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

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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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117
guilib/src/PreferencesDialog.cpp
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@@ -34,6 +34,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <QtCore/QDir>
#include <QtCore/QTimer>
#include <QtGui/QVector3D>
#include <QtGui/QFileDialog>
#include <QtGui/QMessageBox>
#include <QtGui/QStandardItemModel>
@@ -56,6 +57,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/gui/LoopClosureViewer.h"
#include "rtabmap/gui/DataRecorder.h"
#include "rtabmap/gui/CloudViewer.h"
#include "rtabmap/gui/ImageView.h"
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UConversion.h>
@@ -1687,6 +1690,120 @@ void PreferencesDialog::loadMainWindowState(QMainWindow * mainWindow)
loadWindowGeometry("MainWindow", mainWindow);
}
void PreferencesDialog::saveCloudViewerState(const QString & name, const CloudViewer * viewer)
{
QSettings settings(getIniFilePath(), QSettings::IniFormat);
settings.beginGroup("Gui");
settings.beginGroup(name);
float poseX, poseY, poseZ, focalX, focalY, focalZ, upX, upY, upZ;
viewer->getCameraPosition(poseX, poseY, poseZ, focalX, focalY, focalZ, upX, upY, upZ);
QVector3D pose(poseX, poseY, poseZ);
QVector3D focal(focalX, focalY, focalZ);
if(!viewer->isCameraFree())
{
// make camera position relative to target
Transform T = viewer->getTargetPose();
if(viewer->isCameraTargetLocked())
{
T = Transform(T.x(), T.y(), T.z(), 0,0,0);
}
Transform F(focalX, focalY, focalZ, 0,0,0);
Transform P(poseX, poseY, poseZ, 0,0,0);
Transform newFocal = T.inverse() * F;
Transform newPose = newFocal * F.inverse() * P;
pose = QVector3D(newPose.x(), newPose.y(), newPose.z());
focal = QVector3D(newFocal.x(), newFocal.y(), newFocal.z());
}
settings.setValue("camera_pose", pose);
settings.setValue("camera_focal", focal);
settings.setValue("camera_up", QVector3D(upX, upY, upZ));
settings.setValue("grid", viewer->isGridShown());
settings.setValue("grid_cell_count", viewer->getGridCellCount());
settings.setValue("grid_cell_size", viewer->getGridCellSize());
settings.setValue("trajectory_shown", viewer->isTrajectoryShown());
settings.setValue("trajectory_size", viewer->getTrajectorySize());
settings.setValue("camera_target_locked", viewer->isCameraTargetLocked());
settings.setValue("camera_target_follow", viewer->isCameraTargetFollow());
settings.setValue("camera_free", viewer->isCameraFree());
settings.setValue("camera_lockZ", viewer->isCameraLockZ());
settings.setValue("bg_color", viewer->getBackgroundColor());
settings.endGroup(); // "name"
settings.endGroup(); // Gui
}
void PreferencesDialog::loadCloudViewerState(const QString & name, CloudViewer * viewer)
{
QByteArray bytes;
QSettings settings(getIniFilePath(), QSettings::IniFormat);
settings.beginGroup("Gui");
settings.beginGroup(name);
float poseX, poseY, poseZ, focalX, focalY, focalZ, upX, upY, upZ;
viewer->getCameraPosition(poseX, poseY, poseZ, focalX, focalY, focalZ, upX, upY, upZ);
QVector3D pose(poseX, poseY, poseZ), focal(focalX, focalY, focalZ), up(upX, upY, upZ);
pose = settings.value("camera_pose", pose).value<QVector3D>();
focal = settings.value("camera_focal", focal).value<QVector3D>();
up = settings.value("camera_up", up).value<QVector3D>();
viewer->setCameraPosition(pose.x(),pose.y(),pose.z(), focal.x(),focal.y(),focal.z(), up.x(),up.y(),up.z());
viewer->setGridShown(settings.value("grid", viewer->isGridShown()).toBool());
viewer->setGridCellCount(settings.value("grid_cell_count", viewer->getGridCellCount()).toInt());
viewer->setGridCellSize(settings.value("grid_cell_size", viewer->getGridCellSize()).toFloat());
viewer->setTrajectoryShown(settings.value("trajectory_shown", viewer->isTrajectoryShown()).toBool());
viewer->setTrajectorySize(settings.value("trajectory_size", viewer->getTrajectorySize()).toInt());
viewer->setCameraTargetLocked(settings.value("camera_target_locked", viewer->isCameraTargetLocked()).toBool());
viewer->setCameraTargetFollow(settings.value("camera_target_follow", viewer->isCameraTargetFollow()).toBool());
if(settings.value("camera_free", viewer->isCameraFree()).toBool())
{
viewer->setCameraFree();
}
viewer->setCameraLockZ(settings.value("camera_lockZ", viewer->isCameraLockZ()).toBool());
viewer->setBackgroundColor(settings.value("bg_color", viewer->getBackgroundColor()).value<QColor>());
settings.endGroup(); //"name"
settings.endGroup(); // Gui
}
void PreferencesDialog::saveImageViewState(const QString & name, const ImageView * view)
{
QSettings settings(getIniFilePath(), QSettings::IniFormat);
settings.beginGroup("Gui");
settings.beginGroup(name);
settings.setValue("image_shown", view->isImageShown());
settings.setValue("depth_shown", view->isImageDepthShown());
settings.setValue("features_shown", view->isFeaturesShown());
settings.setValue("lines_shown", view->isLinesShown());
settings.endGroup(); // "name"
settings.endGroup(); // Gui
}
void PreferencesDialog::loadImageViewState(const QString & name, ImageView * view)
{
QByteArray bytes;
QSettings settings(getIniFilePath(), QSettings::IniFormat);
settings.beginGroup("Gui");
settings.beginGroup(name);
view->setImageShown(settings.value("image_shown", view->isImageShown()).toBool());
view->setImageDepthShown(settings.value("depth_shown", view->isImageDepthShown()).toBool());
view->setFeaturesShown(settings.value("features_shown", view->isFeaturesShown()).toBool());
view->setLinesShown(settings.value("lines_shown", view->isLinesShown()).toBool());
settings.endGroup(); //"name"
settings.endGroup(); // Gui
}
void PreferencesDialog::saveCustomConfig(const QString & section, const QString & key, const QString & value)
{
QSettings settings(getIniFilePath(), QSettings::IniFormat);