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saving CloudViewer settings (Camera,Trajectory,Grid) in the config file

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This commit is contained in:
Mathieu Labbe
2015-01-13 18:11:34 -05:00
parent 6bd2a0926b
commit fb0b23ae06
10 changed files with 379 additions and 27 deletions
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12
guilib/src/MainWindow.cpp
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@@ -196,6 +196,9 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_ui->imageView_source->setBackgroundBrush(QBrush(Qt::black));
_ui->imageView_loopClosure->setBackgroundBrush(QBrush(Qt::black));
_ui->imageView_odometry->setBackgroundBrush(QBrush(Qt::black));
_preferencesDialog->loadImageViewState(_ui->imageView_source->objectName(), _ui->imageView_source);
_preferencesDialog->loadImageViewState(_ui->imageView_loopClosure->objectName(), _ui->imageView_loopClosure);
_preferencesDialog->loadImageViewState(_ui->imageView_odometry->objectName(), _ui->imageView_odometry);
_posteriorCurve = new PdfPlotCurve("Posterior", &_cachedSignatures, this);
_ui->posteriorPlot->addCurve(_posteriorCurve, false);
@@ -370,6 +373,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_ui->statsToolBox->setWorkingDirectory(_preferencesDialog->getWorkingDirectory());
_ui->graphicsView_graphView->setWorkingDirectory(_preferencesDialog->getWorkingDirectory());
_ui->widget_cloudViewer->setWorkingDirectory(_preferencesDialog->getWorkingDirectory());
_preferencesDialog->loadCloudViewerState(_ui->widget_cloudViewer->objectName(), _ui->widget_cloudViewer);
if(_ui->statsToolBox->findChildren<StatItem*>().size() == 0)
{
@@ -448,6 +452,10 @@ void MainWindow::closeEvent(QCloseEvent* event)
//write settings before quit?
_preferencesDialog->saveMainWindowState(this);
_preferencesDialog->saveCloudViewerState(_ui->widget_cloudViewer->objectName(), _ui->widget_cloudViewer);
_preferencesDialog->saveImageViewState(_ui->imageView_source->objectName(), _ui->imageView_source);
_preferencesDialog->saveImageViewState(_ui->imageView_loopClosure->objectName(), _ui->imageView_loopClosure);
_preferencesDialog->saveImageViewState(_ui->imageView_odometry->objectName(), _ui->imageView_odometry);
_ui->dockWidget_imageView->close();
_ui->dockWidget_likelihood->close();
@@ -695,7 +703,7 @@ void MainWindow::processOdometry(const rtabmap::SensorData & data, const rtabmap
if(!data.pose().isNull())
{
// update camera position
_ui->widget_cloudViewer->updateCameraPosition(_odometryCorrection*data.pose());
_ui->widget_cloudViewer->updateCameraTargetPosition(_odometryCorrection*data.pose());
}
}
_ui->widget_cloudViewer->render();
@@ -1359,7 +1367,7 @@ void MainWindow::updateMapCloud(
if(!currentPose.isNull())
{
_ui->widget_cloudViewer->updateCameraPosition(currentPose);
_ui->widget_cloudViewer->updateCameraTargetPosition(currentPose);
}
_ui->widget_cloudViewer->render();