();
this->clearTrajectory();
}
else if(a == _aResetCamera)
{

16
guilib/src/ExportCloudsDialog.cpp
View File

@@ -32,15 +32,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
namespace rtabmap {
ExportCloudsDialog::ExportCloudsDialog(QWidget *parent, bool toSave) :
ExportCloudsDialog::ExportCloudsDialog(QWidget *parent) :
QDialog(parent)
{
_ui = new Ui_ExportCloudsDialog();
_ui->setupUi(this);
if(toSave)
{
_ui->buttonBox->setStandardButtons(QDialogButtonBox::Cancel|QDialogButtonBox::Save);
}
}
ExportCloudsDialog::~ExportCloudsDialog()
@@ -48,6 +44,16 @@ ExportCloudsDialog::~ExportCloudsDialog()
delete _ui;
}
void ExportCloudsDialog::setSaveButton()
{
_ui->buttonBox->setStandardButtons(QDialogButtonBox::Cancel|QDialogButtonBox::Save);
}
void ExportCloudsDialog::setOkButton()
{
_ui->buttonBox->setStandardButtons(QDialogButtonBox::Cancel|QDialogButtonBox::Ok);
}
bool ExportCloudsDialog::getAssemble() const
{
return _ui->groupBox_assemble->isChecked();

5
guilib/src/ExportCloudsDialog.h
View File

@@ -39,10 +39,13 @@ class ExportCloudsDialog : public QDialog
Q_OBJECT
public:
ExportCloudsDialog(QWidget *parent = 0, bool toSave = false);
ExportCloudsDialog(QWidget *parent = 0);
virtual ~ExportCloudsDialog();
void setSaveButton();
void setOkButton();
bool getAssemble() const;
double getAssembleVoxel() const;
bool getGenerate() const;

71
guilib/src/MainWindow.cpp
View File

@@ -110,6 +110,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_srcType(kSrcUndefined),
_preferencesDialog(0),
_aboutDialog(0),
_exportDialog(0),
_lastId(0),
_processingStatistics(false),
_odometryReceived(false),
@@ -134,6 +135,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
// Create dialogs
_aboutDialog = new AboutDialog(this);
_exportDialog = new ExportCloudsDialog(this);
_ui = new Ui_mainWindow();
_ui->setupUi(this);
@@ -2717,7 +2719,8 @@ void MainWindow::clearTheCache()
_createdClouds.clear();
_createdScans.clear();
_ui->widget_cloudViewer->removeAllClouds();
_ui->widget_cloudViewer->render();
_ui->widget_cloudViewer->setBackgroundColor(Qt::black);
_ui->widget_cloudViewer->clearTrajectory();
_currentPosesMap.clear();
_odometryCorrection = Transform::getIdentity();
_lastOdomPose.setNull();
@@ -2737,7 +2740,15 @@ void MainWindow::clearTheCache()
_ui->label_stats_loopClosuresRejected->setText("0");
_refIds.clear();
_loopClosureIds.clear();
_ui->label_refId->clear();
_ui->label_matchId->clear();
_ui->graphicsView_graphView->clearAll();
_ui->imageView_source->clear();
_ui->imageView_loopClosure->clear();
_ui->imageView_source->resetTransform();
_ui->imageView_loopClosure->resetTransform();
_ui->imageView_source->setBackgroundBrush(QBrush(Qt::black));
_ui->imageView_loopClosure->setBackgroundBrush(QBrush(Qt::black));
}
void MainWindow::updateElapsedTime()
@@ -3216,27 +3227,37 @@ bool MainWindow::getExportedClouds(
std::map<int, pcl::PolygonMesh::Ptr> & meshes,
bool toSave)
{
ExportCloudsDialog * dialog = new ExportCloudsDialog(this, toSave);
if(dialog->exec() == QDialog::Accepted)
if(_exportDialog->isVisible())
{
return false;
}
if(toSave)
{
_exportDialog->setSaveButton();
}
else
{
_exportDialog->setOkButton();
}
if(_exportDialog->exec() == QDialog::Accepted)
{
std::map<int, Transform> poses = _ui->widget_mapVisibility->getVisiblePoses();
_initProgressDialog->setAutoClose(true, 1);
_initProgressDialog->resetProgress();
_initProgressDialog->show();
int mul = dialog->getMesh()&&!dialog->getGenerate()?3:dialog->getMLS()&&!dialog->getGenerate()?2:1;
int mul = _exportDialog->getMesh()&&!_exportDialog->getGenerate()?3:_exportDialog->getMLS()&&!_exportDialog->getGenerate()?2:1;
_initProgressDialog->setMaximumSteps(int(poses.size())*mul+1);
if(dialog->getAssemble())
if(_exportDialog->getAssemble())
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = this->getAssembledCloud(
poses,
dialog->getAssembleVoxel(),
dialog->getGenerate(),
dialog->getGenerateDecimation(),
dialog->getGenerateVoxel(),
dialog->getGenerateMaxDepth());
_exportDialog->getAssembleVoxel(),
_exportDialog->getGenerate(),
_exportDialog->getGenerateDecimation(),
_exportDialog->getGenerateVoxel(),
_exportDialog->getGenerateMaxDepth());
clouds.insert(std::make_pair(0, cloud));
}
@@ -3244,48 +3265,48 @@ bool MainWindow::getExportedClouds(
{
clouds = this->getClouds(
poses,
dialog->getGenerate(),
dialog->getGenerateDecimation(),
dialog->getGenerateVoxel(),
dialog->getGenerateMaxDepth());
_exportDialog->getGenerate(),
_exportDialog->getGenerateDecimation(),
_exportDialog->getGenerateVoxel(),
_exportDialog->getGenerateMaxDepth());
}
if(dialog->getMLS() || dialog->getMesh())
if(_exportDialog->getMLS() || _exportDialog->getMesh())
{
for(std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr>::iterator iter=clouds.begin();
iter!= clouds.end();
++iter)
{
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloudWithNormals;
if(dialog->getMLS())
if(_exportDialog->getMLS())
{
_initProgressDialog->appendText(tr("Smoothing the surface of cloud %1 using Moving Least Squares (MLS) algorithm... "
"[search radius=%2m]").arg(iter->first).arg(dialog->getMLSRadius()));
"[search radius=%2m]").arg(iter->first).arg(_exportDialog->getMLSRadius()));
_initProgressDialog->incrementStep();
QApplication::processEvents();
cloudWithNormals = util3d::computeNormalsSmoothed(iter->second, (float)dialog->getMLSRadius());
cloudWithNormals = util3d::computeNormalsSmoothed(iter->second, (float)_exportDialog->getMLSRadius());
iter->second->clear();
pcl::copyPointCloud(*cloudWithNormals, *iter->second);
}
else if(dialog->getMesh())
else if(_exportDialog->getMesh())
{
_initProgressDialog->appendText(tr("Computing surface normals of cloud %1 (without smoothing)... "
"[K neighbors=%2]").arg(iter->first).arg(dialog->getMeshNormalKSearch()));
"[K neighbors=%2]").arg(iter->first).arg(_exportDialog->getMeshNormalKSearch()));
_initProgressDialog->incrementStep();
QApplication::processEvents();
cloudWithNormals = util3d::computeNormals(iter->second, dialog->getMeshNormalKSearch());
cloudWithNormals = util3d::computeNormals(iter->second, _exportDialog->getMeshNormalKSearch());
}
if(dialog->getMesh())
if(_exportDialog->getMesh())
{
_initProgressDialog->appendText(tr("Greedy projection triangulation... [radius=%1m]").arg(dialog->getMeshGp3Radius()));
_initProgressDialog->appendText(tr("Greedy projection triangulation... [radius=%1m]").arg(_exportDialog->getMeshGp3Radius()));
_initProgressDialog->incrementStep();
QApplication::processEvents();
pcl::PolygonMesh::Ptr mesh = util3d::createMesh(cloudWithNormals, dialog->getMeshGp3Radius());
pcl::PolygonMesh::Ptr mesh = util3d::createMesh(cloudWithNormals, _exportDialog->getMeshGp3Radius());
meshes.insert(std::make_pair(iter->first, mesh));
}
}