i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 09:30:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fixed not working "Insert data in GUI cache" when disabled

Browse Source
This commit is contained in:
Mathieu Labbe
2015-01-12 17:43:42 -05:00
parent cd3bd2948e
commit cdb1e29d45
3 changed files with 78 additions and 51 deletions
Download Patch File Download Diff File Expand all files Collapse all files

9
guilib/src/ExportCloudsDialog.cpp
View File

@@ -56,6 +56,15 @@ void ExportCloudsDialog::setOkButton()
_ui->checkBox_binary->setVisible(false);
}
void ExportCloudsDialog::enableRegeneration(bool enabled)
{
if(!enabled)
{
_ui->groupBox_regenerate->setChecked(false);
}
_ui->groupBox_regenerate->setEnabled(enabled);
}
bool ExportCloudsDialog::getAssemble() const
{
return _ui->groupBox_assemble->isChecked();

1
guilib/src/ExportCloudsDialog.h
View File

@@ -45,6 +45,7 @@ public:
void setSaveButton();
void setOkButton();
void enableRegeneration(bool enabled);
bool getAssemble() const;
double getAssembleVoxel() const;

119
guilib/src/MainWindow.cpp
View File

@@ -1060,6 +1060,11 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
this->captureScreen();
}
_processingStatistics = false;
if(!_preferencesDialog->isImagesKept())
{
_cachedSignatures.clear();
}
}
void MainWindow::updateMapCloud(
@@ -1101,7 +1106,7 @@ void MainWindow::updateMapCloud(
}
}
_ui->actionPost_processing->setEnabled(_currentPosesMap.size() >= 2 && _currentLinksMap.size() >= 1);
_ui->actionPost_processing->setEnabled(_cachedSignatures.size() >= 2 && _currentPosesMap.size() >= 2 && _currentLinksMap.size() >= 1);
}
// filter duplicated poses
@@ -1518,10 +1523,10 @@ void MainWindow::updateNodeVisibility(int nodeId, bool visible)
if(_currentPosesMap.find(nodeId) != _currentPosesMap.end())
{
QMap<std::string, Transform> viewerClouds = _ui->widget_cloudViewer->getAddedClouds();
if(_preferencesDialog->isCloudsShown(0) && _cachedSignatures.contains(nodeId))
if(_preferencesDialog->isCloudsShown(0))
{
std::string cloudName = uFormat("cloud%d", nodeId);
if(visible && !viewerClouds.contains(cloudName))
if(visible && !viewerClouds.contains(cloudName) && _cachedSignatures.contains(nodeId))
{
createAndAddCloudToMap(nodeId, _currentPosesMap.find(nodeId)->second, uValue(_currentMapIds, nodeId, -1));
}
@@ -1536,10 +1541,10 @@ void MainWindow::updateNodeVisibility(int nodeId, bool visible)
}
}
if(_preferencesDialog->isScansShown(0) && _cachedSignatures.contains(nodeId))
if(_preferencesDialog->isScansShown(0))
{
std::string scanName = uFormat("scan%d", nodeId);
if(visible && !viewerClouds.contains(scanName))
if(visible && !viewerClouds.contains(scanName) && _cachedSignatures.contains(nodeId))
{
createAndAddScanToMap(nodeId, _currentPosesMap.find(nodeId)->second, uValue(_currentMapIds, nodeId, -1));
}
@@ -1714,6 +1719,11 @@ void MainWindow::processRtabmapEvent3DMap(const rtabmap::RtabmapEvent3DMap & eve
}
_initProgressDialog->appendText(tr("%1 locations are updated to/inserted in the cache.").arg(event.getPoses().size()));
if(!_preferencesDialog->isImagesKept())
{
_cachedSignatures.clear();
}
}
_initProgressDialog->setValue(_initProgressDialog->maximumSteps());
}
@@ -2711,6 +2721,11 @@ void MainWindow::generateTOROMap()
void MainWindow::postProcessing()
{
if(_cachedSignatures.size() == 0)
{
UERROR("Signatures must be cached in the GUI to post processing.");
return;
}
if(_postProcessingDialog->exec() != QDialog::Accepted)
{
return;
@@ -3901,6 +3916,7 @@ bool MainWindow::getExportedClouds(
{
_exportDialog->setOkButton();
}
_exportDialog->enableRegeneration(_preferencesDialog->isImagesKept());
if(_exportDialog->exec() == QDialog::Accepted)
{
std::map<int, Transform> poses = _ui->widget_mapVisibility->getVisiblePoses();
@@ -4453,14 +4469,15 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr MainWindow::getAssembledCloud(
bool inserted = false;
if(!iter->second.isNull())
{
if(_cachedSignatures.contains(iter->first))
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
if(regenerateClouds)
{
const Signature & s = _cachedSignatures.find(iter->first).value();
cv::Mat image, depth;
s.uncompressDataConst(&image, &depth, 0);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
if(regenerateClouds)
if(_cachedSignatures.contains(iter->first))
{
const Signature & s = _cachedSignatures.find(iter->first).value();
cv::Mat image, depth;
s.uncompressDataConst(&image, &depth, 0);
cloud = createCloud(iter->first,
image,
depth,
@@ -4474,22 +4491,22 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr MainWindow::getAssembledCloud(
regenerateDecimation,
regenerateMaxDepth);
}
else if(uContains(_createdClouds, iter->first))
else
{
cloud = util3d::transformPointCloud<pcl::PointXYZRGB>(_createdClouds.at(iter->first), iter->second);
}
if(cloud->size())
{
*assembledCloud += *cloud;
inserted = true;
++count;
UWARN("Cloud %d not found in cache!", iter->first);
}
}
else
else if(uContains(_createdClouds, iter->first))
{
UERROR("Cloud %d not found?!?", iter->first);
cloud = util3d::transformPointCloud<pcl::PointXYZRGB>(_createdClouds.at(iter->first), iter->second);
}
if(cloud->size())
{
*assembledCloud += *cloud;
inserted = true;
++count;
}
}
else
@@ -4539,41 +4556,41 @@ std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > MainWindow::getClouds(
bool inserted = false;
if(!iter->second.isNull())
{
if(_cachedSignatures.contains(iter->first))
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
if(regenerateClouds)
{
const Signature & s = _cachedSignatures.find(iter->first).value();
cv::Mat image, depth;
s.uncompressDataConst(&image, &depth, 0);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
if(regenerateClouds)
if(_cachedSignatures.contains(iter->first))
{
cloud = createCloud(iter->first,
image,
depth,
s.getDepthFx(),
s.getDepthFy(),
s.getDepthCx(),
s.getDepthCy(),
s.getLocalTransform(),
Transform::getIdentity(),
regenerateVoxelSize,
regenerateDecimation,
regenerateMaxDepth);
const Signature & s = _cachedSignatures.find(iter->first).value();
cv::Mat image, depth;
s.uncompressDataConst(&image, &depth, 0);
cloud = createCloud(iter->first,
image,
depth,
s.getDepthFx(),
s.getDepthFy(),
s.getDepthCx(),
s.getDepthCy(),
s.getLocalTransform(),
Transform::getIdentity(),
regenerateVoxelSize,
regenerateDecimation,
regenerateMaxDepth);
}
else if(uContains(_createdClouds, iter->first))
else
{
cloud = _createdClouds.at(iter->first);
}
if(cloud->size())
{
clouds.insert(std::make_pair(iter->first, cloud));
inserted = true;
UERROR("Cloud %d not found in cache!", iter->first);
}
}
else
else if(uContains(_createdClouds, iter->first))
{
UERROR("Cloud %d not found?!?", iter->first);
cloud = _createdClouds.at(iter->first);
}
if(cloud->size())
{
clouds.insert(std::make_pair(iter->first, cloud));
inserted = true;
}
}
else