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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)

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This commit is contained in:
Mathieu Labbe
2015-03-01 19:41:03 -05:00
parent 34f4b3132d
commit ee7a5f591a
4 changed files with 142 additions and 142 deletions
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4
guilib/include/rtabmap/gui/MainWindow.h
View File

@@ -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 updateSelectSourceDatabase(bool used);
void updateSelectSourceRGBDMenu(bool used, PreferencesDialog::Src src);
void updateSelectSourceMenu();
pcl::PointCloud<pcl::PointXYZRGB>::Ptr getAssembledCloud(
const std::map<int, Transform> & poses,

6
guilib/include/rtabmap/gui/PreferencesDialog.h
View File

@@ -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 selectSourceDatabase(bool user = false, bool checked = true);
void selectSourceRGBD(Src src = kSrcUndef, bool checked = true);
void selectSourceImage(Src src = kSrcUndef);
void selectSourceDatabase(bool user = false);
void selectSourceRGBD(Src src = kSrcUndef);
private slots:
void closeDialog ( QAbstractButton * button );

129
guilib/src/MainWindow.cpp
View File

@@ -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()));
@@ -1750,20 +1748,32 @@ void MainWindow::processRtabmapEventInit(int status, const QString & info)
if(_databaseUpdated)
{
if(!_newDatabasePath.isEmpty() && !_newDatabasePathOutput.isEmpty())
if(!_newDatabasePath.isEmpty())
{
if(QFile::rename(_newDatabasePath, _newDatabasePathOutput))
if(!_newDatabasePathOutput.isEmpty())
{
std::string msg = uFormat("Database saved to \"%s\".", _newDatabasePathOutput.toStdString().c_str());
UINFO(msg.c_str());
QMessageBox::information(this, tr("Database saved!"), QString(msg.c_str()));
if(QFile::rename(_newDatabasePath, _newDatabasePathOutput))
{
std::string msg = uFormat("Database saved to \"%s\".", _newDatabasePathOutput.toStdString().c_str());
UINFO(msg.c_str());
QMessageBox::information(this, tr("Database saved!"), QString(msg.c_str()));
}
else
{
std::string msg = uFormat("Failed to rename temporary database from \"%s\" to \"%s\".", _newDatabasePath.toStdString().c_str(), _newDatabasePathOutput.toStdString().c_str());
UERROR(msg.c_str());
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
{
std::string msg = uFormat("Failed to rename temporary database from \"%s\" to \"%s\".", _newDatabasePath.toStdString().c_str(), _newDatabasePathOutput.toStdString().c_str());
UERROR(msg.c_str());
QMessageBox::critical(this, tr("Closing failed!"), QString(msg.c_str()));
UERROR("Temporary database \"%s\" could not be deleted.", _newDatabasePath.toStdString().c_str());
}
}
else if(!_openedDatabasePath.isEmpty())
{
@@ -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->updateSelectSourceDatabase(_preferencesDialog->isSourceDatabaseUsed());
this->updateSelectSourceRGBDMenu(_preferencesDialog->isSourceOpenniUsed(), _preferencesDialog->getSourceRGBD());
this->updateSelectSourceMenu();
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->actionImageFiles->setChecked(used && src == PreferencesDialog::kSrcImages);
_ui->actionVideo->setChecked(used && src == PreferencesDialog::kSrcVideo);
}
_ui->actionUsbCamera->setChecked(_preferencesDialog->isSourceImageUsed() && _preferencesDialog->getSourceImageType() == PreferencesDialog::kSrcUsbDevice);
_ui->actionImageFiles->setChecked(_preferencesDialog->isSourceImageUsed() && _preferencesDialog->getSourceImageType() == PreferencesDialog::kSrcImages);
_ui->actionVideo->setChecked(_preferencesDialog->isSourceImageUsed() && _preferencesDialog->getSourceImageType() == PreferencesDialog::kSrcVideo);
void MainWindow::updateSelectSourceDatabase(bool used)
{
_ui->actionDatabase->setChecked(used);
}
_ui->actionDatabase->setChecked(_preferencesDialog->isSourceDatabaseUsed());
void MainWindow::updateSelectSourceRGBDMenu(bool used, PreferencesDialog::Src src)
{
_ui->actionOpenNI_PCL->setChecked(used && src == PreferencesDialog::kSrcOpenNI_PCL);
_ui->actionOpenNI_PCL_ASUS->setChecked(used && src == PreferencesDialog::kSrcOpenNI_PCL);
_ui->actionFreenect->setChecked(used && src == PreferencesDialog::kSrcFreenect);
_ui->actionOpenNI_CV->setChecked(used && src == PreferencesDialog::kSrcOpenNI_CV);
_ui->actionOpenNI_CV_ASUS->setChecked(used && src == PreferencesDialog::kSrcOpenNI_CV_ASUS);
_ui->actionOpenNI2->setChecked(used && src == PreferencesDialog::kSrcOpenNI2);
_ui->actionOpenNI2_Sense->setChecked(used && src == PreferencesDialog::kSrcOpenNI2);
_ui->actionOpenNI2_kinect->setChecked(used && src == PreferencesDialog::kSrcOpenNI2);
_ui->actionOpenNI_PCL->setChecked(_preferencesDialog->isSourceOpenniUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_PCL);
_ui->actionOpenNI_PCL_ASUS->setChecked(_preferencesDialog->isSourceOpenniUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_PCL);
_ui->actionFreenect->setChecked(_preferencesDialog->isSourceOpenniUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcFreenect);
_ui->actionOpenNI_CV->setChecked(_preferencesDialog->isSourceOpenniUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_CV);
_ui->actionOpenNI_CV_ASUS->setChecked(_preferencesDialog->isSourceOpenniUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_CV_ASUS);
_ui->actionOpenNI2->setChecked(_preferencesDialog->isSourceOpenniUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI2);
_ui->actionOpenNI2_Sense->setChecked(_preferencesDialog->isSourceOpenniUsed() && _preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI2);
_ui->actionOpenNI2_kinect->setChecked(_preferencesDialog->isSourceOpenniUsed() && _preferencesDialog->getSourceRGBD() == 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()))
{
if(QFile::remove(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)
{
UINFO("Deleted database \"%s\".", databasePath.c_str());
if(QFile::remove(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,
_ui->actionOpenNI_PCL->isChecked() ||
_ui->actionOpenNI_PCL_ASUS->isChecked());
_preferencesDialog->selectSourceRGBD(PreferencesDialog::kSrcOpenNI_PCL);
}
void MainWindow::selectFreenect()
{
_preferencesDialog->selectSourceRGBD(PreferencesDialog::kSrcFreenect,
_ui->actionFreenect->isChecked());
_preferencesDialog->selectSourceRGBD(PreferencesDialog::kSrcFreenect);
}
void MainWindow::selectOpenniCv()
{
_preferencesDialog->selectSourceRGBD(PreferencesDialog::kSrcOpenNI_CV,
_ui->actionOpenNI_CV->isChecked());
_preferencesDialog->selectSourceRGBD(PreferencesDialog::kSrcOpenNI_CV);
}
void MainWindow::selectOpenniCvAsus()
{
_preferencesDialog->selectSourceRGBD(PreferencesDialog::kSrcOpenNI_CV_ASUS,
_ui->actionOpenNI_CV_ASUS->isChecked());
_preferencesDialog->selectSourceRGBD(PreferencesDialog::kSrcOpenNI_CV_ASUS);
}
void MainWindow::selectOpenni2()
{
_preferencesDialog->selectSourceRGBD(PreferencesDialog::kSrcOpenNI2,
_ui->actionOpenNI2->isChecked() ||
_ui->actionOpenNI2_Sense->isChecked() ||
_ui->actionOpenNI2_kinect->isChecked());
_preferencesDialog->selectSourceRGBD(PreferencesDialog::kSrcOpenNI2);
}

145
guilib/src/PreferencesDialog.cpp
View File

@@ -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("");
@@ -1993,70 +1993,62 @@ void PreferencesDialog::selectSourceImage(Src src, bool ckecked)
if(!fromPrefDialog)
{
if(ckecked)
if(_ui->general_checkBox_activateRGBD->isChecked())
{
if(_ui->general_checkBox_activateRGBD->isChecked())
int button = QMessageBox::information(this,
tr("Desactivate RGB-D SLAM?"),
tr("You've selected source input as images only and RGB-D SLAM mode is activated. "
"RGB-D SLAM cannot work with images only so do you want to desactivate it?"),
QMessageBox::Yes | QMessageBox::No);
if(button & QMessageBox::Yes)
{
int button = QMessageBox::information(this,
tr("Desactivate RGB-D SLAM?"),
tr("You've selected source input as images only and RGB-D SLAM mode is activated. "
"RGB-D SLAM cannot work with images only so do you want to desactivate it?"),
QMessageBox::Yes | QMessageBox::No);
if(button & QMessageBox::Yes)
{
_ui->general_checkBox_activateRGBD->setChecked(false);
}
_ui->general_checkBox_activateRGBD->setChecked(false);
}
}
_ui->groupBox_sourceImage->setChecked(false);
}
if(ckecked)
if(src == kSrcImages)
{
if(src == kSrcImages)
QString path = QFileDialog::getExistingDirectory(this, QString(), _ui->source_images_lineEdit_path->text());
QDir dir(path);
if(!path.isEmpty() && dir.exists())
{
QString path = QFileDialog::getExistingDirectory(this, QString(), _ui->source_images_lineEdit_path->text());
QDir dir(path);
if(!path.isEmpty() && dir.exists())
QStringList filters;
filters << "*.jpg" << "*.ppm" << "*.bmp" << "*.png" << "*.pnm" << "*.tiff";
dir.setNameFilters(filters);
QFileInfoList files = dir.entryInfoList();
if(!files.empty())
{
QStringList filters;
filters << "*.jpg" << "*.ppm" << "*.bmp" << "*.png" << "*.pnm" << "*.tiff";
dir.setNameFilters(filters);
QFileInfoList files = dir.entryInfoList();
if(!files.empty())
{
_ui->source_comboBox_image_type->setCurrentIndex(1);
_ui->source_images_lineEdit_path->setText(path);
_ui->source_images_spinBox_startPos->setValue(1);
_ui->source_images_refreshDir->setChecked(false);
_ui->groupBox_sourceImage->setChecked(true);
}
else
{
QMessageBox::information(this,
tr("RTAB-Map"),
tr("Images must be one of these formats: ") + filters.join(" "));
}
}
}
else if(src == kSrcVideo)
{
QString path = QFileDialog::getOpenFileName(this, tr("Select file"), _ui->source_video_lineEdit_path->text(), tr("Videos (*.avi *.mpg *.mp4)"));
QFile file(path);
if(!path.isEmpty() && file.exists())
{
_ui->source_comboBox_image_type->setCurrentIndex(2);
_ui->source_video_lineEdit_path->setText(path);
_ui->source_comboBox_image_type->setCurrentIndex(1);
_ui->source_images_lineEdit_path->setText(path);
_ui->source_images_spinBox_startPos->setValue(1);
_ui->source_images_refreshDir->setChecked(false);
_ui->groupBox_sourceImage->setChecked(true);
}
else
{
QMessageBox::information(this,
tr("RTAB-Map"),
tr("Images must be one of these formats: ") + filters.join(" "));
}
}
else // kSrcUsbDevice
}
else if(src == kSrcVideo)
{
QString path = QFileDialog::getOpenFileName(this, tr("Select file"), _ui->source_video_lineEdit_path->text(), tr("Videos (*.avi *.mpg *.mp4)"));
QFile file(path);
if(!path.isEmpty() && file.exists())
{
_ui->source_comboBox_image_type->setCurrentIndex(0);
_ui->source_comboBox_image_type->setCurrentIndex(2);
_ui->source_video_lineEdit_path->setText(path);
_ui->groupBox_sourceImage->setChecked(true);
}
}
else // kSrcUsbDevice
{
_ui->source_comboBox_image_type->setCurrentIndex(0);
_ui->groupBox_sourceImage->setChecked(true);
}
if(_ui->groupBox_sourceImage->isChecked())
{
@@ -2080,33 +2072,25 @@ void PreferencesDialog::selectSourceImage(Src src, bool ckecked)
}
}
void PreferencesDialog::selectSourceDatabase(bool user, bool ckecked)
void PreferencesDialog::selectSourceDatabase(bool user)
{
ULOGGER_DEBUG("");
if(user)
QString dir = _ui->source_database_lineEdit_path->text();
if(dir.isEmpty())
{
_ui->groupBox_sourceDatabase->setChecked(false);
dir = getWorkingDirectory();
}
if(ckecked)
QString path = QFileDialog::getOpenFileName(this, tr("Select file"), dir, tr("RTAB-Map database files (*.db)"));
QFile file(path);
if(!path.isEmpty() && file.exists())
{
QString dir = _ui->source_database_lineEdit_path->text();
if(dir.isEmpty())
{
dir = getWorkingDirectory();
}
QString path = QFileDialog::getOpenFileName(this, tr("Select file"), dir, tr("RTAB-Map database files (*.db)"));
QFile file(path);
if(!path.isEmpty() && file.exists())
{
int r = QMessageBox::question(this, tr("Odometry in database..."), tr("Use odometry saved in database (if some saved)?"), QMessageBox::Yes | QMessageBox::No, QMessageBox::Yes);
int r = QMessageBox::question(this, tr("Odometry in database..."), tr("Use odometry saved in database (if some saved)?"), QMessageBox::Yes | QMessageBox::No, QMessageBox::Yes);
_ui->groupBox_sourceDatabase->setChecked(true);
_ui->source_checkBox_ignoreOdometry->setChecked(r != QMessageBox::Yes);
_ui->source_database_lineEdit_path->setText(path);
_ui->source_spinBox_databaseStartPos->setValue(0);
}
_ui->groupBox_sourceDatabase->setChecked(true);
_ui->source_checkBox_ignoreOdometry->setChecked(r != QMessageBox::Yes);
_ui->source_database_lineEdit_path->setText(path);
_ui->source_spinBox_databaseStartPos->setValue(0);
}
if(_ui->groupBox_sourceDatabase->isChecked())
@@ -2131,27 +2115,24 @@ 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())
{
if(!_ui->general_checkBox_activateRGBD->isChecked())
int button = QMessageBox::information(this,
tr("Activate RGB-D SLAM?"),
tr("You've selected RGB-D camera as source input, "
"would you want to activate RGB-D SLAM mode?"),
QMessageBox::Yes | QMessageBox::No, QMessageBox::Yes);
if(button & QMessageBox::Yes)
{
int button = QMessageBox::information(this,
tr("Activate RGB-D SLAM?"),
tr("You've selected RGB-D camera as source input, "
"would you want to activate RGB-D SLAM mode?"),
QMessageBox::Yes | QMessageBox::No, QMessageBox::Yes);
if(button & QMessageBox::Yes)
{
_ui->general_checkBox_activateRGBD->setChecked(true);
}
_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);