GUI: updated Source menu check behavior, checking if "rtabmap.tmp.db" exists before deleting it (in case of another RTAB-Map is running in the same working directory)

guilib/include/rtabmap/gui/MainWindow.h

@@ -206,9 +206,7 @@ private:
 	void createAndAddScanToMap(int nodeId, const Transform & pose, int mapId);
 	void drawKeypoints(const std::multimap<int, cv::KeyPoint> & refWords, const std::multimap<int, cv::KeyPoint> & loopWords);
 	void setupMainLayout(bool vertical);
-	void updateSelectSourceImageMenu(bool used, PreferencesDialog::Src src);
+	void updateSelectSourceMenu();
-	void updateSelectSourceDatabase(bool used);
-	void updateSelectSourceRGBDMenu(bool used, PreferencesDialog::Src src);
 
 	pcl::PointCloud<pcl::PointXYZRGB>::Ptr getAssembledCloud(
 			const std::map<int, Transform> & poses,

guilib/include/rtabmap/gui/PreferencesDialog.h

@@ -212,9 +212,9 @@ public slots:
 	void setDetectionRate(double value);
 	void setTimeLimit(float value);
 	void setSLAMMode(bool enabled);
-	void selectSourceImage(Src src = kSrcUndef, bool checked = true);
+	void selectSourceImage(Src src = kSrcUndef);
-	void selectSourceDatabase(bool user = false, bool checked = true);
+	void selectSourceDatabase(bool user = false);
-	void selectSourceRGBD(Src src = kSrcUndef, bool checked = true);
+	void selectSourceRGBD(Src src = kSrcUndef);
 
 private slots:
 	void closeDialog ( QAbstractButton * button );

guilib/src/MainWindow.cpp

@@ -339,13 +339,10 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
 #endif
 
 	//Settings menu
-	this->updateSelectSourceImageMenu(_preferencesDialog->isSourceImageUsed(), _preferencesDialog->getSourceImageType());
 	connect(_ui->actionImageFiles, SIGNAL(triggered()), this, SLOT(selectImages()));
 	connect(_ui->actionVideo, SIGNAL(triggered()), this, SLOT(selectVideo()));
 	connect(_ui->actionUsbCamera, SIGNAL(triggered()), this, SLOT(selectStream()));
-	this->updateSelectSourceDatabase(_preferencesDialog->isSourceDatabaseUsed());
 	connect(_ui->actionDatabase, SIGNAL(triggered()), this, SLOT(selectDatabase()));
-	this->updateSelectSourceRGBDMenu(_preferencesDialog->isSourceOpenniUsed(), _preferencesDialog->getSourceRGBD());
 	connect(_ui->actionOpenNI_PCL, SIGNAL(triggered()), this, SLOT(selectOpenni()));
 	connect(_ui->actionOpenNI_PCL_ASUS, SIGNAL(triggered()), this, SLOT(selectOpenni()));
 	connect(_ui->actionFreenect, SIGNAL(triggered()), this, SLOT(selectFreenect()));
@@ -360,6 +357,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
 	_ui->actionOpenNI2_Sense->setEnabled(CameraOpenNI2::available());
 	connect(_ui->actionOpenNI2_kinect, SIGNAL(triggered()), this, SLOT(selectOpenni2()));
 	_ui->actionOpenNI2_kinect->setEnabled(CameraOpenNI2::available());
+	this->updateSelectSourceMenu();
 
 	connect(_ui->actionSave_state, SIGNAL(triggered()), this, SLOT(saveFigures()));
 	connect(_ui->actionLoad_state, SIGNAL(triggered()), this, SLOT(loadFigures()));
@@ -1750,7 +1748,9 @@ void MainWindow::processRtabmapEventInit(int status, const QString & info)
 
 		if(_databaseUpdated)
 		{
-			if(!_newDatabasePath.isEmpty() && !_newDatabasePathOutput.isEmpty())
+			if(!_newDatabasePath.isEmpty())
+			{
+				if(!_newDatabasePathOutput.isEmpty())
 				{
 					if(QFile::rename(_newDatabasePath, _newDatabasePathOutput))
 					{
@@ -1765,6 +1765,16 @@ void MainWindow::processRtabmapEventInit(int status, const QString & info)
 						QMessageBox::critical(this, tr("Closing failed!"), QString(msg.c_str()));
 					}
 				}
+				else if(QFile::remove(_newDatabasePath))
+				{
+					UINFO("Deleted temporary database \"%s\".", _newDatabasePath.toStdString().c_str());
+				}
+				else
+				{
+					UERROR("Temporary database \"%s\" could not be deleted.", _newDatabasePath.toStdString().c_str());
+				}
+
+			}
 			else if(!_openedDatabasePath.isEmpty())
 			{
 				std::string msg = uFormat("Database \"%s\" updated.", _openedDatabasePath.toStdString().c_str());
@@ -1772,6 +1782,18 @@ void MainWindow::processRtabmapEventInit(int status, const QString & info)
 				QMessageBox::information(this, tr("Database updated!"), QString(msg.c_str()));
 			}
 		}
+		else if(!_newDatabasePath.isEmpty())
+		{
+			// just remove temporary database;
+			if(QFile::remove(_newDatabasePath))
+			{
+				UINFO("Deleted temporary database \"%s\".", _newDatabasePath.toStdString().c_str());
+			}
+			else
+			{
+				UERROR("Temporary database \"%s\" could not be deleted.", _newDatabasePath.toStdString().c_str());
+			}
+		}
 		_openedDatabasePath.clear();
 		_newDatabasePath.clear();
 		_newDatabasePathOutput.clear();
@@ -1877,9 +1899,7 @@ void MainWindow::applyPrefSettings(PreferencesDialog::PANEL_FLAGS flags)
 	{
 		// Camera settings...
 		_ui->doubleSpinBox_stats_imgRate->setValue(_preferencesDialog->getGeneralInputRate());
-		this->updateSelectSourceImageMenu(_preferencesDialog->isSourceImageUsed(), _preferencesDialog->getSourceImageType());
+		this->updateSelectSourceMenu();
-		this->updateSelectSourceDatabase(_preferencesDialog->isSourceDatabaseUsed());
-		this->updateSelectSourceRGBDMenu(_preferencesDialog->isSourceOpenniUsed(), _preferencesDialog->getSourceRGBD());
 		QString src;
 		if(_preferencesDialog->isSourceImageUsed())
 		{
@@ -2205,28 +2225,22 @@ bool MainWindow::eventFilter(QObject *obj, QEvent *event)
 	return QWidget::eventFilter(obj, event);
 }
 
-void MainWindow::updateSelectSourceImageMenu(bool used, PreferencesDialog::Src src)
+void MainWindow::updateSelectSourceMenu()
 {
-	_ui->actionUsbCamera->setChecked(used && src == PreferencesDialog::kSrcUsbDevice);
+	_ui->actionUsbCamera->setChecked(_preferencesDialog->isSourceImageUsed() && _preferencesDialog->getSourceImageType() == PreferencesDialog::kSrcUsbDevice);
-	_ui->actionImageFiles->setChecked(used && src == PreferencesDialog::kSrcImages);
+	_ui->actionImageFiles->setChecked(_preferencesDialog->isSourceImageUsed() && _preferencesDialog->getSourceImageType() == PreferencesDialog::kSrcImages);
-	_ui->actionVideo->setChecked(used && src == PreferencesDialog::kSrcVideo);
+	_ui->actionVideo->setChecked(_preferencesDialog->isSourceImageUsed() && _preferencesDialog->getSourceImageType() == PreferencesDialog::kSrcVideo);
-}
 
-void MainWindow::updateSelectSourceDatabase(bool used)
+	_ui->actionDatabase->setChecked(_preferencesDialog->isSourceDatabaseUsed());
-{
-	_ui->actionDatabase->setChecked(used);
-}
 
-void MainWindow::updateSelectSourceRGBDMenu(bool used, PreferencesDialog::Src src)
+	_ui->actionOpenNI_PCL->setChecked(_preferencesDialog->isSourceOpenniUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_PCL);
-{
+	_ui->actionOpenNI_PCL_ASUS->setChecked(_preferencesDialog->isSourceOpenniUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_PCL);
-	_ui->actionOpenNI_PCL->setChecked(used && src == PreferencesDialog::kSrcOpenNI_PCL);
+	_ui->actionFreenect->setChecked(_preferencesDialog->isSourceOpenniUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcFreenect);
-	_ui->actionOpenNI_PCL_ASUS->setChecked(used && src == PreferencesDialog::kSrcOpenNI_PCL);
+	_ui->actionOpenNI_CV->setChecked(_preferencesDialog->isSourceOpenniUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_CV);
-	_ui->actionFreenect->setChecked(used && src == PreferencesDialog::kSrcFreenect);
+	_ui->actionOpenNI_CV_ASUS->setChecked(_preferencesDialog->isSourceOpenniUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_CV_ASUS);
-	_ui->actionOpenNI_CV->setChecked(used && src == PreferencesDialog::kSrcOpenNI_CV);
+	_ui->actionOpenNI2->setChecked(_preferencesDialog->isSourceOpenniUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI2);
-	_ui->actionOpenNI_CV_ASUS->setChecked(used && src == PreferencesDialog::kSrcOpenNI_CV_ASUS);
+	_ui->actionOpenNI2_Sense->setChecked(_preferencesDialog->isSourceOpenniUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI2);
-	_ui->actionOpenNI2->setChecked(used && src == PreferencesDialog::kSrcOpenNI2);
+	_ui->actionOpenNI2_kinect->setChecked(_preferencesDialog->isSourceOpenniUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI2);
-	_ui->actionOpenNI2_Sense->setChecked(used && src == PreferencesDialog::kSrcOpenNI2);
-	_ui->actionOpenNI2_kinect->setChecked(used && src == PreferencesDialog::kSrcOpenNI2);
 }
 
 void MainWindow::changeImgRateSetting()
@@ -2314,16 +2328,31 @@ void MainWindow::newDatabase()
 	_databaseUpdated = false;
 	ULOGGER_DEBUG("");
 	this->clearTheCache();
-	std::string databasePath = (_preferencesDialog->getWorkingDirectory()+QDir::separator()+Parameters::getDefaultDatabaseName().c_str()).toStdString();
+	std::string databasePath = (_preferencesDialog->getWorkingDirectory()+QDir::separator()+QString("rtabmap.tmp.db")).toStdString();
 	if(QFile::exists(databasePath.c_str()))
+	{
+		int r = QMessageBox::question(this,
+				tr("Creating temporary database"),
+				tr("Cannot create a new database because the temporary database \"%1\" already exists. "
+				  "There may be another instance of RTAB-Map running with the same Working Directory or "
+				  "the last time RTAB-Map was not closed correctly. "
+				  "Do you want to continue (the database will be deleted to create the new one)?").arg(databasePath.c_str()),
+				  QMessageBox::Yes | QMessageBox::No, QMessageBox::No);
+
+		if(r == QMessageBox::Yes)
 		{
 			if(QFile::remove(databasePath.c_str()))
 			{
-			UINFO("Deleted database \"%s\".", databasePath.c_str());
+				UINFO("Deleted temporary database \"%s\".", databasePath.c_str());
+			}
+			else
+			{
+				UERROR("Temporary database \"%s\" could not be deleted!", databasePath.c_str());
+				return;
+			}
 		}
 		else
 		{
-			UERROR("Cannot create a new database because the temporary database \"%s\" cannot be deleted.", databasePath.c_str());
 			return;
 		}
 	}
@@ -3491,55 +3520,47 @@ void MainWindow::updateEditMenu()
 
 void MainWindow::selectImages()
 {
-	_preferencesDialog->selectSourceImage(PreferencesDialog::kSrcImages, _ui->actionImageFiles->isChecked());
+	_preferencesDialog->selectSourceImage(PreferencesDialog::kSrcImages);
 }
 
 void MainWindow::selectVideo()
 {
-	_preferencesDialog->selectSourceImage(PreferencesDialog::kSrcVideo, _ui->actionVideo->isChecked());
+	_preferencesDialog->selectSourceImage(PreferencesDialog::kSrcVideo);
 }
 
 void MainWindow::selectStream()
 {
-	_preferencesDialog->selectSourceImage(PreferencesDialog::kSrcUsbDevice, _ui->actionUsbCamera->isChecked());
+	_preferencesDialog->selectSourceImage(PreferencesDialog::kSrcUsbDevice);
 }
 
 void MainWindow::selectDatabase()
 {
-	_preferencesDialog->selectSourceDatabase(true, _ui->actionDatabase->isChecked());
+	_preferencesDialog->selectSourceDatabase(true);
 }
 
 void MainWindow::selectOpenni()
 {
-	_preferencesDialog->selectSourceRGBD(PreferencesDialog::kSrcOpenNI_PCL,
+	_preferencesDialog->selectSourceRGBD(PreferencesDialog::kSrcOpenNI_PCL);
-			_ui->actionOpenNI_PCL->isChecked() ||
-			_ui->actionOpenNI_PCL_ASUS->isChecked());
 }
 
 void MainWindow::selectFreenect()
 {
-	_preferencesDialog->selectSourceRGBD(PreferencesDialog::kSrcFreenect,
+	_preferencesDialog->selectSourceRGBD(PreferencesDialog::kSrcFreenect);
-			_ui->actionFreenect->isChecked());
 }
 
 void MainWindow::selectOpenniCv()
 {
-	_preferencesDialog->selectSourceRGBD(PreferencesDialog::kSrcOpenNI_CV,
+	_preferencesDialog->selectSourceRGBD(PreferencesDialog::kSrcOpenNI_CV);
-			_ui->actionOpenNI_CV->isChecked());
 }
 
 void MainWindow::selectOpenniCvAsus()
 {
-	_preferencesDialog->selectSourceRGBD(PreferencesDialog::kSrcOpenNI_CV_ASUS,
+	_preferencesDialog->selectSourceRGBD(PreferencesDialog::kSrcOpenNI_CV_ASUS);
-			_ui->actionOpenNI_CV_ASUS->isChecked());
 }
 
 void MainWindow::selectOpenni2()
 {
-	_preferencesDialog->selectSourceRGBD(PreferencesDialog::kSrcOpenNI2,
+	_preferencesDialog->selectSourceRGBD(PreferencesDialog::kSrcOpenNI2);
-			_ui->actionOpenNI2->isChecked() ||
-			_ui->actionOpenNI2_Sense->isChecked() ||
-			_ui->actionOpenNI2_kinect->isChecked());
 }
 
 

guilib/src/PreferencesDialog.cpp

@@ -1968,7 +1968,7 @@ QString PreferencesDialog::loadCustomConfig(const QString & section, const QStri
 	return value;
 }
 
-void PreferencesDialog::selectSourceImage(Src src, bool ckecked)
+void PreferencesDialog::selectSourceImage(Src src)
 {
 	ULOGGER_DEBUG("");
 
@@ -1992,8 +1992,6 @@ void PreferencesDialog::selectSourceImage(Src src, bool ckecked)
 	}
 
 	if(!fromPrefDialog)
-	{
-		if(ckecked)
 	{
 		if(_ui->general_checkBox_activateRGBD->isChecked())
 		{
@@ -2009,11 +2007,6 @@ void PreferencesDialog::selectSourceImage(Src src, bool ckecked)
 		}
 	}
 
-		_ui->groupBox_sourceImage->setChecked(false);
-	}
-
-	if(ckecked)
-	{
 	if(src == kSrcImages)
 	{
 		QString path = QFileDialog::getExistingDirectory(this, QString(), _ui->source_images_lineEdit_path->text());
@@ -2056,7 +2049,6 @@ void PreferencesDialog::selectSourceImage(Src src, bool ckecked)
 		_ui->source_comboBox_image_type->setCurrentIndex(0);
 		_ui->groupBox_sourceImage->setChecked(true);
 	}
-	}
 
 	if(_ui->groupBox_sourceImage->isChecked())
 	{
@@ -2080,17 +2072,10 @@ void PreferencesDialog::selectSourceImage(Src src, bool ckecked)
 	}
 }
 
-void PreferencesDialog::selectSourceDatabase(bool user, bool ckecked)
+void PreferencesDialog::selectSourceDatabase(bool user)
 {
 	ULOGGER_DEBUG("");
 
-	if(user)
-	{
-		_ui->groupBox_sourceDatabase->setChecked(false);
-	}
-
-	if(ckecked)
-	{
 	QString dir = _ui->source_database_lineEdit_path->text();
 	if(dir.isEmpty())
 	{
@@ -2107,7 +2092,6 @@ void PreferencesDialog::selectSourceDatabase(bool user, bool ckecked)
 		_ui->source_database_lineEdit_path->setText(path);
 		_ui->source_spinBox_databaseStartPos->setValue(0);
 	}
-	}
 
 	if(_ui->groupBox_sourceDatabase->isChecked())
 	{
@@ -2131,12 +2115,10 @@ void PreferencesDialog::selectSourceDatabase(bool user, bool ckecked)
 	}
 }
 
-void PreferencesDialog::selectSourceRGBD(Src src, bool ckecked)
+void PreferencesDialog::selectSourceRGBD(Src src)
 {
 	ULOGGER_DEBUG("");
 
-	if(ckecked)
-	{
 	if(!_ui->general_checkBox_activateRGBD->isChecked())
 	{
 		int button = QMessageBox::information(this,
@@ -2149,9 +2131,8 @@ void PreferencesDialog::selectSourceRGBD(Src src, bool ckecked)
 			_ui->general_checkBox_activateRGBD->setChecked(true);
 		}
 	}
-	}
 
-	_ui->groupBox_sourceOpenni->setChecked(ckecked);
+	_ui->groupBox_sourceOpenni->setChecked(true);
 	_ui->radioButton_opennipcl->setChecked(src == kSrcOpenNI_PCL);
 	_ui->radioButton_freenect->setChecked(src == kSrcFreenect);
 	_ui->radioButton_opennicv->setChecked(src == kSrcOpenNI_CV);