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fixed crash when activating octomap while mapping

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This commit is contained in:
matlabbe
2016-07-17 14:58:28 -04:00
parent f161609a24
commit b5e5e9508c
1 changed files with 22 additions and 28 deletions
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guilib/src/MainWindow.cpp
+22 -28
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@@ -233,6 +233,10 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_preferencesDialog->loadWindowGeometry(_aboutDialog); _preferencesDialog->loadWindowGeometry(_aboutDialog);
setupMainLayout(_preferencesDialog->isVerticalLayoutUsed()); setupMainLayout(_preferencesDialog->isVerticalLayoutUsed());
#ifdef RTABMAP_OCTOMAP
_octomap = new OctoMap(_preferencesDialog->getGridMapResolution());
#endif
// Timer // Timer
_oneSecondTimer = new QTimer(this); _oneSecondTimer = new QTimer(this);
_oneSecondTimer->setInterval(1000); _oneSecondTimer->setInterval(1000);
@@ -268,10 +272,6 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_ui->rawLikelihoodPlot->addCurve(_rawLikelihoodCurve, false); _ui->rawLikelihoodPlot->addCurve(_rawLikelihoodCurve, false);
_ui->rawLikelihoodPlot->showLegend(false); _ui->rawLikelihoodPlot->showLegend(false);
_ui->doubleSpinBox_stats_imgRate->setValue(_preferencesDialog->getGeneralInputRate());
_ui->doubleSpinBox_stats_detectionRate->setValue(_preferencesDialog->getDetectionRate());
_ui->doubleSpinBox_stats_timeLimit->setValue(_preferencesDialog->getTimeLimit());
_initProgressDialog = new ProgressDialog(this); _initProgressDialog = new ProgressDialog(this);
_initProgressDialog->setWindowTitle(tr("Progress dialog")); _initProgressDialog->setWindowTitle(tr("Progress dialog"));
_initProgressDialog->setMinimumWidth(800); _initProgressDialog->setMinimumWidth(800);
@@ -474,6 +474,9 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_ui->dockWidget_imageView->installEventFilter(this); _ui->dockWidget_imageView->installEventFilter(this);
// more connects... // more connects...
_ui->doubleSpinBox_stats_imgRate->setValue(_preferencesDialog->getGeneralInputRate());
_ui->doubleSpinBox_stats_detectionRate->setValue(_preferencesDialog->getDetectionRate());
_ui->doubleSpinBox_stats_timeLimit->setValue(_preferencesDialog->getTimeLimit());
connect(_ui->doubleSpinBox_stats_imgRate, SIGNAL(editingFinished()), this, SLOT(changeImgRateSetting())); connect(_ui->doubleSpinBox_stats_imgRate, SIGNAL(editingFinished()), this, SLOT(changeImgRateSetting()));
connect(_ui->doubleSpinBox_stats_detectionRate, SIGNAL(editingFinished()), this, SLOT(changeDetectionRateSetting())); connect(_ui->doubleSpinBox_stats_detectionRate, SIGNAL(editingFinished()), this, SLOT(changeDetectionRateSetting()));
connect(_ui->doubleSpinBox_stats_timeLimit, SIGNAL(editingFinished()), this, SLOT(changeTimeLimitSetting())); connect(_ui->doubleSpinBox_stats_timeLimit, SIGNAL(editingFinished()), this, SLOT(changeTimeLimitSetting()));
@@ -570,11 +573,6 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_loopClosureViewer->setDecimation(_preferencesDialog->getCloudDecimation(0)); _loopClosureViewer->setDecimation(_preferencesDialog->getCloudDecimation(0));
_loopClosureViewer->setMaxDepth(_preferencesDialog->getCloudMaxDepth(0)); _loopClosureViewer->setMaxDepth(_preferencesDialog->getCloudMaxDepth(0));
//update ui
_ui->doubleSpinBox_stats_detectionRate->setValue(_preferencesDialog->getDetectionRate());
_ui->doubleSpinBox_stats_timeLimit->setValue(_preferencesDialog->getTimeLimit());
_ui->actionSLAM_mode->setChecked(_preferencesDialog->isSLAMMode());
splash.close(); splash.close();
this->setFocus(); this->setFocus();
@@ -2071,7 +2069,7 @@ void MainWindow::updateMapCloud(
_ui->actionExport_2D_Grid_map_bmp_png->setEnabled(!_gridLocalMaps.empty() || !_projectionLocalMaps.empty()); _ui->actionExport_2D_Grid_map_bmp_png->setEnabled(!_gridLocalMaps.empty() || !_projectionLocalMaps.empty());
_ui->actionView_scans->setEnabled(!_createdScans.empty()); _ui->actionView_scans->setEnabled(!_createdScans.empty());
#ifdef RTABMAP_OCTOMAP #ifdef RTABMAP_OCTOMAP
_ui->actionExport_octomap->setEnabled(_octomap && _octomap->octree()->size()); _ui->actionExport_octomap->setEnabled(_octomap->octree()->size());
#else #else
_ui->actionExport_octomap->setEnabled(false); _ui->actionExport_octomap->setEnabled(false);
#endif #endif
@@ -2220,7 +2218,7 @@ void MainWindow::updateMapCloud(
#ifdef RTABMAP_OCTOMAP #ifdef RTABMAP_OCTOMAP
_cloudViewer->removeOctomap(); _cloudViewer->removeOctomap();
if(_preferencesDialog->isOctomapShown() && _octomap) if(_preferencesDialog->isOctomapShown())
{ {
UDEBUG(""); UDEBUG("");
UTimer time; UTimer time;
@@ -2636,9 +2634,8 @@ void MainWindow::createAndAddProjectionMap(
{ {
// Update octomap // Update octomap
#ifdef RTABMAP_OCTOMAP #ifdef RTABMAP_OCTOMAP
if(_octomap && if(_octomap->addedNodes().empty() ||
(_octomap->addedNodes().empty() || nodeId > _octomap->addedNodes().rbegin()->first)
nodeId > _octomap->addedNodes().rbegin()->first))
{ {
if(_preferencesDialog->projMapFrame()) if(_preferencesDialog->projMapFrame())
{ {
@@ -4042,11 +4039,8 @@ void MainWindow::startDetection()
} }
#ifdef RTABMAP_OCTOMAP #ifdef RTABMAP_OCTOMAP
if(_octomap) UASSERT(_octomap != 0);
{ delete _octomap;
delete _octomap;
_octomap = 0;
}
_octomap = new OctoMap(_preferencesDialog->getGridMapResolution()); _octomap = new OctoMap(_preferencesDialog->getGridMapResolution());
#endif #endif
@@ -5055,10 +5049,10 @@ void MainWindow::clearTheCache()
_ui->imageView_loopClosure->setBackgroundColor(Qt::black); _ui->imageView_loopClosure->setBackgroundColor(Qt::black);
_ui->imageView_odometry->setBackgroundColor(Qt::black); _ui->imageView_odometry->setBackgroundColor(Qt::black);
#ifdef RTABMAP_OCTOMAP #ifdef RTABMAP_OCTOMAP
if(_octomap) // re-create one if the resolution has changed
{ UASSERT(_octomap != 0);
_octomap->clear(); delete _octomap;
} _octomap = new OctoMap(_preferencesDialog->getGridMapResolution());
#endif #endif
} }
@@ -5445,7 +5439,7 @@ void MainWindow::viewClouds()
void MainWindow::exportOctomap() void MainWindow::exportOctomap()
{ {
#ifdef RTABMAP_OCTOMAP #ifdef RTABMAP_OCTOMAP
if(_octomap && _octomap->octree()->size()) if(_octomap->octree()->size())
{ {
QString path = QFileDialog::getSaveFileName( QString path = QFileDialog::getSaveFileName(
this, this,
@@ -5927,7 +5921,7 @@ void MainWindow::changeState(MainWindow::State newState)
_ui->actionExport_2D_Grid_map_bmp_png->setEnabled(!_gridLocalMaps.empty() || !_projectionLocalMaps.empty()); _ui->actionExport_2D_Grid_map_bmp_png->setEnabled(!_gridLocalMaps.empty() || !_projectionLocalMaps.empty());
_ui->actionView_scans->setEnabled(!_createdScans.empty()); _ui->actionView_scans->setEnabled(!_createdScans.empty());
#ifdef RTABMAP_OCTOMAP #ifdef RTABMAP_OCTOMAP
_ui->actionExport_octomap->setEnabled(_octomap && _octomap->octree()->size()); _ui->actionExport_octomap->setEnabled(_octomap->octree()->size());
#else #else
_ui->actionExport_octomap->setEnabled(false); _ui->actionExport_octomap->setEnabled(false);
#endif #endif
@@ -5988,7 +5982,7 @@ void MainWindow::changeState(MainWindow::State newState)
_ui->actionExport_2D_Grid_map_bmp_png->setEnabled(!_gridLocalMaps.empty() || !_projectionLocalMaps.empty()); _ui->actionExport_2D_Grid_map_bmp_png->setEnabled(!_gridLocalMaps.empty() || !_projectionLocalMaps.empty());
_ui->actionView_scans->setEnabled(!_createdScans.empty()); _ui->actionView_scans->setEnabled(!_createdScans.empty());
#ifdef RTABMAP_OCTOMAP #ifdef RTABMAP_OCTOMAP
_ui->actionExport_octomap->setEnabled(_octomap && _octomap->octree()->size()); _ui->actionExport_octomap->setEnabled(_octomap->octree()->size());
#else #else
_ui->actionExport_octomap->setEnabled(false); _ui->actionExport_octomap->setEnabled(false);
#endif #endif
@@ -6111,7 +6105,7 @@ void MainWindow::changeState(MainWindow::State newState)
_ui->actionExport_2D_Grid_map_bmp_png->setEnabled(!_gridLocalMaps.empty() || !_projectionLocalMaps.empty()); _ui->actionExport_2D_Grid_map_bmp_png->setEnabled(!_gridLocalMaps.empty() || !_projectionLocalMaps.empty());
_ui->actionView_scans->setEnabled(!_createdScans.empty()); _ui->actionView_scans->setEnabled(!_createdScans.empty());
#ifdef RTABMAP_OCTOMAP #ifdef RTABMAP_OCTOMAP
_ui->actionExport_octomap->setEnabled(_octomap && _octomap->octree()->size()); _ui->actionExport_octomap->setEnabled(_octomap->octree()->size());
#else #else
_ui->actionExport_octomap->setEnabled(false); _ui->actionExport_octomap->setEnabled(false);
#endif #endif
@@ -6176,7 +6170,7 @@ void MainWindow::changeState(MainWindow::State newState)
_ui->actionExport_2D_Grid_map_bmp_png->setEnabled(!_gridLocalMaps.empty() || !_projectionLocalMaps.empty()); _ui->actionExport_2D_Grid_map_bmp_png->setEnabled(!_gridLocalMaps.empty() || !_projectionLocalMaps.empty());
_ui->actionView_scans->setEnabled(!_createdScans.empty()); _ui->actionView_scans->setEnabled(!_createdScans.empty());
#ifdef RTABMAP_OCTOMAP #ifdef RTABMAP_OCTOMAP
_ui->actionExport_octomap->setEnabled(_octomap && _octomap->octree()->size()); _ui->actionExport_octomap->setEnabled(_octomap->octree()->size());
#else #else
_ui->actionExport_octomap->setEnabled(false); _ui->actionExport_octomap->setEnabled(false);
#endif #endif