From ad0afc58c0d404b420108e527e454201d89a840e Mon Sep 17 00:00:00 2001 From: matlabbe Date: Thu, 5 May 2016 18:25:26 -0400 Subject: [PATCH] Fixed crash on startup with vtk6+qt5. All cloud viewers in QDockWidget are now created manually instead of being defined in the *.ui files. The generated ui didn't pass the top level parent window to constructor of CloudViewer, which caused a problem when initializing the QVTKWidget. --- guilib/include/rtabmap/gui/CloudViewer.h | 4 + guilib/include/rtabmap/gui/DatabaseViewer.h | 4 + .../include/rtabmap/gui/LoopClosureViewer.h | 2 +- guilib/include/rtabmap/gui/MainWindow.h | 4 + guilib/src/CloudViewer.cpp | 48 +++- guilib/src/DatabaseViewer.cpp | 129 +++++---- guilib/src/MainWindow.cpp | 249 ++++++++++-------- guilib/src/PreferencesDialog.cpp | 10 +- guilib/src/ui/DatabaseViewer.ui | 111 +++++--- guilib/src/ui/mainWindow.ui | 143 +++++++--- tools/DatabaseViewer/main.cpp | 1 + 11 files changed, 455 insertions(+), 250 deletions(-) diff --git a/guilib/include/rtabmap/gui/CloudViewer.h b/guilib/include/rtabmap/gui/CloudViewer.h index 255ccd94..479953ea 100644 --- a/guilib/include/rtabmap/gui/CloudViewer.h +++ b/guilib/include/rtabmap/gui/CloudViewer.h @@ -206,6 +206,8 @@ public: Transform getTargetPose() const; void setBackfaceCulling(bool enabled, bool frontfaceCulling); + void setRenderingRate(double rate); + double getRenderingRate() const; void getCameraPosition( float & x, float & y, float & z, @@ -275,6 +277,7 @@ private: QAction * _aSetGridCellCount; QAction * _aSetGridCellSize; QAction * _aSetBackgroundColor; + QAction * _aSetRenderingRate; QMenu * _menu; std::set _graphes; std::set _coordinates; @@ -297,6 +300,7 @@ private: QColor _currentBgColor; bool _backfaceCulling; bool _frontfaceCulling; + double _renderingRate; }; } /* namespace rtabmap */ diff --git a/guilib/include/rtabmap/gui/DatabaseViewer.h b/guilib/include/rtabmap/gui/DatabaseViewer.h index b72be285..6f73b050 100644 --- a/guilib/include/rtabmap/gui/DatabaseViewer.h +++ b/guilib/include/rtabmap/gui/DatabaseViewer.h @@ -157,6 +157,10 @@ private: private: Ui_DatabaseViewer * ui_; + CloudViewer * constraintsViewer_; + CloudViewer * cloudViewerA_; + CloudViewer * cloudViewerB_; + CloudViewer * stereoViewer_; QList ids_; std::map mapIds_; QMap idToIndex_; diff --git a/guilib/include/rtabmap/gui/LoopClosureViewer.h b/guilib/include/rtabmap/gui/LoopClosureViewer.h index 10ed4d6c..f212e783 100644 --- a/guilib/include/rtabmap/gui/LoopClosureViewer.h +++ b/guilib/include/rtabmap/gui/LoopClosureViewer.h @@ -45,7 +45,7 @@ class RTABMAPGUI_EXP LoopClosureViewer : public QWidget { Q_OBJECT public: - LoopClosureViewer(QWidget * parent); + LoopClosureViewer(QWidget * parent = 0); virtual ~LoopClosureViewer(); void setData(const Signature & sA, const Signature & sB); // sB contains loop transform as pose() from sA diff --git a/guilib/include/rtabmap/gui/MainWindow.h b/guilib/include/rtabmap/gui/MainWindow.h index affe36d5..2c333c16 100644 --- a/guilib/include/rtabmap/gui/MainWindow.h +++ b/guilib/include/rtabmap/gui/MainWindow.h @@ -52,6 +52,7 @@ class CameraOpenni; class CameraFreenect; class OdometryThread; class CloudViewer; +class LoopClosureViewer; } class QGraphicsScene; @@ -307,6 +308,9 @@ private: ProgressDialog * _initProgressDialog; + CloudViewer * _cloudViewer; + LoopClosureViewer * _loopClosureViewer; + QString _graphSavingFileName; QMap _exportPosesFileName; bool _autoScreenCaptureOdomSync; diff --git a/guilib/src/CloudViewer.cpp b/guilib/src/CloudViewer.cpp index bf5f93ce..352438ec 100644 --- a/guilib/src/CloudViewer.cpp +++ b/guilib/src/CloudViewer.cpp @@ -31,7 +31,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #include #include #include -#include #include #include #include @@ -42,6 +41,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #include #include #include +#include #include #include @@ -121,22 +121,29 @@ CloudViewer::CloudViewer(QWidget *parent) : _defaultBgColor(Qt::black), _currentBgColor(Qt::black), _backfaceCulling(false), - _frontfaceCulling(false) + _frontfaceCulling(false), + _renderingRate(5.0) { + UDEBUG(""); this->setMinimumSize(200, 200); int argc = 0; - _visualizer = new pcl::visualization::PCLVisualizer(argc, 0, "PCLVisualizer", vtkSmartPointer(new MyInteractorStyle()), false); + _visualizer = new pcl::visualization::PCLVisualizer( + argc, + 0, + "PCLVisualizer", + vtkSmartPointer(new MyInteractorStyle()), + false); _visualizer->setShowFPS(false); - + this->SetRenderWindow(_visualizer->getRenderWindow()); // Replaced by the second line, to avoid a crash in Mac OS X on close, as well as // the "Invalid drawable" warning when the view is not visible. //_visualizer->setupInteractor(this->GetInteractor(), this->GetRenderWindow()); this->GetInteractor()->SetInteractorStyle (_visualizer->getInteractorStyle()); - _visualizer->getInteractorStyle()->GetInteractor()->SetDesiredUpdateRate(5.0); + setRenderingRate(_renderingRate); _visualizer->setCameraPosition( -1, 0, 0, @@ -205,7 +212,8 @@ void CloudViewer::createMenu() _aShowGrid->setCheckable(true); _aSetGridCellCount = new QAction("Set cell count...", this); _aSetGridCellSize = new QAction("Set cell size...", this); - _aSetBackgroundColor = new QAction("Set background color...", this); + _aSetBackgroundColor = new QAction("Set background color...", this); + _aSetRenderingRate = new QAction("Set rendering rate...", this); QMenu * cameraMenu = new QMenu("Camera", this); cameraMenu->addAction(_aLockCamera); @@ -241,6 +249,7 @@ void CloudViewer::createMenu() _menu->addMenu(frustumMenu); _menu->addMenu(gridMenu); _menu->addAction(_aSetBackgroundColor); + _menu->addAction(_aSetRenderingRate); } void CloudViewer::saveSettings(QSettings & settings, const QString & group) const @@ -290,6 +299,7 @@ void CloudViewer::saveSettings(QSettings & settings, const QString & group) cons settings.setValue("camera_lockZ", this->isCameraLockZ()); settings.setValue("bg_color", this->getDefaultBackgroundColor()); + settings.setValue("rendering_rate", this->getRenderingRate()); if(!group.isEmpty()) { settings.endGroup(); @@ -331,6 +341,9 @@ void CloudViewer::loadSettings(QSettings & settings, const QString & group) this->setCameraLockZ(settings.value("camera_lockZ", this->isCameraLockZ()).toBool()); this->setDefaultBackgroundColor(settings.value("bg_color", this->getDefaultBackgroundColor()).value()); + + this->setRenderingRate(settings.value("rendering_rate", this->getRenderingRate()).toDouble()); + if(!group.isEmpty()) { settings.endGroup(); @@ -1136,6 +1149,12 @@ void CloudViewer::setBackfaceCulling(bool enabled, bool frontfaceCulling) _frontfaceCulling = frontfaceCulling; } +void CloudViewer::setRenderingRate(double rate) +{ + _renderingRate = rate; + _visualizer->getInteractorStyle()->GetInteractor()->SetDesiredUpdateRate(_renderingRate); +} + void CloudViewer::getCameraPosition( float & x, float & y, float & z, float & focalX, float & focalY, float & focalZ, @@ -1438,6 +1457,10 @@ float CloudViewer::getGridCellSize() const { return _gridCellSize; } +double CloudViewer::getRenderingRate() const +{ + return _renderingRate; +} void CloudViewer::setGridCellCount(unsigned int count) { @@ -1555,7 +1578,7 @@ void CloudViewer::keyReleaseEvent(QKeyEvent * event) { } else { - QVTKWidget::keyPressEvent(event); + QWidget::keyPressEvent(event); } } @@ -1655,7 +1678,7 @@ void CloudViewer::keyPressEvent(QKeyEvent * event) } else { - QVTKWidget::keyPressEvent(event); + QWidget::keyPressEvent(event); } } @@ -1815,6 +1838,15 @@ void CloudViewer::handleAction(QAction * a) this->update(); } } + else if(a == _aSetRenderingRate) + { + bool ok; + double value = QInputDialog::getDouble(this, tr("Rendering rate"), tr("Rate (hz)"), _renderingRate, 0, 60, 0, &ok); + if(ok) + { + this->setRenderingRate(value); + } + } else if(a == _aLockViewZ) { if(_aLockViewZ->isChecked()) diff --git a/guilib/src/DatabaseViewer.cpp b/guilib/src/DatabaseViewer.cpp index 78ca0429..60a96992 100644 --- a/guilib/src/DatabaseViewer.cpp +++ b/guilib/src/DatabaseViewer.cpp @@ -47,6 +47,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #include #include "rtabmap/core/DBDriver.h" #include "rtabmap/gui/KeypointItem.h" +#include "rtabmap/gui/CloudViewer.h" #include "rtabmap/utilite/UCv2Qt.h" #include "rtabmap/core/util3d.h" #include "rtabmap/core/util3d_transforms.h" @@ -113,8 +114,22 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) : ui_->dockWidget_stereoView->setVisible(false); ui_->dockWidget_view3d->setVisible(false); - ui_->constraintsViewer->setCameraLockZ(false); - ui_->constraintsViewer->setCameraFree(); + // Create cloud viewers + constraintsViewer_ = new CloudViewer(ui_->dockWidgetContents); + cloudViewerA_ = new CloudViewer(ui_->dockWidgetContents_3dviews); + cloudViewerB_ = new CloudViewer(ui_->dockWidgetContents_3dviews); + stereoViewer_ = new CloudViewer(ui_->dockWidgetContents_stereo); + constraintsViewer_->setObjectName("constraintsViewer"); + cloudViewerA_->setObjectName("cloudViewerA"); + cloudViewerB_->setObjectName("cloudViewerB"); + stereoViewer_->setObjectName("stereoViewer"); + ui_->layout_constraintsViewer->addWidget(constraintsViewer_); + ui_->horizontalLayout_3dviews->addWidget(cloudViewerA_, 1); + ui_->horizontalLayout_3dviews->addWidget(cloudViewerB_, 1); + ui_->horizontalLayout_stereo->addWidget(stereoViewer_, 1); + + constraintsViewer_->setCameraLockZ(false); + constraintsViewer_->setCameraFree(); ui_->graphicsView_stereo->setAlpha(255); @@ -1449,8 +1464,8 @@ void DatabaseViewer::view3DMap() QString item = QInputDialog::getItem(this, tr("Decimation?"), tr("Image decimation"), items, 2, false, &ok); if(ok) { - int decimation = item.toInt(); - double maxDepth = QInputDialog::getDouble(this, tr("Camera depth?"), tr("Maximum depth (m, 0=no max):"), 4.0, 0, 100, 2, &ok); + int decimation = item.toInt(); + double maxDepth = QInputDialog::getDouble(this, tr("Camera depth?"), tr("Maximum depth (m, 0=no max):"), 4.0, 0, 100, 2, &ok); if(ok) { std::map optimizedPoses = uValueAt(graphes_, ui_->horizontalSlider_iterations->value()); @@ -1667,7 +1682,7 @@ void DatabaseViewer::generate3DMap() QString item = QInputDialog::getItem(this, tr("Decimation?"), tr("Image decimation"), items, 2, false, &ok); if(ok) { - int decimation = item.toInt(); + int decimation = item.toInt(); double maxDepth = QInputDialog::getDouble(this, tr("Camera depth?"), tr("Maximum depth (m, 0=no max):"), 4.0, 0, 100, 2, &ok); if(ok) { @@ -2068,7 +2083,7 @@ void DatabaseViewer::sliderAValueChanged(int value) ui_->label_labelA, ui_->label_stampA, ui_->graphicsView_A, - ui_->widget_cloudA, + cloudViewerA_, ui_->label_idA, ui_->label_mapA, ui_->label_poseA, @@ -2086,7 +2101,7 @@ void DatabaseViewer::sliderBValueChanged(int value) ui_->label_labelB, ui_->label_stampB, ui_->graphicsView_B, - ui_->widget_cloudB, + cloudViewerB_, ui_->label_idB, ui_->label_mapB, ui_->label_poseB, @@ -2235,7 +2250,7 @@ void DatabaseViewer::update(int value, } else { - ui_->stereoViewer->clear(); + stereoViewer_->clear(); ui_->graphicsView_stereo->clear(); } @@ -2430,7 +2445,7 @@ void DatabaseViewer::update(int value, ui_->horizontalSlider_loops->blockSignals(false); ui_->horizontalSlider_neighbors->blockSignals(false); - ui_->constraintsViewer->removeAllClouds(); + constraintsViewer_->removeAllClouds(); // make a fake link using globally optimized poses if(graphes_.size()) @@ -2449,7 +2464,7 @@ void DatabaseViewer::update(int value, } } - ui_->constraintsViewer->update(); + constraintsViewer_->update(); } } @@ -2467,7 +2482,7 @@ void DatabaseViewer::updateLoggerLevel() ULogger::setLevel((ULogger::Level)ui_->comboBox_logger_level->currentIndex()); } } - + void DatabaseViewer::updateStereo() { if(ui_->horizontalSlider_A->maximum()) @@ -2480,7 +2495,7 @@ void DatabaseViewer::updateStereo() } } -void DatabaseViewer::updateStereo(const SensorData * data) +void DatabaseViewer::updateStereo(const SensorData * data) { if(data && ui_->dockWidget_stereoView->isVisible() && @@ -2567,10 +2582,10 @@ void DatabaseViewer::updateStereo(const SensorData * data) data->stereoCameraModel()); if(util3d::isFinite(tmpPt)) - { + { pt = util3d::transformPoint(tmpPt, data->stereoCameraModel().left().localTransform()); status[i] = 100; //blue - ++inliers; + ++inliers; cloud->at(oi++) = pcl::PointXYZ(pt.x, pt.y, pt.z); } } @@ -2590,9 +2605,9 @@ void DatabaseViewer::updateStereo(const SensorData * data) UINFO("correspondences = %d/%d (%f) (time kpt=%fs stereo=%fs)", (int)cloud->size(), (int)leftCorners.size(), float(cloud->size())/float(leftCorners.size()), timeKpt, timeStereo); - ui_->stereoViewer->updateCameraTargetPosition(Transform::getIdentity()); - ui_->stereoViewer->addCloud("stereo", cloud); - ui_->stereoViewer->update(); + stereoViewer_->updateCameraTargetPosition(Transform::getIdentity()); + stereoViewer_->addCloud("stereo", cloud); + stereoViewer_->update(); ui_->label_stereo_inliers->setNum(inliers); ui_->label_stereo_flowOutliers->setNum(flowOutliers); @@ -2885,7 +2900,7 @@ void DatabaseViewer::updateConstraintView( ui_->label_labelA, ui_->label_stampA, ui_->graphicsView_A, - ui_->widget_cloudA, + cloudViewerA_, ui_->label_idA, ui_->label_mapA, ui_->label_poseA, @@ -2899,7 +2914,7 @@ void DatabaseViewer::updateConstraintView( ui_->label_labelB, ui_->label_stampB, ui_->graphicsView_B, - ui_->widget_cloudB, + cloudViewerB_, ui_->label_idB, ui_->label_mapB, ui_->label_poseB, @@ -2907,7 +2922,7 @@ void DatabaseViewer::updateConstraintView( false); // don't update constraints view! } - if(ui_->constraintsViewer->isVisible()) + if(constraintsViewer_->isVisible()) { SensorData dataFrom, dataTo; @@ -2939,18 +2954,18 @@ void DatabaseViewer::updateConstraintView( if(cloudFrom.get() && cloudFrom->size()) { - ui_->constraintsViewer->addCloud("cloud0", cloudFrom, Transform::getIdentity(), Qt::red); + constraintsViewer_->addCloud("cloud0", cloudFrom, Transform::getIdentity(), Qt::red); } if(cloudTo.get() && cloudTo->size()) { cloudTo = rtabmap::util3d::transformPointCloud(cloudTo, t); - ui_->constraintsViewer->addCloud("cloud1", cloudTo, Transform::getIdentity(), Qt::cyan); + constraintsViewer_->addCloud("cloud1", cloudTo, Transform::getIdentity(), Qt::cyan); } } else { - ui_->constraintsViewer->removeCloud("cloud0"); - ui_->constraintsViewer->removeCloud("cloud1"); + constraintsViewer_->removeCloud("cloud0"); + constraintsViewer_->removeCloud("cloud1"); } if(ui_->checkBox_show3DWords->isChecked()) { @@ -2998,28 +3013,28 @@ void DatabaseViewer::updateConstraintView( if(cloudFrom->size()) { - ui_->constraintsViewer->addCloud("words0", cloudFrom, Transform::getIdentity(), Qt::red); + constraintsViewer_->addCloud("words0", cloudFrom, Transform::getIdentity(), Qt::red); } else { UWARN("Empty 3D words for node %d", link.from()); - ui_->constraintsViewer->removeCloud("words0"); + constraintsViewer_->removeCloud("words0"); } if(cloudTo->size()) { - ui_->constraintsViewer->addCloud("words1", cloudTo, Transform::getIdentity(), Qt::cyan); + constraintsViewer_->addCloud("words1", cloudTo, Transform::getIdentity(), Qt::cyan); } else { UWARN("Empty 3D words for node %d", link.to()); - ui_->constraintsViewer->removeCloud("words1"); + constraintsViewer_->removeCloud("words1"); } } else { UERROR("Not found signature %d or %d in RAM", link.from(), link.to()); - ui_->constraintsViewer->removeCloud("words0"); - ui_->constraintsViewer->removeCloud("words1"); + constraintsViewer_->removeCloud("words0"); + constraintsViewer_->removeCloud("words1"); } //cleanup for(std::list::iterator iter=signatures.begin(); iter!=signatures.end(); ++iter) @@ -3029,19 +3044,19 @@ void DatabaseViewer::updateConstraintView( } else { - ui_->constraintsViewer->removeCloud("words0"); - ui_->constraintsViewer->removeCloud("words1"); + constraintsViewer_->removeCloud("words0"); + constraintsViewer_->removeCloud("words1"); } } else { if(cloudFrom->size()) { - ui_->constraintsViewer->addCloud("cloud0", cloudFrom, Transform::getIdentity(), Qt::red); + constraintsViewer_->addCloud("cloud0", cloudFrom, Transform::getIdentity(), Qt::red); } if(cloudTo->size()) { - ui_->constraintsViewer->addCloud("cloud1", cloudTo, Transform::getIdentity(), Qt::cyan); + constraintsViewer_->addCloud("cloud1", cloudTo, Transform::getIdentity(), Qt::cyan); } } @@ -3051,8 +3066,8 @@ void DatabaseViewer::updateConstraintView( { //cloud 2d - ui_->constraintsViewer->removeCloud("scan2"); - ui_->constraintsViewer->removeGraph("scan2graph"); + constraintsViewer_->removeCloud("scan2"); + constraintsViewer_->removeGraph("scan2graph"); if(link.type() == Link::kLocalSpaceClosure && !link.userDataCompressed().empty()) { @@ -3150,11 +3165,11 @@ void DatabaseViewer::updateConstraintView( if(assembledScans->size()) { - ui_->constraintsViewer->addCloud("scan2", assembledScans, Transform::getIdentity(), Qt::cyan); + constraintsViewer_->addCloud("scan2", assembledScans, Transform::getIdentity(), Qt::cyan); } if(graph->size()) { - ui_->constraintsViewer->addOrUpdateGraph("scan2graph", graph, Qt::cyan); + constraintsViewer_->addOrUpdateGraph("scan2graph", graph, Qt::cyan); } } } @@ -3167,62 +3182,62 @@ void DatabaseViewer::updateConstraintView( scanB = rtabmap::util3d::transformPointCloud(scanB, t); if(scanA->size()) { - ui_->constraintsViewer->addCloud("scan0", scanA, Transform::getIdentity(), Qt::yellow); + constraintsViewer_->addCloud("scan0", scanA, Transform::getIdentity(), Qt::yellow); } else { - ui_->constraintsViewer->removeCloud("scan0"); + constraintsViewer_->removeCloud("scan0"); } if(scanB->size()) { - ui_->constraintsViewer->addCloud("scan1", scanB, Transform::getIdentity(), Qt::magenta); + constraintsViewer_->addCloud("scan1", scanB, Transform::getIdentity(), Qt::magenta); } else { - ui_->constraintsViewer->removeCloud("scan1"); + constraintsViewer_->removeCloud("scan1"); } } else { - ui_->constraintsViewer->removeCloud("scan0"); - ui_->constraintsViewer->removeCloud("scan1"); - ui_->constraintsViewer->removeCloud("scan2"); + constraintsViewer_->removeCloud("scan0"); + constraintsViewer_->removeCloud("scan1"); + constraintsViewer_->removeCloud("scan2"); } } else { if(scanFrom->size()) { - ui_->constraintsViewer->addCloud("scan0", scanFrom, Transform::getIdentity(), Qt::yellow); + constraintsViewer_->addCloud("scan0", scanFrom, Transform::getIdentity(), Qt::yellow); } else { - ui_->constraintsViewer->removeCloud("scan0"); + constraintsViewer_->removeCloud("scan0"); } if(scanTo->size()) { - ui_->constraintsViewer->addCloud("scan1", scanTo, Transform::getIdentity(), Qt::magenta); + constraintsViewer_->addCloud("scan1", scanTo, Transform::getIdentity(), Qt::magenta); } else { - ui_->constraintsViewer->removeCloud("scan1"); + constraintsViewer_->removeCloud("scan1"); } - ui_->constraintsViewer->removeCloud("scan2"); + constraintsViewer_->removeCloud("scan2"); } //update coordinate - ui_->constraintsViewer->addOrUpdateCoordinate("from_coordinate", Transform::getIdentity(), 0.2); - ui_->constraintsViewer->addOrUpdateCoordinate("to_coordinate", t, 0.2); + constraintsViewer_->addOrUpdateCoordinate("from_coordinate", Transform::getIdentity(), 0.2); + constraintsViewer_->addOrUpdateCoordinate("to_coordinate", t, 0.2); if(uContains(groundTruthPoses_, link.from()) && uContains(groundTruthPoses_, link.to())) { - ui_->constraintsViewer->addOrUpdateCoordinate("to_coordinate_gt", + constraintsViewer_->addOrUpdateCoordinate("to_coordinate_gt", groundTruthPoses_.at(link.from()).inverse()*groundTruthPoses_.at(link.to()), 0.1); } - ui_->constraintsViewer->clearTrajectory(); + constraintsViewer_->clearTrajectory(); - ui_->constraintsViewer->update(); + constraintsViewer_->update(); } // update buttons @@ -4209,8 +4224,8 @@ void DatabaseViewer::updateLoopClosuresSlider(int from, int to) else { ui_->horizontalSlider_loops->setEnabled(false); - ui_->constraintsViewer->removeAllClouds(); - ui_->constraintsViewer->update(); + constraintsViewer_->removeAllClouds(); + constraintsViewer_->update(); updateConstraintButtons(); } } diff --git a/guilib/src/MainWindow.cpp b/guilib/src/MainWindow.cpp index e456a51f..023966fd 100644 --- a/guilib/src/MainWindow.cpp +++ b/guilib/src/MainWindow.cpp @@ -48,6 +48,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #include "rtabmap/gui/PdfPlot.h" #include "rtabmap/gui/StatsToolBox.h" #include "rtabmap/gui/ProgressDialog.h" +#include "rtabmap/gui/CloudViewer.h" +#include "rtabmap/gui/LoopClosureViewer.h" #include #include @@ -175,8 +177,23 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) : _postProcessingDialog->setObjectName("PostProcessingDialog"); _ui = new Ui_mainWindow(); + UDEBUG("Setup ui..."); _ui->setupUi(this); + // Add cloud viewers + // Note that we add them here manually because there is a crash issue + // when adding them in a DockWidget of the *.ui file. The cloud viewer is + // created in a widget which is not yet linked to main window when the CloudViewer constructor + // is called (see order in generated ui file). VTK needs to get the top + // level window at the time CloudViewer is created, otherwise it may crash on some systems. + _cloudViewer = new CloudViewer(_ui->layout_cloudViewer); + _cloudViewer->setObjectName("widget_cloudViewer"); + _ui->layout_cloudViewer->layout()->addWidget(_cloudViewer); + _loopClosureViewer = new LoopClosureViewer(_ui->layout_loopClosureViewer); + _loopClosureViewer->setObjectName("widget_loopClosureViewer"); + _ui->layout_loopClosureViewer->layout()->addWidget(_loopClosureViewer); + UDEBUG("Setup ui... end"); + QString title("RTAB-Map[*]"); this->setWindowTitle(title); this->setWindowIconText(tr("RTAB-Map")); @@ -196,6 +213,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) : { _preferencesDialog = new PreferencesDialog(this); } + _preferencesDialog->setObjectName("PreferencesDialog"); _preferencesDialog->init(); @@ -347,6 +365,9 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) : _ui->actionPause->setShortcut(Qt::Key_Space); _ui->actionSave_GUI_config->setShortcut(QKeySequence::Save); + // Qt5 issue, we should explicitly add actions not in + // menu bar to have shortcut working + this->addAction(_ui->actionSave_GUI_config); _ui->actionReset_Odometry->setEnabled(false); _ui->actionPost_processing->setEnabled(false); _ui->actionAnchor_clouds_to_ground_truth->setEnabled(false); @@ -415,7 +436,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) : connect(_ui->imageView_loopClosure, SIGNAL(configChanged()), this, SLOT(configGUIModified())); connect(_ui->imageView_odometry, SIGNAL(configChanged()), this, SLOT(configGUIModified())); connect(_ui->graphicsView_graphView, SIGNAL(configChanged()), this, SLOT(configGUIModified())); - connect(_ui->widget_cloudViewer, SIGNAL(configChanged()), this, SLOT(configGUIModified())); + connect(_cloudViewer, SIGNAL(configChanged()), this, SLOT(configGUIModified())); connect(_exportCloudsDialog, SIGNAL(configChanged()), this, SLOT(configGUIModified())); connect(_exportScansDialog, SIGNAL(configChanged()), this, SLOT(configGUIModified())); connect(_postProcessingDialog, SIGNAL(configChanged()), this, SLOT(configGUIModified())); @@ -467,9 +488,9 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) : _ui->statsToolBox->setWorkingDirectory(_preferencesDialog->getWorkingDirectory()); _ui->graphicsView_graphView->setWorkingDirectory(_preferencesDialog->getWorkingDirectory()); - _ui->widget_cloudViewer->setWorkingDirectory(_preferencesDialog->getWorkingDirectory()); - _ui->widget_cloudViewer->setBackfaceCulling(true, false); - _preferencesDialog->loadWidgetState(_ui->widget_cloudViewer); + _cloudViewer->setWorkingDirectory(_preferencesDialog->getWorkingDirectory()); + _cloudViewer->setBackfaceCulling(true, false); + _preferencesDialog->loadWidgetState(_cloudViewer); //dialog states _preferencesDialog->loadWidgetState(_exportCloudsDialog); @@ -533,8 +554,8 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) : connect(_ui->statsToolBox, SIGNAL(figuresSetupChanged()), this, SLOT(configGUIModified())); // update loop closure viewer parameters - _ui->widget_loopClosureViewer->setDecimation(_preferencesDialog->getCloudDecimation(0)); - _ui->widget_loopClosureViewer->setMaxDepth(_preferencesDialog->getCloudMaxDepth(0)); + _loopClosureViewer->setDecimation(_preferencesDialog->getCloudDecimation(0)); + _loopClosureViewer->setMaxDepth(_preferencesDialog->getCloudMaxDepth(0)); //update ui _ui->doubleSpinBox_stats_detectionRate->setValue(_preferencesDialog->getDetectionRate()); @@ -811,8 +832,8 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom) if(pose.isNull()) { UDEBUG("odom lost"); // use last pose - lostStateChanged = _ui->widget_cloudViewer->getBackgroundColor() != Qt::darkRed; - _ui->widget_cloudViewer->setBackgroundColor(Qt::darkRed); + lostStateChanged = _cloudViewer->getBackgroundColor() != Qt::darkRed; + _cloudViewer->setBackgroundColor(Qt::darkRed); _ui->imageView_odometry->setBackgroundColor(Qt::darkRed); pose = _lastOdomPose; @@ -823,15 +844,15 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom) odom.info().inliers < _preferencesDialog->getOdomQualityWarnThr()) { UDEBUG("odom warn, quality(inliers)=%d thr=%d", odom.info().inliers, _preferencesDialog->getOdomQualityWarnThr()); - lostStateChanged = _ui->widget_cloudViewer->getBackgroundColor() == Qt::darkRed; - _ui->widget_cloudViewer->setBackgroundColor(Qt::darkYellow); + lostStateChanged = _cloudViewer->getBackgroundColor() == Qt::darkRed; + _cloudViewer->setBackgroundColor(Qt::darkYellow); _ui->imageView_odometry->setBackgroundColor(Qt::darkYellow); } else { UDEBUG("odom ok"); - lostStateChanged = _ui->widget_cloudViewer->getBackgroundColor() == Qt::darkRed; - _ui->widget_cloudViewer->setBackgroundColor(_ui->widget_cloudViewer->getDefaultBackgroundColor()); + lostStateChanged = _cloudViewer->getBackgroundColor() == Qt::darkRed; + _cloudViewer->setBackgroundColor(_cloudViewer->getDefaultBackgroundColor()); _ui->imageView_odometry->setBackgroundColor(Qt::black); } @@ -894,7 +915,7 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom) Eigen::Vector3f(pose.x(), pose.y(), pose.z()) + viewpoint); if(polygons.size()) { - if(!_ui->widget_cloudViewer->addCloudMesh("cloudOdom", output, polygons, _odometryCorrection)) + if(!_cloudViewer->addCloudMesh("cloudOdom", output, polygons, _odometryCorrection)) { UERROR("Adding cloudOdom to viewer failed!"); } @@ -902,14 +923,14 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom) } else { - if(!_ui->widget_cloudViewer->addCloud("cloudOdom", cloud, _odometryCorrection)) + if(!_cloudViewer->addCloud("cloudOdom", cloud, _odometryCorrection)) { UERROR("Adding cloudOdom to viewer failed!"); } } - _ui->widget_cloudViewer->setCloudVisibility("cloudOdom", true); - _ui->widget_cloudViewer->setCloudOpacity("cloudOdom", _preferencesDialog->getCloudOpacity(1)); - _ui->widget_cloudViewer->setCloudPointSize("cloudOdom", _preferencesDialog->getCloudPointSize(1)); + _cloudViewer->setCloudVisibility("cloudOdom", true); + _cloudViewer->setCloudOpacity("cloudOdom", _preferencesDialog->getCloudOpacity(1)); + _cloudViewer->setCloudPointSize("cloudOdom", _preferencesDialog->getCloudPointSize(1)); cloudUpdated = true; } @@ -922,15 +943,15 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom) { pcl::PointCloud::Ptr cloud; cloud = util3d::laserScanToPointCloudNormal(odom.info().localScanMap); - if(!_ui->widget_cloudViewer->addCloud("scanMapOdom", cloud, _odometryCorrection, Qt::blue)) + if(!_cloudViewer->addCloud("scanMapOdom", cloud, _odometryCorrection, Qt::blue)) { UERROR("Adding scanMapOdom to viewer failed!"); } else { - _ui->widget_cloudViewer->setCloudVisibility("scanMapOdom", true); - _ui->widget_cloudViewer->setCloudOpacity("scanMapOdom", _preferencesDialog->getScanOpacity(1)); - _ui->widget_cloudViewer->setCloudPointSize("scanMapOdom", _preferencesDialog->getScanPointSize(1)); + _cloudViewer->setCloudVisibility("scanMapOdom", true); + _cloudViewer->setCloudOpacity("scanMapOdom", _preferencesDialog->getScanOpacity(1)); + _cloudViewer->setCloudPointSize("scanMapOdom", _preferencesDialog->getScanPointSize(1)); scanUpdated = true; } } @@ -951,15 +972,15 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom) cloud = util3d::voxelize(cloud, _preferencesDialog->getCloudVoxelSizeScan(1)); } - if(!_ui->widget_cloudViewer->addCloud("scanOdom", cloud, _odometryCorrection, Qt::magenta)) + if(!_cloudViewer->addCloud("scanOdom", cloud, _odometryCorrection, Qt::magenta)) { UERROR("Adding scanOdom to viewer failed!"); } else { - _ui->widget_cloudViewer->setCloudVisibility("scanOdom", true); - _ui->widget_cloudViewer->setCloudOpacity("scanOdom", _preferencesDialog->getScanOpacity(1)); - _ui->widget_cloudViewer->setCloudPointSize("scanOdom", _preferencesDialog->getScanPointSize(1)); + _cloudViewer->setCloudVisibility("scanOdom", true); + _cloudViewer->setCloudOpacity("scanOdom", _preferencesDialog->getScanOpacity(1)); + _cloudViewer->setCloudPointSize("scanOdom", _preferencesDialog->getScanPointSize(1)); scanUpdated = true; } } @@ -986,38 +1007,38 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom) (*cloud)[i++].b = 0; } - _ui->widget_cloudViewer->addCloud("featuresOdom", cloud, _odometryCorrection); - _ui->widget_cloudViewer->setCloudVisibility("featuresOdom", true); - _ui->widget_cloudViewer->setCloudPointSize("featuresOdom", _preferencesDialog->getFeaturesPointSize(1)); + _cloudViewer->addCloud("featuresOdom", cloud, _odometryCorrection); + _cloudViewer->setCloudVisibility("featuresOdom", true); + _cloudViewer->setCloudPointSize("featuresOdom", _preferencesDialog->getFeaturesPointSize(1)); featuresUpdated = true; } } } - if(!cloudUpdated && _ui->widget_cloudViewer->getAddedClouds().contains("cloudOdom")) + if(!cloudUpdated && _cloudViewer->getAddedClouds().contains("cloudOdom")) { - _ui->widget_cloudViewer->setCloudVisibility("cloudOdom", false); + _cloudViewer->setCloudVisibility("cloudOdom", false); } - if(!scanUpdated && _ui->widget_cloudViewer->getAddedClouds().contains("scanOdom")) + if(!scanUpdated && _cloudViewer->getAddedClouds().contains("scanOdom")) { - _ui->widget_cloudViewer->setCloudVisibility("scanOdom", false); + _cloudViewer->setCloudVisibility("scanOdom", false); } - if(!scanUpdated && _ui->widget_cloudViewer->getAddedClouds().contains("scanMapOdom")) + if(!scanUpdated && _cloudViewer->getAddedClouds().contains("scanMapOdom")) { - _ui->widget_cloudViewer->setCloudVisibility("scanMapOdom", false); + _cloudViewer->setCloudVisibility("scanMapOdom", false); } - if(!featuresUpdated && _ui->widget_cloudViewer->getAddedClouds().contains("featuresOdom")) + if(!featuresUpdated && _cloudViewer->getAddedClouds().contains("featuresOdom")) { - _ui->widget_cloudViewer->setCloudVisibility("featuresOdom", false); + _cloudViewer->setCloudVisibility("featuresOdom", false); } } if(!odom.pose().isNull()) { // update camera position - _ui->widget_cloudViewer->updateCameraTargetPosition(_odometryCorrection*odom.pose()); + _cloudViewer->updateCameraTargetPosition(_odometryCorrection*odom.pose()); } - _ui->widget_cloudViewer->update(); + _cloudViewer->update(); if(_ui->graphicsView_graphView->isVisible()) { @@ -1529,11 +1550,11 @@ void MainWindow::processStats(const rtabmap::Statistics & stat) // the last loop closure data Transform loopClosureTransform = stat.loopClosureTransform(); signature.setPose(loopClosureTransform); - _ui->widget_loopClosureViewer->setData(loopSignature, signature); + _loopClosureViewer->setData(loopSignature, signature); if(_ui->dockWidget_loopClosureViewer->isVisible()) { UTimer loopTimer; - _ui->widget_loopClosureViewer->updateView(); + _loopClosureViewer->updateView(); UINFO("Updating loop closure cloud view time=%fs", loopTimer.elapsed()); _ui->statsToolBox->updateStat("GUI/RGB-D closure view/ms", stat.refImageId(), int(loopTimer.elapsed()*1000.0f)); } @@ -1790,7 +1811,7 @@ void MainWindow::updateMapCloud( // Map updated! regenerate the assembled cloud, last pose is the new one UDEBUG("Update map with %d locations (currentPose=%s)", poses.size(), currentPose.prettyPrint().c_str()); - QMap viewerClouds = _ui->widget_cloudViewer->getAddedClouds(); + QMap viewerClouds = _cloudViewer->getAddedClouds(); int i=1; for(std::map::const_iterator iter = poses.begin(); iter!=poses.end(); ++iter) { @@ -1799,24 +1820,24 @@ void MainWindow::updateMapCloud( std::string cloudName = uFormat("cloud%d", iter->first); // 3d point cloud - if((_ui->widget_cloudViewer->isVisible() && _preferencesDialog->isCloudsShown(0)) || + if((_cloudViewer->isVisible() && _preferencesDialog->isCloudsShown(0)) || (_ui->graphicsView_graphView->isVisible() && _ui->graphicsView_graphView->isGridMapVisible() && _preferencesDialog->isGridMapFrom3DCloud())) { if(viewerClouds.contains(cloudName)) { // Update only if the pose has changed Transform tCloud; - _ui->widget_cloudViewer->getPose(cloudName, tCloud); + _cloudViewer->getPose(cloudName, tCloud); if(tCloud.isNull() || iter->second != tCloud) { - if(!_ui->widget_cloudViewer->updateCloudPose(cloudName, iter->second)) + if(!_cloudViewer->updateCloudPose(cloudName, iter->second)) { UERROR("Updating pose cloud %d failed!", iter->first); } } - _ui->widget_cloudViewer->setCloudVisibility(cloudName, true); - _ui->widget_cloudViewer->setCloudOpacity(cloudName, _preferencesDialog->getCloudOpacity(0)); - _ui->widget_cloudViewer->setCloudPointSize(cloudName, _preferencesDialog->getCloudPointSize(0)); + _cloudViewer->setCloudVisibility(cloudName, true); + _cloudViewer->setCloudOpacity(cloudName, _preferencesDialog->getCloudOpacity(0)); + _cloudViewer->setCloudPointSize(cloudName, _preferencesDialog->getCloudPointSize(0)); } else if(_cachedSignatures.contains(iter->first)) { @@ -1825,29 +1846,29 @@ void MainWindow::updateMapCloud( } else if(viewerClouds.contains(cloudName)) { - _ui->widget_cloudViewer->setCloudVisibility(cloudName.c_str(), false); + _cloudViewer->setCloudVisibility(cloudName.c_str(), false); } // 2d point cloud std::string scanName = uFormat("scan%d", iter->first); - if((_ui->widget_cloudViewer->isVisible() && (_preferencesDialog->isScansShown(0) || _preferencesDialog->getGridMapShown())) || + if((_cloudViewer->isVisible() && (_preferencesDialog->isScansShown(0) || _preferencesDialog->getGridMapShown())) || (_ui->graphicsView_graphView->isVisible() && _ui->graphicsView_graphView->isGridMapVisible())) { if(viewerClouds.contains(scanName)) { // Update only if the pose has changed Transform tScan; - _ui->widget_cloudViewer->getPose(scanName, tScan); + _cloudViewer->getPose(scanName, tScan); if(tScan.isNull() || iter->second != tScan) { - if(!_ui->widget_cloudViewer->updateCloudPose(scanName, iter->second)) + if(!_cloudViewer->updateCloudPose(scanName, iter->second)) { UERROR("Updating pose scan %d failed!", iter->first); } } - _ui->widget_cloudViewer->setCloudVisibility(scanName, _preferencesDialog->isScansShown(0)); - _ui->widget_cloudViewer->setCloudOpacity(scanName, _preferencesDialog->getScanOpacity(0)); - _ui->widget_cloudViewer->setCloudPointSize(scanName, _preferencesDialog->getScanPointSize(0)); + _cloudViewer->setCloudVisibility(scanName, _preferencesDialog->isScansShown(0)); + _cloudViewer->setCloudOpacity(scanName, _preferencesDialog->getScanOpacity(0)); + _cloudViewer->setCloudPointSize(scanName, _preferencesDialog->getScanPointSize(0)); } else if(_cachedSignatures.contains(iter->first)) { @@ -1860,27 +1881,27 @@ void MainWindow::updateMapCloud( } else if(viewerClouds.contains(scanName)) { - _ui->widget_cloudViewer->setCloudVisibility(scanName.c_str(), false); + _cloudViewer->setCloudVisibility(scanName.c_str(), false); } // 3d features std::string featuresName = uFormat("features%d", iter->first); - if(_ui->widget_cloudViewer->isVisible() && _preferencesDialog->isFeaturesShown(0)) + if(_cloudViewer->isVisible() && _preferencesDialog->isFeaturesShown(0)) { if(viewerClouds.contains(featuresName)) { // Update only if the pose has changed Transform tFeatures; - _ui->widget_cloudViewer->getPose(featuresName, tFeatures); + _cloudViewer->getPose(featuresName, tFeatures); if(tFeatures.isNull() || iter->second != tFeatures) { - if(!_ui->widget_cloudViewer->updateCloudPose(featuresName, iter->second)) + if(!_cloudViewer->updateCloudPose(featuresName, iter->second)) { UERROR("Updating pose features %d failed!", iter->first); } } - _ui->widget_cloudViewer->setCloudVisibility(featuresName, _preferencesDialog->isFeaturesShown(0)); - _ui->widget_cloudViewer->setCloudPointSize(featuresName, _preferencesDialog->getFeaturesPointSize(0)); + _cloudViewer->setCloudVisibility(featuresName, _preferencesDialog->isFeaturesShown(0)); + _cloudViewer->setCloudPointSize(featuresName, _preferencesDialog->getFeaturesPointSize(0)); } else if(_cachedSignatures.contains(iter->first)) { @@ -1893,7 +1914,7 @@ void MainWindow::updateMapCloud( } else if(viewerClouds.contains(featuresName)) { - _ui->widget_cloudViewer->setCloudVisibility(featuresName.c_str(), false); + _cloudViewer->setCloudVisibility(featuresName.c_str(), false); } if(verboseProgress) @@ -1929,10 +1950,10 @@ void MainWindow::updateMapCloud( int id = std::atoi(splitted.back().c_str()); if(poses.find(id) == poses.end()) { - if(_ui->widget_cloudViewer->getCloudVisibility(iter.key())) + if(_cloudViewer->getCloudVisibility(iter.key())) { UDEBUG("Hide %s", iter.key().c_str()); - _ui->widget_cloudViewer->setCloudVisibility(iter.key(), false); + _cloudViewer->setCloudVisibility(iter.key(), false); } } } @@ -1941,8 +1962,8 @@ void MainWindow::updateMapCloud( UDEBUG(""); // update 3D graphes (show all poses) - _ui->widget_cloudViewer->removeAllGraphs(); - _ui->widget_cloudViewer->removeCloud("graph_nodes"); + _cloudViewer->removeAllGraphs(); + _cloudViewer->removeCloud("graph_nodes"); if(_preferencesDialog->isGraphsShown() && _currentPosesMap.size()) { // Find all graphs @@ -1983,14 +2004,14 @@ void MainWindow::updateMapCloud( { color = (Qt::GlobalColor)((iter->first+3) % 12 + 7 ); } - _ui->widget_cloudViewer->addOrUpdateGraph(uFormat("graph_%d", iter->first), iter->second, color); + _cloudViewer->addOrUpdateGraph(uFormat("graph_%d", iter->first), iter->second, color); } } UDEBUG("labels.size()=%d", (int)labels.size()); // Update labels - _ui->widget_cloudViewer->removeAllTexts(); + _cloudViewer->removeAllTexts(); if(_preferencesDialog->isLabelsShown() && labels.size()) { for(std::map::const_iterator iter=labels.begin(); iter!=labels.end(); ++iter) @@ -2003,7 +2024,7 @@ void MainWindow::updateMapCloud( { color = (Qt::GlobalColor)((mapId+3) % 12 + 7 ); } - _ui->widget_cloudViewer->addOrUpdateText( + _cloudViewer->addOrUpdateText( std::string("label_") + uNumber2Str(iter->first), iter->second, _currentPosesMap.at(iter->first), @@ -2048,7 +2069,7 @@ void MainWindow::updateMapCloud( if(_preferencesDialog->getGridMapShown()) { float opacity = _preferencesDialog->getGridMapOpacity(); - _ui->widget_cloudViewer->addOccupancyGridMap(map8U, resolution, xMin, yMin, opacity); + _cloudViewer->addOccupancyGridMap(map8U, resolution, xMin, yMin, opacity); } if(_ui->graphicsView_graphView->isVisible()) { @@ -2063,7 +2084,7 @@ void MainWindow::updateMapCloud( if(!_preferencesDialog->getGridMapShown()) { UDEBUG(""); - _ui->widget_cloudViewer->removeOccupancyGridMap(); + _cloudViewer->removeOccupancyGridMap(); } if(viewerClouds.contains("cloudOdom")) @@ -2071,14 +2092,14 @@ void MainWindow::updateMapCloud( if(!_preferencesDialog->isCloudsShown(1)) { UDEBUG(""); - _ui->widget_cloudViewer->setCloudVisibility("cloudOdom", false); + _cloudViewer->setCloudVisibility("cloudOdom", false); } else { UDEBUG(""); - _ui->widget_cloudViewer->updateCloudPose("cloudOdom", _odometryCorrection); - _ui->widget_cloudViewer->setCloudOpacity("cloudOdom", _preferencesDialog->getCloudOpacity(1)); - _ui->widget_cloudViewer->setCloudPointSize("cloudOdom", _preferencesDialog->getCloudPointSize(1)); + _cloudViewer->updateCloudPose("cloudOdom", _odometryCorrection); + _cloudViewer->setCloudOpacity("cloudOdom", _preferencesDialog->getCloudOpacity(1)); + _cloudViewer->setCloudPointSize("cloudOdom", _preferencesDialog->getCloudPointSize(1)); } } if(viewerClouds.contains("scanOdom")) @@ -2086,14 +2107,14 @@ void MainWindow::updateMapCloud( if(!_preferencesDialog->isScansShown(1)) { UDEBUG(""); - _ui->widget_cloudViewer->setCloudVisibility("scanOdom", false); + _cloudViewer->setCloudVisibility("scanOdom", false); } else { UDEBUG(""); - _ui->widget_cloudViewer->updateCloudPose("scanOdom", _odometryCorrection); - _ui->widget_cloudViewer->setCloudOpacity("scanOdom", _preferencesDialog->getScanOpacity(1)); - _ui->widget_cloudViewer->setCloudPointSize("scanOdom", _preferencesDialog->getScanPointSize(1)); + _cloudViewer->updateCloudPose("scanOdom", _odometryCorrection); + _cloudViewer->setCloudOpacity("scanOdom", _preferencesDialog->getScanOpacity(1)); + _cloudViewer->setCloudPointSize("scanOdom", _preferencesDialog->getScanPointSize(1)); } } if(viewerClouds.contains("scanMapOdom")) @@ -2101,14 +2122,14 @@ void MainWindow::updateMapCloud( if(!_preferencesDialog->isScansShown(1)) { UDEBUG(""); - _ui->widget_cloudViewer->setCloudVisibility("scanMapOdom", false); + _cloudViewer->setCloudVisibility("scanMapOdom", false); } else { UDEBUG(""); - _ui->widget_cloudViewer->updateCloudPose("scanMapOdom", _odometryCorrection); - _ui->widget_cloudViewer->setCloudOpacity("scanMapOdom", _preferencesDialog->getScanOpacity(1)); - _ui->widget_cloudViewer->setCloudPointSize("scanMapOdom", _preferencesDialog->getScanPointSize(1)); + _cloudViewer->updateCloudPose("scanMapOdom", _odometryCorrection); + _cloudViewer->setCloudOpacity("scanMapOdom", _preferencesDialog->getScanOpacity(1)); + _cloudViewer->setCloudPointSize("scanMapOdom", _preferencesDialog->getScanPointSize(1)); } } if(viewerClouds.contains("featuresOdom")) @@ -2116,24 +2137,24 @@ void MainWindow::updateMapCloud( if(!_preferencesDialog->isFeaturesShown(1)) { UDEBUG(""); - _ui->widget_cloudViewer->setCloudVisibility("featuresOdom", false); + _cloudViewer->setCloudVisibility("featuresOdom", false); } else { UDEBUG(""); - _ui->widget_cloudViewer->updateCloudPose("featuresOdom", _odometryCorrection); - _ui->widget_cloudViewer->setCloudPointSize("featuresOdom", _preferencesDialog->getFeaturesPointSize(1)); + _cloudViewer->updateCloudPose("featuresOdom", _odometryCorrection); + _cloudViewer->setCloudPointSize("featuresOdom", _preferencesDialog->getFeaturesPointSize(1)); } } if(!currentPose.isNull()) { UDEBUG(""); - _ui->widget_cloudViewer->updateCameraTargetPosition(currentPose); + _cloudViewer->updateCameraTargetPosition(currentPose); } UDEBUG(""); - _ui->widget_cloudViewer->update(); + _cloudViewer->update(); UDEBUG(""); } @@ -2142,7 +2163,7 @@ void MainWindow::createAndAddCloudToMap(int nodeId, const Transform & pose, int UDEBUG(""); UASSERT(!pose.isNull()); std::string cloudName = uFormat("cloud%d", nodeId); - if(_ui->widget_cloudViewer->getAddedClouds().contains(cloudName)) + if(_cloudViewer->getAddedClouds().contains(cloudName)) { UERROR("Cloud %d already added to map.", nodeId); return; @@ -2285,7 +2306,7 @@ void MainWindow::createAndAddCloudToMap(int nodeId, const Transform & pose, int pcl::PointCloud::Ptr outputFiltered(new pcl::PointCloud); std::vector outputPolygons; util3d::filterNotUsedVerticesFromMesh(*output, polygons, *outputFiltered, outputPolygons); - if(!_ui->widget_cloudViewer->addCloudMesh(cloudName, outputFiltered, outputPolygons, pose)) + if(!_cloudViewer->addCloudMesh(cloudName, outputFiltered, outputPolygons, pose)) { UERROR("Adding mesh cloud %d to viewer failed!", nodeId); } @@ -2302,7 +2323,7 @@ void MainWindow::createAndAddCloudToMap(int nodeId, const Transform & pose, int color = (Qt::GlobalColor)(mapId+3 % 12 + 7 ); } - if(!_ui->widget_cloudViewer->addCloud(cloudName, output, pose, color)) + if(!_cloudViewer->addCloud(cloudName, output, pose, color)) { UERROR("Adding cloud %d to viewer failed!", nodeId); } @@ -2314,15 +2335,15 @@ void MainWindow::createAndAddCloudToMap(int nodeId, const Transform & pose, int return; } - _ui->widget_cloudViewer->setCloudOpacity(cloudName, _preferencesDialog->getCloudOpacity(0)); - _ui->widget_cloudViewer->setCloudPointSize(cloudName, _preferencesDialog->getCloudPointSize(0)); + _cloudViewer->setCloudOpacity(cloudName, _preferencesDialog->getCloudOpacity(0)); + _cloudViewer->setCloudPointSize(cloudName, _preferencesDialog->getCloudPointSize(0)); UDEBUG(""); } void MainWindow::createAndAddScanToMap(int nodeId, const Transform & pose, int mapId) { std::string scanName = uFormat("scan%d", nodeId); - if(_ui->widget_cloudViewer->getAddedClouds().contains(scanName)) + if(_cloudViewer->getAddedClouds().contains(scanName)) { UERROR("Scan %d already added to map.", nodeId); return; @@ -2358,7 +2379,7 @@ void MainWindow::createAndAddScanToMap(int nodeId, const Transform & pose, int m { color = (Qt::GlobalColor)(mapId+3 % 12 + 7 ); } - if(!_ui->widget_cloudViewer->addCloud(scanName, cloud, pose, color)) + if(!_cloudViewer->addCloud(scanName, cloud, pose, color)) { UERROR("Adding cloud %d to viewer failed!", nodeId); } @@ -2385,7 +2406,7 @@ void MainWindow::createAndAddScanToMap(int nodeId, const Transform & pose, int m { color = (Qt::GlobalColor)(mapId+3 % 12 + 7 ); } - if(!_ui->widget_cloudViewer->addCloud(scanName, cloud, pose, color)) + if(!_cloudViewer->addCloud(scanName, cloud, pose, color)) { UERROR("Adding cloud %d to viewer failed!", nodeId); } @@ -2413,8 +2434,8 @@ void MainWindow::createAndAddScanToMap(int nodeId, const Transform & pose, int m } } } - _ui->widget_cloudViewer->setCloudOpacity(scanName, _preferencesDialog->getScanOpacity(0)); - _ui->widget_cloudViewer->setCloudPointSize(scanName, _preferencesDialog->getScanPointSize(0)); + _cloudViewer->setCloudOpacity(scanName, _preferencesDialog->getScanOpacity(0)); + _cloudViewer->setCloudPointSize(scanName, _preferencesDialog->getScanPointSize(0)); } } @@ -2423,7 +2444,7 @@ void MainWindow::createAndAddFeaturesToMap(int nodeId, const Transform & pose, i UDEBUG(""); UASSERT(!pose.isNull()); std::string cloudName = uFormat("features%d", nodeId); - if(_ui->widget_cloudViewer->getAddedClouds().contains(cloudName)) + if(_cloudViewer->getAddedClouds().contains(cloudName)) { UERROR("Features cloud %d already added to map.", nodeId); return; @@ -2492,7 +2513,7 @@ void MainWindow::createAndAddFeaturesToMap(int nodeId, const Transform & pose, i (*cloud)[oi].r = (*cloud)[oi].g = (*cloud)[oi].b = 255; } } - if(!_ui->widget_cloudViewer->addCloud(cloudName, cloud, pose, color)) + if(!_cloudViewer->addCloud(cloudName, cloud, pose, color)) { UERROR("Adding features cloud %d to viewer failed!", nodeId); } @@ -2506,7 +2527,7 @@ void MainWindow::createAndAddFeaturesToMap(int nodeId, const Transform & pose, i return; } - _ui->widget_cloudViewer->setCloudPointSize(cloudName, _preferencesDialog->getFeaturesPointSize(0)); + _cloudViewer->setCloudPointSize(cloudName, _preferencesDialog->getFeaturesPointSize(0)); UDEBUG(""); } @@ -2564,7 +2585,7 @@ void MainWindow::updateNodeVisibility(int nodeId, bool visible) { if(_currentPosesMap.find(nodeId) != _currentPosesMap.end()) { - QMap viewerClouds = _ui->widget_cloudViewer->getAddedClouds(); + QMap viewerClouds = _cloudViewer->getAddedClouds(); if(_preferencesDialog->isCloudsShown(0)) { std::string cloudName = uFormat("cloud%d", nodeId); @@ -2577,9 +2598,9 @@ void MainWindow::updateNodeVisibility(int nodeId, bool visible) if(visible) { //make sure the transformation was done - _ui->widget_cloudViewer->updateCloudPose(cloudName, _currentPosesMap.find(nodeId)->second); + _cloudViewer->updateCloudPose(cloudName, _currentPosesMap.find(nodeId)->second); } - _ui->widget_cloudViewer->setCloudVisibility(cloudName, visible); + _cloudViewer->setCloudVisibility(cloudName, visible); } } @@ -2595,13 +2616,13 @@ void MainWindow::updateNodeVisibility(int nodeId, bool visible) if(visible) { //make sure the transformation was done - _ui->widget_cloudViewer->updateCloudPose(scanName, _currentPosesMap.find(nodeId)->second); + _cloudViewer->updateCloudPose(scanName, _currentPosesMap.find(nodeId)->second); } - _ui->widget_cloudViewer->setCloudVisibility(scanName, visible); + _cloudViewer->setCloudVisibility(scanName, visible); } } } - _ui->widget_cloudViewer->update(); + _cloudViewer->update(); } void MainWindow::processRtabmapEventInit(int status, const QString & info) @@ -2977,7 +2998,7 @@ void MainWindow::applyPrefSettings(const rtabmap::ParametersMap & parameters, bo { _ui->statsToolBox->setWorkingDirectory(_preferencesDialog->getWorkingDirectory()); _ui->graphicsView_graphView->setWorkingDirectory(_preferencesDialog->getWorkingDirectory()); - _ui->widget_cloudViewer->setWorkingDirectory(_preferencesDialog->getWorkingDirectory()); + _cloudViewer->setWorkingDirectory(_preferencesDialog->getWorkingDirectory()); } if(_state != kIdle && parametersModified.size()) @@ -2998,8 +3019,8 @@ void MainWindow::applyPrefSettings(const rtabmap::ParametersMap & parameters, bo } // update loop closure viewer parameters (Use Map parameters) - _ui->widget_loopClosureViewer->setDecimation(_preferencesDialog->getCloudDecimation(0)); - _ui->widget_loopClosureViewer->setMaxDepth(_preferencesDialog->getCloudMaxDepth(0)); + _loopClosureViewer->setDecimation(_preferencesDialog->getCloudDecimation(0)); + _loopClosureViewer->setMaxDepth(_preferencesDialog->getCloudMaxDepth(0)); // update graph view parameters if(uContains(parameters, Parameters::kRGBDLocalRadius())) @@ -3291,7 +3312,7 @@ void MainWindow::saveConfigGUI() _preferencesDialog->saveMainWindowState(this); _preferencesDialog->saveWindowGeometry(_preferencesDialog); _preferencesDialog->saveWindowGeometry(_aboutDialog); - _preferencesDialog->saveWidgetState(_ui->widget_cloudViewer); + _preferencesDialog->saveWidgetState(_cloudViewer); _preferencesDialog->saveWidgetState(_ui->imageView_source); _preferencesDialog->saveWidgetState(_ui->imageView_loopClosure); _preferencesDialog->saveWidgetState(_ui->imageView_odometry); @@ -4649,9 +4670,9 @@ void MainWindow::clearTheCache() _gridLocalMaps.clear(); _projectionLocalMaps.clear(); _createdFeatures.clear(); - _ui->widget_cloudViewer->clear(); - _ui->widget_cloudViewer->setBackgroundColor(_ui->widget_cloudViewer->getDefaultBackgroundColor()); - _ui->widget_cloudViewer->clearTrajectory(); + _cloudViewer->clear(); + _cloudViewer->setBackgroundColor(_cloudViewer->getDefaultBackgroundColor()); + _cloudViewer->clearTrajectory(); _ui->widget_mapVisibility->clear(); _currentPosesMap.clear(); _currentGTPosesMap.clear(); @@ -4781,7 +4802,7 @@ void MainWindow::setDefaultViews() _ui->toolBar_2->setVisible(true); _ui->statusbar->setVisible(false); this->setAspectRatio720p(); - _ui->widget_cloudViewer->resetCamera(); + _cloudViewer->resetCamera(); } void MainWindow::selectScreenCaptureFormat(bool checked) diff --git a/guilib/src/PreferencesDialog.cpp b/guilib/src/PreferencesDialog.cpp index 6a250f1f..a03ea543 100644 --- a/guilib/src/PreferencesDialog.cpp +++ b/guilib/src/PreferencesDialog.cpp @@ -98,6 +98,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) : _ui(0), _indexModel(0), _initialized(false), + _progressDialog(new QProgressDialog(this)), _calibrationDialog(new CalibrationDialog(false, ".", this)), _createCalibrationDialog(new CreateSimpleCalibrationDialog(".", "", this)) { @@ -105,6 +106,10 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) : _calibrationDialog->setWindowFlags(Qt::Window); _calibrationDialog->setWindowTitle(tr("Calibration")); + _progressDialog->setWindowTitle(tr("Read parameters...")); + _progressDialog->setMaximum(2); + _progressDialog->setValue(2); + _ui = new Ui_preferencesDialog(); _ui->setupUi(this); @@ -817,11 +822,6 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) : this->setupTreeView(); _obsoletePanels = kPanelAll; - - _progressDialog = new QProgressDialog(this); - _progressDialog->setWindowTitle(tr("Read parameters...")); - _progressDialog->setMaximum(2); - _progressDialog->setValue(2); } PreferencesDialog::~PreferencesDialog() { diff --git a/guilib/src/ui/DatabaseViewer.ui b/guilib/src/ui/DatabaseViewer.ui index a5eec0f9..e81065ef 100644 --- a/guilib/src/ui/DatabaseViewer.ui +++ b/guilib/src/ui/DatabaseViewer.ui @@ -21,7 +21,16 @@ 0 - + + 0 + + + 0 + + + 0 + + 0 @@ -52,7 +61,7 @@ 0 0 - 202 + 205 196 @@ -210,7 +219,7 @@ 0 0 - 201 + 204 196 @@ -357,7 +366,16 @@ - + + 12 + + + 12 + + + 12 + + 12 @@ -413,7 +431,16 @@ - + + 12 + + + 12 + + + 12 + + 12 @@ -541,7 +568,11 @@ - + + + 0 + + @@ -983,7 +1014,7 @@ 0 0 - 333 + 340 186 @@ -1118,8 +1149,8 @@ 0 - -51 - 278 + 0 + 282 611 @@ -1530,7 +1561,7 @@ 0 0 - 201 + 205 117 @@ -1630,8 +1661,8 @@ 0 0 - 289 - 182 + 267 + 157 @@ -1725,22 +1756,28 @@ 4 - + 0 - + + 0 + + + 0 + + + 0 + + 0 - + - - - @@ -1841,25 +1878,28 @@ 4 - + 0 - + + 0 + + + 0 + + + 0 + + 0 - + 1 - - - - - - @@ -1906,7 +1946,16 @@ - + + 0 + + + 0 + + + 0 + + 0 @@ -2032,12 +2081,6 @@ - - rtabmap::CloudViewer - QWidget -
rtabmap/gui/CloudViewer.h
- 1 - rtabmap::ImageView QWidget diff --git a/guilib/src/ui/mainWindow.ui b/guilib/src/ui/mainWindow.ui index ca5c59b3..42227ddb 100644 --- a/guilib/src/ui/mainWindow.ui +++ b/guilib/src/ui/mainWindow.ui @@ -285,7 +285,16 @@ 0 - + + 0 + + + 0 + + + 0 + + 0 @@ -323,7 +332,16 @@ 0 - + + 0 + + + 0 + + + 0 + + 0 @@ -566,7 +584,16 @@ 0 - + + 0 + + + 0 + + + 0 + + 0 @@ -587,7 +614,16 @@ 0 - + + 0 + + + 0 + + + 0 + + 0 @@ -608,7 +644,16 @@ 0 - + + 0 + + + 0 + + + 0 + + 0 @@ -624,17 +669,23 @@ 2 - + 0 - + + 0 + + + 0 + + + 0 + + 0 - - - @@ -645,17 +696,23 @@ 2 - + 0 - + + 0 + + + 0 + + + 0 + + 0 - - - @@ -674,7 +731,16 @@ 0 - + + 0 + + + 0 + + + 0 + + 0 @@ -695,7 +761,16 @@ 0 - + + 0 + + + 0 + + + 0 + + 0 @@ -719,7 +794,16 @@ 0 - + + 0 + + + 0 + + + 0 + + 0 @@ -789,7 +873,16 @@ 0 - + + 0 + + + 0 + + + 0 + + 0 @@ -1323,18 +1416,6 @@
../include/rtabmap/gui/ConsoleWidget.h
1 - - rtabmap::CloudViewer - QWidget -
../include/rtabmap/gui/CloudViewer.h
- 1 - - - rtabmap::LoopClosureViewer - QWidget -
../include/rtabmap/gui/LoopClosureViewer.h
- 1 - rtabmap::MapVisibilityWidget QWidget diff --git a/tools/DatabaseViewer/main.cpp b/tools/DatabaseViewer/main.cpp index 9337957d..eefcb3ed 100644 --- a/tools/DatabaseViewer/main.cpp +++ b/tools/DatabaseViewer/main.cpp @@ -51,6 +51,7 @@ int main(int argc, char * argv[]) delete mainWindow; delete app; + UINFO("All done! closing..."); return 0; }