GUI: custom aspect ratio, option to save auto screenshots in RAM, default views updated (reseting 3D map camera position and hiding the status bar)

guilib/include/rtabmap/gui/CloudViewer.h

@@ -196,6 +196,7 @@ public:
 	void setTrajectoryShown(bool shown);
 	void setTrajectorySize(unsigned int value);
 	void clearTrajectory();
+	void resetCamera();
 
 	void removeAllClouds(); //including meshes
 	bool removeCloud(const std::string & id); //including mesh

guilib/include/rtabmap/gui/MainWindow.h

@@ -180,6 +180,7 @@ private slots:
 	void setAspectRatio480p();
 	void setAspectRatio720p();
 	void setAspectRatio1080p();
+	void setAspectRatioCustom();
 	void exportGridMap();
 	void exportScans();
 	void exportClouds();
@@ -227,7 +228,7 @@ private:
 	void saveFigures();
 	void loadFigures();
 	void exportPoses(int format);
-	QString captureScreen();
+	QString captureScreen(bool cacheInRAM = false);
 
 	std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > getClouds(
 			const std::map<int, Transform> & poses,
@@ -304,6 +305,8 @@ private:
 	QString _graphSavingFileName;
 	QMap<int, QString> _exportPosesFileName;
 	bool _autoScreenCaptureOdomSync;
+	bool _autoScreenCaptureRAM;
+	QMap<QString, QByteArray> _autoScreenCaptureCachedImages;
 
 	QVector<int> _refIds;
 	QVector<int> _loopClosureIds;

guilib/include/rtabmap/gui/PreferencesDialog.h

@@ -117,7 +117,7 @@ public:
 	void saveWindowGeometry(const QWidget * window);
 	void loadWindowGeometry(QWidget * window);
 	void saveMainWindowState(const QMainWindow * mainWindow);
-	void loadMainWindowState(QMainWindow * mainWindow, bool & maximized);
+	void loadMainWindowState(QMainWindow * mainWindow, bool & maximized, bool & statusBarShown);
 	void saveWidgetState(const QWidget * widget);
 	void loadWidgetState(QWidget * widget);
 

guilib/src/CloudViewer.cpp

@@ -889,6 +889,37 @@ void CloudViewer::clearTrajectory()
 	this->update();
 }
 
+void CloudViewer::resetCamera()
+{
+	_lastCameraOrientation= _lastCameraPose = cv::Vec3f(0,0,0);
+	if((_aFollowCamera->isChecked() || _aLockCamera->isChecked()) && !_lastPose.isNull())
+	{
+		// reset relative to last current pose
+		if(_aLockViewZ->isChecked())
+		{
+			_visualizer->setCameraPosition(
+					_lastPose.x()-1, _lastPose.y(), _lastPose.z(),
+					_lastPose.x(), _lastPose.y(), _lastPose.z(),
+					0, 0, 1);
+		}
+		else
+		{
+			_visualizer->setCameraPosition(
+					_lastPose.x()-1, _lastPose.y(), _lastPose.z(),
+					_lastPose.x(), _lastPose.y(), _lastPose.z(),
+					_lastPose.r31(), _lastPose.r32(), _lastPose.r33());
+		}
+	}
+	else
+	{
+		_visualizer->setCameraPosition(
+				-1, 0, 0,
+				0, 0, 0,
+				0, 0, 1);
+	}
+	this->update();
+}
+
 void CloudViewer::removeAllClouds()
 {
 	_addedClouds.clear();
@@ -1506,33 +1537,7 @@ void CloudViewer::handleAction(QAction * a)
 	}
 	else if(a == _aResetCamera)
 	{
-		_lastCameraOrientation= _lastCameraPose = cv::Vec3f(0,0,0);
+		this->resetCamera();
-		if((_aFollowCamera->isChecked() || _aLockCamera->isChecked()) && !_lastPose.isNull())
-		{
-			// reset relative to last current pose
-			if(_aLockViewZ->isChecked())
-			{
-				_visualizer->setCameraPosition(
-						_lastPose.x()-1, _lastPose.y(), _lastPose.z(),
-						_lastPose.x(), _lastPose.y(), _lastPose.z(),
-						0, 0, 1);
-			}
-			else
-			{
-				_visualizer->setCameraPosition(
-						_lastPose.x()-1, _lastPose.y(), _lastPose.z(),
-						_lastPose.x(), _lastPose.y(), _lastPose.z(),
-						_lastPose.r31(), _lastPose.r32(), _lastPose.r33());
-			}
-		}
-		else
-		{
-			_visualizer->setCameraPosition(
-					-1, 0, 0,
-					0, 0, 0,
-					0, 0, 1);
-		}
-		this->update();
 	}
 	else if(a == _aShowGrid)
 	{

guilib/src/MainWindow.cpp

@@ -145,6 +145,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
 	_likelihoodCurve(0),
 	_rawLikelihoodCurve(0),
 	_autoScreenCaptureOdomSync(false),
+	_autoScreenCaptureRAM(false),
 	_firstCall(true)
 {
 	UDEBUG("");
@@ -174,20 +175,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
 	this->setObjectName("MainWindow");
 
 	//Setup dock widgets position if it is the first time the application is started.
-	//if(!QFile::exists(PreferencesDialog::getIniFilePath()))
+	setDefaultViews();
-	{
-		_ui->dockWidget_posterior->setVisible(false);
-		_ui->dockWidget_likelihood->setVisible(false);
-		_ui->dockWidget_rawlikelihood->setVisible(false);
-		_ui->dockWidget_statsV2->setVisible(false);
-		_ui->dockWidget_console->setVisible(false);
-		_ui->dockWidget_loopClosureViewer->setVisible(false);
-		_ui->dockWidget_mapVisibility->setVisible(false);
-		_ui->dockWidget_graphViewer->setVisible(false);
-		//_ui->dockWidget_odometry->setVisible(false);
-		//_ui->dockWidget_cloudViewer->setVisible(false);
-		//_ui->dockWidget_imageView->setVisible(false);
-	}
 
 	_ui->widget_mainWindow->setVisible(false);
 
@@ -204,7 +192,8 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
 	_preferencesDialog->init();
 
 	// Restore window geometry
-	_preferencesDialog->loadMainWindowState(this, _savedMaximized);
+	bool statusBarShown = false;
+	_preferencesDialog->loadMainWindowState(this, _savedMaximized, statusBarShown);
 	_preferencesDialog->loadWindowGeometry(_preferencesDialog);
 	_preferencesDialog->loadWindowGeometry(_exportDialog);
 	_preferencesDialog->loadWindowGeometry(_postProcessingDialog);
@@ -285,6 +274,10 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
 	QAction * a = _ui->menuShow_view->addAction("Progress dialog");
 	a->setCheckable(false);
 	connect(a, SIGNAL(triggered(bool)), _initProgressDialog, SLOT(show()));
+	QAction * statusBarAction = _ui->menuShow_view->addAction("Status bar");
+	statusBarAction->setCheckable(true);
+	statusBarAction->setChecked(statusBarShown);
+	connect(statusBarAction, SIGNAL(toggled(bool)), this->statusBar(), SLOT(setVisible(bool)));
 
 	// connect actions with custom slots
 	connect(_ui->actionSave_GUI_config, SIGNAL(triggered()), this, SLOT(saveConfigGUI()));
@@ -325,6 +318,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
 	connect(_ui->action480p, SIGNAL(triggered()), this, SLOT(setAspectRatio480p()));
 	connect(_ui->action720p, SIGNAL(triggered()), this, SLOT(setAspectRatio720p()));
 	connect(_ui->action1080p, SIGNAL(triggered()), this, SLOT(setAspectRatio1080p()));
+	connect(_ui->actionCustom, SIGNAL(triggered()), this, SLOT(setAspectRatioCustom()));
 	connect(_ui->actionSave_point_cloud, SIGNAL(triggered()), this, SLOT(exportClouds()));
 	connect(_ui->actionExport_2D_scans_ply_pcd, SIGNAL(triggered()), this, SLOT(exportScans()));
 	connect(_ui->actionExport_2D_Grid_map_bmp_png, SIGNAL(triggered()), this, SLOT(exportGridMap()));
@@ -416,6 +410,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
 	connect(_postProcessingDialog, SIGNAL(configChanged()), this, SLOT(configGUIModified()));
 	connect(_ui->toolBar->toggleViewAction(), SIGNAL(toggled(bool)), this, SLOT(configGUIModified()));
 	connect(_ui->toolBar, SIGNAL(orientationChanged(Qt::Orientation)), this, SLOT(configGUIModified()));
+	connect(statusBarAction, SIGNAL(toggled(bool)), this, SLOT(configGUIModified()));
 	QList<QDockWidget*> dockWidgets = this->findChildren<QDockWidget*>();
 	for(int i=0; i<dockWidgets.size(); ++i)
 	{
@@ -946,7 +941,7 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom)
 
 		if(_ui->actionAuto_screen_capture->isChecked() && _autoScreenCaptureOdomSync)
 		{
-			this->captureScreen();
+			this->captureScreen(_autoScreenCaptureRAM);
 		}
 	}
 
@@ -1330,7 +1325,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
 	_ui->statsToolBox->updateStat("/Gui refresh stats/ms", stat.refImageId(), elapsedTime);
 	if(_ui->actionAuto_screen_capture->isChecked() && !_autoScreenCaptureOdomSync)
 	{
-		this->captureScreen();
+		this->captureScreen(_autoScreenCaptureRAM);
 	}
 
 	if(!_preferencesDialog->isImagesKept())
@@ -2562,26 +2557,41 @@ void MainWindow::changeMappingMode()
 	emit mappingModeChanged(_ui->actionSLAM_mode->isChecked());
 }
 
-QString MainWindow::captureScreen()
+QString MainWindow::captureScreen(bool cacheInRAM)
 {
-	QString targetDir = _preferencesDialog->getWorkingDirectory() + QDir::separator() + "ScreensCaptured";
-	QDir dir;
-	if(!dir.exists(targetDir))
-	{
-		dir.mkdir(targetDir);
-	}
-	targetDir += QDir::separator();
-	targetDir += "Main_window";
-	if(!dir.exists(targetDir))
-	{
-		dir.mkdir(targetDir);
-	}
-	targetDir += QDir::separator();
 	QString name = (QDateTime::currentDateTime().toString("yyMMddhhmmsszzz") + ".png");
 	_ui->statusbar->clearMessage();
 	QPixmap figure = QPixmap::grabWidget(this);
-	figure.save(targetDir + name);
+
-	QString msg = tr("Screen captured \"%1\"").arg(targetDir + name);
+	QString targetDir = _preferencesDialog->getWorkingDirectory() + QDir::separator() + "ScreensCaptured";
+	QString msg;
+	if(cacheInRAM)
+	{
+		msg = tr("Screen captured \"%1\"").arg(name);
+		QByteArray bytes;
+		QBuffer buffer(&bytes);
+		buffer.open(QIODevice::WriteOnly);
+		figure.save(&buffer, "PNG");
+		_autoScreenCaptureCachedImages.insert(name, bytes);
+	}
+	else
+	{
+		QDir dir;
+		if(!dir.exists(targetDir))
+		{
+			dir.mkdir(targetDir);
+		}
+		targetDir += QDir::separator();
+		targetDir += "Main_window";
+		if(!dir.exists(targetDir))
+		{
+			dir.mkdir(targetDir);
+		}
+		targetDir += QDir::separator();
+
+		figure.save(targetDir + name);
+		msg = tr("Screen captured \"%1\"").arg(targetDir + name);
+	}
 	_ui->statusbar->showMessage(msg, _preferencesDialog->getTimeLimit()*500);
 	_ui->widget_console->appendMsg(msg);
 
@@ -4131,6 +4141,9 @@ void MainWindow::setDefaultViews()
 	_ui->dockWidget_imageView->setVisible(true);
 	_ui->toolBar->setVisible(_state != kMonitoring && _state != kMonitoringPaused);
 	_ui->toolBar_2->setVisible(true);
+	_ui->statusbar->setVisible(false);
+	this->setAspectRatio720p();
+	_ui->widget_cloudViewer->resetCamera();
 }
 
 void MainWindow::selectScreenCaptureFormat(bool checked)
@@ -4151,12 +4164,56 @@ void MainWindow::selectScreenCaptureFormat(bool checked)
 			{
 				_autoScreenCaptureOdomSync = true;
 			}
+
+			if(_state != kMonitoring && _state != kMonitoringPaused)
+			{
+				int r = QMessageBox::question(this, tr("Hard drive or RAM?"), tr("Save in RAM? Images will be saved on disk when clicking auto screen capture again."), QMessageBox::Yes | QMessageBox::No, QMessageBox::No);
+				if(r == QMessageBox::No || r == QMessageBox::Yes)
+				{
+					_autoScreenCaptureRAM = r == QMessageBox::Yes;
+				}
+				else
+				{
+					_ui->actionAuto_screen_capture->setChecked(false);
+				}
+			}
 		}
 		else
 		{
 			_ui->actionAuto_screen_capture->setChecked(false);
 		}
 	}
+	else if(_autoScreenCaptureCachedImages.size())
+	{
+		QString targetDir = _preferencesDialog->getWorkingDirectory() + QDir::separator() + "ScreensCaptured";
+		QDir dir;
+		if(!dir.exists(targetDir))
+		{
+			dir.mkdir(targetDir);
+		}
+		targetDir += QDir::separator();
+		targetDir += "Main_window";
+		if(!dir.exists(targetDir))
+		{
+			dir.mkdir(targetDir);
+		}
+		targetDir += QDir::separator();
+
+		_initProgressDialog->resetProgress();
+		_initProgressDialog->show();
+		_initProgressDialog->setMaximumSteps(_autoScreenCaptureCachedImages.size());
+		int i=0;
+		for(QMap<QString, QByteArray>::iterator iter=_autoScreenCaptureCachedImages.begin(); iter!=_autoScreenCaptureCachedImages.end(); ++iter)
+		{
+			QPixmap figure;
+			figure.loadFromData(iter.value(), "PNG");
+			figure.save(targetDir + iter.key(), "PNG");
+			_initProgressDialog->appendText(tr("Saved image \"%1\" (%2/%3).").arg(targetDir + iter.key()).arg(++i).arg(_autoScreenCaptureCachedImages.size()));
+			_initProgressDialog->incrementStep();
+		}
+		_autoScreenCaptureCachedImages.clear();
+		_initProgressDialog->setValue(_initProgressDialog->maximumSteps());
+	}
 }
 
 void MainWindow::takeScreenshot()
@@ -4230,6 +4287,20 @@ void MainWindow::setAspectRatio1080p()
 	this->setAspectRatio((1080*16)/9, 1080);
 }
 
+void MainWindow::setAspectRatioCustom()
+{
+	bool ok;
+	int width = QInputDialog::getInt(this, tr("Aspect ratio"), tr("Width (pixels):"), this->geometry().width(), 100, 10000, 100, &ok);
+	if(ok)
+	{
+		int height = QInputDialog::getInt(this, tr("Aspect ratio"), tr("Height (pixels):"), this->geometry().height(), 100, 10000, 100, &ok);
+		if(ok)
+		{
+			this->setAspectRatio(width, height);
+		}
+	}
+}
+
 void MainWindow::exportGridMap()
 {
 	double gridCellSize = 0.05;

guilib/src/PreferencesDialog.cpp

@@ -40,6 +40,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <QMainWindow>
 #include <QProgressDialog>
 #include <QScrollBar>
+#include <QStatusBar>
 #include <QtGui/QCloseEvent>
 
 #include "ui_preferencesDialog.h"
@@ -2047,12 +2048,13 @@ void PreferencesDialog::saveMainWindowState(const QMainWindow * mainWindow)
 		settings.beginGroup(mainWindow->objectName());
 		settings.setValue("state", mainWindow->saveState());
 		settings.setValue("maximized", mainWindow->isMaximized());
+		settings.setValue("status_bar", mainWindow->statusBar()->isVisible());
 		settings.endGroup(); // "MainWindow"
 		settings.endGroup(); // rtabmap
 	}
 }
 
-void PreferencesDialog::loadMainWindowState(QMainWindow * mainWindow,  bool & maximized)
+void PreferencesDialog::loadMainWindowState(QMainWindow * mainWindow,  bool & maximized, bool & statusBarShown)
 {
 	if(!mainWindow->objectName().isNull())
 	{
@@ -2068,6 +2070,8 @@ void PreferencesDialog::loadMainWindowState(QMainWindow * mainWindow,  bool & ma
 			mainWindow->restoreState(bytes);
 		}
 		maximized = settings.value("maximized", false).toBool();
+		statusBarShown = settings.value("status_bar", false).toBool();
+		mainWindow->statusBar()->setVisible(statusBarShown);
 		settings.endGroup(); // "MainWindow"
 		settings.endGroup(); // rtabmap
 	}

guilib/src/ui/mainWindow.ui

@@ -238,6 +238,8 @@
      <addaction name="action480p"/>
      <addaction name="action360p"/>
      <addaction name="action240p"/>
+     <addaction name="separator"/>
+     <addaction name="actionCustom"/>
     </widget>
     <addaction name="menuShow_view"/>
     <addaction name="actionDefault_views"/>
@@ -1265,6 +1267,11 @@
     <string>g2o (*.g2o)</string>
    </property>
   </action>
+  <action name="actionCustom">
+   <property name="text">
+    <string>Custom...</string>
+   </property>
+  </action>
  </widget>
  <customwidgets>
   <customwidget>