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Added Octomap visualization and export options

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This commit is contained in:
matlabbe
2016-07-15 17:46:13 -04:00
parent c24079884d
commit b4b7b6f455
13 changed files with 737 additions and 397 deletions
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guilib/src/MainWindow.cpp
+316 -168
View File
@@ -109,6 +109,10 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <pcl/filters/filter.h>
#include <pcl/search/kdtree.h>
#ifdef RTABMAP_OCTOMAP
#include <rtabmap/core/OctoMap.h>
#endif
#define LOG_FILE_NAME "LogRtabmap.txt"
#define SHARE_SHOW_LOG_FILE "share/rtabmap/showlogs.m"
#define SHARE_GET_PRECISION_RECALL_FILE "share/rtabmap/getPrecisionRecall.m"
@@ -146,6 +150,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_waypointsIndex(0),
_cachedMemoryUsage(0),
_createdCloudsMemoryUsage(0),
_octomap(0),
_odometryCorrection(Transform::getIdentity()),
_processingOdometry(false),
_oneSecondTimer(0),
@@ -358,6 +363,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
connect(_ui->actionExport_images_RGB_jpg_Depth_png, SIGNAL(triggered()), this , SLOT(exportImages()));
connect(_ui->actionExport_cameras_in_Bundle_format_out, SIGNAL(triggered()), SLOT(exportBundlerFormat()));
connect(_ui->actionView_scans, SIGNAL(triggered()), this, SLOT(viewScans()));
connect(_ui->actionExport_octomap, SIGNAL(triggered()), this, SLOT(exportOctomap()));
connect(_ui->actionView_high_res_point_cloud, SIGNAL(triggered()), this, SLOT(viewClouds()));
connect(_ui->actionReset_Odometry, SIGNAL(triggered()), this, SLOT(resetOdometry()));
connect(_ui->actionTrigger_a_new_map, SIGNAL(triggered()), this, SLOT(triggerNewMap()));
@@ -1919,7 +1925,14 @@ void MainWindow::updateMapCloud(
_ui->graphicsView_graphView->isGridMapVisible() &&
_preferencesDialog->isGridMapFrom3DCloud() &&
_projectionLocalMaps.find(iter->first) == _projectionLocalMaps.end();
if(update3dCloud || updateProjMap)
bool updateOctomap = false;
#ifdef RTABMAP_OCTOMAP
updateOctomap =
_cloudViewer->isVisible() &&
_preferencesDialog->isOctomapShown() &&
_octomap->addedNodes().find(iter->first) == _octomap->addedNodes().end();
#endif
if(update3dCloud || updateProjMap || updateOctomap)
{
// update cloud
std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> createdCloud;
@@ -1942,23 +1955,23 @@ void MainWindow::updateMapCloud(
else if(_cachedClouds.find(iter->first) == _cachedClouds.end() && _cachedSignatures.contains(iter->first))
{
createdCloud = this->createAndAddCloudToMap(iter->first, iter->second, uValue(mapIds, iter->first, -1));
if(viewerClouds.contains(cloudName))
if(_cloudViewer->getAddedClouds().contains(cloudName))
{
_cloudViewer->setCloudVisibility(cloudName.c_str(), _cloudViewer->isVisible() && _preferencesDialog->isCloudsShown(0));
}
}
//Update projection map
if(updateProjMap)
if(updateProjMap || updateOctomap)
{
std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> >::iterator cloudIter = _cachedClouds.find(iter->first);
if(cloudIter != _cachedClouds.end())
{
createAndAddProjectionMap(cloudIter->second.first, cloudIter->second.second, iter->first, iter->second);
createAndAddProjectionMap(cloudIter->second.first, cloudIter->second.second, iter->first, iter->second, updateOctomap);
}
else if(createdCloud.first->size() && createdCloud.second->size())
else if(createdCloud.first.get() && createdCloud.first->size() && createdCloud.second->size())
{
createAndAddProjectionMap(createdCloud.first, createdCloud.second, iter->first, iter->second);
createAndAddProjectionMap(createdCloud.first, createdCloud.second, iter->first, iter->second, updateOctomap);
}
}
}
@@ -2057,6 +2070,11 @@ void MainWindow::updateMapCloud(
_ui->actionExport_2D_scans_ply_pcd->setEnabled(!_createdScans.empty());
_ui->actionExport_2D_Grid_map_bmp_png->setEnabled(!_gridLocalMaps.empty() || !_projectionLocalMaps.empty());
_ui->actionView_scans->setEnabled(!_createdScans.empty());
#ifdef RTABMAP_OCTOMAP
_ui->actionExport_octomap->setEnabled(_octomap && _octomap->octree()->size());
#else
_ui->actionExport_octomap->setEnabled(false);
#endif
}
//remove not used clouds
@@ -2200,6 +2218,18 @@ void MainWindow::updateMapCloud(
_cloudViewer->removeOccupancyGridMap();
}
#ifdef RTABMAP_OCTOMAP
_cloudViewer->removeOctomap();
if(_preferencesDialog->isOctomapShown() && _octomap)
{
UDEBUG("");
UTimer time;
_octomap->update(poses);
_cloudViewer->addOctomap(_octomap, _preferencesDialog->getOctomapTreeDepth());
UINFO("Octomap update time = %fs", time.ticks());
}
#endif
if(viewerClouds.contains("cloudOdom"))
{
if(!_preferencesDialog->isCloudsShown(1))
@@ -2356,191 +2386,190 @@ std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> MainWindow::c
}
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloudWithNormals(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
if(_cloudViewer->isVisible() && _preferencesDialog->isCloudsShown(0))
if(_preferencesDialog->isSubtractFiltering() &&
_preferencesDialog->getSubtractFilteringRadius() > 0.0)
{
if(_preferencesDialog->isSubtractFiltering() &&
_preferencesDialog->getSubtractFilteringRadius() > 0.0)
pcl::IndicesPtr beforeFiltering = indices;
if( cloud->size() &&
_previousCloud.first>0 &&
_previousCloud.second.first.first.get() != 0 &&
_previousCloud.second.second.get() != 0 &&
_previousCloud.second.second->size() &&
_currentPosesMap.find(_previousCloud.first) != _currentPosesMap.end())
{
pcl::IndicesPtr beforeFiltering = indices;
if( cloud->size() &&
_previousCloud.first>0 &&
_previousCloud.second.first.first.get() != 0 &&
_previousCloud.second.second.get() != 0 &&
_previousCloud.second.second->size() &&
_currentPosesMap.find(_previousCloud.first) != _currentPosesMap.end())
UTimer time;
rtabmap::Transform t = pose.inverse() * _currentPosesMap.at(_previousCloud.first);
//UWARN("saved new.pcd and old.pcd");
//pcl::io::savePCDFile("new.pcd", *cloud, *indices);
//pcl::io::savePCDFile("old.pcd", *previousCloud, *_previousCloud.second.second);
if(_preferencesDialog->getSubtractFilteringAngle() > 0.0f)
{
UTimer time;
rtabmap::Transform t = pose.inverse() * _currentPosesMap.at(_previousCloud.first);
//UWARN("saved new.pcd and old.pcd");
//pcl::io::savePCDFile("new.pcd", *cloud, *indices);
//pcl::io::savePCDFile("old.pcd", *previousCloud, *_previousCloud.second.second);
if(_preferencesDialog->getSubtractFilteringAngle() > 0.0f)
{
//normals required
if(_preferencesDialog->getNormalKSearch() > 0)
{
pcl::PointCloud<pcl::Normal>::Ptr normals = util3d::computeNormals(cloud, indices, _preferencesDialog->getNormalKSearch(), viewPoint);
pcl::concatenateFields(*cloud, *normals, *cloudWithNormals);
}
else
{
UWARN("Cloud subtraction with angle filtering is activated but "
"cloud normal K search is 0. Subtraction is done with angle.");
}
}
if(cloudWithNormals->size() &&
_previousCloud.second.first.second.get() &&
_previousCloud.second.first.second->size())
{
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr previousCloud = rtabmap::util3d::transformPointCloud(_previousCloud.second.first.second, t);
indices = rtabmap::util3d::subtractFiltering(
cloudWithNormals,
indices,
previousCloud,
_previousCloud.second.second,
_preferencesDialog->getSubtractFilteringRadius(),
_preferencesDialog->getSubtractFilteringAngle(),
_preferencesDialog->getSubtractFilteringMinPts());
}
else
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr previousCloud = rtabmap::util3d::transformPointCloud(_previousCloud.second.first.first, t);
indices = rtabmap::util3d::subtractFiltering(
cloud,
indices,
previousCloud,
_previousCloud.second.second,
_preferencesDialog->getSubtractFilteringRadius(),
_preferencesDialog->getSubtractFilteringMinPts());
}
UINFO("Time subtract filtering %d from %d -> %d (%fs)",
(int)_previousCloud.second.second->size(),
(int)beforeFiltering->size(),
(int)indices->size(),
time.ticks());
}
// keep all indices for next subtraction
_previousCloud.first = nodeId;
_previousCloud.second.first.first = cloud;
_previousCloud.second.first.second = cloudWithNormals;
_previousCloud.second.second = beforeFiltering;
}
if(indices->size())
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr output;
bool added = false;
if(_preferencesDialog->isCloudMeshing() && cloud->isOrganized())
{
// Fast organized mesh
// we need to extract indices as pcl::OrganizedFastMesh doesn't take indices
output = util3d::extractIndices(cloud, indices, false, true);
std::vector<pcl::Vertices> polygons = util3d::organizedFastMesh(
output,
_preferencesDialog->getCloudMeshingAngle(),
_preferencesDialog->isCloudMeshingQuad(),
_preferencesDialog->getCloudMeshingTriangleSize(),
viewPoint);
if(polygons.size())
{
// remove unused vertices to save memory
pcl::PointCloud<pcl::PointXYZRGB>::Ptr outputFiltered(new pcl::PointCloud<pcl::PointXYZRGB>);
std::vector<pcl::Vertices> outputPolygons;
util3d::filterNotUsedVerticesFromMesh(*output, polygons, *outputFiltered, outputPolygons);
if(!_cloudViewer->addCloudMesh(cloudName, outputFiltered, outputPolygons, pose))
{
UERROR("Adding mesh cloud %d to viewer failed!", nodeId);
}
else
{
added = true;
}
}
}
else
{
if(_preferencesDialog->isCloudMeshing())
{
UWARN("Online meshing is activated but the generated cloud is "
"dense (voxel filtering is used or multiple cameras are used). Disable "
"online meshing in Preferences->3D Rendering to hide this warning.");
}
if(_preferencesDialog->getNormalKSearch() > 0 && cloudWithNormals->size() == 0)
//normals required
if(_preferencesDialog->getNormalKSearch() > 0)
{
pcl::PointCloud<pcl::Normal>::Ptr normals = util3d::computeNormals(cloud, indices, _preferencesDialog->getNormalKSearch(), viewPoint);
pcl::concatenateFields(*cloud, *normals, *cloudWithNormals);
}
QColor color = Qt::gray;
if(mapId >= 0)
else
{
color = (Qt::GlobalColor)(mapId+3 % 12 + 7 );
UWARN("Cloud subtraction with angle filtering is activated but "
"cloud normal K search is 0. Subtraction is done with angle.");
}
}
output = util3d::extractIndices(cloud, indices, false, true);
if(cloudWithNormals->size() &&
_previousCloud.second.first.second.get() &&
_previousCloud.second.first.second->size())
{
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr previousCloud = rtabmap::util3d::transformPointCloud(_previousCloud.second.first.second, t);
indices = rtabmap::util3d::subtractFiltering(
cloudWithNormals,
indices,
previousCloud,
_previousCloud.second.second,
_preferencesDialog->getSubtractFilteringRadius(),
_preferencesDialog->getSubtractFilteringAngle(),
_preferencesDialog->getSubtractFilteringMinPts());
}
else
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr previousCloud = rtabmap::util3d::transformPointCloud(_previousCloud.second.first.first, t);
indices = rtabmap::util3d::subtractFiltering(
cloud,
indices,
previousCloud,
_previousCloud.second.second,
_preferencesDialog->getSubtractFilteringRadius(),
_preferencesDialog->getSubtractFilteringMinPts());
}
if(cloudWithNormals->size())
UINFO("Time subtract filtering %d from %d -> %d (%fs)",
(int)_previousCloud.second.second->size(),
(int)beforeFiltering->size(),
(int)indices->size(),
time.ticks());
}
// keep all indices for next subtraction
_previousCloud.first = nodeId;
_previousCloud.second.first.first = cloud;
_previousCloud.second.first.second = cloudWithNormals;
_previousCloud.second.second = beforeFiltering;
}
if(indices->size())
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr output;
bool added = false;
if(_preferencesDialog->isCloudMeshing() && cloud->isOrganized())
{
// Fast organized mesh
// we need to extract indices as pcl::OrganizedFastMesh doesn't take indices
output = util3d::extractIndices(cloud, indices, false, true);
std::vector<pcl::Vertices> polygons = util3d::organizedFastMesh(
output,
_preferencesDialog->getCloudMeshingAngle(),
_preferencesDialog->isCloudMeshingQuad(),
_preferencesDialog->getCloudMeshingTriangleSize(),
viewPoint);
if(polygons.size())
{
// remove unused vertices to save memory
pcl::PointCloud<pcl::PointXYZRGB>::Ptr outputFiltered(new pcl::PointCloud<pcl::PointXYZRGB>);
std::vector<pcl::Vertices> outputPolygons;
util3d::filterNotUsedVerticesFromMesh(*output, polygons, *outputFiltered, outputPolygons);
if(!_cloudViewer->addCloudMesh(cloudName, outputFiltered, outputPolygons, pose))
{
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr outputWithNormals;
outputWithNormals = util3d::extractIndices(cloudWithNormals, indices, false, false);
if(!_cloudViewer->addCloud(cloudName, outputWithNormals, pose, color))
{
UERROR("Adding cloud %d to viewer failed!", nodeId);
}
else
{
added = true;
}
UERROR("Adding mesh cloud %d to viewer failed!", nodeId);
}
else
{
if(!_cloudViewer->addCloud(cloudName, output, pose, color))
{
UERROR("Adding cloud %d to viewer failed!", nodeId);
}
else
{
added = true;
}
}
}
if(added)
{
outputPair.first = output;
outputPair.second = indices;
if(_preferencesDialog->isCloudsKept())
{
_cachedClouds.insert(std::make_pair(nodeId, outputPair));
_createdCloudsMemoryUsage += output->size() * sizeof(pcl::PointXYZRGB) + indices->size()*sizeof(int);
added = true;
}
}
}
_cloudViewer->setCloudOpacity(cloudName, _preferencesDialog->getCloudOpacity(0));
_cloudViewer->setCloudPointSize(cloudName, _preferencesDialog->getCloudPointSize(0));
else
{
if(_preferencesDialog->isCloudMeshing())
{
UWARN("Online meshing is activated but the generated cloud is "
"dense (voxel filtering is used or multiple cameras are used). Disable "
"online meshing in Preferences->3D Rendering to hide this warning.");
}
if(_preferencesDialog->getNormalKSearch() > 0 && cloudWithNormals->size() == 0)
{
pcl::PointCloud<pcl::Normal>::Ptr normals = util3d::computeNormals(cloud, indices, _preferencesDialog->getNormalKSearch(), viewPoint);
pcl::concatenateFields(*cloud, *normals, *cloudWithNormals);
}
QColor color = Qt::gray;
if(mapId >= 0)
{
color = (Qt::GlobalColor)(mapId+3 % 12 + 7 );
}
output = util3d::extractIndices(cloud, indices, false, true);
if(cloudWithNormals->size())
{
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr outputWithNormals;
outputWithNormals = util3d::extractIndices(cloudWithNormals, indices, false, false);
if(!_cloudViewer->addCloud(cloudName, outputWithNormals, pose, color))
{
UERROR("Adding cloud %d to viewer failed!", nodeId);
}
else
{
added = true;
}
}
else
{
if(!_cloudViewer->addCloud(cloudName, output, pose, color))
{
UERROR("Adding cloud %d to viewer failed!", nodeId);
}
else
{
added = true;
}
}
}
if(added)
{
outputPair.first = output;
outputPair.second = indices;
if(_preferencesDialog->isCloudsKept())
{
_cachedClouds.insert(std::make_pair(nodeId, outputPair));
_createdCloudsMemoryUsage += output->size() * sizeof(pcl::PointXYZRGB) + indices->size()*sizeof(int);
}
}
}
_cloudViewer->setCloudOpacity(cloudName, _preferencesDialog->getCloudOpacity(0));
_cloudViewer->setCloudPointSize(cloudName, _preferencesDialog->getCloudPointSize(0));
}
return outputPair;
UDEBUG("");
return outputPair;
}
void MainWindow::createAndAddProjectionMap(
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
const pcl::IndicesPtr & indices,
int nodeId,
const Transform & pose)
const Transform & pose,
bool updateOctomap)
{
UDEBUG("");
UASSERT(!pose.isNull());
if(_projectionLocalMaps.find(nodeId) != _projectionLocalMaps.end())
if(_projectionLocalMaps.find(nodeId) != _projectionLocalMaps.end() && !updateOctomap)
{
UERROR("Projection map %d already added.", nodeId);
return;
@@ -2559,9 +2588,9 @@ void MainWindow::createAndAddProjectionMap(
}
// add pose rotation without yaw
float roll, pitch, yaw;
if(_preferencesDialog->projMapFrame())
{
float roll, pitch, yaw;
pose.getEulerAngles(roll, pitch, yaw);
voxelCloud = util3d::transformPointCloud(voxelCloud, Transform(0,0, pose.z(), roll, pitch, 0));
}
@@ -2571,19 +2600,61 @@ void MainWindow::createAndAddProjectionMap(
voxelCloud = util3d::passThrough(voxelCloud, "z", std::numeric_limits<int>::min(), _preferencesDialog->projMaxObstaclesHeight());
}
util3d::occupancy2DFromCloud3D<pcl::PointXYZRGB>(
pcl::IndicesPtr groundIndices, obstaclesIndices;
util3d::segmentObstaclesFromGround<pcl::PointXYZRGB>(
voxelCloud,
ground,
obstacles,
_preferencesDialog->getGridMapResolution(),
groundIndices,
obstaclesIndices,
20,
_preferencesDialog->projMaxGroundAngle(),
_preferencesDialog->getGridMapResolution()*2.0f,
_preferencesDialog->projMinClusterSize(),
_preferencesDialog->projFlatObstaclesDetected(),
_preferencesDialog->projMaxGroundHeight());
pcl::PointCloud<pcl::PointXYZRGB>::Ptr groundCloud(new pcl::PointCloud<pcl::PointXYZRGB>);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr obstaclesCloud(new pcl::PointCloud<pcl::PointXYZRGB>);
if(groundIndices->size())
{
pcl::copyPointCloud(*voxelCloud, *groundIndices, *groundCloud);
}
if(obstaclesIndices->size())
{
pcl::copyPointCloud(*voxelCloud, *obstaclesIndices, *obstaclesCloud);
}
util3d::occupancy2DFromGroundObstacles<pcl::PointXYZRGB>(
groundCloud,
obstaclesCloud,
ground,
obstacles,
_preferencesDialog->getGridMapResolution());
if(updateOctomap)
{
// Update octomap
#ifdef RTABMAP_OCTOMAP
if(_octomap &&
(_octomap->addedNodes().empty() ||
nodeId > _octomap->addedNodes().rbegin()->first))
{
if(_preferencesDialog->projMapFrame())
{
Transform tinv = Transform(0,0,0, roll, pitch, 0).inverse();
groundCloud = util3d::transformPointCloud(groundCloud, tinv);
obstaclesCloud = util3d::transformPointCloud(obstaclesCloud, tinv);
}
_octomap->addToCache(nodeId, groundCloud, obstaclesCloud);
}
#endif
}
_projectionLocalMaps.insert(std::make_pair(nodeId, std::make_pair(ground, obstacles)));
UDEBUG("time gridMapFrom3DCloud = %f s", timer.ticks());
}
UDEBUG("");
}
void MainWindow::createAndAddScanToMap(int nodeId, const Transform & pose, int mapId)
@@ -3965,6 +4036,15 @@ void MainWindow::startDetection()
"progress will not be shown in the GUI."));
}
#ifdef RTABMAP_OCTOMAP
if(_octomap)
{
delete _octomap;
_octomap = 0;
}
_octomap = new OctoMap(_preferencesDialog->getGridMapResolution());
#endif
emit stateChanged(kDetecting);
}
@@ -4948,6 +5028,7 @@ void MainWindow::clearTheCache()
_ui->actionExport_cameras_in_Bundle_format_out->setEnabled(false);
_ui->actionExport_images_RGB_jpg_Depth_png->setEnabled(false);
_ui->actionView_scans->setEnabled(false);
_ui->actionExport_octomap->setEnabled(false);
_ui->actionView_high_res_point_cloud->setEnabled(false);
_likelihoodCurve->clear();
_rawLikelihoodCurve->clear();
@@ -4968,6 +5049,12 @@ void MainWindow::clearTheCache()
_ui->imageView_source->setBackgroundColor(Qt::black);
_ui->imageView_loopClosure->setBackgroundColor(Qt::black);
_ui->imageView_odometry->setBackgroundColor(Qt::black);
#ifdef RTABMAP_OCTOMAP
if(_octomap)
{
_octomap->clear();
}
#endif
}
void MainWindow::updateElapsedTime()
@@ -5350,6 +5437,44 @@ void MainWindow::viewClouds()
}
void MainWindow::exportOctomap()
{
#ifdef RTABMAP_OCTOMAP
if(_octomap && _octomap->octree()->size())
{
QString path = QFileDialog::getSaveFileName(
this,
tr("Save File"),
this->getWorkingDirectory()+"/"+"octomap.bt",
tr("Octomap file (*.bt)"));
if(!path.isEmpty())
{
if(_octomap->writeBinary(path.toStdString()))
{
QMessageBox::information(this,
tr("Export octomap..."),
tr("Octomap successfully saved to \"%1\".")
.arg(path));
}
else
{
QMessageBox::information(this,
tr("Export octomap..."),
tr("Failed to save octomap to \"%1\"!")
.arg(path));
}
}
}
else
{
UERROR("Empty octomap.");
}
#else
UERROR("Cannot export octomap, RTAB-Map is not built with it.");
#endif
}
void MainWindow::exportImages()
{
if(_cachedSignatures.empty())
@@ -5727,7 +5852,7 @@ void MainWindow::changeState(MainWindow::State newState)
}
}
actions = _ui->menuFile->actions();
if(actions.size()==15)
if(actions.size()==16)
{
if(actions.at(2)->isSeparator())
{
@@ -5737,9 +5862,9 @@ void MainWindow::changeState(MainWindow::State newState)
{
UWARN("Menu File separators have not the same order.");
}
if(actions.at(11)->isSeparator())
if(actions.at(12)->isSeparator())
{
actions.at(11)->setVisible(!monitoring);
actions.at(12)->setVisible(!monitoring);
}
else
{
@@ -5796,6 +5921,11 @@ void MainWindow::changeState(MainWindow::State newState)
_ui->actionExport_2D_scans_ply_pcd->setEnabled(!_createdScans.empty());
_ui->actionExport_2D_Grid_map_bmp_png->setEnabled(!_gridLocalMaps.empty() || !_projectionLocalMaps.empty());
_ui->actionView_scans->setEnabled(!_createdScans.empty());
#ifdef RTABMAP_OCTOMAP
_ui->actionExport_octomap->setEnabled(_octomap && _octomap->octree()->size());
#else
_ui->actionExport_octomap->setEnabled(false);
#endif
_ui->actionExport_cameras_in_Bundle_format_out->setEnabled(!_cachedSignatures.empty() && !_currentPosesMap.empty());
_ui->actionDownload_all_clouds->setEnabled(false);
_ui->actionDownload_graph->setEnabled(false);
@@ -5852,6 +5982,11 @@ void MainWindow::changeState(MainWindow::State newState)
_ui->actionExport_2D_scans_ply_pcd->setEnabled(!_createdScans.empty());
_ui->actionExport_2D_Grid_map_bmp_png->setEnabled(!_gridLocalMaps.empty() || !_projectionLocalMaps.empty());
_ui->actionView_scans->setEnabled(!_createdScans.empty());
#ifdef RTABMAP_OCTOMAP
_ui->actionExport_octomap->setEnabled(_octomap && _octomap->octree()->size());
#else
_ui->actionExport_octomap->setEnabled(false);
#endif
_ui->actionExport_cameras_in_Bundle_format_out->setEnabled(!_cachedSignatures.empty() && !_currentPosesMap.empty());
_ui->actionDownload_all_clouds->setEnabled(true);
_ui->actionDownload_graph->setEnabled(true);
@@ -5897,6 +6032,7 @@ void MainWindow::changeState(MainWindow::State newState)
_ui->actionExport_2D_scans_ply_pcd->setEnabled(false);
_ui->actionExport_2D_Grid_map_bmp_png->setEnabled(false);
_ui->actionView_scans->setEnabled(false);
_ui->actionExport_octomap->setEnabled(false);
_ui->actionExport_cameras_in_Bundle_format_out->setEnabled(false);
_ui->actionDownload_all_clouds->setEnabled(false);
_ui->actionDownload_graph->setEnabled(false);
@@ -5939,6 +6075,7 @@ void MainWindow::changeState(MainWindow::State newState)
_ui->actionExport_2D_scans_ply_pcd->setEnabled(false);
_ui->actionExport_2D_Grid_map_bmp_png->setEnabled(false);
_ui->actionView_scans->setEnabled(false);
_ui->actionExport_octomap->setEnabled(false);
_ui->actionExport_cameras_in_Bundle_format_out->setEnabled(false);
_ui->actionDownload_all_clouds->setEnabled(false);
_ui->actionDownload_graph->setEnabled(false);
@@ -5968,6 +6105,11 @@ void MainWindow::changeState(MainWindow::State newState)
_ui->actionExport_2D_scans_ply_pcd->setEnabled(!_createdScans.empty());
_ui->actionExport_2D_Grid_map_bmp_png->setEnabled(!_gridLocalMaps.empty() || !_projectionLocalMaps.empty());
_ui->actionView_scans->setEnabled(!_createdScans.empty());
#ifdef RTABMAP_OCTOMAP
_ui->actionExport_octomap->setEnabled(_octomap && _octomap->octree()->size());
#else
_ui->actionExport_octomap->setEnabled(false);
#endif
_ui->actionExport_cameras_in_Bundle_format_out->setEnabled(!_cachedSignatures.empty() && !_currentPosesMap.empty());
_ui->actionDownload_all_clouds->setEnabled(true);
_ui->actionDownload_graph->setEnabled(true);
@@ -5997,6 +6139,7 @@ void MainWindow::changeState(MainWindow::State newState)
_ui->actionExport_2D_scans_ply_pcd->setEnabled(false);
_ui->actionExport_2D_Grid_map_bmp_png->setEnabled(false);
_ui->actionView_scans->setEnabled(false);
_ui->actionExport_octomap->setEnabled(false);
_ui->actionExport_cameras_in_Bundle_format_out->setEnabled(false);
_ui->actionDelete_memory->setEnabled(true);
_ui->actionDownload_all_clouds->setEnabled(true);
@@ -6027,6 +6170,11 @@ void MainWindow::changeState(MainWindow::State newState)
_ui->actionExport_2D_scans_ply_pcd->setEnabled(!_createdScans.empty());
_ui->actionExport_2D_Grid_map_bmp_png->setEnabled(!_gridLocalMaps.empty() || !_projectionLocalMaps.empty());
_ui->actionView_scans->setEnabled(!_createdScans.empty());
#ifdef RTABMAP_OCTOMAP
_ui->actionExport_octomap->setEnabled(_octomap && _octomap->octree()->size());
#else
_ui->actionExport_octomap->setEnabled(false);
#endif
_ui->actionExport_cameras_in_Bundle_format_out->setEnabled(!_cachedSignatures.empty() && !_currentPosesMap.empty());
_ui->actionDelete_memory->setEnabled(true);
_ui->actionDownload_all_clouds->setEnabled(true);