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0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)

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This commit is contained in:
matlabbe
2017-03-12 21:21:09 -04:00
parent c12980ee91
commit d21ae76fff
56 changed files with 1869 additions and 662 deletions
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3
guilib/src/CalibrationDialog.cpp
View File

@@ -265,7 +265,7 @@ void CalibrationDialog::closeEvent(QCloseEvent* event)
}
}
void CalibrationDialog::handleEvent(UEvent * event)
bool CalibrationDialog::handleEvent(UEvent * event)
{
if(!processingData_)
{
@@ -282,6 +282,7 @@ void CalibrationDialog::handleEvent(UEvent * event)
}
}
}
return false;
}
void CalibrationDialog::processImages(const cv::Mat & imageLeft, const cv::Mat & imageRight, const QString & cameraName)

3
guilib/src/CameraViewer.cpp
View File

@@ -184,7 +184,7 @@ void CameraViewer::showImage(const rtabmap::SensorData & data)
processingImages_ = false;
}
void CameraViewer::handleEvent(UEvent * event)
bool CameraViewer::handleEvent(UEvent * event)
{
if(!pause_->isChecked())
{
@@ -205,6 +205,7 @@ void CameraViewer::handleEvent(UEvent * event)
}
}
}
return false;
}
} /* namespace rtabmap */

3
guilib/src/ConsoleWidget.cpp
View File

@@ -62,7 +62,7 @@ ConsoleWidget::~ConsoleWidget()
delete _ui;
}
void ConsoleWidget::handleEvent(UEvent * anEvent)
bool ConsoleWidget::handleEvent(UEvent * anEvent)
{
// WARNING, don't put a log message here! otherwise it could be recursively called.
if(anEvent->getClassName().compare("ULogEvent") == 0)
@@ -100,6 +100,7 @@ void ConsoleWidget::handleEvent(UEvent * anEvent)
}
}
return false;
}
void ConsoleWidget::appendMsg(const QString & msg, int level)

3
guilib/src/DataRecorder.cpp
View File

@@ -167,7 +167,7 @@ void DataRecorder::closeEvent(QCloseEvent* event)
event->accept();
}
void DataRecorder::handleEvent(UEvent * event)
bool DataRecorder::handleEvent(UEvent * event)
{
if(memory_)
{
@@ -192,6 +192,7 @@ void DataRecorder::handleEvent(UEvent * event)
}
}
}
return false;
}
} /* namespace rtabmap */

3
guilib/src/MainWindow.cpp
View File

@@ -722,7 +722,7 @@ void MainWindow::closeEvent(QCloseEvent* event)
UDEBUG("");
}
void MainWindow::handleEvent(UEvent* anEvent)
bool MainWindow::handleEvent(UEvent* anEvent)
{
if(anEvent->getClassName().compare("RtabmapEvent") == 0)
{
@@ -856,6 +856,7 @@ void MainWindow::handleEvent(UEvent* anEvent)
}
}
}
return false;
}
void MainWindow::processCameraInfo(const rtabmap::CameraInfo & info)

3
guilib/src/OdometryViewer.cpp
View File

@@ -470,7 +470,7 @@ void OdometryViewer::processData(const rtabmap::OdometryEvent & odom)
processingData_ = false;
}
void OdometryViewer::handleEvent(UEvent * event)
bool OdometryViewer::handleEvent(UEvent * event)
{
if(!processingData_ && this->isVisible())
{
@@ -485,6 +485,7 @@ void OdometryViewer::handleEvent(UEvent * event)
}
}
}
return false;
}
} /* namespace rtabmap */

1
guilib/src/PreferencesDialog.cpp
View File

@@ -606,6 +606,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->general_checkBox_keepBinaryData->setObjectName(Parameters::kMemBinDataKept().c_str());
_ui->general_checkBox_keepDescriptors->setObjectName(Parameters::kMemRawDescriptorsKept().c_str());
_ui->general_checkBox_saveDepth16bits->setObjectName(Parameters::kMemSaveDepth16Format().c_str());
_ui->general_checkBox_compressionParallelized->setObjectName(Parameters::kMemCompressionParallelized().c_str());
_ui->general_checkBox_reduceGraph->setObjectName(Parameters::kMemReduceGraph().c_str());
_ui->general_checkBox_keepNotLinkedNodes->setObjectName(Parameters::kMemNotLinkedNodesKept().c_str());
_ui->general_spinBox_maxStMemSize->setObjectName(Parameters::kMemSTMSize().c_str());

7
guilib/src/TexturingState.h
View File

@@ -40,7 +40,7 @@ class TexturingState : public QObject, public ProgressState
Q_OBJECT
public:
TexturingState(ProgressDialog * dialog): dialog_(dialog), canceled_(false)
TexturingState(ProgressDialog * dialog): dialog_(dialog)
{
connect(dialog_, SIGNAL(canceled()), this, SLOT(cancel()));
}
@@ -53,18 +53,17 @@ public:
dialog_->incrementStep();
}
QApplication::processEvents();
return !canceled_;
return !isCanceled();
}
public slots:
void cancel()
{
canceled_ = true;
setCanceled(true);
}
private:
ProgressDialog * dialog_;
bool canceled_;
};
}

67
guilib/src/ui/preferencesDialog.ui
View File

@@ -63,7 +63,7 @@
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<y>-182</y>
<width>673</width>
<height>2718</height>
</rect>
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>21</number>
<number>8</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -6077,7 +6077,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="14" column="0">
<item row="15" column="0">
<widget class="QSpinBox" name="general_spinBox_laserScanDownsample">
<property name="minimumSize">
<size>
@@ -6116,7 +6116,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="12" column="1">
<item row="13" column="1">
<widget class="QLabel" name="label_retrieved_13">
<property name="text">
<string>Image pre decimation. This option can be used to reduce image size before features extraction. Negative decimation is done from RGB size instead of depth size (if depth is smaller than RGB, it may be interpolated depending of the decimation value).</string>
@@ -6188,7 +6188,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="13" column="0">
<item row="14" column="0">
<widget class="QSpinBox" name="spinBox_imagePostDecimation">
<property name="minimum">
<number>-16</number>
@@ -6234,7 +6234,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="13" column="1">
<item row="14" column="1">
<widget class="QLabel" name="label_retrieved_6">
<property name="text">
<string>Image post decimation. This option can be used to save images in lower resolution (size/decimation). It is done on the original image. Negative decimation is done from RGB size instead of depth size (if depth is smaller than RGB, it may be interpolated depending of the decimation value).</string>
@@ -6260,7 +6260,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="14" column="1">
<item row="15" column="1">
<widget class="QLabel" name="label_retrieved_8">
<property name="text">
<string>If &gt; 1, downsample the laser scans when creating a location. This feature can be used to save laser scans already downsampled.</string>
@@ -6283,7 +6283,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="12" column="0">
<item row="13" column="0">
<widget class="QSpinBox" name="spinBox_imagePreDecimation">
<property name="minimum">
<number>-16</number>
@@ -6293,20 +6293,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="15" column="1">
<widget class="QLabel" name="label_retrieved_14">
<property name="text">
<string>If &gt; 0 and laser scans are 3D without normals, normals will be computed with K search neighbors when creating a signature.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="15" column="0">
<item row="16" column="0">
<widget class="QSpinBox" name="general_spinBox_laserScanNormalK">
<property name="minimumSize">
<size>
@@ -6325,6 +6312,42 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="16" column="1">
<widget class="QLabel" name="label_retrieved_14">
<property name="text">
<string>If &gt; 0 and laser scans are 3D without normals, normals will be computed with K search neighbors when creating a signature.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="12" column="1">
<widget class="QLabel" name="label_retrieved_15">
<property name="text">
<string>Multi-threaded compression.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="12" column="0">
<widget class="QCheckBox" name="general_checkBox_compressionParallelized">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
</layout>
</item>
<item>