CloudViewer: using QWidget::update() call instead of render directly the window

guilib/include/rtabmap/gui/CloudViewer.h

@@ -178,7 +178,6 @@ public:
 	void setWorkingDirectory(const QString & path) {_workingDirectory = path;}
 
 public slots:
-	void render();
 	void setBackgroundColor(const QColor & color);
 	void setCloudVisibility(const std::string & id, bool isVisible);
 	void setCloudOpacity(const std::string & id, double opacity = 1.0);

guilib/src/CloudViewer.cpp

@@ -51,7 +51,7 @@ void CloudViewer::mouseEventOccurred (const pcl::visualization::MouseEvent &even
 	if (event.getButton () == pcl::visualization::MouseEvent::LeftButton ||
 	  event.getButton () == pcl::visualization::MouseEvent::MiddleButton)
 	{
-		this->render(); // this will apply frustum
+		this->update(); // this will apply frustum
 	}
 }
 
@@ -517,7 +517,7 @@ void CloudViewer::clearTrajectory()
 {
 	_trajectory->clear();
 	_visualizer->removeShape("trajectory");
-	this->render();
+	this->update();
 }
 
 void CloudViewer::removeAllClouds()
@@ -671,9 +671,9 @@ void CloudViewer::updateCameraTargetPosition(const Transform & pose)
 				cameras.front().focal[1] = Fp.y();
 				cameras.front().focal[2] = Fp.z();
 				//FIXME: the view up is not set properly...
-				cameras.front().view[0] = Fp[8];
-				cameras.front().view[1] = Fp[9];
-				cameras.front().view[2] = Fp[10];
+				cameras.front().view[0] = _aLockViewZ->isChecked()?0:Fp[8];
+				cameras.front().view[1] = _aLockViewZ->isChecked()?0:Fp[9];
+				cameras.front().view[2] = _aLockViewZ->isChecked()?1:Fp[10];
 			}
 
 #if PCL_VERSION_COMPARE(>=, 1, 7, 2)
@@ -693,28 +693,6 @@ void CloudViewer::updateCameraTargetPosition(const Transform & pose)
 	_lastPose = pose;
 }
 
-void CloudViewer::render()
-{
-	// camera view up z locked?
-	if(_aLockViewZ->isChecked())
-	{
-		std::vector<pcl::visualization::Camera> cameras;
-		_visualizer->getCameras(cameras);
-
-		cameras.front().view[0] = 0;
-		cameras.front().view[1] = 0;
-		cameras.front().view[2] = 1;
-
-		_visualizer->setCameraPosition(
-			cameras.front().pos[0], cameras.front().pos[1], cameras.front().pos[2],
-			cameras.front().focal[0], cameras.front().focal[1], cameras.front().focal[2],
-			cameras.front().view[0], cameras.front().view[1], cameras.front().view[2]);
-
-	}
-
-	this->GetRenderWindow()->Render();
-}
-
 const QColor & CloudViewer::getBackgroundColor() const
 {
 	return _backgroundColor;
@@ -1045,7 +1023,7 @@ void CloudViewer::keyPressEvent(QKeyEvent * event)
 			cameras.front().focal[0], cameras.front().focal[1], cameras.front().focal[2],
 			cameras.front().view[0], cameras.front().view[1], cameras.front().view[2]);
 
-		render();
+		update();
 
 		emit configChanged();
 	}
@@ -1141,7 +1119,7 @@ void CloudViewer::handleAction(QAction * a)
 					0, 0, 0,
 					0, 0, 1);
 		}
-		this->render();
+		this->update();
 	}
 	else if(a == _aShowGrid)
 	{
@@ -1154,7 +1132,7 @@ void CloudViewer::handleAction(QAction * a)
 			this->removeGrid();
 		}
 
-		this->render();
+		this->update();
 	}
 	else if(a == _aSetGridCellCount)
 	{
@@ -1184,7 +1162,7 @@ void CloudViewer::handleAction(QAction * a)
 	{
 		if(_aLockViewZ->isChecked())
 		{
-			this->render();
+			this->update();
 		}
 	}
 }

guilib/src/DatabaseViewer.cpp

@@ -1131,7 +1131,7 @@ void DatabaseViewer::update(int value,
 			ui_->horizontalSlider_loops->setValue(0);
 			ui_->horizontalSlider_neighbors->setValue(0);
 			ui_->constraintsViewer->removeAllClouds();
-			ui_->constraintsViewer->render();
+			ui_->constraintsViewer->update();
 			ui_->horizontalSlider_loops->blockSignals(false);
 			ui_->horizontalSlider_neighbors->blockSignals(false);
 		}
@@ -1244,7 +1244,7 @@ void DatabaseViewer::updateStereo(const Signature * data)
 
 		ui_->stereoViewer->updateCameraTargetPosition(Transform::getIdentity());
 		ui_->stereoViewer->addOrUpdateCloud("stereo", cloud);
-		ui_->stereoViewer->render();
+		ui_->stereoViewer->update();
 
 		std::vector<cv::KeyPoint> rightKpts;
 		cv::KeyPoint::convert(rightCorners, rightKpts);
@@ -1660,7 +1660,7 @@ void DatabaseViewer::updateConstraintView(const rtabmap::Link & linkIn,
 		ui_->constraintsViewer->updateCameraTargetPosition(t);
 		ui_->constraintsViewer->clearTrajectory();
 
-		ui_->constraintsViewer->render();
+		ui_->constraintsViewer->update();
 	}
 
 	// update buttons
@@ -2490,7 +2490,7 @@ void DatabaseViewer::updateLoopClosuresSlider(int from, int to)
 	{
 		ui_->horizontalSlider_loops->setEnabled(false);
 		ui_->constraintsViewer->removeAllClouds();
-		ui_->constraintsViewer->render();
+		ui_->constraintsViewer->update();
 		updateConstraintButtons();
 	}
 }

guilib/src/LoopClosureViewer.cpp

@@ -197,7 +197,7 @@ void LoopClosureViewer::updateView(const Transform & transform)
 		{
 			UERROR("loop transform is null !?!?");
 			ui_->cloudViewerTransform->removeAllClouds();
-		}
+		}
 		ui_->cloudViewerTransform->update();
 	}
 }

guilib/src/MainWindow.cpp

@@ -765,7 +765,7 @@ void MainWindow::processOdometry(const rtabmap::SensorData & data, const rtabmap
 				_ui->widget_cloudViewer->updateCameraTargetPosition(_odometryCorrection*data.pose());
 			}
 		}
-		_ui->widget_cloudViewer->render();
+		_ui->widget_cloudViewer->update();
 	}
 
 	if(_ui->dockWidget_odometry->isVisible() &&
@@ -1451,7 +1451,7 @@ void MainWindow::updateMapCloud(
 		_ui->widget_cloudViewer->updateCameraTargetPosition(currentPose);
 	}
 
-	_ui->widget_cloudViewer->render();
+	_ui->widget_cloudViewer->update();
 }
 
 void MainWindow::createAndAddCloudToMap(int nodeId, const Transform & pose, int mapId)
@@ -1648,7 +1648,7 @@ void MainWindow::updateNodeVisibility(int nodeId, bool visible)
 			}
 		}
 	}
-	_ui->widget_cloudViewer->render();
+	_ui->widget_cloudViewer->update();
 }
 
 void MainWindow::processRtabmapEventInit(int status, const QString & info)

guilib/src/OdometryViewer.cpp

@@ -164,7 +164,7 @@ void OdometryViewer::processData()
 			this->setBackgroundColor(Qt::darkRed);
 		}
 
-		this->render();
+		this->update();
 	}
 }