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GUI: custom aspect ratio, option to save auto screenshots in RAM, default views updated (reseting 3D map camera position and hiding the status bar)

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This commit is contained in:
matlabbe
2015-09-04 13:46:37 -04:00
parent 3bd9dd6a53
commit f912023a30
7 changed files with 154 additions and 63 deletions
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137
guilib/src/MainWindow.cpp
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@@ -145,6 +145,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_likelihoodCurve(0),
_rawLikelihoodCurve(0),
_autoScreenCaptureOdomSync(false),
_autoScreenCaptureRAM(false),
_firstCall(true)
{
UDEBUG("");
@@ -174,20 +175,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
this->setObjectName("MainWindow");
//Setup dock widgets position if it is the first time the application is started.
//if(!QFile::exists(PreferencesDialog::getIniFilePath()))
{
_ui->dockWidget_posterior->setVisible(false);
_ui->dockWidget_likelihood->setVisible(false);
_ui->dockWidget_rawlikelihood->setVisible(false);
_ui->dockWidget_statsV2->setVisible(false);
_ui->dockWidget_console->setVisible(false);
_ui->dockWidget_loopClosureViewer->setVisible(false);
_ui->dockWidget_mapVisibility->setVisible(false);
_ui->dockWidget_graphViewer->setVisible(false);
//_ui->dockWidget_odometry->setVisible(false);
//_ui->dockWidget_cloudViewer->setVisible(false);
//_ui->dockWidget_imageView->setVisible(false);
}
setDefaultViews();
_ui->widget_mainWindow->setVisible(false);
@@ -204,7 +192,8 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_preferencesDialog->init();
// Restore window geometry
_preferencesDialog->loadMainWindowState(this, _savedMaximized);
bool statusBarShown = false;
_preferencesDialog->loadMainWindowState(this, _savedMaximized, statusBarShown);
_preferencesDialog->loadWindowGeometry(_preferencesDialog);
_preferencesDialog->loadWindowGeometry(_exportDialog);
_preferencesDialog->loadWindowGeometry(_postProcessingDialog);
@@ -285,6 +274,10 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
QAction * a = _ui->menuShow_view->addAction("Progress dialog");
a->setCheckable(false);
connect(a, SIGNAL(triggered(bool)), _initProgressDialog, SLOT(show()));
QAction * statusBarAction = _ui->menuShow_view->addAction("Status bar");
statusBarAction->setCheckable(true);
statusBarAction->setChecked(statusBarShown);
connect(statusBarAction, SIGNAL(toggled(bool)), this->statusBar(), SLOT(setVisible(bool)));
// connect actions with custom slots
connect(_ui->actionSave_GUI_config, SIGNAL(triggered()), this, SLOT(saveConfigGUI()));
@@ -325,6 +318,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
connect(_ui->action480p, SIGNAL(triggered()), this, SLOT(setAspectRatio480p()));
connect(_ui->action720p, SIGNAL(triggered()), this, SLOT(setAspectRatio720p()));
connect(_ui->action1080p, SIGNAL(triggered()), this, SLOT(setAspectRatio1080p()));
connect(_ui->actionCustom, SIGNAL(triggered()), this, SLOT(setAspectRatioCustom()));
connect(_ui->actionSave_point_cloud, SIGNAL(triggered()), this, SLOT(exportClouds()));
connect(_ui->actionExport_2D_scans_ply_pcd, SIGNAL(triggered()), this, SLOT(exportScans()));
connect(_ui->actionExport_2D_Grid_map_bmp_png, SIGNAL(triggered()), this, SLOT(exportGridMap()));
@@ -416,6 +410,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
connect(_postProcessingDialog, SIGNAL(configChanged()), this, SLOT(configGUIModified()));
connect(_ui->toolBar->toggleViewAction(), SIGNAL(toggled(bool)), this, SLOT(configGUIModified()));
connect(_ui->toolBar, SIGNAL(orientationChanged(Qt::Orientation)), this, SLOT(configGUIModified()));
connect(statusBarAction, SIGNAL(toggled(bool)), this, SLOT(configGUIModified()));
QList<QDockWidget*> dockWidgets = this->findChildren<QDockWidget*>();
for(int i=0; i<dockWidgets.size(); ++i)
{
@@ -946,7 +941,7 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom)
if(_ui->actionAuto_screen_capture->isChecked() && _autoScreenCaptureOdomSync)
{
this->captureScreen();
this->captureScreen(_autoScreenCaptureRAM);
}
}
@@ -1330,7 +1325,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
_ui->statsToolBox->updateStat("/Gui refresh stats/ms", stat.refImageId(), elapsedTime);
if(_ui->actionAuto_screen_capture->isChecked() && !_autoScreenCaptureOdomSync)
{
this->captureScreen();
this->captureScreen(_autoScreenCaptureRAM);
}
if(!_preferencesDialog->isImagesKept())
@@ -2562,26 +2557,41 @@ void MainWindow::changeMappingMode()
emit mappingModeChanged(_ui->actionSLAM_mode->isChecked());
}
QString MainWindow::captureScreen()
QString MainWindow::captureScreen(bool cacheInRAM)
{
QString targetDir = _preferencesDialog->getWorkingDirectory() + QDir::separator() + "ScreensCaptured";
QDir dir;
if(!dir.exists(targetDir))
{
dir.mkdir(targetDir);
}
targetDir += QDir::separator();
targetDir += "Main_window";
if(!dir.exists(targetDir))
{
dir.mkdir(targetDir);
}
targetDir += QDir::separator();
QString name = (QDateTime::currentDateTime().toString("yyMMddhhmmsszzz") + ".png");
_ui->statusbar->clearMessage();
QPixmap figure = QPixmap::grabWidget(this);
figure.save(targetDir + name);
QString msg = tr("Screen captured \"%1\"").arg(targetDir + name);
QString targetDir = _preferencesDialog->getWorkingDirectory() + QDir::separator() + "ScreensCaptured";
QString msg;
if(cacheInRAM)
{
msg = tr("Screen captured \"%1\"").arg(name);
QByteArray bytes;
QBuffer buffer(&bytes);
buffer.open(QIODevice::WriteOnly);
figure.save(&buffer, "PNG");
_autoScreenCaptureCachedImages.insert(name, bytes);
}
else
{
QDir dir;
if(!dir.exists(targetDir))
{
dir.mkdir(targetDir);
}
targetDir += QDir::separator();
targetDir += "Main_window";
if(!dir.exists(targetDir))
{
dir.mkdir(targetDir);
}
targetDir += QDir::separator();
figure.save(targetDir + name);
msg = tr("Screen captured \"%1\"").arg(targetDir + name);
}
_ui->statusbar->showMessage(msg, _preferencesDialog->getTimeLimit()*500);
_ui->widget_console->appendMsg(msg);
@@ -4131,6 +4141,9 @@ void MainWindow::setDefaultViews()
_ui->dockWidget_imageView->setVisible(true);
_ui->toolBar->setVisible(_state != kMonitoring && _state != kMonitoringPaused);
_ui->toolBar_2->setVisible(true);
_ui->statusbar->setVisible(false);
this->setAspectRatio720p();
_ui->widget_cloudViewer->resetCamera();
}
void MainWindow::selectScreenCaptureFormat(bool checked)
@@ -4151,12 +4164,56 @@ void MainWindow::selectScreenCaptureFormat(bool checked)
{
_autoScreenCaptureOdomSync = true;
}
if(_state != kMonitoring && _state != kMonitoringPaused)
{
int r = QMessageBox::question(this, tr("Hard drive or RAM?"), tr("Save in RAM? Images will be saved on disk when clicking auto screen capture again."), QMessageBox::Yes | QMessageBox::No, QMessageBox::No);
if(r == QMessageBox::No || r == QMessageBox::Yes)
{
_autoScreenCaptureRAM = r == QMessageBox::Yes;
}
else
{
_ui->actionAuto_screen_capture->setChecked(false);
}
}
}
else
{
_ui->actionAuto_screen_capture->setChecked(false);
}
}
else if(_autoScreenCaptureCachedImages.size())
{
QString targetDir = _preferencesDialog->getWorkingDirectory() + QDir::separator() + "ScreensCaptured";
QDir dir;
if(!dir.exists(targetDir))
{
dir.mkdir(targetDir);
}
targetDir += QDir::separator();
targetDir += "Main_window";
if(!dir.exists(targetDir))
{
dir.mkdir(targetDir);
}
targetDir += QDir::separator();
_initProgressDialog->resetProgress();
_initProgressDialog->show();
_initProgressDialog->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();
}
_autoScreenCaptureCachedImages.clear();
_initProgressDialog->setValue(_initProgressDialog->maximumSteps());
}
}
void MainWindow::takeScreenshot()
@@ -4230,6 +4287,20 @@ void MainWindow::setAspectRatio1080p()
this->setAspectRatio((1080*16)/9, 1080);
}
void MainWindow::setAspectRatioCustom()
{
bool ok;
int width = QInputDialog::getInt(this, tr("Aspect ratio"), tr("Width (pixels):"), this->geometry().width(), 100, 10000, 100, &ok);
if(ok)
{
int height = QInputDialog::getInt(this, tr("Aspect ratio"), tr("Height (pixels):"), this->geometry().height(), 100, 10000, 100, &ok);
if(ok)
{
this->setAspectRatio(width, height);
}
}
}
void MainWindow::exportGridMap()
{
double gridCellSize = 0.05;