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Merge branch 'master' of https://github.com/introlab/rtabmap into ios

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matlabbe
2021-06-21 09:41:11 -04:00
parent a9d4fc9291 62b5f13dd8
commit 9fccb8703a
13 changed files with 101 additions and 67 deletions
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2
guilib/include/rtabmap/gui/CloudViewer.h
View File

@@ -86,6 +86,8 @@ public:
void saveSettings(QSettings & settings, const QString & group = "") const;
void loadSettings(QSettings & settings, const QString & group = "");
void refreshView();
bool updateCloudPose(
const std::string & id,
const Transform & pose); //including mesh

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

@@ -284,6 +284,7 @@ protected:
const QMap<int, Signature> & cachedSignatures() const { return _cachedSignatures;}
const std::map<int, Transform> & currentPosesMap() const { return _currentPosesMap; } // <nodeId, pose>
const std::map<int, Transform> & currentGTPosesMap() const { return _currentGTPosesMap; } // <nodeId, pose>
const std::map<int, Transform>& currentVisiblePosesMap() const; // <nodeId, pose>
const std::multimap<int, Link> & currentLinksMap() const { return _currentLinksMap; } // <nodeFromId, link>
const std::map<int, int> & currentMapIds() const { return _currentMapIds; } // <nodeId, mapId>
const std::map<int, std::string> & currentLabels() const { return _currentLabels; } // <nodeId, label>

2
guilib/src/CameraViewer.cpp
View File

@@ -181,7 +181,7 @@ void CameraViewer::showImage(const rtabmap::SensorData & data)
(showScanCheckbox_->isEnabled() && showScanCheckbox_->isChecked()));
if(cloudView_->isVisible())
{
cloudView_->update();
cloudView_->refreshView();
}
if(cloudView_->getAddedClouds().contains("cloud"))
{

37
guilib/src/CloudViewer.cpp
View File

@@ -521,7 +521,16 @@ void CloudViewer::loadSettings(QSettings & settings, const QString & group)
settings.endGroup();
}
this->refreshView();
}
void CloudViewer::refreshView()
{
#if VTK_MAJOR_VERSION > 8
this->renderWindow()->Render();
#else
this->update();
#endif
}
bool CloudViewer::updateCloudPose(
@@ -2288,7 +2297,7 @@ void CloudViewer::clearTrajectory()
{
_trajectory->clear();
_visualizer->removeShape("trajectory");
this->update();
this->refreshView();
}
bool CloudViewer::isCameraAxisShown() const
@@ -2306,7 +2315,7 @@ void CloudViewer::setCameraAxisShown(bool shown)
{
this->addOrUpdateCoordinate("reference", Transform::getIdentity(), 0.2);
}
this->update();
this->refreshView();
_aShowCameraAxis->setChecked(shown);
}
@@ -2355,7 +2364,7 @@ void CloudViewer::setFrustumShown(bool shown)
this->removeLine(*iter);
}
}
this->update();
this->refreshView();
}
_aShowFrustum->setChecked(shown);
}
@@ -2375,7 +2384,7 @@ void CloudViewer::setFrustumColor(QColor value)
{
_visualizer->setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR, value.redF(), value.greenF(), value.blueF(), iter.key());
}
this->update();
this->refreshView();
_frustumColor = value;
}
@@ -2604,7 +2613,7 @@ void CloudViewer::setBackfaceCulling(bool enabled, bool frontfaceCulling)
}
}
#endif
this->update();
this->refreshView();
}
void CloudViewer::setPolygonPicking(bool enabled)
@@ -2669,7 +2678,7 @@ void CloudViewer::setEDLShading(bool on)
glrenderer->SetPass(NULL);
}
this->update();
this->refreshView();
#else
if(on)
{
@@ -2697,7 +2706,7 @@ void CloudViewer::setLighting(bool on)
}
}
#endif
this->update();
this->refreshView();
}
void CloudViewer::setShading(bool on)
@@ -2719,7 +2728,7 @@ void CloudViewer::setShading(bool on)
}
}
#endif
this->update();
this->refreshView();
}
void CloudViewer::setEdgeVisibility(bool visible)
@@ -2741,7 +2750,7 @@ void CloudViewer::setEdgeVisibility(bool visible)
}
}
#endif
this->update();
this->refreshView();
}
void CloudViewer::setInteractorLayer(int layer)
@@ -3164,7 +3173,7 @@ void CloudViewer::setCameraOrtho(bool enabled)
if(interactor)
{
interactor->setOrthoMode(enabled);
this->update();
this->refreshView();
}
_aCameraOrtho->setChecked(enabled);
}
@@ -3724,7 +3733,7 @@ void CloudViewer::handleAction(QAction * a)
this->removeGrid();
}
this->update();
this->refreshView();
}
else if(a == _aSetGridCellCount)
{
@@ -3747,7 +3756,7 @@ void CloudViewer::handleAction(QAction * a)
else if(a == _aShowNormals)
{
this->setNormalsShown(_aShowNormals->isChecked());
this->update();
this->refreshView();
}
else if(a == _aSetNormalsStep)
{
@@ -3791,7 +3800,7 @@ void CloudViewer::handleAction(QAction * a)
if(color.isValid())
{
this->setDefaultBackgroundColor(color);
this->update();
this->refreshView();
}
}
else if(a == _aSetRenderingRate)
@@ -3807,7 +3816,7 @@ void CloudViewer::handleAction(QAction * a)
{
if(_aLockViewZ->isChecked())
{
this->update();
this->refreshView();
}
}
else if(a == _aCameraOrtho)

26
guilib/src/DatabaseViewer.cpp
View File

@@ -1105,13 +1105,13 @@ bool DatabaseViewer::closeDatabase()
sliderBValueChanged(0);
constraintsViewer_->clear();
constraintsViewer_->update();
constraintsViewer_->refreshView();
cloudViewer_->clear();
cloudViewer_->update();
cloudViewer_->refreshView();
occupancyGridViewer_->clear();
occupancyGridViewer_->update();
occupancyGridViewer_->refreshView();
ui_->graphViewer->clearAll();
ui_->label_loopClosures->clear();
@@ -1126,7 +1126,7 @@ bool DatabaseViewer::closeDatabase()
ui_->graphicsView_stereo->clear();
stereoViewer_->clear();
stereoViewer_->update();
stereoViewer_->refreshView();
ui_->toolBox_statistics->clear();
}
@@ -5040,7 +5040,7 @@ void DatabaseViewer::update(int value,
#endif
}
}
cloudViewer_->updateCameraTargetPosition(pose);
cloudViewer_->updateCameraTargetPosition(pose);
cloudViewer_->clearTrajectory();
cloudViewer_->refreshView();
}
@@ -5182,7 +5182,7 @@ void DatabaseViewer::update(int value,
ui_->lineEdit_covariance->clear();
ui_->label_type->clear();
ui_->label_type_name->clear();
ui_->checkBox_showOptimized->setEnabled(false);
ui_->checkBox_showOptimized->setEnabled(false);
}
constraintsViewer_->refreshView();
@@ -5311,7 +5311,7 @@ void DatabaseViewer::updateStereo(const SensorData * data)
UINFO("correspondences = %d/%d (%f) (time kpt=%fs stereo=%fs)",
(int)cloud->size(), (int)leftCorners.size(), float(cloud->size())/float(leftCorners.size()), timeKpt, timeStereo);
stereoViewer_->updateCameraTargetPosition(Transform::getIdentity());
stereoViewer_->updateCameraTargetPosition(Transform::getIdentity());
stereoViewer_->addCloud("stereo", cloud);
stereoViewer_->refreshView();
@@ -6231,7 +6231,7 @@ void DatabaseViewer::updateConstraintView(
}
#endif
constraintsViewer_->clearTrajectory();
constraintsViewer_->clearTrajectory();
constraintsViewer_->refreshView();
}
@@ -6561,7 +6561,7 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
ui_->graphViewer->updateMap(map8U, cellSize, xMin, yMin);
}
if(ui_->dockWidget_occupancyGridView->isVisible() && ui_->checkBox_grid_2d->isChecked())
{
{
occupancyGridViewer_->addOccupancyGridMap(map8U, cellSize, xMin, yMin, 1.0f);
occupancyGridViewer_->refreshView();
}
@@ -6684,7 +6684,7 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
Transform::getIdentity(),
QColor(ui_->lineEdit_emptyColor->text()));
occupancyGridViewer_->setCloudPointSize("emptyCellsXYZ", 5);
occupancyGridViewer_->setCloudOpacity("emptyCellsXYZ", 0.5);
occupancyGridViewer_->setCloudOpacity("emptyCellsXYZ", 0.5);
}
occupancyGridViewer_->refreshView();
}
@@ -7029,7 +7029,7 @@ void DatabaseViewer::updateGrid()
{
if(sender() == ui_->checkBox_grid_2d && !ui_->checkBox_grid_2d->isChecked())
{
//just remove map in occupancy grid view
//just remove map in occupancy grid view
occupancyGridViewer_->removeOccupancyGridMap();
occupancyGridViewer_->refreshView();
}
@@ -7139,7 +7139,7 @@ void DatabaseViewer::updateOctomapView()
occupancyGridViewer_->setCloudOpacity("octomap_empty", 0.5);
occupancyGridViewer_->setCloudPointSize("octomap_empty", 5);
}
}
}
}
occupancyGridViewer_->refreshView();
}
@@ -8283,7 +8283,7 @@ void DatabaseViewer::updateLoopClosuresSlider(int from, int to)
}
else
{
ui_->horizontalSlider_loops->setEnabled(false);
ui_->horizontalSlider_loops->setEnabled(false);
constraintsViewer_->removeAllClouds();
constraintsViewer_->refreshView();
updateConstraintButtons();

2
guilib/src/ExportCloudsDialog.cpp
View File

@@ -1431,7 +1431,7 @@ void ExportCloudsDialog::viewClouds(
_progressDialog->appendText(tr("Viewing the cloud %1 (%2 points)... done.").arg(iter->first).arg(iter->second->size()));
}
}
viewer->update();
viewer->refreshView();
}
else
{

2
guilib/src/LoopClosureViewer.cpp
View File

@@ -140,7 +140,7 @@ void LoopClosureViewer::updateView(const Transform & transform, const Parameters
{
UERROR("loop transform is null !?!?");
ui_->cloudViewerTransform->removeAllClouds();
}
}
ui_->cloudViewerTransform->refreshView();
}
}

11
guilib/src/MainWindow.cpp
View File

@@ -700,6 +700,11 @@ void MainWindow::setupMainLayout(bool vertical)
}
}
const std::map<int, Transform>& MainWindow::currentVisiblePosesMap() const
{
return _ui->widget_mapVisibility->getVisiblePoses();
}
void MainWindow::setCloudViewer(rtabmap::CloudViewer * cloudViewer)
{
UASSERT(cloudViewer);
@@ -1544,7 +1549,7 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
_cloudViewer->updateCameraTargetPosition(_odometryCorrection*odom.pose());
UDEBUG("Time Update Pose: %fs", time.ticks());
}
_cloudViewer->update();
_cloudViewer->refreshView();
if(_ui->graphicsView_graphView->isVisible())
{
@@ -3275,7 +3280,7 @@ void MainWindow::updateMapCloud(
}
UDEBUG("");
_cloudViewer->update();
_cloudViewer->refreshView();
UDEBUG("");
}
@@ -4189,7 +4194,7 @@ void MainWindow::updateNodeVisibility(int nodeId, bool visible)
}
}
_cloudViewer->update();
_cloudViewer->refreshView();
}
}