mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 17:40:23 +08:00
Reprocess: added --skip option (to skip frames when reprocessing). Rtabmap: always save Loop/Map_id/ stat. UPlot: export NaN insted of NA for invalid values (compatible with octave). GraphViewer and ImageView: added support for PDF output format, also changed default directory to User's Pictures standard folder.
This commit is contained in:
matlabbe
@@ -37,6 +37,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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#include <QtGui/QDesktopServices>
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#include <QtGui/QContextMenuEvent>
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#include <QColorDialog>
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#include <QPrinter>
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#include <QFileDialog>
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#ifdef QT_SVG_LIB
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#include <QtSvg/QSvgGenerator>
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#endif
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@@ -54,6 +56,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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#include <rtabmap/utilite/ULogger.h>
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#include <rtabmap/utilite/UTimer.h>
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#include <QtGlobal>
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#if QT_VERSION >= 0x050000
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#include <QStandardPaths>
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#endif
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namespace rtabmap {
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class NodeItem: public QGraphicsEllipseItem
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@@ -1540,11 +1547,7 @@ QIcon createIcon(const QColor & color)
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void GraphViewer::contextMenuEvent(QContextMenuEvent * event)
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{
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QMenu menu;
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QAction * aScreenShotPNG = menu.addAction(tr("Take a screenshot (PNG)"));
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QAction * aScreenShotSVG = menu.addAction(tr("Take a screenshot (SVG)"));
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#ifndef QT_SVG_LIB
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aScreenShotSVG->setEnabled(false);
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#endif
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QAction * aScreenShot = menu.addAction(tr("Take a screenshot..."));
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menu.addSeparator();
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QAction * aChangeNodeColor = menu.addAction(createIcon(_nodeColor), tr("Set node color..."));
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@@ -1710,85 +1713,103 @@ void GraphViewer::contextMenuEvent(QContextMenuEvent * event)
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QAction * aRestoreDefaults = menu.addAction(tr("Restore defaults"));
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QAction * r = menu.exec(event->globalPos());
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if(r == aScreenShotPNG || r == aScreenShotSVG)
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if(r == aScreenShot)
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{
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if(_root)
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{
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QString targetDir = _workingDirectory + "/ScreensCaptured";
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QString filePath;
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#if QT_VERSION >= 0x050000
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filePath = QStandardPaths::writableLocation(QStandardPaths::PicturesLocation);
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#endif
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QDir dir;
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if(!dir.exists(targetDir))
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if(!dir.exists(filePath))
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{
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dir.mkdir(targetDir);
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filePath = QDir::homePath();
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}
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targetDir += "/";
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targetDir += "Graph_view";
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if(!dir.exists(targetDir))
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{
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dir.mkdir(targetDir);
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}
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targetDir += "/";
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bool isPNG = r == aScreenShotPNG;
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QString name = (QDateTime::currentDateTime().toString("yyMMddhhmmsszzz") + (isPNG?".png":".svg"));
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filePath += "/graph.png";
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if(_gridCellSize)
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#ifdef QT_SVG_LIB
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filePath = QFileDialog::getSaveFileName(this, tr("Save figure to ..."), filePath, "*.png *.xpm *.jpg *.pdf *.svg");
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#else
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filePath = QFileDialog::getSaveFileName(this, tr("Save figure to ..."), filePath, "*.png *.xpm *.jpg *.pdf");
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#endif
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if(!filePath.isEmpty())
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{
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_root->setScale(1.0f/(_gridCellSize*100.0f)); // grid map precision (for 5cm grid cell, x20 to have 1pix/5cm)
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}
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else
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{
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_root->setScale(this->transform().m11()); // current view
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}
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this->scene()->clearSelection(); // Selections would also render to the file
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this->scene()->setSceneRect(this->scene()->itemsBoundingRect()); // Re-shrink the scene to it's bounding contents
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QSize sceneSize = this->scene()->sceneRect().size().toSize();
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if(isPNG)
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{
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QImage image(sceneSize, QImage::Format_ARGB32); // Create the image with the exact size of the shrunk scene
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image.fill(Qt::transparent); // Start all pixels transparent
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QPainter painter(&image);
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this->scene()->render(&painter);
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if(!image.isNull())
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if(QFileInfo(filePath).suffix() == "")
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{
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image.save(targetDir + name);
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//use png by default
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filePath += ".png";
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}
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if(_gridCellSize)
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{
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_root->setScale(1.0f/(_gridCellSize*100.0f)); // grid map precision (for 5cm grid cell, x20 to have 1pix/5cm)
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}
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else
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{
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QMessageBox::warning(this,
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tr("Save PNG"),
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tr("Could not export in PNG (the scene may be too large %1x%2), try saving in SVG.").arg(sceneSize.width()).arg(sceneSize.height()));
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_root->setScale(this->transform().m11()); // current view
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}
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}
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else
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{
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this->scene()->clearSelection(); // Selections would also render to the file
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this->scene()->setSceneRect(this->scene()->itemsBoundingRect()); // Re-shrink the scene to it's bounding contents
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QSize sceneSize = this->scene()->sceneRect().size().toSize();
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if(QFileInfo(filePath).suffix().compare("pdf") == 0)
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{
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QPrinter printer(QPrinter::HighResolution);
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printer.setOrientation(QPrinter::Portrait);
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printer.setOutputFileName( filePath );
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QPainter p(&printer);
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scene()->render(&p);
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p.end();
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}
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else if(QFileInfo(filePath).suffix().compare("svg") == 0)
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{
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#ifdef QT_SVG_LIB
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QSvgGenerator svgGen;
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QSvgGenerator svgGen;
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svgGen.setFileName( targetDir + name );
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svgGen.setSize(sceneSize);
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// add 1% border to make sure values are not cropped
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int borderH = sceneSize.width()/100;
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int borderV = sceneSize.height()/100;
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svgGen.setViewBox(QRect(-borderH, -borderV, sceneSize.width()+borderH*2, sceneSize.height()+borderV*2));
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svgGen.setTitle(tr("RTAB-Map graph"));
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svgGen.setDescription(tr("RTAB-Map map and graph"));
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svgGen.setFileName( filePath );
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svgGen.setSize(sceneSize);
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// add 1% border to make sure values are not cropped
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int borderH = sceneSize.width()/100;
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int borderV = sceneSize.height()/100;
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svgGen.setViewBox(QRect(-borderH, -borderV, sceneSize.width()+borderH*2, sceneSize.height()+borderV*2));
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svgGen.setTitle(tr("RTAB-Map graph"));
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svgGen.setDescription(tr("RTAB-Map map and graph"));
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QPainter painter( &svgGen );
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QPainter painter( &svgGen );
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this->scene()->render(&painter);
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this->scene()->render(&painter);
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#else
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UERROR("RTAB-MAp is not built with Qt's SVG library, cannot save picture in svg format.");
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UERROR("RTAB-MAp is not built with Qt's SVG library, cannot save picture in svg format.");
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#endif
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}
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else
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{
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QImage image(sceneSize, QImage::Format_ARGB32); // Create the image with the exact size of the shrunk scene
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image.fill(Qt::transparent); // Start all pixels transparent
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QPainter painter(&image);
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this->scene()->render(&painter);
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if(!image.isNull())
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{
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image.save(filePath);
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}
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else
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{
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QMessageBox::warning(this,
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tr("Save PNG"),
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tr("Could not export in PNG (the scene may be too large %1x%2), try saving in SVG.").arg(sceneSize.width()).arg(sceneSize.height()));
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}
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}
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//reset scale
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_root->setScale(1.0f);
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this->scene()->setSceneRect(this->scene()->itemsBoundingRect()); // Re-shrink the scene to it's bounding contents
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QDesktopServices::openUrl(QUrl::fromLocalFile(filePath));
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}
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//reset scale
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_root->setScale(1.0f);
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this->scene()->setSceneRect(this->scene()->itemsBoundingRect()); // Re-shrink the scene to it's bounding contents
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QDesktopServices::openUrl(QUrl::fromLocalFile(targetDir + name));
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}
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return; // without emitting configChanged
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}
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