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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.

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This commit is contained in:
matlabbe
2016-05-05 18:25:26 -04:00
parent 74d0bfa1bb
commit ad0afc58c0
11 changed files with 455 additions and 250 deletions
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guilib/src/DatabaseViewer.cpp
+72 -57
View File
@@ -47,6 +47,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/utilite/UFile.h>
#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<int, Transform> 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<Signature*>::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();
}
}