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MainWindow monitoring mode: Fixed createAndAddCloudToMap() errors when processStatistics() and processRtabmapEvent3DMap() are called at the same time

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This commit is contained in:
matlabbe
2015-08-04 13:33:01 -04:00
parent bcac262234
commit e7e55cf904
2 changed files with 11 additions and 3 deletions
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1
guilib/include/rtabmap/gui/MainWindow.h
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@@ -263,6 +263,7 @@ private:
QSet<int> _lastIds;
int _lastId;
bool _processingStatistics;
bool _processingDownloadedMap;
bool _odometryReceived;
QString _newDatabasePath;
QString _newDatabasePathOutput;

13
guilib/src/MainWindow.cpp
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@@ -125,6 +125,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_dataRecorder(0),
_lastId(0),
_processingStatistics(false),
_processingDownloadedMap(false),
_odometryReceived(false),
_newDatabasePath(""),
_newDatabasePathOutput(""),
@@ -622,7 +623,7 @@ void MainWindow::handleEvent(UEvent* anEvent)
(localLoopClosureId > 0 &&
_ui->actionPause_on_local_loop_detection->isChecked()))
{
if(_state != kPaused && _state != kMonitoringPaused)
if(_state != kPaused && _state != kMonitoringPaused && !_processingDownloadedMap)
{
if(_preferencesDialog->beepOnPause())
{
@@ -631,8 +632,12 @@ void MainWindow::handleEvent(UEvent* anEvent)
this->pauseDetection();
}
}
_processingStatistics = true;
emit statsReceived(stats);
if(!_processingDownloadedMap)
{
_processingStatistics = true;
emit statsReceived(stats);
}
}
else if(anEvent->getClassName().compare("RtabmapEventInit") == 0)
{
@@ -2094,6 +2099,7 @@ void MainWindow::processRtabmapEvent3DMap(const rtabmap::RtabmapEvent3DMap & eve
else
{
_processingDownloadedMap = true;
UINFO("Received map!");
_initProgressDialog->appendText(tr(" poses = %1").arg(event.getPoses().size()));
_initProgressDialog->appendText(tr(" constraints = %1").arg(event.getConstraints().size()));
@@ -2149,6 +2155,7 @@ void MainWindow::processRtabmapEvent3DMap(const rtabmap::RtabmapEvent3DMap & eve
{
_cachedSignatures.clear();
}
_processingDownloadedMap = false;
}
_initProgressDialog->setValue(_initProgressDialog->maximumSteps());
}