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

app/src/main.cpp

@@ -50,6 +50,10 @@ int main(int argc, char* argv[])
 	ULogger::setType(ULogger::kTypeConsole);
 	ULogger::setLevel(ULogger::kWarning);
 
+#ifdef WIN32
+	CoInitialize(nullptr);
+#endif
+
 #ifdef RTABMAP_PYTHON
 	PythonInterface python; // Make sure we initialize python in main thread
 #endif

corelib/src/Recovery.cpp

@@ -151,6 +151,7 @@ bool databaseRecovery(
 	bool rgbdEnabled = Parameters::defaultRGBDEnabled();
 	Parameters::parse(parameters, Parameters::kRGBDEnabled(), rgbdEnabled);
 	bool odometryIgnored = !rgbdEnabled;
+	{
 		DBReader dbReader(backupPath, 0, odometryIgnored);
 		dbReader.init();
 
@@ -189,6 +190,7 @@ bool databaseRecovery(
 			if (progressState)
 				progressState->callback(uFormat("Processed %d/%d nodes...", ++processed, (int)ids.size()));
 		}
+	}
 
 	if(progressState)
 	{

corelib/src/util3d_filtering.cpp

@@ -582,6 +582,10 @@ typename pcl::PointCloud<PointT>::Ptr voxelizeImpl(
 			pcl::VoxelGrid<PointT> filter;
 			filter.setLeafSize(voxelSize, voxelSize, voxelSize);
 			filter.setInputCloud(cloud);
+#ifdef WIN32
+			// Pre-allocating the cloud helps to avoid crash when freeing memory allocated inside pcl library
+			output->resize(cloud->size());
+#endif
 			if(!indices->empty())
 			{
 				filter.setIndices(indices);

docker/focal/Dockerfile

@@ -133,6 +133,9 @@ RUN cd AliceVision && \
     cd && \
     rm -r AliceVision
     
+# PDAL
+RUN apt-get install -y libpdal-dev
+
 # Clone source code
 ARG CACHE_DATE=2016-01-01
 RUN git clone https://github.com/introlab/rtabmap.git

guilib/include/rtabmap/gui/CloudViewer.h

@@ -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

guilib/include/rtabmap/gui/MainWindow.h

@@ -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>

guilib/src/CameraViewer.cpp

@@ -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"))
 	{

guilib/src/CloudViewer.cpp

@@ -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)

guilib/src/DatabaseViewer.cpp

@@ -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();

guilib/src/ExportCloudsDialog.cpp

@@ -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
 	{

guilib/src/LoopClosureViewer.cpp

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

guilib/src/MainWindow.cpp

@@ -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();
 	}
 }
 

tools/DatabaseViewer/main.cpp

@@ -36,6 +36,10 @@ int main(int argc, char * argv[])
 	ULogger::setType(ULogger::kTypeConsole);
 	ULogger::setLevel(ULogger::kInfo);
 
+#ifdef WIN32
+	CoInitialize(nullptr);
+#endif
+
 #if VTK_MAJOR_VERSION >= 8
 	vtkObject::GlobalWarningDisplayOff();
 #endif