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RtabmapThread: when receiving new map event from odometry, wait until the buffer has reached the corresponding timestamp before triggering a new map. DBReader: regenerate stamps when sync capture rate with stamps in database is false. MainWindow: ask for PNG or JPEG format when activating auto capture.

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This commit is contained in:
matlabbe
2017-12-11 17:09:04 -05:00
parent ff135322f6
commit d776092b35
5 changed files with 47 additions and 13 deletions
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30
guilib/src/MainWindow.cpp
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@@ -168,6 +168,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent, bool sh
_exportPosesFrame(0),
_autoScreenCaptureOdomSync(false),
_autoScreenCaptureRAM(false),
_autoScreenCapturePNG(false),
_firstCall(true),
_progressCanceled(false)
{
@@ -1363,7 +1364,7 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
if(_ui->actionAuto_screen_capture->isChecked() && _autoScreenCaptureOdomSync)
{
this->captureScreen(_autoScreenCaptureRAM);
this->captureScreen(_autoScreenCaptureRAM, _autoScreenCapturePNG);
}
//Process info
@@ -1932,7 +1933,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
_ui->statsToolBox->updateStat("GUI/Refresh stats/ms", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), elapsedTime, _preferencesDialog->isCacheSavedInFigures());
if(_ui->actionAuto_screen_capture->isChecked() && !_autoScreenCaptureOdomSync)
{
this->captureScreen(_autoScreenCaptureRAM);
this->captureScreen(_autoScreenCaptureRAM, _autoScreenCapturePNG);
}
if(!_preferencesDialog->isImagesKept())
@@ -4051,9 +4052,9 @@ void MainWindow::changeMappingMode()
emit mappingModeChanged(_ui->actionSLAM_mode->isChecked());
}
QString MainWindow::captureScreen(bool cacheInRAM)
QString MainWindow::captureScreen(bool cacheInRAM, bool png)
{
QString name = (QDateTime::currentDateTime().toString("yyMMddhhmmsszzz") + ".png");
QString name = (QDateTime::currentDateTime().toString("yyMMddhhmmsszzz") + (png?".png":".jpg"));
_ui->statusbar->clearMessage();
QPixmap figure = QPixmap::grabWidget(this);
@@ -4065,7 +4066,7 @@ QString MainWindow::captureScreen(bool cacheInRAM)
QByteArray bytes;
QBuffer buffer(&bytes);
buffer.open(QIODevice::WriteOnly);
figure.save(&buffer, "PNG");
figure.save(&buffer, png?"PNG":"JPEG");
_autoScreenCaptureCachedImages.insert(name, bytes);
}
else
@@ -6093,6 +6094,16 @@ void MainWindow::selectScreenCaptureFormat(bool checked)
{
_ui->actionAuto_screen_capture->setChecked(false);
}
r = QMessageBox::question(this, tr("Save in JPEG?"), tr("Save in JPEG format? Otherwise they are saved in PNG."), QMessageBox::Yes | QMessageBox::No, QMessageBox::Yes);
if(r == QMessageBox::No || r == QMessageBox::Yes)
{
_autoScreenCapturePNG = r == QMessageBox::No;
}
else
{
_ui->actionAuto_screen_capture->setChecked(false);
}
}
}
else
@@ -6116,20 +6127,23 @@ void MainWindow::selectScreenCaptureFormat(bool checked)
}
targetDir += QDir::separator();
_progressDialog->setCancelButtonVisible(true);
_progressDialog->resetProgress();
_progressDialog->show();
_progressDialog->setMaximumSteps(_autoScreenCaptureCachedImages.size());
int i=0;
for(QMap<QString, QByteArray>::iterator iter=_autoScreenCaptureCachedImages.begin(); iter!=_autoScreenCaptureCachedImages.end(); ++iter)
for(QMap<QString, QByteArray>::iterator iter=_autoScreenCaptureCachedImages.begin(); iter!=_autoScreenCaptureCachedImages.end() && !_progressDialog->isCanceled(); ++iter)
{
QPixmap figure;
figure.loadFromData(iter.value(), "PNG");
figure.save(targetDir + iter.key(), "PNG");
figure.loadFromData(iter.value(), _autoScreenCapturePNG?"PNG":"JPEG");
figure.save(targetDir + iter.key(), _autoScreenCapturePNG?"PNG":"JPEG");
_progressDialog->appendText(tr("Saved image \"%1\" (%2/%3).").arg(targetDir + iter.key()).arg(++i).arg(_autoScreenCaptureCachedImages.size()));
_progressDialog->incrementStep();
QApplication::processEvents();
}
_autoScreenCaptureCachedImages.clear();
_progressDialog->setValue(_progressDialog->maximumSteps());
_progressDialog->setCancelButtonVisible(false);
}
}