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rviz: added downloadGraph property

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added relays for images on az3_mapping_client_rviz launch file

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1583 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-07-16 15:44:58 +00:00
parent 0bcc0bd39d
commit 2fbd147305
4 changed files with 131 additions and 19 deletions
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src/rviz/MapCloudDisplay.cpp
+59
View File
@@ -131,6 +131,10 @@ MapCloudDisplay::MapCloudDisplay()
"Download the optimized global map using rtabmap/GetMap service. This will force to re-create all clouds.",
this, SLOT( downloadMap() ), this );
download_graph_ = new rviz::BoolProperty( "Download graph", false,
"Download the optimized global graph (without cloud data) using rtabmap/GetMap service.",
this, SLOT( downloadGraph() ), this );
// PointCloudCommon sets up a callback queue with a thread for each
// instance. Use that for processing incoming messages.
update_nh_.setCallbackQueue( &cbqueue_ );
@@ -491,6 +495,61 @@ void MapCloudDisplay::downloadMap()
}
}
void MapCloudDisplay::downloadGraph()
{
if(download_graph_->getBool())
{
rtabmap::GetMap getMapSrv;
getMapSrv.request.global = true;
getMapSrv.request.optimized = true;
getMapSrv.request.graphOnly = true;
ros::NodeHandle nh;
QMessageBox * messageBox = new QMessageBox(
QMessageBox::NoIcon,
tr("Calling \"%1\" service...").arg(nh.resolveName("rtabmap/get_map").c_str()),
tr("Downloading the graph... please wait (rviz could become gray!)"),
QMessageBox::NoButton);
messageBox->setAttribute(Qt::WA_DeleteOnClose, true);
messageBox->show();
QApplication::processEvents();
uSleep(100); // hack make sure the text in the QMessageBox is shown...
QApplication::processEvents();
if(!ros::service::call("rtabmap/get_map", getMapSrv))
{
ROS_ERROR("MapCloudDisplay: Can't call \"%s\" service. "
"Tip: if rtabmap node is not in rtabmap namespace, you can remap the service "
"to \"get_map\" in the launch "
"file like: <remap from=\"rtabmap/get_map\" to=\"get_map\"/>.",
nh.resolveName("rtabmap/get_map").c_str());
messageBox->setText(tr("MapCloudDisplay: Can't call \"%1\" service. "
"Tip: if rtabmap node is not in rtabmap namespace, you can remap the service "
"to \"get_map\" in the launch "
"file like: <remap from=\"rtabmap/get_map\" to=\"get_map\"/>.").
arg(nh.resolveName("rtabmap/get_map").c_str()));
}
else
{
messageBox->setText(tr("Updating the map (%1 nodes downloaded)...").arg(getMapSrv.response.data.poses.size()));
QApplication::processEvents();
processMapData(getMapSrv.response.data);
messageBox->setText(tr("Updating the map (%1 nodes downloaded)... done!").arg(getMapSrv.response.data.poses.size()));
QTimer::singleShot(1000, messageBox, SLOT(close()));
}
download_graph_->blockSignals(true);
download_graph_->setBool(false);
download_graph_->blockSignals(false);
}
else
{
// just stay true if double-clicked on DownloadGraph property, let the
// first process above finishes
download_graph_->blockSignals(true);
download_graph_->setBool(true);
download_graph_->blockSignals(false);
}
}
void MapCloudDisplay::causeRetransform()
{
needs_retransform_ = true;
src/rviz/MapCloudDisplay.h
+2
View File
@@ -84,6 +84,7 @@ public:
rviz::FloatProperty* node_filtering_radius_;
rviz::FloatProperty* node_filtering_angle_;
rviz::BoolProperty* download_map_;
rviz::BoolProperty* download_graph_;
public Q_SLOTS:
void causeRetransform();
@@ -98,6 +99,7 @@ private Q_SLOTS:
void setColorTransformerOptions( EnumProperty* prop );
void updateCloudParameters();
void downloadMap();
void downloadGraph();
protected:
/** @brief Do initialization. Overridden from MessageFilterDisplay. */