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GUI: export clouds in binary mode by default

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@2007 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-11-14 22:07:03 +00:00
parent a52536e209
commit fe20e03afb
5 changed files with 49 additions and 22 deletions
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6
guilib/include/rtabmap/gui/MainWindow.h
View File

@@ -232,9 +232,9 @@ private:
bool getExportedScans(std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > & scans); bool getExportedScans(std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > & scans);
bool getExportedClouds(std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr> & clouds, std::map<int, pcl::PolygonMesh::Ptr> & meshes, bool toSave); bool getExportedClouds(std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr> & clouds, std::map<int, pcl::PolygonMesh::Ptr> & meshes, bool toSave);
void saveClouds(const std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr> & clouds); void saveClouds(const std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr> & clouds, bool binaryMode = true);
void saveMeshes(const std::map<int, pcl::PolygonMesh::Ptr> & meshes); void saveMeshes(const std::map<int, pcl::PolygonMesh::Ptr> & meshes, bool binaryMode = true);
void saveScans(const std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr> & clouds); void saveScans(const std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr> & clouds, bool binaryMode = true);
private: private:
Ui_mainWindow * _ui; Ui_mainWindow * _ui;

7
guilib/src/ExportCloudsDialog.cpp
View File

@@ -47,11 +47,13 @@ ExportCloudsDialog::~ExportCloudsDialog()
void ExportCloudsDialog::setSaveButton() void ExportCloudsDialog::setSaveButton()
{ {
_ui->buttonBox->setStandardButtons(QDialogButtonBox::Cancel|QDialogButtonBox::Save); _ui->buttonBox->setStandardButtons(QDialogButtonBox::Cancel|QDialogButtonBox::Save);
_ui->checkBox_binary->setVisible(true);
} }
void ExportCloudsDialog::setOkButton() void ExportCloudsDialog::setOkButton()
{ {
_ui->buttonBox->setStandardButtons(QDialogButtonBox::Cancel|QDialogButtonBox::Ok); _ui->buttonBox->setStandardButtons(QDialogButtonBox::Cancel|QDialogButtonBox::Ok);
_ui->checkBox_binary->setVisible(false);
} }
bool ExportCloudsDialog::getAssemble() const bool ExportCloudsDialog::getAssemble() const
@@ -84,6 +86,11 @@ double ExportCloudsDialog::getGenerateMaxDepth() const
return _ui->doubleSpinBox_maxDepth->value(); return _ui->doubleSpinBox_maxDepth->value();
} }
bool ExportCloudsDialog::getBinaryFile() const
{
return _ui->checkBox_binary->isChecked();
}
bool ExportCloudsDialog::getMLS() const bool ExportCloudsDialog::getMLS() const
{ {
return _ui->groupBox_mls->isChecked(); return _ui->groupBox_mls->isChecked();

1
guilib/src/ExportCloudsDialog.h
View File

@@ -52,6 +52,7 @@ public:
int getGenerateDecimation() const; int getGenerateDecimation() const;
double getGenerateVoxel() const; double getGenerateVoxel() const;
double getGenerateMaxDepth() const; double getGenerateMaxDepth() const;
bool getBinaryFile() const;
bool getMLS() const; bool getMLS() const;
double getMLSRadius() const; double getMLSRadius() const;
bool getMesh() const; bool getMesh() const;

47
guilib/src/MainWindow.cpp
View File

@@ -3511,7 +3511,16 @@ void MainWindow::exportScans()
{ {
if(scans.size()) if(scans.size())
{ {
this->saveScans(scans); QMessageBox::StandardButton b = QMessageBox::question(this,
tr("Binary file?"),
tr("Do you want to save in binary mode?"),
QMessageBox::No | QMessageBox::Yes,
QMessageBox::Yes);
if(b == QMessageBox::No || b == QMessageBox::Yes)
{
this->saveScans(scans, b == QMessageBox::Yes);
}
} }
_initProgressDialog->setValue(_initProgressDialog->maximumSteps()); _initProgressDialog->setValue(_initProgressDialog->maximumSteps());
} }
@@ -3657,11 +3666,11 @@ void MainWindow::exportClouds()
{ {
if(meshes.size()) if(meshes.size())
{ {
saveMeshes(meshes); saveMeshes(meshes, _exportDialog->getBinaryFile());
} }
else else
{ {
saveClouds(clouds); saveClouds(clouds, _exportDialog->getBinaryFile());
} }
_initProgressDialog->setValue(_initProgressDialog->maximumSteps()); _initProgressDialog->setValue(_initProgressDialog->maximumSteps());
} }
@@ -3886,7 +3895,7 @@ void MainWindow::dataRecorder()
//END ACTIONS //END ACTIONS
void MainWindow::saveClouds(const std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr> & clouds) void MainWindow::saveClouds(const std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr> & clouds, bool binaryMode)
{ {
if(clouds.size() == 1) if(clouds.size() == 1)
{ {
@@ -3900,17 +3909,17 @@ void MainWindow::saveClouds(const std::map<int, pcl::PointCloud<pcl::PointXYZRGB
bool success =false; bool success =false;
if(QFileInfo(path).suffix() == "pcd") if(QFileInfo(path).suffix() == "pcd")
{ {
success = pcl::io::savePCDFile(path.toStdString(), *clouds.begin()->second) == 0; success = pcl::io::savePCDFile(path.toStdString(), *clouds.begin()->second, binaryMode) == 0;
} }
else if(QFileInfo(path).suffix() == "ply") else if(QFileInfo(path).suffix() == "ply")
{ {
success = pcl::io::savePLYFile(path.toStdString(), *clouds.begin()->second) == 0; success = pcl::io::savePLYFile(path.toStdString(), *clouds.begin()->second, binaryMode) == 0;
} }
else if(QFileInfo(path).suffix() == "") else if(QFileInfo(path).suffix() == "")
{ {
//use ply by default //use ply by default
path += ".ply"; path += ".ply";
success = pcl::io::savePCDFile(path.toStdString(), *clouds.begin()->second) == 0; success = pcl::io::savePLYFile(path.toStdString(), *clouds.begin()->second, binaryMode) == 0;
} }
else else
{ {
@@ -3962,11 +3971,11 @@ void MainWindow::saveClouds(const std::map<int, pcl::PointCloud<pcl::PointXYZRGB
bool success =false; bool success =false;
if(suffix == "pcd") if(suffix == "pcd")
{ {
success = pcl::io::savePCDFile(pathFile.toStdString(), *transformedCloud) == 0; success = pcl::io::savePCDFile(pathFile.toStdString(), *transformedCloud, binaryMode) == 0;
} }
else if(suffix == "ply") else if(suffix == "ply")
{ {
success = pcl::io::savePLYFile(pathFile.toStdString(), *transformedCloud) == 0; success = pcl::io::savePLYFile(pathFile.toStdString(), *transformedCloud, binaryMode) == 0;
} }
else else
{ {
@@ -3994,7 +4003,7 @@ void MainWindow::saveClouds(const std::map<int, pcl::PointCloud<pcl::PointXYZRGB
} }
} }
void MainWindow::saveMeshes(const std::map<int, pcl::PolygonMesh::Ptr> & meshes) void MainWindow::saveMeshes(const std::map<int, pcl::PolygonMesh::Ptr> & meshes, bool binaryMode)
{ {
if(meshes.size() == 1) if(meshes.size() == 1)
{ {
@@ -4008,13 +4017,13 @@ void MainWindow::saveMeshes(const std::map<int, pcl::PolygonMesh::Ptr> & meshes)
bool success =false; bool success =false;
if(QFileInfo(path).suffix() == "ply") if(QFileInfo(path).suffix() == "ply")
{ {
success = pcl::io::savePLYFile(path.toStdString(), *meshes.begin()->second) == 0; success = pcl::io::savePLYFile(path.toStdString(), *meshes.begin()->second, binaryMode) == 0;
} }
else if(QFileInfo(path).suffix() == "") else if(QFileInfo(path).suffix() == "")
{ {
//default ply //default ply
path += ".ply"; path += ".ply";
success = pcl::io::savePLYFile(path.toStdString(), *meshes.begin()->second) == 0; success = pcl::io::savePLYFile(path.toStdString(), *meshes.begin()->second, binaryMode) == 0;
} }
else else
{ {
@@ -4064,7 +4073,7 @@ void MainWindow::saveMeshes(const std::map<int, pcl::PolygonMesh::Ptr> & meshes)
bool success =false; bool success =false;
if(suffix == "ply") if(suffix == "ply")
{ {
success = pcl::io::savePLYFile(pathFile.toStdString(), mesh) == 0; success = pcl::io::savePLYFile(pathFile.toStdString(), mesh, binaryMode) == 0;
} }
else else
{ {
@@ -4093,7 +4102,7 @@ void MainWindow::saveMeshes(const std::map<int, pcl::PolygonMesh::Ptr> & meshes)
} }
} }
void MainWindow::saveScans(const std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr> & scans) void MainWindow::saveScans(const std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr> & scans, bool binaryMode)
{ {
if(scans.size() == 1) if(scans.size() == 1)
{ {
@@ -4107,17 +4116,17 @@ void MainWindow::saveScans(const std::map<int, pcl::PointCloud<pcl::PointXYZ>::P
bool success =false; bool success =false;
if(QFileInfo(path).suffix() == "pcd") if(QFileInfo(path).suffix() == "pcd")
{ {
success = pcl::io::savePCDFile(path.toStdString(), *scans.begin()->second) == 0; success = pcl::io::savePCDFile(path.toStdString(), *scans.begin()->second, binaryMode) == 0;
} }
else if(QFileInfo(path).suffix() == "ply") else if(QFileInfo(path).suffix() == "ply")
{ {
success = pcl::io::savePLYFile(path.toStdString(), *scans.begin()->second) == 0; success = pcl::io::savePLYFile(path.toStdString(), *scans.begin()->second, binaryMode) == 0;
} }
else if(QFileInfo(path).suffix() == "") else if(QFileInfo(path).suffix() == "")
{ {
//use ply by default //use ply by default
path += ".ply"; path += ".ply";
success = pcl::io::savePCDFile(path.toStdString(), *scans.begin()->second) == 0; success = pcl::io::savePLYFile(path.toStdString(), *scans.begin()->second, binaryMode) == 0;
} }
else else
{ {
@@ -4169,11 +4178,11 @@ void MainWindow::saveScans(const std::map<int, pcl::PointCloud<pcl::PointXYZ>::P
bool success =false; bool success =false;
if(suffix == "pcd") if(suffix == "pcd")
{ {
success = pcl::io::savePCDFile(pathFile.toStdString(), *transformedCloud) == 0; success = pcl::io::savePCDFile(pathFile.toStdString(), *transformedCloud, binaryMode) == 0;
} }
else if(suffix == "ply") else if(suffix == "ply")
{ {
success = pcl::io::savePLYFile(pathFile.toStdString(), *transformedCloud) == 0; success = pcl::io::savePLYFile(pathFile.toStdString(), *transformedCloud, binaryMode) == 0;
} }
else else
{ {

10
guilib/src/ui/exportCloudsDialog.ui
View File

@@ -148,6 +148,16 @@
</layout> </layout>
</widget> </widget>
</item> </item>
<item>
<widget class="QCheckBox" name="checkBox_binary">
<property name="text">
<string>Binary file</string>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item> <item>
<widget class="QGroupBox" name="groupBox_mls"> <widget class="QGroupBox" name="groupBox_mls">
<property name="title"> <property name="title">