mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-03 10:00:23 +08:00
0.14.3: exposed all gui widgets to public API. CloudViewer: fixed camera orientation reset
This commit is contained in:
matlabbe
@@ -53,6 +53,12 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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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/gui/ExportCloudsDialog.h"
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#include "rtabmap/gui/ExportBundlerDialog.h"
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#include "rtabmap/gui/AboutDialog.h"
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#include "rtabmap/gui/PostProcessingDialog.h"
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#include "rtabmap/gui/DepthCalibrationDialog.h"
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#include "rtabmap/gui/RecoveryState.h"
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#include <rtabmap/utilite/UStl.h>
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#include <rtabmap/utilite/ULogger.h>
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@@ -62,13 +68,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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#include "rtabmap/utilite/UPlot.h"
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#include "rtabmap/utilite/UCv2Qt.h"
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#include "ExportCloudsDialog.h"
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#include "ExportBundlerDialog.h"
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#include "AboutDialog.h"
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#include "PostProcessingDialog.h"
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#include "DepthCalibrationDialog.h"
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#include "RecoveryState.h"
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#include <QtGui/QCloseEvent>
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#include <QtGui/QPixmap>
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#include <QtCore/QDir>
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@@ -130,7 +129,7 @@ inline static void initGuiResource() { Q_INIT_RESOURCE(GuiLib); }
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namespace rtabmap {
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MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
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MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent, bool showSplashScreen) :
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QMainWindow(parent),
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_ui(0),
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_state(kIdle),
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@@ -177,11 +176,15 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
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initGuiResource();
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QPixmap pixmap(":images/RTAB-Map.png");
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QSplashScreen splash(pixmap);
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splash.show();
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splash.showMessage(tr("Loading..."));
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QApplication::processEvents();
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QSplashScreen * splash = 0;
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if (showSplashScreen)
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{
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QPixmap pixmap(":images/RTAB-Map.png");
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splash = new QSplashScreen(pixmap);
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splash->show();
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splash->showMessage(tr("Loading..."));
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QApplication::processEvents();
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}
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// Create dialogs
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_aboutDialog = new AboutDialog(this);
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@@ -265,9 +268,9 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
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_logEventTime->start();
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//Graphics scenes
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_ui->imageView_source->setBackgroundColor(Qt::black);
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_ui->imageView_loopClosure->setBackgroundColor(Qt::black);
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_ui->imageView_odometry->setBackgroundColor(Qt::black);
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_ui->imageView_source->setBackgroundColor(_ui->imageView_source->getDefaultBackgroundColor());
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_ui->imageView_loopClosure->setBackgroundColor(_ui->imageView_loopClosure->getDefaultBackgroundColor());
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_ui->imageView_odometry->setBackgroundColor(_ui->imageView_odometry->getDefaultBackgroundColor());
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_ui->imageView_odometry->setAlpha(200);
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_preferencesDialog->loadWidgetState(_ui->imageView_source);
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_preferencesDialog->loadWidgetState(_ui->imageView_loopClosure);
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@@ -290,9 +293,9 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
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_ui->rawLikelihoodPlot->addCurve(_rawLikelihoodCurve, false);
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_ui->rawLikelihoodPlot->showLegend(false);
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_initProgressDialog = new ProgressDialog(this);
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_initProgressDialog->setMinimumWidth(800);
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connect(_initProgressDialog, SIGNAL(canceled()), this, SLOT(cancelProgress()));
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_progressDialog = new ProgressDialog(this);
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_progressDialog->setMinimumWidth(800);
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connect(_progressDialog, SIGNAL(canceled()), this, SLOT(cancelProgress()));
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connect(_ui->widget_mapVisibility, SIGNAL(visibilityChanged(int, bool)), this, SLOT(updateNodeVisibility(int, bool)));
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@@ -326,7 +329,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
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_ui->toolBar_2->setWindowTitle(tr("Control toolbar"));
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QAction * a = _ui->menuShow_view->addAction("Progress dialog");
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a->setCheckable(false);
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connect(a, SIGNAL(triggered(bool)), _initProgressDialog, SLOT(show()));
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connect(a, SIGNAL(triggered(bool)), _progressDialog, SLOT(show()));
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QAction * statusBarAction = _ui->menuShow_view->addAction("Status bar");
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statusBarAction->setCheckable(true);
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statusBarAction->setChecked(statusBarShown);
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@@ -618,7 +621,11 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
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_loopClosureViewer->setDecimation(_preferencesDialog->getCloudDecimation(0));
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_loopClosureViewer->setMaxDepth(_preferencesDialog->getCloudMaxDepth(0));
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splash.close();
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if (splash)
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{
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splash->close();
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delete splash;
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}
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this->setFocus();
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@@ -650,6 +657,30 @@ void MainWindow::setupMainLayout(bool vertical)
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}
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}
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void MainWindow::setCloudViewer(rtabmap::CloudViewer * cloudViewer)
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{
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UASSERT(cloudViewer);
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delete _cloudViewer;
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_cloudViewer = cloudViewer;
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_cloudViewer->setParent(_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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_cloudViewer->setBackfaceCulling(true, false);
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_preferencesDialog->loadWidgetState(_cloudViewer);
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connect(_cloudViewer, SIGNAL(configChanged()), this, SLOT(configGUIModified()));
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}
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void MainWindow::setLoopClosureViewer(rtabmap::LoopClosureViewer * loopClosureViewer)
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{
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UASSERT(loopClosureViewer);
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delete _loopClosureViewer;
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_loopClosureViewer = loopClosureViewer;
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_loopClosureViewer->setParent(_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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}
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void MainWindow::closeEvent(QCloseEvent* event)
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{
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// Try to close all children
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@@ -950,7 +981,7 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
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UDEBUG("odom ok");
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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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_ui->imageView_odometry->setBackgroundColor(_ui->imageView_odometry->getDefaultBackgroundColor());
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}
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if(!pose.isNull() && (_ui->dockWidget_cloudViewer->isVisible() || _ui->graphicsView_graphView->isVisible()))
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@@ -1501,8 +1532,8 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
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_ui->imageView_source->clear();
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_ui->imageView_loopClosure->clear();
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_ui->imageView_source->setBackgroundColor(Qt::black);
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_ui->imageView_loopClosure->setBackgroundColor(Qt::black);
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_ui->imageView_source->setBackgroundColor(_ui->imageView_source->getDefaultBackgroundColor());
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_ui->imageView_loopClosure->setBackgroundColor(_ui->imageView_loopClosure->getDefaultBackgroundColor());
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_ui->label_matchId->clear();
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}
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@@ -1970,7 +2001,7 @@ void MainWindow::updateMapCloud(
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if(verboseProgress)
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{
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_initProgressDialog->appendText(tr("Map update: %1 nodes shown of %2 (cloud filtering is on)").arg(poses.size()).arg(posesIn.size()));
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_progressDialog->appendText(tr("Map update: %1 nodes shown of %2 (cloud filtering is on)").arg(poses.size()).arg(posesIn.size()));
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QApplication::processEvents();
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}
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}
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@@ -2181,8 +2212,8 @@ void MainWindow::updateMapCloud(
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if(verboseProgress)
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{
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_initProgressDialog->appendText(tr("Updated cloud %1 (%2/%3)").arg(iter->first).arg(i).arg(poses.size()));
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_initProgressDialog->incrementStep();
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_progressDialog->appendText(tr("Updated cloud %1 (%2/%3)").arg(iter->first).arg(i).arg(poses.size()));
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_progressDialog->incrementStep();
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if(poses.size() < 200 || i % 100 == 0)
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{
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QApplication::processEvents();
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@@ -3441,13 +3472,13 @@ void MainWindow::processRtabmapEventInit(int status, const QString & info)
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{
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if((RtabmapEventInit::Status)status == RtabmapEventInit::kInitializing)
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{
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_initProgressDialog->resetProgress();
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_initProgressDialog->show();
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_progressDialog->resetProgress();
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_progressDialog->show();
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this->changeState(MainWindow::kInitializing);
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}
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else if((RtabmapEventInit::Status)status == RtabmapEventInit::kInitialized)
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{
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_initProgressDialog->setValue(_initProgressDialog->maximumSteps());
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_progressDialog->setValue(_progressDialog->maximumSteps());
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this->changeState(MainWindow::kInitialized);
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if(!_openedDatabasePath.isEmpty())
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@@ -3457,8 +3488,8 @@ void MainWindow::processRtabmapEventInit(int status, const QString & info)
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}
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else if((RtabmapEventInit::Status)status == RtabmapEventInit::kClosing)
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{
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_initProgressDialog->resetProgress();
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_initProgressDialog->show();
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_progressDialog->resetProgress();
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_progressDialog->show();
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if(_state!=kApplicationClosing)
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{
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this->changeState(MainWindow::kClosing);
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@@ -3466,7 +3497,7 @@ void MainWindow::processRtabmapEventInit(int status, const QString & info)
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}
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else if((RtabmapEventInit::Status)status == RtabmapEventInit::kClosed)
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{
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_initProgressDialog->setValue(_initProgressDialog->maximumSteps());
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_progressDialog->setValue(_progressDialog->maximumSteps());
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if(_databaseUpdated)
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{
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@@ -3544,46 +3575,46 @@ void MainWindow::processRtabmapEventInit(int status, const QString & info)
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}
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else
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{
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_initProgressDialog->incrementStep();
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_progressDialog->incrementStep();
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QString msg(info);
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if((RtabmapEventInit::Status)status == RtabmapEventInit::kError)
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{
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_openedDatabasePath.clear();
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_newDatabasePath.clear();
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_newDatabasePathOutput.clear();
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_initProgressDialog->setAutoClose(false);
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_progressDialog->setAutoClose(false);
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msg.prepend(tr("[ERROR] "));
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_initProgressDialog->appendText(msg);
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_progressDialog->appendText(msg);
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this->changeState(MainWindow::kIdle);
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}
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else
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{
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_initProgressDialog->appendText(msg);
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_progressDialog->appendText(msg);
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}
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}
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}
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void MainWindow::processRtabmapEvent3DMap(const rtabmap::RtabmapEvent3DMap & event)
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{
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_initProgressDialog->appendText("Downloading the map... done.");
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_initProgressDialog->incrementStep();
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_progressDialog->appendText("Downloading the map... done.");
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_progressDialog->incrementStep();
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if(event.getCode())
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{
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UERROR("Map received with code error %d!", event.getCode());
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_initProgressDialog->appendText(uFormat("[ERROR] Map received with code error %d!", event.getCode()).c_str());
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_initProgressDialog->setAutoClose(false);
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_progressDialog->appendText(uFormat("[ERROR] Map received with code error %d!", event.getCode()).c_str());
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_progressDialog->setAutoClose(false);
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}
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else
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{
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_processingDownloadedMap = true;
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UINFO("Received map!");
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_initProgressDialog->appendText(tr(" poses = %1").arg(event.getPoses().size()));
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_initProgressDialog->appendText(tr(" constraints = %1").arg(event.getConstraints().size()));
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_progressDialog->appendText(tr(" poses = %1").arg(event.getPoses().size()));
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_progressDialog->appendText(tr(" constraints = %1").arg(event.getConstraints().size()));
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_initProgressDialog->setMaximumSteps(int(event.getSignatures().size()+event.getPoses().size()+1));
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_initProgressDialog->appendText(QString("Inserting data in the cache (%1 signatures downloaded)...").arg(event.getSignatures().size()));
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_progressDialog->setMaximumSteps(int(event.getSignatures().size()+event.getPoses().size()+1));
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_progressDialog->appendText(QString("Inserting data in the cache (%1 signatures downloaded)...").arg(event.getSignatures().size()));
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QApplication::processEvents();
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int addedSignatures = 0;
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@@ -3610,34 +3641,34 @@ void MainWindow::processRtabmapEvent3DMap(const rtabmap::RtabmapEvent3DMap & eve
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_cachedMemoryUsage += iter->second.sensorData().getMemoryUsed();
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++addedSignatures;
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}
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_initProgressDialog->incrementStep();
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_progressDialog->incrementStep();
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QApplication::processEvents();
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}
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_initProgressDialog->appendText(tr("Inserted %1 new signatures.").arg(addedSignatures));
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_initProgressDialog->incrementStep();
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_progressDialog->appendText(tr("Inserted %1 new signatures.").arg(addedSignatures));
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_progressDialog->incrementStep();
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QApplication::processEvents();
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_initProgressDialog->appendText("Inserting data in the cache... done.");
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_progressDialog->appendText("Inserting data in the cache... done.");
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if(event.getPoses().size())
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{
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_initProgressDialog->appendText("Updating the 3D map cloud...");
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_initProgressDialog->incrementStep();
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_initProgressDialog->setCancelButtonVisible(true);
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_progressDialog->appendText("Updating the 3D map cloud...");
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_progressDialog->incrementStep();
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_progressDialog->setCancelButtonVisible(true);
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_progressCanceled = false;
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QApplication::processEvents();
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std::map<int, Transform> poses = event.getPoses();
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alignPosesToGroundTruth(poses, groundTruth);
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this->updateMapCloud(poses, event.getConstraints(), mapIds, labels, groundTruth, true);
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_initProgressDialog->appendText("Updating the 3D map cloud... done.");
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_progressDialog->appendText("Updating the 3D map cloud... done.");
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}
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else
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{
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_initProgressDialog->appendText("No poses received! The map cloud cannot be updated...");
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_progressDialog->appendText("No poses received! The map cloud cannot be updated...");
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UINFO("Map received is empty! Cannot update the map cloud...");
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}
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_initProgressDialog->appendText(tr("%1 locations are updated to/inserted in the cache.").arg(event.getPoses().size()));
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_progressDialog->appendText(tr("%1 locations are updated to/inserted in the cache.").arg(event.getPoses().size()));
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if(!_preferencesDialog->isImagesKept())
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{
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@@ -3652,8 +3683,8 @@ void MainWindow::processRtabmapEvent3DMap(const rtabmap::RtabmapEvent3DMap & eve
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}
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_processingDownloadedMap = false;
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}
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_initProgressDialog->setValue(_initProgressDialog->maximumSteps());
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_initProgressDialog->setCancelButtonVisible(false);
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_progressDialog->setValue(_progressDialog->maximumSteps());
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_progressDialog->setCancelButtonVisible(false);
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_progressCanceled = false;
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}
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@@ -4158,7 +4189,7 @@ void MainWindow::beep()
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void MainWindow::cancelProgress()
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{
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_progressCanceled = true;
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_initProgressDialog->appendText(tr("Canceled!"));
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_progressDialog->appendText(tr("Canceled!"));
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}
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void MainWindow::configGUIModified()
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@@ -5094,11 +5125,11 @@ void MainWindow::postProcessing()
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return;
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}
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_initProgressDialog->resetProgress();
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_initProgressDialog->clear();
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_initProgressDialog->show();
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_initProgressDialog->appendText("Post-processing beginning!");
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_initProgressDialog->setCancelButtonVisible(true);
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_progressDialog->resetProgress();
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_progressDialog->clear();
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_progressDialog->show();
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_progressDialog->appendText("Post-processing beginning!");
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_progressDialog->setCancelButtonVisible(true);
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_progressCanceled = false;
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int totalSteps = 0;
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@@ -5114,8 +5145,8 @@ void MainWindow::postProcessing()
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{
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totalSteps+=1;
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}
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_initProgressDialog->setMaximumSteps(totalSteps);
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_initProgressDialog->show();
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_progressDialog->setMaximumSteps(totalSteps);
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_progressDialog->show();
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ParametersMap parameters = _preferencesDialog->getAllParameters();
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Optimizer * optimizer = Optimizer::create(parameters);
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@@ -5138,7 +5169,7 @@ void MainWindow::postProcessing()
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UASSERT(detectLoopClosureIterations>0);
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for(int n=0; n<detectLoopClosureIterations && !_progressCanceled; ++n)
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{
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_initProgressDialog->appendText(tr("Looking for more loop closures, clustering poses... (iteration=%1/%2, radius=%3 m angle=%4 degrees)")
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_progressDialog->appendText(tr("Looking for more loop closures, clustering poses... (iteration=%1/%2, radius=%3 m angle=%4 degrees)")
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.arg(n+1).arg(detectLoopClosureIterations).arg(clusterRadius).arg(clusterAngle));
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std::multimap<int, int> clusters = graph::radiusPosesClustering(
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@@ -5146,8 +5177,8 @@ void MainWindow::postProcessing()
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clusterRadius,
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clusterAngle*CV_PI/180.0);
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_initProgressDialog->setMaximumSteps(_initProgressDialog->maximumSteps()+(int)clusters.size());
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_initProgressDialog->appendText(tr("Looking for more loop closures, clustering poses... found %1 clusters.").arg(clusters.size()));
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_progressDialog->setMaximumSteps(_progressDialog->maximumSteps()+(int)clusters.size());
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_progressDialog->appendText(tr("Looking for more loop closures, clustering poses... found %1 clusters.").arg(clusters.size()));
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QApplication::processEvents();
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int i=0;
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@@ -5353,7 +5384,7 @@ void MainWindow::postProcessing()
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if(!msg.empty())
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{
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UWARN("%s", msg.c_str());
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_initProgressDialog->appendText(tr("%1").arg(msg.c_str()));
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_progressDialog->appendText(tr("%1").arg(msg.c_str()));
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QApplication::processEvents();
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updateConstraint = false;
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}
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@@ -5367,7 +5398,7 @@ void MainWindow::postProcessing()
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_currentLinksMap.insert(std::make_pair(from, Link(from, to, Link::kUserClosure, transform, info.covariance.inv())));
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++loopClosuresAdded;
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_initProgressDialog->appendText(tr("Detected loop closure %1->%2! (%3/%4)").arg(from).arg(to).arg(i+1).arg(clusters.size()));
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_progressDialog->appendText(tr("Detected loop closure %1->%2! (%3/%4)").arg(from).arg(to).arg(i+1).arg(clusters.size()));
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -5375,9 +5406,9 @@ void MainWindow::postProcessing()
|
||||
}
|
||||
}
|
||||
QApplication::processEvents();
|
||||
_initProgressDialog->incrementStep();
|
||||
_progressDialog->incrementStep();
|
||||
}
|
||||
_initProgressDialog->appendText(tr("Iteration %1/%2: Detected %3 loop closures!").arg(n+1).arg(detectLoopClosureIterations).arg(addedLinks.size()/2));
|
||||
_progressDialog->appendText(tr("Iteration %1/%2: Detected %3 loop closures!").arg(n+1).arg(detectLoopClosureIterations).arg(addedLinks.size()/2));
|
||||
if(addedLinks.size() == 0)
|
||||
{
|
||||
break;
|
||||
@@ -5385,7 +5416,7 @@ void MainWindow::postProcessing()
|
||||
|
||||
if(n+1 < detectLoopClosureIterations)
|
||||
{
|
||||
_initProgressDialog->appendText(tr("Optimizing graph with new links (%1 nodes, %2 constraints)...")
|
||||
_progressDialog->appendText(tr("Optimizing graph with new links (%1 nodes, %2 constraints)...")
|
||||
.arg(odomPoses.size()).arg(_currentLinksMap.size()));
|
||||
QApplication::processEvents();
|
||||
|
||||
@@ -5401,11 +5432,11 @@ void MainWindow::postProcessing()
|
||||
linksOut);
|
||||
optimizedPoses = optimizer->optimize(fromId, posesOut, linksOut);
|
||||
_currentPosesMap = optimizedPoses;
|
||||
_initProgressDialog->appendText(tr("Optimizing graph with new links... done!"));
|
||||
_progressDialog->appendText(tr("Optimizing graph with new links... done!"));
|
||||
}
|
||||
}
|
||||
UINFO("Added %d loop closures.", loopClosuresAdded);
|
||||
_initProgressDialog->appendText(tr("Total new loop closures detected=%1").arg(loopClosuresAdded));
|
||||
_progressDialog->appendText(tr("Total new loop closures detected=%1").arg(loopClosuresAdded));
|
||||
}
|
||||
|
||||
if(!_progressCanceled && (refineNeighborLinks || refineLoopClosureLinks))
|
||||
@@ -5413,10 +5444,10 @@ void MainWindow::postProcessing()
|
||||
UDEBUG("");
|
||||
if(refineLoopClosureLinks)
|
||||
{
|
||||
_initProgressDialog->setMaximumSteps(_initProgressDialog->maximumSteps()+loopClosuresAdded);
|
||||
_progressDialog->setMaximumSteps(_progressDialog->maximumSteps()+loopClosuresAdded);
|
||||
}
|
||||
// TODO: support ICP from laser scans?
|
||||
_initProgressDialog->appendText(tr("Refining links..."));
|
||||
_progressDialog->appendText(tr("Refining links..."));
|
||||
QApplication::processEvents();
|
||||
|
||||
RegistrationIcp regIcp(parameters);
|
||||
@@ -5432,8 +5463,8 @@ void MainWindow::postProcessing()
|
||||
int from = iter->second.from();
|
||||
int to = iter->second.to();
|
||||
|
||||
_initProgressDialog->appendText(tr("Refining link %1->%2 (%3/%4)").arg(from).arg(to).arg(i+1).arg(_currentLinksMap.size()));
|
||||
_initProgressDialog->incrementStep();
|
||||
_progressDialog->appendText(tr("Refining link %1->%2 (%3/%4)").arg(from).arg(to).arg(i+1).arg(_currentLinksMap.size()));
|
||||
_progressDialog->incrementStep();
|
||||
QApplication::processEvents();
|
||||
|
||||
if(!_cachedSignatures.contains(from))
|
||||
@@ -5467,7 +5498,7 @@ void MainWindow::postProcessing()
|
||||
else
|
||||
{
|
||||
QString str = tr("Cannot refine link %1->%2 (%3").arg(from).arg(to).arg(info.rejectedMsg.c_str());
|
||||
_initProgressDialog->appendText(str, Qt::darkYellow);
|
||||
_progressDialog->appendText(str, Qt::darkYellow);
|
||||
UWARN("%s", str.toStdString().c_str());
|
||||
warn = true;
|
||||
}
|
||||
@@ -5484,17 +5515,17 @@ void MainWindow::postProcessing()
|
||||
str = tr("Cannot refine link %1->%2 (scans empty!)").arg(from).arg(to);
|
||||
}
|
||||
|
||||
_initProgressDialog->appendText(str, Qt::darkYellow);
|
||||
_progressDialog->appendText(str, Qt::darkYellow);
|
||||
UWARN("%s", str.toStdString().c_str());
|
||||
warn = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
_initProgressDialog->appendText(tr("Refining links...done!"));
|
||||
_progressDialog->appendText(tr("Refining links...done!"));
|
||||
}
|
||||
|
||||
_initProgressDialog->appendText(tr("Optimizing graph with updated links (%1 nodes, %2 constraints)...")
|
||||
_progressDialog->appendText(tr("Optimizing graph with updated links (%1 nodes, %2 constraints)...")
|
||||
.arg(odomPoses.size()).arg(_currentLinksMap.size()));
|
||||
|
||||
int fromId = optimizeFromGraphEnd?odomPoses.rbegin()->first:odomPoses.begin()->first;
|
||||
@@ -5508,13 +5539,13 @@ void MainWindow::postProcessing()
|
||||
posesOut,
|
||||
linksOut);
|
||||
optimizedPoses = optimizer->optimize(fromId, posesOut, linksOut);
|
||||
_initProgressDialog->appendText(tr("Optimizing graph with updated links... done!"));
|
||||
_initProgressDialog->incrementStep();
|
||||
_progressDialog->appendText(tr("Optimizing graph with updated links... done!"));
|
||||
_progressDialog->incrementStep();
|
||||
|
||||
if(!_progressCanceled && sba)
|
||||
{
|
||||
UASSERT(Optimizer::isAvailable(sbaType));
|
||||
_initProgressDialog->appendText(tr("SBA (%1 nodes, %2 constraints, %3 iterations)...")
|
||||
_progressDialog->appendText(tr("SBA (%1 nodes, %2 constraints, %3 iterations)...")
|
||||
.arg(optimizedPoses.size()).arg(linksOut.size()).arg(sbaIterations));
|
||||
QApplication::processEvents();
|
||||
uSleep(100);
|
||||
@@ -5529,17 +5560,17 @@ void MainWindow::postProcessing()
|
||||
if(newPoses.size())
|
||||
{
|
||||
optimizedPoses = newPoses;
|
||||
_initProgressDialog->appendText(tr("SBA... done!"));
|
||||
_progressDialog->appendText(tr("SBA... done!"));
|
||||
}
|
||||
else
|
||||
{
|
||||
_initProgressDialog->appendText(tr("SBA... failed!"));
|
||||
_initProgressDialog->setAutoClose(false);
|
||||
_progressDialog->appendText(tr("SBA... failed!"));
|
||||
_progressDialog->setAutoClose(false);
|
||||
}
|
||||
_initProgressDialog->incrementStep();
|
||||
_progressDialog->incrementStep();
|
||||
}
|
||||
|
||||
_initProgressDialog->appendText(tr("Updating map..."));
|
||||
_progressDialog->appendText(tr("Updating map..."));
|
||||
alignPosesToGroundTruth(optimizedPoses, _currentGTPosesMap);
|
||||
this->updateMapCloud(
|
||||
optimizedPoses,
|
||||
@@ -5548,16 +5579,16 @@ void MainWindow::postProcessing()
|
||||
std::map<int, std::string>(_currentLabels),
|
||||
std::map<int, Transform>(_currentGTPosesMap),
|
||||
false);
|
||||
_initProgressDialog->appendText(tr("Updating map... done!"));
|
||||
_progressDialog->appendText(tr("Updating map... done!"));
|
||||
|
||||
if(warn)
|
||||
{
|
||||
_initProgressDialog->setAutoClose(false);
|
||||
_progressDialog->setAutoClose(false);
|
||||
}
|
||||
|
||||
_initProgressDialog->setValue(_initProgressDialog->maximumSteps());
|
||||
_initProgressDialog->appendText("Post-processing finished!");
|
||||
_initProgressDialog->setCancelButtonVisible(false);
|
||||
_progressDialog->setValue(_progressDialog->maximumSteps());
|
||||
_progressDialog->appendText("Post-processing finished!");
|
||||
_progressDialog->setCancelButtonVisible(false);
|
||||
_progressCanceled = false;
|
||||
|
||||
delete optimizer;
|
||||
@@ -5816,9 +5847,9 @@ void MainWindow::updateCacheFromDatabase(const QString & path)
|
||||
if(driver->openConnection(path.toStdString()))
|
||||
{
|
||||
UINFO("Update cache...");
|
||||
_initProgressDialog->resetProgress();
|
||||
_initProgressDialog->show();
|
||||
_initProgressDialog->appendText(tr("Downloading the map from \"%1\" (without poses and links)...")
|
||||
_progressDialog->resetProgress();
|
||||
_progressDialog->show();
|
||||
_progressDialog->appendText(tr("Downloading the map from \"%1\" (without poses and links)...")
|
||||
.arg(path));
|
||||
|
||||
std::set<int> ids;
|
||||
@@ -5879,9 +5910,9 @@ void MainWindow::downloadAllClouds()
|
||||
}
|
||||
|
||||
UINFO("Download clouds...");
|
||||
_initProgressDialog->resetProgress();
|
||||
_initProgressDialog->show();
|
||||
_initProgressDialog->appendText(tr("Downloading the map (global=%1 ,optimized=%2)...")
|
||||
_progressDialog->resetProgress();
|
||||
_progressDialog->show();
|
||||
_progressDialog->appendText(tr("Downloading the map (global=%1 ,optimized=%2)...")
|
||||
.arg(global?"true":"false").arg(optimized?"true":"false"));
|
||||
this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdPublish3DMap, global, optimized, false));
|
||||
}
|
||||
@@ -5923,9 +5954,9 @@ void MainWindow::downloadPoseGraph()
|
||||
}
|
||||
|
||||
UINFO("Download the graph...");
|
||||
_initProgressDialog->resetProgress();
|
||||
_initProgressDialog->show();
|
||||
_initProgressDialog->appendText(tr("Downloading the graph (global=%1 ,optimized=%2)...")
|
||||
_progressDialog->resetProgress();
|
||||
_progressDialog->show();
|
||||
_progressDialog->appendText(tr("Downloading the graph (global=%1 ,optimized=%2)...")
|
||||
.arg(global?"true":"false").arg(optimized?"true":"false"));
|
||||
|
||||
this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdPublish3DMap, global, optimized, true));
|
||||
@@ -5993,9 +6024,9 @@ void MainWindow::clearTheCache()
|
||||
_ui->imageView_source->clear();
|
||||
_ui->imageView_loopClosure->clear();
|
||||
_ui->imageView_odometry->clear();
|
||||
_ui->imageView_source->setBackgroundColor(Qt::black);
|
||||
_ui->imageView_loopClosure->setBackgroundColor(Qt::black);
|
||||
_ui->imageView_odometry->setBackgroundColor(Qt::black);
|
||||
_ui->imageView_source->setBackgroundColor(_ui->imageView_source->getDefaultBackgroundColor());
|
||||
_ui->imageView_loopClosure->setBackgroundColor(_ui->imageView_loopClosure->getDefaultBackgroundColor());
|
||||
_ui->imageView_odometry->setBackgroundColor(_ui->imageView_odometry->getDefaultBackgroundColor());
|
||||
#ifdef RTABMAP_OCTOMAP
|
||||
// re-create one if the resolution has changed
|
||||
UASSERT(_octomap != 0);
|
||||
@@ -6169,20 +6200,20 @@ void MainWindow::selectScreenCaptureFormat(bool checked)
|
||||
}
|
||||
targetDir += QDir::separator();
|
||||
|
||||
_initProgressDialog->resetProgress();
|
||||
_initProgressDialog->show();
|
||||
_initProgressDialog->setMaximumSteps(_autoScreenCaptureCachedImages.size());
|
||||
_progressDialog->resetProgress();
|
||||
_progressDialog->show();
|
||||
_progressDialog->setMaximumSteps(_autoScreenCaptureCachedImages.size());
|
||||
int i=0;
|
||||
for(QMap<QString, QByteArray>::iterator iter=_autoScreenCaptureCachedImages.begin(); iter!=_autoScreenCaptureCachedImages.end(); ++iter)
|
||||
{
|
||||
QPixmap figure;
|
||||
figure.loadFromData(iter.value(), "PNG");
|
||||
figure.save(targetDir + iter.key(), "PNG");
|
||||
_initProgressDialog->appendText(tr("Saved image \"%1\" (%2/%3).").arg(targetDir + iter.key()).arg(++i).arg(_autoScreenCaptureCachedImages.size()));
|
||||
_initProgressDialog->incrementStep();
|
||||
_progressDialog->appendText(tr("Saved image \"%1\" (%2/%3).").arg(targetDir + iter.key()).arg(++i).arg(_autoScreenCaptureCachedImages.size()));
|
||||
_progressDialog->incrementStep();
|
||||
}
|
||||
_autoScreenCaptureCachedImages.clear();
|
||||
_initProgressDialog->setValue(_initProgressDialog->maximumSteps());
|
||||
_progressDialog->setValue(_progressDialog->maximumSteps());
|
||||
}
|
||||
}
|
||||
|
||||
@@ -6563,9 +6594,9 @@ void MainWindow::exportImages()
|
||||
tr("Data in the cache don't seem to have images (tested node %1). Calibration file will not be saved. Try refreshing the cache (with clouds).").arg(poses.rbegin()->first));
|
||||
}
|
||||
|
||||
_initProgressDialog->resetProgress();
|
||||
_initProgressDialog->show();
|
||||
_initProgressDialog->setMaximumSteps(_cachedSignatures.size());
|
||||
_progressDialog->resetProgress();
|
||||
_progressDialog->show();
|
||||
_progressDialog->setMaximumSteps(_cachedSignatures.size());
|
||||
|
||||
unsigned int saved = 0;
|
||||
for(std::map<int, Transform>::iterator iter=poses.begin(); iter!=poses.end(); ++iter)
|
||||
@@ -6602,22 +6633,22 @@ void MainWindow::exportImages()
|
||||
warn = true;
|
||||
}
|
||||
saved += warn?0:1;
|
||||
_initProgressDialog->appendText(info, !warn?Qt::black:Qt::darkYellow);
|
||||
_initProgressDialog->incrementStep();
|
||||
_progressDialog->appendText(info, !warn?Qt::black:Qt::darkYellow);
|
||||
_progressDialog->incrementStep();
|
||||
QApplication::processEvents();
|
||||
|
||||
}
|
||||
if(saved!=poses.size())
|
||||
{
|
||||
_initProgressDialog->setAutoClose(false);
|
||||
_initProgressDialog->appendText(tr("%1 images of %2 saved to \"%3\".").arg(saved).arg(poses.size()).arg(path));
|
||||
_progressDialog->setAutoClose(false);
|
||||
_progressDialog->appendText(tr("%1 images of %2 saved to \"%3\".").arg(saved).arg(poses.size()).arg(path));
|
||||
}
|
||||
else
|
||||
{
|
||||
_initProgressDialog->appendText(tr("%1 images saved to \"%2\".").arg(saved).arg(path));
|
||||
_progressDialog->appendText(tr("%1 images saved to \"%2\".").arg(saved).arg(path));
|
||||
}
|
||||
|
||||
_initProgressDialog->setValue(_initProgressDialog->maximumSteps());
|
||||
_progressDialog->setValue(_progressDialog->maximumSteps());
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
Reference in New Issue
Block a user