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Fixed crash on startup with vtk6+qt5. All cloud viewers in QDockWidget are now created manually instead of being defined in the *.ui files. The generated ui didn't pass the top level parent window to constructor of CloudViewer, which caused a problem when initializing the QVTKWidget.

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This commit is contained in:
matlabbe
2016-05-05 18:25:26 -04:00
parent 74d0bfa1bb
commit ad0afc58c0
11 changed files with 455 additions and 250 deletions
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48
guilib/src/CloudViewer.cpp
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@@ -31,7 +31,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/utilite/UTimer.h>
#include <rtabmap/utilite/UMath.h>
#include <rtabmap/utilite/UConversion.h>
#include <rtabmap/core/util3d.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/common/transforms.h>
#include <QMenu>
@@ -42,6 +41,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <QtGui/QKeyEvent>
#include <QColorDialog>
#include <QtGui/QVector3D>
#include <QMainWindow>
#include <set>
#include <vtkCamera.h>
@@ -121,22 +121,29 @@ CloudViewer::CloudViewer(QWidget *parent) :
_defaultBgColor(Qt::black),
_currentBgColor(Qt::black),
_backfaceCulling(false),
_frontfaceCulling(false)
_frontfaceCulling(false),
_renderingRate(5.0)
{
UDEBUG("");
this->setMinimumSize(200, 200);
int argc = 0;
_visualizer = new pcl::visualization::PCLVisualizer(argc, 0, "PCLVisualizer", vtkSmartPointer<MyInteractorStyle>(new MyInteractorStyle()), false);
_visualizer = new pcl::visualization::PCLVisualizer(
argc,
0,
"PCLVisualizer",
vtkSmartPointer<MyInteractorStyle>(new MyInteractorStyle()),
false);
_visualizer->setShowFPS(false);
this->SetRenderWindow(_visualizer->getRenderWindow());
// Replaced by the second line, to avoid a crash in Mac OS X on close, as well as
// the "Invalid drawable" warning when the view is not visible.
//_visualizer->setupInteractor(this->GetInteractor(), this->GetRenderWindow());
this->GetInteractor()->SetInteractorStyle (_visualizer->getInteractorStyle());
_visualizer->getInteractorStyle()->GetInteractor()->SetDesiredUpdateRate(5.0);
setRenderingRate(_renderingRate);
_visualizer->setCameraPosition(
-1, 0, 0,
@@ -205,7 +212,8 @@ void CloudViewer::createMenu()
_aShowGrid->setCheckable(true);
_aSetGridCellCount = new QAction("Set cell count...", this);
_aSetGridCellSize = new QAction("Set cell size...", this);
_aSetBackgroundColor = new QAction("Set background color...", this);
_aSetBackgroundColor = new QAction("Set background color...", this);
_aSetRenderingRate = new QAction("Set rendering rate...", this);
QMenu * cameraMenu = new QMenu("Camera", this);
cameraMenu->addAction(_aLockCamera);
@@ -241,6 +249,7 @@ void CloudViewer::createMenu()
_menu->addMenu(frustumMenu);
_menu->addMenu(gridMenu);
_menu->addAction(_aSetBackgroundColor);
_menu->addAction(_aSetRenderingRate);
}
void CloudViewer::saveSettings(QSettings & settings, const QString & group) const
@@ -290,6 +299,7 @@ void CloudViewer::saveSettings(QSettings & settings, const QString & group) cons
settings.setValue("camera_lockZ", this->isCameraLockZ());
settings.setValue("bg_color", this->getDefaultBackgroundColor());
settings.setValue("rendering_rate", this->getRenderingRate());
if(!group.isEmpty())
{
settings.endGroup();
@@ -331,6 +341,9 @@ void CloudViewer::loadSettings(QSettings & settings, const QString & group)
this->setCameraLockZ(settings.value("camera_lockZ", this->isCameraLockZ()).toBool());
this->setDefaultBackgroundColor(settings.value("bg_color", this->getDefaultBackgroundColor()).value<QColor>());
this->setRenderingRate(settings.value("rendering_rate", this->getRenderingRate()).toDouble());
if(!group.isEmpty())
{
settings.endGroup();
@@ -1136,6 +1149,12 @@ void CloudViewer::setBackfaceCulling(bool enabled, bool frontfaceCulling)
_frontfaceCulling = frontfaceCulling;
}
void CloudViewer::setRenderingRate(double rate)
{
_renderingRate = rate;
_visualizer->getInteractorStyle()->GetInteractor()->SetDesiredUpdateRate(_renderingRate);
}
void CloudViewer::getCameraPosition(
float & x, float & y, float & z,
float & focalX, float & focalY, float & focalZ,
@@ -1438,6 +1457,10 @@ float CloudViewer::getGridCellSize() const
{
return _gridCellSize;
}
double CloudViewer::getRenderingRate() const
{
return _renderingRate;
}
void CloudViewer::setGridCellCount(unsigned int count)
{
@@ -1555,7 +1578,7 @@ void CloudViewer::keyReleaseEvent(QKeyEvent * event) {
}
else
{
QVTKWidget::keyPressEvent(event);
QWidget::keyPressEvent(event);
}
}
@@ -1655,7 +1678,7 @@ void CloudViewer::keyPressEvent(QKeyEvent * event)
}
else
{
QVTKWidget::keyPressEvent(event);
QWidget::keyPressEvent(event);
}
}
@@ -1815,6 +1838,15 @@ void CloudViewer::handleAction(QAction * a)
this->update();
}
}
else if(a == _aSetRenderingRate)
{
bool ok;
double value = QInputDialog::getDouble(this, tr("Rendering rate"), tr("Rate (hz)"), _renderingRate, 0, 60, 0, &ok);
if(ok)
{
this->setRenderingRate(value);
}
}
else if(a == _aLockViewZ)
{
if(_aLockViewZ->isChecked())