mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-09 13:00:19 +08:00
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.
This commit is contained in:
matlabbe
+135
-114
@@ -48,6 +48,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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#include "rtabmap/gui/PdfPlot.h"
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#include "rtabmap/gui/StatsToolBox.h"
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#include "rtabmap/gui/ProgressDialog.h"
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#include "rtabmap/gui/CloudViewer.h"
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#include "rtabmap/gui/LoopClosureViewer.h"
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#include <rtabmap/utilite/UStl.h>
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#include <rtabmap/utilite/ULogger.h>
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@@ -175,8 +177,23 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
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_postProcessingDialog->setObjectName("PostProcessingDialog");
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_ui = new Ui_mainWindow();
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UDEBUG("Setup ui...");
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_ui->setupUi(this);
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// Add cloud viewers
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// Note that we add them here manually because there is a crash issue
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// when adding them in a DockWidget of the *.ui file. The cloud viewer is
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// created in a widget which is not yet linked to main window when the CloudViewer constructor
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// is called (see order in generated ui file). VTK needs to get the top
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// level window at the time CloudViewer is created, otherwise it may crash on some systems.
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_cloudViewer = new CloudViewer(_ui->layout_cloudViewer);
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_cloudViewer->setObjectName("widget_cloudViewer");
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_ui->layout_cloudViewer->layout()->addWidget(_cloudViewer);
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_loopClosureViewer = new LoopClosureViewer(_ui->layout_loopClosureViewer);
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_loopClosureViewer->setObjectName("widget_loopClosureViewer");
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_ui->layout_loopClosureViewer->layout()->addWidget(_loopClosureViewer);
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UDEBUG("Setup ui... end");
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QString title("RTAB-Map[*]");
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this->setWindowTitle(title);
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this->setWindowIconText(tr("RTAB-Map"));
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@@ -196,6 +213,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
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{
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_preferencesDialog = new PreferencesDialog(this);
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}
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_preferencesDialog->setObjectName("PreferencesDialog");
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_preferencesDialog->init();
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@@ -347,6 +365,9 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
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_ui->actionPause->setShortcut(Qt::Key_Space);
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_ui->actionSave_GUI_config->setShortcut(QKeySequence::Save);
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// Qt5 issue, we should explicitly add actions not in
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// menu bar to have shortcut working
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this->addAction(_ui->actionSave_GUI_config);
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_ui->actionReset_Odometry->setEnabled(false);
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_ui->actionPost_processing->setEnabled(false);
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_ui->actionAnchor_clouds_to_ground_truth->setEnabled(false);
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@@ -415,7 +436,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
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connect(_ui->imageView_loopClosure, SIGNAL(configChanged()), this, SLOT(configGUIModified()));
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connect(_ui->imageView_odometry, SIGNAL(configChanged()), this, SLOT(configGUIModified()));
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connect(_ui->graphicsView_graphView, SIGNAL(configChanged()), this, SLOT(configGUIModified()));
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connect(_ui->widget_cloudViewer, SIGNAL(configChanged()), this, SLOT(configGUIModified()));
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connect(_cloudViewer, SIGNAL(configChanged()), this, SLOT(configGUIModified()));
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connect(_exportCloudsDialog, SIGNAL(configChanged()), this, SLOT(configGUIModified()));
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connect(_exportScansDialog, SIGNAL(configChanged()), this, SLOT(configGUIModified()));
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connect(_postProcessingDialog, SIGNAL(configChanged()), this, SLOT(configGUIModified()));
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@@ -467,9 +488,9 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
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_ui->statsToolBox->setWorkingDirectory(_preferencesDialog->getWorkingDirectory());
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_ui->graphicsView_graphView->setWorkingDirectory(_preferencesDialog->getWorkingDirectory());
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_ui->widget_cloudViewer->setWorkingDirectory(_preferencesDialog->getWorkingDirectory());
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_ui->widget_cloudViewer->setBackfaceCulling(true, false);
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_preferencesDialog->loadWidgetState(_ui->widget_cloudViewer);
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_cloudViewer->setWorkingDirectory(_preferencesDialog->getWorkingDirectory());
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_cloudViewer->setBackfaceCulling(true, false);
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_preferencesDialog->loadWidgetState(_cloudViewer);
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//dialog states
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_preferencesDialog->loadWidgetState(_exportCloudsDialog);
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@@ -533,8 +554,8 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
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connect(_ui->statsToolBox, SIGNAL(figuresSetupChanged()), this, SLOT(configGUIModified()));
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// update loop closure viewer parameters
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_ui->widget_loopClosureViewer->setDecimation(_preferencesDialog->getCloudDecimation(0));
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_ui->widget_loopClosureViewer->setMaxDepth(_preferencesDialog->getCloudMaxDepth(0));
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_loopClosureViewer->setDecimation(_preferencesDialog->getCloudDecimation(0));
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_loopClosureViewer->setMaxDepth(_preferencesDialog->getCloudMaxDepth(0));
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//update ui
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_ui->doubleSpinBox_stats_detectionRate->setValue(_preferencesDialog->getDetectionRate());
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@@ -811,8 +832,8 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom)
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if(pose.isNull())
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{
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UDEBUG("odom lost"); // use last pose
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lostStateChanged = _ui->widget_cloudViewer->getBackgroundColor() != Qt::darkRed;
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_ui->widget_cloudViewer->setBackgroundColor(Qt::darkRed);
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lostStateChanged = _cloudViewer->getBackgroundColor() != Qt::darkRed;
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_cloudViewer->setBackgroundColor(Qt::darkRed);
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_ui->imageView_odometry->setBackgroundColor(Qt::darkRed);
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pose = _lastOdomPose;
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@@ -823,15 +844,15 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom)
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odom.info().inliers < _preferencesDialog->getOdomQualityWarnThr())
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{
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UDEBUG("odom warn, quality(inliers)=%d thr=%d", odom.info().inliers, _preferencesDialog->getOdomQualityWarnThr());
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lostStateChanged = _ui->widget_cloudViewer->getBackgroundColor() == Qt::darkRed;
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_ui->widget_cloudViewer->setBackgroundColor(Qt::darkYellow);
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lostStateChanged = _cloudViewer->getBackgroundColor() == Qt::darkRed;
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_cloudViewer->setBackgroundColor(Qt::darkYellow);
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_ui->imageView_odometry->setBackgroundColor(Qt::darkYellow);
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}
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else
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{
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UDEBUG("odom ok");
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lostStateChanged = _ui->widget_cloudViewer->getBackgroundColor() == Qt::darkRed;
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_ui->widget_cloudViewer->setBackgroundColor(_ui->widget_cloudViewer->getDefaultBackgroundColor());
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lostStateChanged = _cloudViewer->getBackgroundColor() == Qt::darkRed;
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_cloudViewer->setBackgroundColor(_cloudViewer->getDefaultBackgroundColor());
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_ui->imageView_odometry->setBackgroundColor(Qt::black);
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}
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@@ -894,7 +915,7 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom)
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Eigen::Vector3f(pose.x(), pose.y(), pose.z()) + viewpoint);
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if(polygons.size())
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{
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if(!_ui->widget_cloudViewer->addCloudMesh("cloudOdom", output, polygons, _odometryCorrection))
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if(!_cloudViewer->addCloudMesh("cloudOdom", output, polygons, _odometryCorrection))
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{
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UERROR("Adding cloudOdom to viewer failed!");
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}
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@@ -902,14 +923,14 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom)
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}
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else
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{
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if(!_ui->widget_cloudViewer->addCloud("cloudOdom", cloud, _odometryCorrection))
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if(!_cloudViewer->addCloud("cloudOdom", cloud, _odometryCorrection))
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{
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UERROR("Adding cloudOdom to viewer failed!");
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}
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}
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_ui->widget_cloudViewer->setCloudVisibility("cloudOdom", true);
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_ui->widget_cloudViewer->setCloudOpacity("cloudOdom", _preferencesDialog->getCloudOpacity(1));
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_ui->widget_cloudViewer->setCloudPointSize("cloudOdom", _preferencesDialog->getCloudPointSize(1));
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_cloudViewer->setCloudVisibility("cloudOdom", true);
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_cloudViewer->setCloudOpacity("cloudOdom", _preferencesDialog->getCloudOpacity(1));
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_cloudViewer->setCloudPointSize("cloudOdom", _preferencesDialog->getCloudPointSize(1));
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cloudUpdated = true;
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}
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@@ -922,15 +943,15 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom)
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{
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pcl::PointCloud<pcl::PointNormal>::Ptr cloud;
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cloud = util3d::laserScanToPointCloudNormal(odom.info().localScanMap);
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if(!_ui->widget_cloudViewer->addCloud("scanMapOdom", cloud, _odometryCorrection, Qt::blue))
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if(!_cloudViewer->addCloud("scanMapOdom", cloud, _odometryCorrection, Qt::blue))
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{
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UERROR("Adding scanMapOdom to viewer failed!");
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}
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else
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{
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_ui->widget_cloudViewer->setCloudVisibility("scanMapOdom", true);
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_ui->widget_cloudViewer->setCloudOpacity("scanMapOdom", _preferencesDialog->getScanOpacity(1));
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_ui->widget_cloudViewer->setCloudPointSize("scanMapOdom", _preferencesDialog->getScanPointSize(1));
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_cloudViewer->setCloudVisibility("scanMapOdom", true);
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_cloudViewer->setCloudOpacity("scanMapOdom", _preferencesDialog->getScanOpacity(1));
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_cloudViewer->setCloudPointSize("scanMapOdom", _preferencesDialog->getScanPointSize(1));
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scanUpdated = true;
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}
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}
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@@ -951,15 +972,15 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom)
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cloud = util3d::voxelize(cloud, _preferencesDialog->getCloudVoxelSizeScan(1));
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}
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if(!_ui->widget_cloudViewer->addCloud("scanOdom", cloud, _odometryCorrection, Qt::magenta))
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if(!_cloudViewer->addCloud("scanOdom", cloud, _odometryCorrection, Qt::magenta))
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{
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UERROR("Adding scanOdom to viewer failed!");
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}
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else
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{
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_ui->widget_cloudViewer->setCloudVisibility("scanOdom", true);
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_ui->widget_cloudViewer->setCloudOpacity("scanOdom", _preferencesDialog->getScanOpacity(1));
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_ui->widget_cloudViewer->setCloudPointSize("scanOdom", _preferencesDialog->getScanPointSize(1));
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_cloudViewer->setCloudVisibility("scanOdom", true);
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_cloudViewer->setCloudOpacity("scanOdom", _preferencesDialog->getScanOpacity(1));
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_cloudViewer->setCloudPointSize("scanOdom", _preferencesDialog->getScanPointSize(1));
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scanUpdated = true;
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}
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}
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@@ -986,38 +1007,38 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom)
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(*cloud)[i++].b = 0;
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}
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_ui->widget_cloudViewer->addCloud("featuresOdom", cloud, _odometryCorrection);
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_ui->widget_cloudViewer->setCloudVisibility("featuresOdom", true);
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_ui->widget_cloudViewer->setCloudPointSize("featuresOdom", _preferencesDialog->getFeaturesPointSize(1));
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_cloudViewer->addCloud("featuresOdom", cloud, _odometryCorrection);
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_cloudViewer->setCloudVisibility("featuresOdom", true);
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_cloudViewer->setCloudPointSize("featuresOdom", _preferencesDialog->getFeaturesPointSize(1));
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featuresUpdated = true;
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}
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}
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}
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if(!cloudUpdated && _ui->widget_cloudViewer->getAddedClouds().contains("cloudOdom"))
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if(!cloudUpdated && _cloudViewer->getAddedClouds().contains("cloudOdom"))
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{
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_ui->widget_cloudViewer->setCloudVisibility("cloudOdom", false);
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_cloudViewer->setCloudVisibility("cloudOdom", false);
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}
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if(!scanUpdated && _ui->widget_cloudViewer->getAddedClouds().contains("scanOdom"))
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if(!scanUpdated && _cloudViewer->getAddedClouds().contains("scanOdom"))
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{
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_ui->widget_cloudViewer->setCloudVisibility("scanOdom", false);
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_cloudViewer->setCloudVisibility("scanOdom", false);
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}
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if(!scanUpdated && _ui->widget_cloudViewer->getAddedClouds().contains("scanMapOdom"))
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if(!scanUpdated && _cloudViewer->getAddedClouds().contains("scanMapOdom"))
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{
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_ui->widget_cloudViewer->setCloudVisibility("scanMapOdom", false);
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_cloudViewer->setCloudVisibility("scanMapOdom", false);
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}
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if(!featuresUpdated && _ui->widget_cloudViewer->getAddedClouds().contains("featuresOdom"))
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if(!featuresUpdated && _cloudViewer->getAddedClouds().contains("featuresOdom"))
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{
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_ui->widget_cloudViewer->setCloudVisibility("featuresOdom", false);
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_cloudViewer->setCloudVisibility("featuresOdom", false);
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}
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}
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if(!odom.pose().isNull())
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{
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// update camera position
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_ui->widget_cloudViewer->updateCameraTargetPosition(_odometryCorrection*odom.pose());
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_cloudViewer->updateCameraTargetPosition(_odometryCorrection*odom.pose());
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}
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_ui->widget_cloudViewer->update();
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_cloudViewer->update();
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if(_ui->graphicsView_graphView->isVisible())
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{
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@@ -1529,11 +1550,11 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
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// the last loop closure data
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Transform loopClosureTransform = stat.loopClosureTransform();
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signature.setPose(loopClosureTransform);
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_ui->widget_loopClosureViewer->setData(loopSignature, signature);
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_loopClosureViewer->setData(loopSignature, signature);
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if(_ui->dockWidget_loopClosureViewer->isVisible())
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{
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UTimer loopTimer;
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_ui->widget_loopClosureViewer->updateView();
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_loopClosureViewer->updateView();
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UINFO("Updating loop closure cloud view time=%fs", loopTimer.elapsed());
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_ui->statsToolBox->updateStat("GUI/RGB-D closure view/ms", stat.refImageId(), int(loopTimer.elapsed()*1000.0f));
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}
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@@ -1790,7 +1811,7 @@ void MainWindow::updateMapCloud(
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// Map updated! regenerate the assembled cloud, last pose is the new one
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UDEBUG("Update map with %d locations (currentPose=%s)", poses.size(), currentPose.prettyPrint().c_str());
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QMap<std::string, Transform> viewerClouds = _ui->widget_cloudViewer->getAddedClouds();
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QMap<std::string, Transform> viewerClouds = _cloudViewer->getAddedClouds();
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int i=1;
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for(std::map<int, Transform>::const_iterator iter = poses.begin(); iter!=poses.end(); ++iter)
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{
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@@ -1799,24 +1820,24 @@ void MainWindow::updateMapCloud(
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std::string cloudName = uFormat("cloud%d", iter->first);
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// 3d point cloud
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if((_ui->widget_cloudViewer->isVisible() && _preferencesDialog->isCloudsShown(0)) ||
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if((_cloudViewer->isVisible() && _preferencesDialog->isCloudsShown(0)) ||
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(_ui->graphicsView_graphView->isVisible() && _ui->graphicsView_graphView->isGridMapVisible() && _preferencesDialog->isGridMapFrom3DCloud()))
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{
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if(viewerClouds.contains(cloudName))
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{
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// Update only if the pose has changed
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Transform tCloud;
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_ui->widget_cloudViewer->getPose(cloudName, tCloud);
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_cloudViewer->getPose(cloudName, tCloud);
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if(tCloud.isNull() || iter->second != tCloud)
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{
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if(!_ui->widget_cloudViewer->updateCloudPose(cloudName, iter->second))
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if(!_cloudViewer->updateCloudPose(cloudName, iter->second))
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{
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UERROR("Updating pose cloud %d failed!", iter->first);
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}
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}
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_ui->widget_cloudViewer->setCloudVisibility(cloudName, true);
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_ui->widget_cloudViewer->setCloudOpacity(cloudName, _preferencesDialog->getCloudOpacity(0));
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_ui->widget_cloudViewer->setCloudPointSize(cloudName, _preferencesDialog->getCloudPointSize(0));
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_cloudViewer->setCloudVisibility(cloudName, true);
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_cloudViewer->setCloudOpacity(cloudName, _preferencesDialog->getCloudOpacity(0));
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_cloudViewer->setCloudPointSize(cloudName, _preferencesDialog->getCloudPointSize(0));
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}
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else if(_cachedSignatures.contains(iter->first))
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{
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@@ -1825,29 +1846,29 @@ void MainWindow::updateMapCloud(
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}
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else if(viewerClouds.contains(cloudName))
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{
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_ui->widget_cloudViewer->setCloudVisibility(cloudName.c_str(), false);
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_cloudViewer->setCloudVisibility(cloudName.c_str(), false);
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}
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// 2d point cloud
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std::string scanName = uFormat("scan%d", iter->first);
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if((_ui->widget_cloudViewer->isVisible() && (_preferencesDialog->isScansShown(0) || _preferencesDialog->getGridMapShown())) ||
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if((_cloudViewer->isVisible() && (_preferencesDialog->isScansShown(0) || _preferencesDialog->getGridMapShown())) ||
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(_ui->graphicsView_graphView->isVisible() && _ui->graphicsView_graphView->isGridMapVisible()))
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{
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if(viewerClouds.contains(scanName))
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{
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// Update only if the pose has changed
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Transform tScan;
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_ui->widget_cloudViewer->getPose(scanName, tScan);
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_cloudViewer->getPose(scanName, tScan);
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if(tScan.isNull() || iter->second != tScan)
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{
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if(!_ui->widget_cloudViewer->updateCloudPose(scanName, iter->second))
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if(!_cloudViewer->updateCloudPose(scanName, iter->second))
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{
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UERROR("Updating pose scan %d failed!", iter->first);
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}
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}
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_ui->widget_cloudViewer->setCloudVisibility(scanName, _preferencesDialog->isScansShown(0));
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_ui->widget_cloudViewer->setCloudOpacity(scanName, _preferencesDialog->getScanOpacity(0));
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_ui->widget_cloudViewer->setCloudPointSize(scanName, _preferencesDialog->getScanPointSize(0));
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_cloudViewer->setCloudVisibility(scanName, _preferencesDialog->isScansShown(0));
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_cloudViewer->setCloudOpacity(scanName, _preferencesDialog->getScanOpacity(0));
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_cloudViewer->setCloudPointSize(scanName, _preferencesDialog->getScanPointSize(0));
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}
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else if(_cachedSignatures.contains(iter->first))
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{
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@@ -1860,27 +1881,27 @@ void MainWindow::updateMapCloud(
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}
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else if(viewerClouds.contains(scanName))
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{
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_ui->widget_cloudViewer->setCloudVisibility(scanName.c_str(), false);
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_cloudViewer->setCloudVisibility(scanName.c_str(), false);
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}
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// 3d features
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std::string featuresName = uFormat("features%d", iter->first);
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if(_ui->widget_cloudViewer->isVisible() && _preferencesDialog->isFeaturesShown(0))
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if(_cloudViewer->isVisible() && _preferencesDialog->isFeaturesShown(0))
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{
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if(viewerClouds.contains(featuresName))
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{
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// Update only if the pose has changed
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Transform tFeatures;
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_ui->widget_cloudViewer->getPose(featuresName, tFeatures);
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_cloudViewer->getPose(featuresName, tFeatures);
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if(tFeatures.isNull() || iter->second != tFeatures)
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{
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if(!_ui->widget_cloudViewer->updateCloudPose(featuresName, iter->second))
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if(!_cloudViewer->updateCloudPose(featuresName, iter->second))
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{
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UERROR("Updating pose features %d failed!", iter->first);
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}
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}
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_ui->widget_cloudViewer->setCloudVisibility(featuresName, _preferencesDialog->isFeaturesShown(0));
|
||||
_ui->widget_cloudViewer->setCloudPointSize(featuresName, _preferencesDialog->getFeaturesPointSize(0));
|
||||
_cloudViewer->setCloudVisibility(featuresName, _preferencesDialog->isFeaturesShown(0));
|
||||
_cloudViewer->setCloudPointSize(featuresName, _preferencesDialog->getFeaturesPointSize(0));
|
||||
}
|
||||
else if(_cachedSignatures.contains(iter->first))
|
||||
{
|
||||
@@ -1893,7 +1914,7 @@ void MainWindow::updateMapCloud(
|
||||
}
|
||||
else if(viewerClouds.contains(featuresName))
|
||||
{
|
||||
_ui->widget_cloudViewer->setCloudVisibility(featuresName.c_str(), false);
|
||||
_cloudViewer->setCloudVisibility(featuresName.c_str(), false);
|
||||
}
|
||||
|
||||
if(verboseProgress)
|
||||
@@ -1929,10 +1950,10 @@ void MainWindow::updateMapCloud(
|
||||
int id = std::atoi(splitted.back().c_str());
|
||||
if(poses.find(id) == poses.end())
|
||||
{
|
||||
if(_ui->widget_cloudViewer->getCloudVisibility(iter.key()))
|
||||
if(_cloudViewer->getCloudVisibility(iter.key()))
|
||||
{
|
||||
UDEBUG("Hide %s", iter.key().c_str());
|
||||
_ui->widget_cloudViewer->setCloudVisibility(iter.key(), false);
|
||||
_cloudViewer->setCloudVisibility(iter.key(), false);
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1941,8 +1962,8 @@ void MainWindow::updateMapCloud(
|
||||
UDEBUG("");
|
||||
|
||||
// update 3D graphes (show all poses)
|
||||
_ui->widget_cloudViewer->removeAllGraphs();
|
||||
_ui->widget_cloudViewer->removeCloud("graph_nodes");
|
||||
_cloudViewer->removeAllGraphs();
|
||||
_cloudViewer->removeCloud("graph_nodes");
|
||||
if(_preferencesDialog->isGraphsShown() && _currentPosesMap.size())
|
||||
{
|
||||
// Find all graphs
|
||||
@@ -1983,14 +2004,14 @@ void MainWindow::updateMapCloud(
|
||||
{
|
||||
color = (Qt::GlobalColor)((iter->first+3) % 12 + 7 );
|
||||
}
|
||||
_ui->widget_cloudViewer->addOrUpdateGraph(uFormat("graph_%d", iter->first), iter->second, color);
|
||||
_cloudViewer->addOrUpdateGraph(uFormat("graph_%d", iter->first), iter->second, color);
|
||||
}
|
||||
}
|
||||
|
||||
UDEBUG("labels.size()=%d", (int)labels.size());
|
||||
|
||||
// Update labels
|
||||
_ui->widget_cloudViewer->removeAllTexts();
|
||||
_cloudViewer->removeAllTexts();
|
||||
if(_preferencesDialog->isLabelsShown() && labels.size())
|
||||
{
|
||||
for(std::map<int, std::string>::const_iterator iter=labels.begin(); iter!=labels.end(); ++iter)
|
||||
@@ -2003,7 +2024,7 @@ void MainWindow::updateMapCloud(
|
||||
{
|
||||
color = (Qt::GlobalColor)((mapId+3) % 12 + 7 );
|
||||
}
|
||||
_ui->widget_cloudViewer->addOrUpdateText(
|
||||
_cloudViewer->addOrUpdateText(
|
||||
std::string("label_") + uNumber2Str(iter->first),
|
||||
iter->second,
|
||||
_currentPosesMap.at(iter->first),
|
||||
@@ -2048,7 +2069,7 @@ void MainWindow::updateMapCloud(
|
||||
if(_preferencesDialog->getGridMapShown())
|
||||
{
|
||||
float opacity = _preferencesDialog->getGridMapOpacity();
|
||||
_ui->widget_cloudViewer->addOccupancyGridMap(map8U, resolution, xMin, yMin, opacity);
|
||||
_cloudViewer->addOccupancyGridMap(map8U, resolution, xMin, yMin, opacity);
|
||||
}
|
||||
if(_ui->graphicsView_graphView->isVisible())
|
||||
{
|
||||
@@ -2063,7 +2084,7 @@ void MainWindow::updateMapCloud(
|
||||
if(!_preferencesDialog->getGridMapShown())
|
||||
{
|
||||
UDEBUG("");
|
||||
_ui->widget_cloudViewer->removeOccupancyGridMap();
|
||||
_cloudViewer->removeOccupancyGridMap();
|
||||
}
|
||||
|
||||
if(viewerClouds.contains("cloudOdom"))
|
||||
@@ -2071,14 +2092,14 @@ void MainWindow::updateMapCloud(
|
||||
if(!_preferencesDialog->isCloudsShown(1))
|
||||
{
|
||||
UDEBUG("");
|
||||
_ui->widget_cloudViewer->setCloudVisibility("cloudOdom", false);
|
||||
_cloudViewer->setCloudVisibility("cloudOdom", false);
|
||||
}
|
||||
else
|
||||
{
|
||||
UDEBUG("");
|
||||
_ui->widget_cloudViewer->updateCloudPose("cloudOdom", _odometryCorrection);
|
||||
_ui->widget_cloudViewer->setCloudOpacity("cloudOdom", _preferencesDialog->getCloudOpacity(1));
|
||||
_ui->widget_cloudViewer->setCloudPointSize("cloudOdom", _preferencesDialog->getCloudPointSize(1));
|
||||
_cloudViewer->updateCloudPose("cloudOdom", _odometryCorrection);
|
||||
_cloudViewer->setCloudOpacity("cloudOdom", _preferencesDialog->getCloudOpacity(1));
|
||||
_cloudViewer->setCloudPointSize("cloudOdom", _preferencesDialog->getCloudPointSize(1));
|
||||
}
|
||||
}
|
||||
if(viewerClouds.contains("scanOdom"))
|
||||
@@ -2086,14 +2107,14 @@ void MainWindow::updateMapCloud(
|
||||
if(!_preferencesDialog->isScansShown(1))
|
||||
{
|
||||
UDEBUG("");
|
||||
_ui->widget_cloudViewer->setCloudVisibility("scanOdom", false);
|
||||
_cloudViewer->setCloudVisibility("scanOdom", false);
|
||||
}
|
||||
else
|
||||
{
|
||||
UDEBUG("");
|
||||
_ui->widget_cloudViewer->updateCloudPose("scanOdom", _odometryCorrection);
|
||||
_ui->widget_cloudViewer->setCloudOpacity("scanOdom", _preferencesDialog->getScanOpacity(1));
|
||||
_ui->widget_cloudViewer->setCloudPointSize("scanOdom", _preferencesDialog->getScanPointSize(1));
|
||||
_cloudViewer->updateCloudPose("scanOdom", _odometryCorrection);
|
||||
_cloudViewer->setCloudOpacity("scanOdom", _preferencesDialog->getScanOpacity(1));
|
||||
_cloudViewer->setCloudPointSize("scanOdom", _preferencesDialog->getScanPointSize(1));
|
||||
}
|
||||
}
|
||||
if(viewerClouds.contains("scanMapOdom"))
|
||||
@@ -2101,14 +2122,14 @@ void MainWindow::updateMapCloud(
|
||||
if(!_preferencesDialog->isScansShown(1))
|
||||
{
|
||||
UDEBUG("");
|
||||
_ui->widget_cloudViewer->setCloudVisibility("scanMapOdom", false);
|
||||
_cloudViewer->setCloudVisibility("scanMapOdom", false);
|
||||
}
|
||||
else
|
||||
{
|
||||
UDEBUG("");
|
||||
_ui->widget_cloudViewer->updateCloudPose("scanMapOdom", _odometryCorrection);
|
||||
_ui->widget_cloudViewer->setCloudOpacity("scanMapOdom", _preferencesDialog->getScanOpacity(1));
|
||||
_ui->widget_cloudViewer->setCloudPointSize("scanMapOdom", _preferencesDialog->getScanPointSize(1));
|
||||
_cloudViewer->updateCloudPose("scanMapOdom", _odometryCorrection);
|
||||
_cloudViewer->setCloudOpacity("scanMapOdom", _preferencesDialog->getScanOpacity(1));
|
||||
_cloudViewer->setCloudPointSize("scanMapOdom", _preferencesDialog->getScanPointSize(1));
|
||||
}
|
||||
}
|
||||
if(viewerClouds.contains("featuresOdom"))
|
||||
@@ -2116,24 +2137,24 @@ void MainWindow::updateMapCloud(
|
||||
if(!_preferencesDialog->isFeaturesShown(1))
|
||||
{
|
||||
UDEBUG("");
|
||||
_ui->widget_cloudViewer->setCloudVisibility("featuresOdom", false);
|
||||
_cloudViewer->setCloudVisibility("featuresOdom", false);
|
||||
}
|
||||
else
|
||||
{
|
||||
UDEBUG("");
|
||||
_ui->widget_cloudViewer->updateCloudPose("featuresOdom", _odometryCorrection);
|
||||
_ui->widget_cloudViewer->setCloudPointSize("featuresOdom", _preferencesDialog->getFeaturesPointSize(1));
|
||||
_cloudViewer->updateCloudPose("featuresOdom", _odometryCorrection);
|
||||
_cloudViewer->setCloudPointSize("featuresOdom", _preferencesDialog->getFeaturesPointSize(1));
|
||||
}
|
||||
}
|
||||
|
||||
if(!currentPose.isNull())
|
||||
{
|
||||
UDEBUG("");
|
||||
_ui->widget_cloudViewer->updateCameraTargetPosition(currentPose);
|
||||
_cloudViewer->updateCameraTargetPosition(currentPose);
|
||||
}
|
||||
|
||||
UDEBUG("");
|
||||
_ui->widget_cloudViewer->update();
|
||||
_cloudViewer->update();
|
||||
UDEBUG("");
|
||||
}
|
||||
|
||||
@@ -2142,7 +2163,7 @@ void MainWindow::createAndAddCloudToMap(int nodeId, const Transform & pose, int
|
||||
UDEBUG("");
|
||||
UASSERT(!pose.isNull());
|
||||
std::string cloudName = uFormat("cloud%d", nodeId);
|
||||
if(_ui->widget_cloudViewer->getAddedClouds().contains(cloudName))
|
||||
if(_cloudViewer->getAddedClouds().contains(cloudName))
|
||||
{
|
||||
UERROR("Cloud %d already added to map.", nodeId);
|
||||
return;
|
||||
@@ -2285,7 +2306,7 @@ void MainWindow::createAndAddCloudToMap(int nodeId, const Transform & pose, int
|
||||
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr outputFiltered(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
|
||||
std::vector<pcl::Vertices> outputPolygons;
|
||||
util3d::filterNotUsedVerticesFromMesh(*output, polygons, *outputFiltered, outputPolygons);
|
||||
if(!_ui->widget_cloudViewer->addCloudMesh(cloudName, outputFiltered, outputPolygons, pose))
|
||||
if(!_cloudViewer->addCloudMesh(cloudName, outputFiltered, outputPolygons, pose))
|
||||
{
|
||||
UERROR("Adding mesh cloud %d to viewer failed!", nodeId);
|
||||
}
|
||||
@@ -2302,7 +2323,7 @@ void MainWindow::createAndAddCloudToMap(int nodeId, const Transform & pose, int
|
||||
color = (Qt::GlobalColor)(mapId+3 % 12 + 7 );
|
||||
}
|
||||
|
||||
if(!_ui->widget_cloudViewer->addCloud(cloudName, output, pose, color))
|
||||
if(!_cloudViewer->addCloud(cloudName, output, pose, color))
|
||||
{
|
||||
UERROR("Adding cloud %d to viewer failed!", nodeId);
|
||||
}
|
||||
@@ -2314,15 +2335,15 @@ void MainWindow::createAndAddCloudToMap(int nodeId, const Transform & pose, int
|
||||
return;
|
||||
}
|
||||
|
||||
_ui->widget_cloudViewer->setCloudOpacity(cloudName, _preferencesDialog->getCloudOpacity(0));
|
||||
_ui->widget_cloudViewer->setCloudPointSize(cloudName, _preferencesDialog->getCloudPointSize(0));
|
||||
_cloudViewer->setCloudOpacity(cloudName, _preferencesDialog->getCloudOpacity(0));
|
||||
_cloudViewer->setCloudPointSize(cloudName, _preferencesDialog->getCloudPointSize(0));
|
||||
UDEBUG("");
|
||||
}
|
||||
|
||||
void MainWindow::createAndAddScanToMap(int nodeId, const Transform & pose, int mapId)
|
||||
{
|
||||
std::string scanName = uFormat("scan%d", nodeId);
|
||||
if(_ui->widget_cloudViewer->getAddedClouds().contains(scanName))
|
||||
if(_cloudViewer->getAddedClouds().contains(scanName))
|
||||
{
|
||||
UERROR("Scan %d already added to map.", nodeId);
|
||||
return;
|
||||
@@ -2358,7 +2379,7 @@ void MainWindow::createAndAddScanToMap(int nodeId, const Transform & pose, int m
|
||||
{
|
||||
color = (Qt::GlobalColor)(mapId+3 % 12 + 7 );
|
||||
}
|
||||
if(!_ui->widget_cloudViewer->addCloud(scanName, cloud, pose, color))
|
||||
if(!_cloudViewer->addCloud(scanName, cloud, pose, color))
|
||||
{
|
||||
UERROR("Adding cloud %d to viewer failed!", nodeId);
|
||||
}
|
||||
@@ -2385,7 +2406,7 @@ void MainWindow::createAndAddScanToMap(int nodeId, const Transform & pose, int m
|
||||
{
|
||||
color = (Qt::GlobalColor)(mapId+3 % 12 + 7 );
|
||||
}
|
||||
if(!_ui->widget_cloudViewer->addCloud(scanName, cloud, pose, color))
|
||||
if(!_cloudViewer->addCloud(scanName, cloud, pose, color))
|
||||
{
|
||||
UERROR("Adding cloud %d to viewer failed!", nodeId);
|
||||
}
|
||||
@@ -2413,8 +2434,8 @@ void MainWindow::createAndAddScanToMap(int nodeId, const Transform & pose, int m
|
||||
}
|
||||
}
|
||||
}
|
||||
_ui->widget_cloudViewer->setCloudOpacity(scanName, _preferencesDialog->getScanOpacity(0));
|
||||
_ui->widget_cloudViewer->setCloudPointSize(scanName, _preferencesDialog->getScanPointSize(0));
|
||||
_cloudViewer->setCloudOpacity(scanName, _preferencesDialog->getScanOpacity(0));
|
||||
_cloudViewer->setCloudPointSize(scanName, _preferencesDialog->getScanPointSize(0));
|
||||
}
|
||||
}
|
||||
|
||||
@@ -2423,7 +2444,7 @@ void MainWindow::createAndAddFeaturesToMap(int nodeId, const Transform & pose, i
|
||||
UDEBUG("");
|
||||
UASSERT(!pose.isNull());
|
||||
std::string cloudName = uFormat("features%d", nodeId);
|
||||
if(_ui->widget_cloudViewer->getAddedClouds().contains(cloudName))
|
||||
if(_cloudViewer->getAddedClouds().contains(cloudName))
|
||||
{
|
||||
UERROR("Features cloud %d already added to map.", nodeId);
|
||||
return;
|
||||
@@ -2492,7 +2513,7 @@ void MainWindow::createAndAddFeaturesToMap(int nodeId, const Transform & pose, i
|
||||
(*cloud)[oi].r = (*cloud)[oi].g = (*cloud)[oi].b = 255;
|
||||
}
|
||||
}
|
||||
if(!_ui->widget_cloudViewer->addCloud(cloudName, cloud, pose, color))
|
||||
if(!_cloudViewer->addCloud(cloudName, cloud, pose, color))
|
||||
{
|
||||
UERROR("Adding features cloud %d to viewer failed!", nodeId);
|
||||
}
|
||||
@@ -2506,7 +2527,7 @@ void MainWindow::createAndAddFeaturesToMap(int nodeId, const Transform & pose, i
|
||||
return;
|
||||
}
|
||||
|
||||
_ui->widget_cloudViewer->setCloudPointSize(cloudName, _preferencesDialog->getFeaturesPointSize(0));
|
||||
_cloudViewer->setCloudPointSize(cloudName, _preferencesDialog->getFeaturesPointSize(0));
|
||||
UDEBUG("");
|
||||
}
|
||||
|
||||
@@ -2564,7 +2585,7 @@ void MainWindow::updateNodeVisibility(int nodeId, bool visible)
|
||||
{
|
||||
if(_currentPosesMap.find(nodeId) != _currentPosesMap.end())
|
||||
{
|
||||
QMap<std::string, Transform> viewerClouds = _ui->widget_cloudViewer->getAddedClouds();
|
||||
QMap<std::string, Transform> viewerClouds = _cloudViewer->getAddedClouds();
|
||||
if(_preferencesDialog->isCloudsShown(0))
|
||||
{
|
||||
std::string cloudName = uFormat("cloud%d", nodeId);
|
||||
@@ -2577,9 +2598,9 @@ void MainWindow::updateNodeVisibility(int nodeId, bool visible)
|
||||
if(visible)
|
||||
{
|
||||
//make sure the transformation was done
|
||||
_ui->widget_cloudViewer->updateCloudPose(cloudName, _currentPosesMap.find(nodeId)->second);
|
||||
_cloudViewer->updateCloudPose(cloudName, _currentPosesMap.find(nodeId)->second);
|
||||
}
|
||||
_ui->widget_cloudViewer->setCloudVisibility(cloudName, visible);
|
||||
_cloudViewer->setCloudVisibility(cloudName, visible);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -2595,13 +2616,13 @@ void MainWindow::updateNodeVisibility(int nodeId, bool visible)
|
||||
if(visible)
|
||||
{
|
||||
//make sure the transformation was done
|
||||
_ui->widget_cloudViewer->updateCloudPose(scanName, _currentPosesMap.find(nodeId)->second);
|
||||
_cloudViewer->updateCloudPose(scanName, _currentPosesMap.find(nodeId)->second);
|
||||
}
|
||||
_ui->widget_cloudViewer->setCloudVisibility(scanName, visible);
|
||||
_cloudViewer->setCloudVisibility(scanName, visible);
|
||||
}
|
||||
}
|
||||
}
|
||||
_ui->widget_cloudViewer->update();
|
||||
_cloudViewer->update();
|
||||
}
|
||||
|
||||
void MainWindow::processRtabmapEventInit(int status, const QString & info)
|
||||
@@ -2977,7 +2998,7 @@ void MainWindow::applyPrefSettings(const rtabmap::ParametersMap & parameters, bo
|
||||
{
|
||||
_ui->statsToolBox->setWorkingDirectory(_preferencesDialog->getWorkingDirectory());
|
||||
_ui->graphicsView_graphView->setWorkingDirectory(_preferencesDialog->getWorkingDirectory());
|
||||
_ui->widget_cloudViewer->setWorkingDirectory(_preferencesDialog->getWorkingDirectory());
|
||||
_cloudViewer->setWorkingDirectory(_preferencesDialog->getWorkingDirectory());
|
||||
}
|
||||
|
||||
if(_state != kIdle && parametersModified.size())
|
||||
@@ -2998,8 +3019,8 @@ void MainWindow::applyPrefSettings(const rtabmap::ParametersMap & parameters, bo
|
||||
}
|
||||
|
||||
// update loop closure viewer parameters (Use Map parameters)
|
||||
_ui->widget_loopClosureViewer->setDecimation(_preferencesDialog->getCloudDecimation(0));
|
||||
_ui->widget_loopClosureViewer->setMaxDepth(_preferencesDialog->getCloudMaxDepth(0));
|
||||
_loopClosureViewer->setDecimation(_preferencesDialog->getCloudDecimation(0));
|
||||
_loopClosureViewer->setMaxDepth(_preferencesDialog->getCloudMaxDepth(0));
|
||||
|
||||
// update graph view parameters
|
||||
if(uContains(parameters, Parameters::kRGBDLocalRadius()))
|
||||
@@ -3291,7 +3312,7 @@ void MainWindow::saveConfigGUI()
|
||||
_preferencesDialog->saveMainWindowState(this);
|
||||
_preferencesDialog->saveWindowGeometry(_preferencesDialog);
|
||||
_preferencesDialog->saveWindowGeometry(_aboutDialog);
|
||||
_preferencesDialog->saveWidgetState(_ui->widget_cloudViewer);
|
||||
_preferencesDialog->saveWidgetState(_cloudViewer);
|
||||
_preferencesDialog->saveWidgetState(_ui->imageView_source);
|
||||
_preferencesDialog->saveWidgetState(_ui->imageView_loopClosure);
|
||||
_preferencesDialog->saveWidgetState(_ui->imageView_odometry);
|
||||
@@ -4649,9 +4670,9 @@ void MainWindow::clearTheCache()
|
||||
_gridLocalMaps.clear();
|
||||
_projectionLocalMaps.clear();
|
||||
_createdFeatures.clear();
|
||||
_ui->widget_cloudViewer->clear();
|
||||
_ui->widget_cloudViewer->setBackgroundColor(_ui->widget_cloudViewer->getDefaultBackgroundColor());
|
||||
_ui->widget_cloudViewer->clearTrajectory();
|
||||
_cloudViewer->clear();
|
||||
_cloudViewer->setBackgroundColor(_cloudViewer->getDefaultBackgroundColor());
|
||||
_cloudViewer->clearTrajectory();
|
||||
_ui->widget_mapVisibility->clear();
|
||||
_currentPosesMap.clear();
|
||||
_currentGTPosesMap.clear();
|
||||
@@ -4781,7 +4802,7 @@ void MainWindow::setDefaultViews()
|
||||
_ui->toolBar_2->setVisible(true);
|
||||
_ui->statusbar->setVisible(false);
|
||||
this->setAspectRatio720p();
|
||||
_ui->widget_cloudViewer->resetCamera();
|
||||
_cloudViewer->resetCamera();
|
||||
}
|
||||
|
||||
void MainWindow::selectScreenCaptureFormat(bool checked)
|
||||
|
||||
Reference in New Issue
Block a user