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PostProcessing, added some processEvents to see updates in progress dialog

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This commit is contained in:
matlabbe
2016-09-19 17:54:51 -04:00
parent 3434b95d68
commit a0972158dc
2 changed files with 7 additions and 2 deletions
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5
guilib/src/MainWindow.cpp
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@@ -4543,6 +4543,7 @@ void MainWindow::postProcessing()
_initProgressDialog->setMaximumSteps(_initProgressDialog->maximumSteps()+(int)clusters.size()); _initProgressDialog->setMaximumSteps(_initProgressDialog->maximumSteps()+(int)clusters.size());
_initProgressDialog->appendText(tr("Looking for more loop closures, clustering poses... found %1 clusters.").arg(clusters.size())); _initProgressDialog->appendText(tr("Looking for more loop closures, clustering poses... found %1 clusters.").arg(clusters.size()));
QApplication::processEvents();
int i=0; int i=0;
std::set<int> addedLinks; std::set<int> addedLinks;
@@ -4604,6 +4605,7 @@ void MainWindow::postProcessing()
_currentLinksMap.insert(std::make_pair(from, Link(from, to, Link::kUserClosure, transform, info.variance, info.variance))); _currentLinksMap.insert(std::make_pair(from, Link(from, to, Link::kUserClosure, transform, info.variance, info.variance)));
++loopClosuresAdded; ++loopClosuresAdded;
_initProgressDialog->appendText(tr("Detected loop closure %1->%2! (%3/%4)").arg(from).arg(to).arg(i+1).arg(clusters.size())); _initProgressDialog->appendText(tr("Detected loop closure %1->%2! (%3/%4)").arg(from).arg(to).arg(i+1).arg(clusters.size()));
QApplication::processEvents();
} }
} }
} }
@@ -4622,6 +4624,8 @@ void MainWindow::postProcessing()
{ {
_initProgressDialog->appendText(tr("Optimizing graph with new links (%1 nodes, %2 constraints)...") _initProgressDialog->appendText(tr("Optimizing graph with new links (%1 nodes, %2 constraints)...")
.arg(odomPoses.size()).arg(_currentLinksMap.size())); .arg(odomPoses.size()).arg(_currentLinksMap.size()));
QApplication::processEvents();
int fromId = optimizeFromGraphEnd?odomPoses.rbegin()->first:odomPoses.begin()->first; int fromId = optimizeFromGraphEnd?odomPoses.rbegin()->first:odomPoses.begin()->first;
std::map<int, rtabmap::Transform> posesOut; std::map<int, rtabmap::Transform> posesOut;
std::multimap<int, rtabmap::Link> linksOut; std::multimap<int, rtabmap::Link> linksOut;
@@ -4650,6 +4654,7 @@ void MainWindow::postProcessing()
} }
// TODO: support ICP from laser scans? // TODO: support ICP from laser scans?
_initProgressDialog->appendText(tr("Refining links...")); _initProgressDialog->appendText(tr("Refining links..."));
QApplication::processEvents();
RegistrationIcp regIcp(parameters); RegistrationIcp regIcp(parameters);

4
guilib/src/ui/depthCalibrationDialog.ui
View File

@@ -158,7 +158,7 @@
<item row="8" column="1"> <item row="8" column="1">
<widget class="QLabel" name="label_voxel_3"> <widget class="QLabel" name="label_voxel_3">
<property name="text"> <property name="text">
<string>Cone std dev threshold.</string> <string>Cone standard deviation threshold.</string>
</property> </property>
<property name="wordWrap"> <property name="wordWrap">
<bool>true</bool> <bool>true</bool>
@@ -168,7 +168,7 @@
<item row="8" column="0"> <item row="8" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_coneStdDevThresh"> <widget class="QDoubleSpinBox" name="doubleSpinBox_coneStdDevThresh">
<property name="suffix"> <property name="suffix">
<string/> <string> m</string>
</property> </property>
<property name="decimals"> <property name="decimals">
<number>2</number> <number>2</number>