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MainWindow.cpp
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/*
Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include "rtabmap/gui/MainWindow.h"
#include "ui_mainWindow.h"
#include "rtabmap/core/CameraRGB.h"
#include "rtabmap/core/CameraStereo.h"
#include "rtabmap/core/CameraThread.h"
#include "rtabmap/core/CameraEvent.h"
#include "rtabmap/core/DBReader.h"
#include "rtabmap/core/Parameters.h"
#include "rtabmap/core/ParamEvent.h"
#include "rtabmap/core/Signature.h"
#include "rtabmap/core/Memory.h"
#include "rtabmap/core/DBDriver.h"
#include "rtabmap/core/RegistrationVis.h"
#include "rtabmap/gui/ImageView.h"
#include "rtabmap/gui/KeypointItem.h"
#include "rtabmap/gui/DataRecorder.h"
#include "rtabmap/gui/DatabaseViewer.h"
#include "rtabmap/gui/PdfPlot.h"
#include "rtabmap/gui/StatsToolBox.h"
#include "rtabmap/gui/ProgressDialog.h"
#include <rtabmap/utilite/UStl.h>
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UEventsManager.h>
#include <rtabmap/utilite/UFile.h>
#include <rtabmap/utilite/UConversion.h>
#include "rtabmap/utilite/UPlot.h"
#include "rtabmap/utilite/UCv2Qt.h"
#include "ExportCloudsDialog.h"
#include "ExportScansDialog.h"
#include "AboutDialog.h"
#include "PostProcessingDialog.h"
#include <QtGui/QCloseEvent>
#include <QtGui/QPixmap>
#include <QtCore/QDir>
#include <QtCore/QFile>
#include <QtCore/QTextStream>
#include <QtCore/QFileInfo>
#include <QMessageBox>
#include <QFileDialog>
#include <QGraphicsEllipseItem>
#include <QDockWidget>
#include <QtCore/QBuffer>
#include <QtCore/QTimer>
#include <QtCore/QTime>
#include <QActionGroup>
#include <QtCore/QThread>
#include <QtGui/QDesktopServices>
#include <QtCore/QStringList>
#include <QtCore/QProcess>
#include <QSplashScreen>
#include <QInputDialog>
#include <QToolButton>
//RGB-D stuff
#include "rtabmap/core/CameraRGBD.h"
#include "rtabmap/core/Odometry.h"
#include "rtabmap/core/OdometryThread.h"
#include "rtabmap/core/OdometryEvent.h"
#include "rtabmap/core/util3d.h"
#include "rtabmap/core/util3d_transforms.h"
#include "rtabmap/core/util3d_filtering.h"
#include "rtabmap/core/util3d_mapping.h"
#include "rtabmap/core/util3d_surface.h"
#include "rtabmap/core/util3d_registration.h"
#include "rtabmap/core/Optimizer.h"
#include "rtabmap/core/OptimizerCVSBA.h"
#include "rtabmap/core/Graph.h"
#include "rtabmap/core/RegistrationIcp.h"
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/common/transforms.h>
#include <pcl/common/common.h>
#include <pcl/io/pcd_io.h>
#include <pcl/io/ply_io.h>
#include <pcl/filters/filter.h>
#include <pcl/search/kdtree.h>
#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"
#define SHARE_IMPORT_FILE "share/rtabmap/importfile.m"
using namespace rtabmap;
inline static void initGuiResource() { Q_INIT_RESOURCE(GuiLib); }
namespace rtabmap {
MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
QMainWindow(parent),
_ui(0),
_state(kIdle),
_camera(0),
_dbReader(0),
_odomThread(0),
_preferencesDialog(0),
_aboutDialog(0),
_exportCloudsDialog(0),
_exportScansDialog(0),
_dataRecorder(0),
_lastId(0),
_processingStatistics(false),
_processingDownloadedMap(false),
_odometryReceived(false),
_newDatabasePath(""),
_newDatabasePathOutput(""),
_openedDatabasePath(""),
_databaseUpdated(false),
_odomImageShow(true),
_odomImageDepthShow(false),
_savedMaximized(false),
_waypointsIndex(0),
_odometryCorrection(Transform::getIdentity()),
_processingOdometry(false),
_oneSecondTimer(0),
_elapsedTime(0),
_posteriorCurve(0),
_likelihoodCurve(0),
_rawLikelihoodCurve(0),
_autoScreenCaptureOdomSync(false),
_autoScreenCaptureRAM(false),
_firstCall(true)
{
UDEBUG("");
initGuiResource();
QPixmap pixmap(":images/RTAB-Map.png");
QSplashScreen splash(pixmap);
splash.show();
splash.showMessage(tr("Loading..."));
QApplication::processEvents();
// Create dialogs
_aboutDialog = new AboutDialog(this);
_aboutDialog->setObjectName("AboutDialog");
_exportCloudsDialog = new ExportCloudsDialog(this);
_exportCloudsDialog->setObjectName("ExportCloudsDialog");
_exportScansDialog = new ExportScansDialog(this);
_exportScansDialog->setObjectName("ExportScansDialog");
_postProcessingDialog = new PostProcessingDialog(this);
_postProcessingDialog->setObjectName("PostProcessingDialog");
_ui = new Ui_mainWindow();
_ui->setupUi(this);
QString title("RTAB-Map[*]");
this->setWindowTitle(title);
this->setWindowIconText(tr("RTAB-Map"));
this->setObjectName("MainWindow");
//Setup dock widgets position if it is the first time the application is started.
setDefaultViews();
_ui->widget_mainWindow->setVisible(false);
if(prefDialog)
{
_preferencesDialog = prefDialog;
_preferencesDialog->setParent(this, Qt::Dialog);
}
else // Default dialog
{
_preferencesDialog = new PreferencesDialog(this);
}
_preferencesDialog->setObjectName("PreferencesDialog");
_preferencesDialog->init();
// Restore window geometry
bool statusBarShown = false;
_preferencesDialog->loadMainWindowState(this, _savedMaximized, statusBarShown);
_preferencesDialog->loadWindowGeometry(_preferencesDialog);
_preferencesDialog->loadWindowGeometry(_exportCloudsDialog);
_preferencesDialog->loadWindowGeometry(_exportScansDialog);
_preferencesDialog->loadWindowGeometry(_postProcessingDialog);
_preferencesDialog->loadWindowGeometry(_aboutDialog);
setupMainLayout(_preferencesDialog->isVerticalLayoutUsed());
// Timer
_oneSecondTimer = new QTimer(this);
_oneSecondTimer->setInterval(1000);
_elapsedTime = new QTime();
_ui->label_elapsedTime->setText("00:00:00");
connect(_oneSecondTimer, SIGNAL(timeout()), this, SLOT(updateElapsedTime()));
_logEventTime = new QTime();
_logEventTime->start();
//Graphics scenes
_ui->imageView_source->setBackgroundColor(Qt::black);
_ui->imageView_loopClosure->setBackgroundColor(Qt::black);
_ui->imageView_odometry->setBackgroundColor(Qt::black);
_ui->imageView_odometry->setAlpha(200);
_preferencesDialog->loadWidgetState(_ui->imageView_source);
_preferencesDialog->loadWidgetState(_ui->imageView_loopClosure);
_preferencesDialog->loadWidgetState(_ui->imageView_odometry);
_preferencesDialog->loadWidgetState(_ui->graphicsView_graphView);
_posteriorCurve = new PdfPlotCurve("Posterior", &_cachedSignatures, this);
_ui->posteriorPlot->addCurve(_posteriorCurve, false);
_ui->posteriorPlot->showLegend(false);
_ui->posteriorPlot->setFixedYAxis(0,1);
UPlotCurveThreshold * tc;
tc = _ui->posteriorPlot->addThreshold("Loop closure thr", float(_preferencesDialog->getLoopThr()));
connect(this, SIGNAL(loopClosureThrChanged(float)), tc, SLOT(setThreshold(float)));
_likelihoodCurve = new PdfPlotCurve("Likelihood", &_cachedSignatures, this);
_ui->likelihoodPlot->addCurve(_likelihoodCurve, false);
_ui->likelihoodPlot->showLegend(false);
_rawLikelihoodCurve = new PdfPlotCurve("Likelihood", &_cachedSignatures, this);
_ui->rawLikelihoodPlot->addCurve(_rawLikelihoodCurve, 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->setWindowTitle(tr("Progress dialog"));
_initProgressDialog->setMinimumWidth(800);
connect(_ui->widget_mapVisibility, SIGNAL(visibilityChanged(int, bool)), this, SLOT(updateNodeVisibility(int, bool)));
//connect stuff
connect(_ui->actionExit, SIGNAL(triggered()), this, SLOT(close()));
qRegisterMetaType<MainWindow::State>("MainWindow::State");
connect(this, SIGNAL(stateChanged(MainWindow::State)), this, SLOT(changeState(MainWindow::State)));
connect(this, SIGNAL(rtabmapEventInitReceived(int, const QString &)), this, SLOT(processRtabmapEventInit(int, const QString &)));
qRegisterMetaType<rtabmap::RtabmapEvent3DMap>("rtabmap::RtabmapEvent3DMap");
connect(this, SIGNAL(rtabmapEvent3DMapReceived(const rtabmap::RtabmapEvent3DMap &)), this, SLOT(processRtabmapEvent3DMap(const rtabmap::RtabmapEvent3DMap &)));
qRegisterMetaType<rtabmap::RtabmapGlobalPathEvent>("rtabmap::RtabmapGlobalPathEvent");
connect(this, SIGNAL(rtabmapGlobalPathEventReceived(const rtabmap::RtabmapGlobalPathEvent &)), this, SLOT(processRtabmapGlobalPathEvent(const rtabmap::RtabmapGlobalPathEvent &)));
connect(this, SIGNAL(rtabmapLabelErrorReceived(int, const QString &)), this, SLOT(processRtabmapLabelErrorEvent(int, const QString &)));
connect(this, SIGNAL(rtabmapGoalStatusEventReceived(int)), this, SLOT(processRtabmapGoalStatusEvent(int)));
// Dock Widget view actions (Menu->Window)
_ui->menuShow_view->addAction(_ui->dockWidget_imageView->toggleViewAction());
_ui->menuShow_view->addAction(_ui->dockWidget_posterior->toggleViewAction());
_ui->menuShow_view->addAction(_ui->dockWidget_likelihood->toggleViewAction());
_ui->menuShow_view->addAction(_ui->dockWidget_rawlikelihood->toggleViewAction());
_ui->menuShow_view->addAction(_ui->dockWidget_statsV2->toggleViewAction());
_ui->menuShow_view->addAction(_ui->dockWidget_console->toggleViewAction());
_ui->menuShow_view->addAction(_ui->dockWidget_cloudViewer->toggleViewAction());
_ui->menuShow_view->addAction(_ui->dockWidget_loopClosureViewer->toggleViewAction());
_ui->menuShow_view->addAction(_ui->dockWidget_mapVisibility->toggleViewAction());
_ui->menuShow_view->addAction(_ui->dockWidget_graphViewer->toggleViewAction());
_ui->menuShow_view->addAction(_ui->dockWidget_odometry->toggleViewAction());
_ui->menuShow_view->addAction(_ui->toolBar->toggleViewAction());
_ui->toolBar->setWindowTitle(tr("File toolbar"));
_ui->menuShow_view->addAction(_ui->toolBar_2->toggleViewAction());
_ui->toolBar_2->setWindowTitle(tr("Control toolbar"));
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()));
connect(_ui->actionNew_database, SIGNAL(triggered()), this, SLOT(newDatabase()));
connect(_ui->actionOpen_database, SIGNAL(triggered()), this, SLOT(openDatabase()));
connect(_ui->actionClose_database, SIGNAL(triggered()), this, SLOT(closeDatabase()));
connect(_ui->actionEdit_database, SIGNAL(triggered()), this, SLOT(editDatabase()));
connect(_ui->actionStart, SIGNAL(triggered()), this, SLOT(startDetection()));
connect(_ui->actionPause, SIGNAL(triggered()), this, SLOT(pauseDetection()));
connect(_ui->actionStop, SIGNAL(triggered()), this, SLOT(stopDetection()));
connect(_ui->actionDump_the_memory, SIGNAL(triggered()), this, SLOT(dumpTheMemory()));
connect(_ui->actionDump_the_prediction_matrix, SIGNAL(triggered()), this, SLOT(dumpThePrediction()));
connect(_ui->actionSend_goal, SIGNAL(triggered()), this, SLOT(sendGoal()));
connect(_ui->actionSend_waypoints, SIGNAL(triggered()), this, SLOT(sendWaypoints()));
connect(_ui->actionCancel_goal, SIGNAL(triggered()), this, SLOT(cancelGoal()));
connect(_ui->actionLabel_current_location, SIGNAL(triggered()), this, SLOT(label()));
connect(_ui->actionClear_cache, SIGNAL(triggered()), this, SLOT(clearTheCache()));
connect(_ui->actionAbout, SIGNAL(triggered()), _aboutDialog , SLOT(exec()));
connect(_ui->actionPrint_loop_closure_IDs_to_console, SIGNAL(triggered()), this, SLOT(printLoopClosureIds()));
connect(_ui->actionGenerate_map, SIGNAL(triggered()), this , SLOT(generateGraphDOT()));
connect(_ui->actionRaw_format_txt, SIGNAL(triggered()), this , SLOT(exportPosesRaw()));
connect(_ui->actionRGBD_SLAM_format_txt, SIGNAL(triggered()), this , SLOT(exportPosesRGBDSLAM()));
connect(_ui->actionKITTI_format_txt, SIGNAL(triggered()), this , SLOT(exportPosesKITTI()));
connect(_ui->actionTORO_graph, SIGNAL(triggered()), this , SLOT(exportPosesTORO()));
connect(_ui->actionG2o_g2o, SIGNAL(triggered()), this , SLOT(exportPosesG2O()));
_ui->actionG2o_g2o->setVisible(Optimizer::isAvailable(Optimizer::kTypeG2O));
connect(_ui->actionDelete_memory, SIGNAL(triggered()), this , SLOT(deleteMemory()));
connect(_ui->actionDownload_all_clouds, SIGNAL(triggered()), this , SLOT(downloadAllClouds()));
connect(_ui->actionDownload_graph, SIGNAL(triggered()), this , SLOT(downloadPoseGraph()));
connect(_ui->actionUpdate_cache_from_database, SIGNAL(triggered()), this, SLOT(updateCacheFromDatabase()));
connect(_ui->actionAnchor_clouds_to_ground_truth, SIGNAL(triggered()), this, SLOT(anchorCloudsToGroundTruth()));
connect(_ui->menuEdit, SIGNAL(aboutToShow()), this, SLOT(updateEditMenu()));
connect(_ui->actionDefault_views, SIGNAL(triggered(bool)), this, SLOT(setDefaultViews()));
connect(_ui->actionAuto_screen_capture, SIGNAL(triggered(bool)), this, SLOT(selectScreenCaptureFormat(bool)));
connect(_ui->actionScreenshot, SIGNAL(triggered()), this, SLOT(takeScreenshot()));
connect(_ui->action16_9, SIGNAL(triggered()), this, SLOT(setAspectRatio16_9()));
connect(_ui->action16_10, SIGNAL(triggered()), this, SLOT(setAspectRatio16_10()));
connect(_ui->action4_3, SIGNAL(triggered()), this, SLOT(setAspectRatio4_3()));
connect(_ui->action240p, SIGNAL(triggered()), this, SLOT(setAspectRatio240p()));
connect(_ui->action360p, SIGNAL(triggered()), this, SLOT(setAspectRatio360p()));
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()));
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->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()));
connect(_ui->actionData_recorder, SIGNAL(triggered()), this, SLOT(dataRecorder()));
connect(_ui->actionPost_processing, SIGNAL(triggered()), this, SLOT(postProcessing()));
_ui->actionPause->setShortcut(Qt::Key_Space);
_ui->actionSave_GUI_config->setShortcut(QKeySequence::Save);
_ui->actionReset_Odometry->setEnabled(false);
_ui->actionPost_processing->setEnabled(false);
_ui->actionAnchor_clouds_to_ground_truth->setEnabled(false);
QToolButton* toolButton = new QToolButton(this);
toolButton->setMenu(_ui->menuSelect_source);
toolButton->setPopupMode(QToolButton::InstantPopup);
toolButton->setIcon(QIcon(":images/kinect_xbox_360.png"));
toolButton->setToolTip("Select sensor driver");
_ui->toolBar->addWidget(toolButton)->setObjectName("toolbar_source");
#if defined(Q_WS_MAC) || defined(Q_WS_WIN)
connect(_ui->actionOpen_working_directory, SIGNAL(triggered()), SLOT(openWorkingDirectory()));
#else
_ui->menuEdit->removeAction(_ui->actionOpen_working_directory);
#endif
//Settings menu
connect(_ui->actionMore_options, SIGNAL(triggered()), this, SLOT(openPreferencesSource()));
connect(_ui->actionUsbCamera, SIGNAL(triggered()), this, SLOT(selectStream()));
connect(_ui->actionOpenNI_PCL, SIGNAL(triggered()), this, SLOT(selectOpenni()));
connect(_ui->actionOpenNI_PCL_ASUS, SIGNAL(triggered()), this, SLOT(selectOpenni()));
connect(_ui->actionFreenect, SIGNAL(triggered()), this, SLOT(selectFreenect()));
connect(_ui->actionOpenNI_CV, SIGNAL(triggered()), this, SLOT(selectOpenniCv()));
connect(_ui->actionOpenNI_CV_ASUS, SIGNAL(triggered()), this, SLOT(selectOpenniCvAsus()));
connect(_ui->actionOpenNI2, SIGNAL(triggered()), this, SLOT(selectOpenni2()));
connect(_ui->actionOpenNI2_kinect, SIGNAL(triggered()), this, SLOT(selectOpenni2()));
connect(_ui->actionOpenNI2_sense, SIGNAL(triggered()), this, SLOT(selectOpenni2()));
connect(_ui->actionFreenect2, SIGNAL(triggered()), this, SLOT(selectFreenect2()));
connect(_ui->actionStereoDC1394, SIGNAL(triggered()), this, SLOT(selectStereoDC1394()));
connect(_ui->actionStereoFlyCapture2, SIGNAL(triggered()), this, SLOT(selectStereoFlyCapture2()));
_ui->actionFreenect->setEnabled(CameraFreenect::available());
_ui->actionOpenNI_CV->setEnabled(CameraOpenNICV::available());
_ui->actionOpenNI_CV_ASUS->setEnabled(CameraOpenNICV::available());
_ui->actionOpenNI2->setEnabled(CameraOpenNI2::available());
_ui->actionOpenNI2_kinect->setEnabled(CameraOpenNI2::available());
_ui->actionOpenNI2_sense->setEnabled(CameraOpenNI2::available());
_ui->actionFreenect2->setEnabled(CameraFreenect2::available());
_ui->actionStereoDC1394->setEnabled(CameraStereoDC1394::available());
_ui->actionStereoFlyCapture2->setEnabled(CameraStereoFlyCapture2::available());
this->updateSelectSourceMenu();
connect(_ui->actionPreferences, SIGNAL(triggered()), this, SLOT(openPreferences()));
QActionGroup * modeGrp = new QActionGroup(this);
modeGrp->addAction(_ui->actionSLAM_mode);
modeGrp->addAction(_ui->actionLocalization_mode);
_ui->actionSLAM_mode->setChecked(_preferencesDialog->isSLAMMode());
_ui->actionLocalization_mode->setChecked(!_preferencesDialog->isSLAMMode());
connect(_ui->actionSLAM_mode, SIGNAL(triggered()), this, SLOT(changeMappingMode()));
connect(_ui->actionLocalization_mode, SIGNAL(triggered()), this, SLOT(changeMappingMode()));
connect(this, SIGNAL(mappingModeChanged(bool)), _preferencesDialog, SLOT(setSLAMMode(bool)));
// Settings changed
qRegisterMetaType<PreferencesDialog::PANEL_FLAGS>("PreferencesDialog::PANEL_FLAGS");
connect(_preferencesDialog, SIGNAL(settingsChanged(PreferencesDialog::PANEL_FLAGS)), this, SLOT(applyPrefSettings(PreferencesDialog::PANEL_FLAGS)));
qRegisterMetaType<rtabmap::ParametersMap>("rtabmap::ParametersMap");
connect(_preferencesDialog, SIGNAL(settingsChanged(rtabmap::ParametersMap)), this, SLOT(applyPrefSettings(rtabmap::ParametersMap)));
// config GUI modified
connect(_preferencesDialog, SIGNAL(settingsChanged(PreferencesDialog::PANEL_FLAGS)), this, SLOT(configGUIModified()));
if(prefDialog == 0)
{
connect(_preferencesDialog, SIGNAL(settingsChanged(rtabmap::ParametersMap)), this, SLOT(configGUIModified()));
}
connect(_ui->imageView_source, SIGNAL(configChanged()), this, SLOT(configGUIModified()));
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(_exportCloudsDialog, SIGNAL(configChanged()), this, SLOT(configGUIModified()));
connect(_exportScansDialog, SIGNAL(configChanged()), this, SLOT(configGUIModified()));
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)
{
connect(dockWidgets[i], SIGNAL(dockLocationChanged(Qt::DockWidgetArea)), this, SLOT(configGUIModified()));
connect(dockWidgets[i]->toggleViewAction(), SIGNAL(toggled(bool)), this, SLOT(configGUIModified()));
}
// catch resize events
_ui->dockWidget_posterior->installEventFilter(this);
_ui->dockWidget_likelihood->installEventFilter(this);
_ui->dockWidget_rawlikelihood->installEventFilter(this);
_ui->dockWidget_statsV2->installEventFilter(this);
_ui->dockWidget_console->installEventFilter(this);
_ui->dockWidget_loopClosureViewer->installEventFilter(this);
_ui->dockWidget_mapVisibility->installEventFilter(this);
_ui->dockWidget_graphViewer->installEventFilter(this);
_ui->dockWidget_odometry->installEventFilter(this);
_ui->dockWidget_cloudViewer->installEventFilter(this);
_ui->dockWidget_imageView->installEventFilter(this);
// more connects...
connect(_ui->doubleSpinBox_stats_imgRate, SIGNAL(editingFinished()), this, SLOT(changeImgRateSetting()));
connect(_ui->doubleSpinBox_stats_detectionRate, SIGNAL(editingFinished()), this, SLOT(changeDetectionRateSetting()));
connect(_ui->doubleSpinBox_stats_timeLimit, SIGNAL(editingFinished()), this, SLOT(changeTimeLimitSetting()));
connect(this, SIGNAL(imgRateChanged(double)), _preferencesDialog, SLOT(setInputRate(double)));
connect(this, SIGNAL(detectionRateChanged(double)), _preferencesDialog, SLOT(setDetectionRate(double)));
connect(this, SIGNAL(timeLimitChanged(float)), _preferencesDialog, SLOT(setTimeLimit(float)));
// Statistics from the detector
qRegisterMetaType<rtabmap::Statistics>("rtabmap::Statistics");
connect(this, SIGNAL(statsReceived(rtabmap::Statistics)), this, SLOT(processStats(rtabmap::Statistics)));
qRegisterMetaType<rtabmap::CameraInfo>("rtabmap::CameraInfo");
connect(this, SIGNAL(cameraInfoReceived(rtabmap::CameraInfo)), this, SLOT(processCameraInfo(rtabmap::CameraInfo)));
qRegisterMetaType<rtabmap::OdometryEvent>("rtabmap::OdometryEvent");
connect(this, SIGNAL(odometryReceived(rtabmap::OdometryEvent)), this, SLOT(processOdometry(rtabmap::OdometryEvent)));
connect(this, SIGNAL(noMoreImagesReceived()), this, SLOT(notifyNoMoreImages()));
// Apply state
this->changeState(kIdle);
this->applyPrefSettings(PreferencesDialog::kPanelAll);
_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);
//dialog states
_preferencesDialog->loadWidgetState(_exportCloudsDialog);
_preferencesDialog->loadWidgetState(_exportScansDialog);
_preferencesDialog->loadWidgetState(_postProcessingDialog);
if(_ui->statsToolBox->findChildren<StatItem*>().size() == 0)
{
const std::map<std::string, float> & statistics = Statistics::defaultData();
for(std::map<std::string, float>::const_iterator iter = statistics.begin(); iter != statistics.end(); ++iter)
{
_ui->statsToolBox->updateStat(QString((*iter).first.c_str()).replace('_', ' '), 0, (*iter).second);
}
}
// Specific MainWindow
_ui->statsToolBox->updateStat("Planning/From/", 0.0f);
_ui->statsToolBox->updateStat("Planning/Time/ms", 0.0f);
_ui->statsToolBox->updateStat("Planning/Goal/", 0.0f);
_ui->statsToolBox->updateStat("Planning/Poses/", 0.0f);
_ui->statsToolBox->updateStat("Planning/Length/m", 0.0f);
_ui->statsToolBox->updateStat("Camera/Time capturing/ms", 0.0f);
_ui->statsToolBox->updateStat("Camera/Time decimation/ms", 0.0f);
_ui->statsToolBox->updateStat("Camera/Time disparity/ms", 0.0f);
_ui->statsToolBox->updateStat("Camera/Time mirroring/ms", 0.0f);
_ui->statsToolBox->updateStat("Camera/Time scan from depth/ms", 0.0f);
_ui->statsToolBox->updateStat("Odometry/ID/", 0.0f);
_ui->statsToolBox->updateStat("Odometry/Features/", 0.0f);
_ui->statsToolBox->updateStat("Odometry/Matches/", 0.0f);
_ui->statsToolBox->updateStat("Odometry/Inliers/", 0.0f);
_ui->statsToolBox->updateStat("Odometry/ICPInliersRatio/", 0.0f);
_ui->statsToolBox->updateStat("Odometry/StdDev/", 0.0f);
_ui->statsToolBox->updateStat("Odometry/Variance/", 0.0f);
_ui->statsToolBox->updateStat("Odometry/TimeEstimation/ms", 0.0f);
_ui->statsToolBox->updateStat("Odometry/TimeFiltering/ms", 0.0f);
_ui->statsToolBox->updateStat("Odometry/LocalMapSize/", 0.0f);
_ui->statsToolBox->updateStat("Odometry/LocalScanMapSize/", 0.0f);
_ui->statsToolBox->updateStat("Odometry/Interval/ms", 0.0f);
_ui->statsToolBox->updateStat("Odometry/Speed/kph", 0.0f);
_ui->statsToolBox->updateStat("Odometry/Distance/m", 0.0f);
_ui->statsToolBox->updateStat("Odometry/Tx/m", 0.0f);
_ui->statsToolBox->updateStat("Odometry/Ty/m", 0.0f);
_ui->statsToolBox->updateStat("Odometry/Tz/m", 0.0f);
_ui->statsToolBox->updateStat("Odometry/Troll/deg", 0.0f);
_ui->statsToolBox->updateStat("Odometry/Tpitch/deg", 0.0f);
_ui->statsToolBox->updateStat("Odometry/Tyaw/deg", 0.0f);
_ui->statsToolBox->updateStat("Odometry/Px/m", 0.0f);
_ui->statsToolBox->updateStat("Odometry/Py/m", 0.0f);
_ui->statsToolBox->updateStat("Odometry/Pz/m", 0.0f);
_ui->statsToolBox->updateStat("Odometry/Proll/deg", 0.0f);
_ui->statsToolBox->updateStat("Odometry/Ppitch/deg", 0.0f);
_ui->statsToolBox->updateStat("Odometry/Pyaw/deg", 0.0f);
_ui->statsToolBox->updateStat("GUI/Refresh odom/ms", 0.0f);
_ui->statsToolBox->updateStat("GUI/RGB-D cloud/ms", 0.0f);
_ui->statsToolBox->updateStat("GUI/RGB-D closure_view/ms", 0.0f);
_ui->statsToolBox->updateStat("GUI/Refresh stats/ms", 0.0f);
this->loadFigures();
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));
//update ui
_ui->doubleSpinBox_stats_detectionRate->setValue(_preferencesDialog->getDetectionRate());
_ui->doubleSpinBox_stats_timeLimit->setValue(_preferencesDialog->getTimeLimit());
_ui->actionSLAM_mode->setChecked(_preferencesDialog->isSLAMMode());
splash.close();
this->setFocus();
UDEBUG("");
}
MainWindow::~MainWindow()
{
UDEBUG("");
this->stopDetection();
delete _ui;
delete _elapsedTime;
UDEBUG("");
}
void MainWindow::setupMainLayout(bool vertical)
{
if(vertical)
{
qobject_cast<QHBoxLayout *>(_ui->layout_imageview->layout())->setDirection(QBoxLayout::TopToBottom);
}
else if(!vertical)
{
qobject_cast<QHBoxLayout *>(_ui->layout_imageview->layout())->setDirection(QBoxLayout::LeftToRight);
}
}
void MainWindow::closeEvent(QCloseEvent* event)
{
// Try to close all children
/*QList<QMainWindow *> windows = this->findChildren<QMainWindow *>();
for(int i=0; i<windows.size(); i++) {
if(!windows[i]->close()) {
event->setAccepted(false);
return;
}
}*/
UDEBUG("");
bool processStopped = true;
if(_state != kIdle && _state != kMonitoring && _state != kMonitoringPaused)
{
this->stopDetection();
if(_state == kInitialized)
{
if(this->closeDatabase())
{
this->changeState(kApplicationClosing);
}
}
if(_state != kIdle)
{
processStopped = false;
}
}
if(processStopped)
{
//write settings before quit?
bool save = false;
if(this->isWindowModified())
{
QMessageBox::Button b=QMessageBox::question(this,
tr("RTAB-Map"),
tr("There are unsaved changed settings. Save them?"),
QMessageBox::Save | QMessageBox::Cancel | QMessageBox::Discard);
if(b == QMessageBox::Save)
{
save = true;
}
else if(b != QMessageBox::Discard)
{
event->ignore();
return;
}
}
if(save)
{
saveConfigGUI();
}
_ui->statsToolBox->closeFigures();
_ui->dockWidget_imageView->close();
_ui->dockWidget_likelihood->close();
_ui->dockWidget_rawlikelihood->close();
_ui->dockWidget_posterior->close();
_ui->dockWidget_statsV2->close();
_ui->dockWidget_console->close();
_ui->dockWidget_cloudViewer->close();
_ui->dockWidget_loopClosureViewer->close();
_ui->dockWidget_mapVisibility->close();
_ui->dockWidget_graphViewer->close();
_ui->dockWidget_odometry->close();
if(_camera)
{
UERROR("Camera must be already deleted here!");
delete _camera;
_camera = 0;
}
if(_dbReader)
{
UERROR("DBReader must be already deleted here!");
delete _dbReader;
_dbReader = 0;
}
if(_odomThread)
{
UERROR("OdomThread must be already deleted here!");
delete _odomThread;
_odomThread = 0;
}
event->accept();
}
else
{
event->ignore();
}
UDEBUG("");
}
void MainWindow::handleEvent(UEvent* anEvent)
{
if(anEvent->getClassName().compare("RtabmapEvent") == 0)
{
RtabmapEvent * rtabmapEvent = (RtabmapEvent*)anEvent;
Statistics stats = rtabmapEvent->getStats();
int highestHypothesisId = int(uValue(stats.data(), Statistics::kLoopHighest_hypothesis_id(), 0.0f));
int proximityClosureId = int(uValue(stats.data(), Statistics::kProximitySpace_last_detection_id(), 0.0f));
bool rejectedHyp = bool(uValue(stats.data(), Statistics::kLoopRejectedHypothesis(), 0.0f));
float highestHypothesisValue = uValue(stats.data(), Statistics::kLoopHighest_hypothesis_value(), 0.0f);
if((stats.loopClosureId() > 0 &&
_ui->actionPause_on_match->isChecked())
||
(stats.loopClosureId() == 0 &&
highestHypothesisId > 0 &&
highestHypothesisValue >= _preferencesDialog->getLoopThr() &&
_ui->actionPause_when_a_loop_hypothesis_is_rejected->isChecked() &&
rejectedHyp)
||
(proximityClosureId > 0 &&
_ui->actionPause_on_local_loop_detection->isChecked()))
{
if(_state != kPaused && _state != kMonitoringPaused && !_processingDownloadedMap)
{
if(_preferencesDialog->beepOnPause())
{
QMetaObject::invokeMethod(this, "beep");
}
this->pauseDetection();
}
}
if(!_processingDownloadedMap)
{
_processingStatistics = true;
emit statsReceived(stats);
}
}
else if(anEvent->getClassName().compare("RtabmapEventInit") == 0)
{
RtabmapEventInit * rtabmapEventInit = (RtabmapEventInit*)anEvent;
emit rtabmapEventInitReceived((int)rtabmapEventInit->getStatus(), rtabmapEventInit->getInfo().c_str());
}
else if(anEvent->getClassName().compare("RtabmapEvent3DMap") == 0)
{
RtabmapEvent3DMap * rtabmapEvent3DMap = (RtabmapEvent3DMap*)anEvent;
emit rtabmapEvent3DMapReceived(*rtabmapEvent3DMap);
}
else if(anEvent->getClassName().compare("RtabmapGlobalPathEvent") == 0)
{
RtabmapGlobalPathEvent * rtabmapGlobalPathEvent = (RtabmapGlobalPathEvent*)anEvent;
emit rtabmapGlobalPathEventReceived(*rtabmapGlobalPathEvent);
}
else if(anEvent->getClassName().compare("RtabmapLabelErrorEvent") == 0)
{
RtabmapLabelErrorEvent * rtabmapLabelErrorEvent = (RtabmapLabelErrorEvent*)anEvent;
emit rtabmapLabelErrorReceived(rtabmapLabelErrorEvent->id(), QString(rtabmapLabelErrorEvent->label().c_str()));
}
else if(anEvent->getClassName().compare("RtabmapGoalStatusEvent") == 0)
{
emit rtabmapGoalStatusEventReceived(anEvent->getCode());
}
else if(anEvent->getClassName().compare("CameraEvent") == 0)
{
CameraEvent * cameraEvent = (CameraEvent*)anEvent;
if(cameraEvent->getCode() == CameraEvent::kCodeNoMoreImages)
{
if(_preferencesDialog->beepOnPause())
{
QMetaObject::invokeMethod(this, "beep");
}
emit noMoreImagesReceived();
}
else
{
emit cameraInfoReceived(cameraEvent->info());
}
}
else if(anEvent->getClassName().compare("OdometryEvent") == 0)
{
OdometryEvent * odomEvent = (OdometryEvent*)anEvent;
if(!_processingOdometry && !_processingStatistics)
{
_processingOdometry = true; // if we receive too many odometry events!
emit odometryReceived(*odomEvent);
}
else
{
// we receive too many odometry events! just send without data
SensorData data(cv::Mat(), odomEvent->data().id(), odomEvent->data().stamp());
data.setGroundTruth(odomEvent->data().groundTruth());
OdometryEvent tmp(data, odomEvent->pose(), odomEvent->covariance(), odomEvent->info().copyWithoutData());
emit odometryReceived(tmp);
}
}
else if(anEvent->getClassName().compare("ULogEvent") == 0)
{
ULogEvent * logEvent = (ULogEvent*)anEvent;
if(logEvent->getCode() >= _preferencesDialog->getGeneralLoggerPauseLevel())
{
QMetaObject::invokeMethod(_ui->dockWidget_console, "show");
// The timer prevents multiple calls to pauseDetection() before the state can be changed
if(_state != kPaused && _state != kMonitoringPaused && _logEventTime->elapsed() > 1000)
{
_logEventTime->start();
if(_preferencesDialog->beepOnPause())
{
QMetaObject::invokeMethod(this, "beep");
}
pauseDetection();
}
}
}
}
void MainWindow::processCameraInfo(const rtabmap::CameraInfo & info)
{
_ui->statsToolBox->updateStat("Camera/Time capturing/ms", (float)info.id, info.timeCapture*1000.0f);
_ui->statsToolBox->updateStat("Camera/Time decimation/ms", (float)info.id, info.timeImageDecimation*1000.0f);
_ui->statsToolBox->updateStat("Camera/Time disparity/ms", (float)info.id, info.timeDisparity*1000.0f);
_ui->statsToolBox->updateStat("Camera/Time mirroring/ms", (float)info.id, info.timeMirroring*1000.0f);
_ui->statsToolBox->updateStat("Camera/Time scan_from_depth/ms", (float)info.id, info.timeScanFromDepth*1000.0f);
}
void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom)
{
UDEBUG("");
_processingOdometry = true;
UTimer time;
// Process Data
if(!odom.data().imageRaw().empty())
{
// Set color code as tooltip
if(_ui->imageView_odometry->toolTip().isEmpty())
{
_ui->imageView_odometry->setToolTip(
"Background Color Code:\n"
" Dark Red = Odometry Lost\n"
" Dark Yellow = Low Inliers");
}
Transform pose = odom.pose();
bool lost = false;
bool lostStateChanged = false;
if(pose.isNull())
{
UDEBUG("odom lost"); // use last pose
lostStateChanged = _ui->widget_cloudViewer->getBackgroundColor() != Qt::darkRed;
_ui->widget_cloudViewer->setBackgroundColor(Qt::darkRed);
_ui->imageView_odometry->setBackgroundColor(Qt::darkRed);
pose = _lastOdomPose;
lost = true;
}
else if(odom.info().inliers>0 &&
_preferencesDialog->getOdomQualityWarnThr() &&
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);
_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());
_ui->imageView_odometry->setBackgroundColor(Qt::black);
}
if(!pose.isNull() && (_ui->dockWidget_cloudViewer->isVisible() || _ui->graphicsView_graphView->isVisible()))
{
_lastOdomPose = pose;
_odometryReceived = true;
}
if(_ui->dockWidget_cloudViewer->isVisible())
{
bool cloudUpdated = false;
bool scanUpdated = false;
bool featuresUpdated = false;
if(!pose.isNull())
{
// 3d cloud
if(odom.data().depthOrRightRaw().cols == odom.data().imageRaw().cols &&
odom.data().depthOrRightRaw().rows == odom.data().imageRaw().rows &&
!odom.data().depthOrRightRaw().empty() &&
(odom.data().cameraModels().size() || odom.data().stereoCameraModel().isValidForProjection()) &&
_preferencesDialog->isCloudsShown(1))
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
pcl::IndicesPtr indices(new std::vector<int>);
cloud = util3d::cloudRGBFromSensorData(odom.data(),
_preferencesDialog->getCloudDecimation(1),
_preferencesDialog->getCloudMaxDepth(1),
0,
0,
indices.get());
if(indices->size())
{
cloud = util3d::transformPointCloud(cloud, pose);
if(_preferencesDialog->isCloudMeshing())
{
// we need to extract indices as pcl::OrganizedFastMesh doesn't take indices
pcl::PointCloud<pcl::PointXYZRGB>::Ptr output(new pcl::PointCloud<pcl::PointXYZRGB>);
output = util3d::extractIndices(cloud, indices, false, true);
// Fast organized mesh
std::vector<pcl::Vertices> polygons = util3d::organizedFastMesh(
output,
_preferencesDialog->getCloudMeshingAngle(),
_preferencesDialog->isCloudMeshingQuad(),
_preferencesDialog->getCloudMeshingTriangleSize(),
Eigen::Vector3f(pose.x(), pose.y(), pose.z()));
if(polygons.size())
{
if(!_ui->widget_cloudViewer->addCloudMesh("cloudOdom", output, polygons, _odometryCorrection))
{
UERROR("Adding cloudOdom to viewer failed!");
}
}
}
else
{
if(!_ui->widget_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));
cloudUpdated = true;
}
}
if(_preferencesDialog->isScansShown(1))
{
// scan local map
if(!odom.info().localScanMap.empty())
{
pcl::PointCloud<pcl::PointNormal>::Ptr cloud;
cloud = util3d::laserScanToPointCloudNormal(odom.info().localScanMap);
if(!_ui->widget_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));
scanUpdated = true;
}
}
// scan cloud
if(!odom.data().laserScanRaw().empty())
{
cv::Mat scan = odom.data().laserScanRaw();
if(_preferencesDialog->getDownsamplingStepScan(1) > 0)
{
scan = util3d::downsample(scan, _preferencesDialog->getDownsamplingStepScan(1));
}
pcl::PointCloud<pcl::PointNormal>::Ptr cloud;
cloud = util3d::laserScanToPointCloudNormal(scan, pose);
if(_preferencesDialog->getCloudVoxelSizeScan(1) > 0.0)
{
cloud = util3d::voxelize(cloud, _preferencesDialog->getCloudVoxelSizeScan(1));
}
if(!_ui->widget_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));
scanUpdated = true;
}
}
}
// 3d features
if(_preferencesDialog->isFeaturesShown(1))
{
if(!odom.info().localMap.empty())
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
cloud->resize(odom.info().localMap.size());
int i=0;
for(std::map<int, cv::Point3f>::const_iterator iter=odom.info().localMap.begin(); iter!=odom.info().localMap.end(); ++iter)
{
(*cloud)[i].x = iter->second.x;
(*cloud)[i].y = iter->second.y;
(*cloud)[i].z = iter->second.z;
// green = inlier, yellow = outliers
bool inlier = odom.info().words.find(iter->first) != odom.info().words.end();
(*cloud)[i].r = inlier?0:255;
(*cloud)[i].g = 255;
(*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));
featuresUpdated = true;
}
}
}
if(!cloudUpdated && _ui->widget_cloudViewer->getAddedClouds().contains("cloudOdom"))
{
_ui->widget_cloudViewer->setCloudVisibility("cloudOdom", false);
}
if(!scanUpdated && _ui->widget_cloudViewer->getAddedClouds().contains("scanOdom"))
{
_ui->widget_cloudViewer->setCloudVisibility("scanOdom", false);
}
if(!scanUpdated && _ui->widget_cloudViewer->getAddedClouds().contains("scanMapOdom"))
{
_ui->widget_cloudViewer->setCloudVisibility("scanMapOdom", false);
}
if(!featuresUpdated && _ui->widget_cloudViewer->getAddedClouds().contains("featuresOdom"))
{
_ui->widget_cloudViewer->setCloudVisibility("featuresOdom", false);