root / rgbdslam / src / main.cpp @ 9240aaa3
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1 | 9240aaa3 | Alex | /* This file is part of RGBDSLAM.
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2 | *
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3 | * RGBDSLAM is free software: you can redistribute it and/or modify
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4 | * it under the terms of the GNU General Public License as published by
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5 | * the Free Software Foundation, either version 3 of the License, or
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6 | * (at your option) any later version.
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7 | *
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8 | * RGBDSLAM is distributed in the hope that it will be useful,
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9 | * but WITHOUT ANY WARRANTY; without even the implied warranty of
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10 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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11 | * GNU General Public License for more details.
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12 | *
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13 | * You should have received a copy of the GNU General Public License
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14 | * along with RGBDSLAM. If not, see <http://www.gnu.org/licenses/>.
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15 | */
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16 | |||
17 | /* registration main:
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18 | * Create
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19 | * - a Qt Application
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20 | * - a ROS Node,
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21 | * - a ROS listener, listening to and processing kinect data
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22 | * - Let them communicate internally via QT Signals
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23 | */
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24 | #include "openni_listener.h" |
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25 | #include "qtros.h" |
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26 | #include <QApplication> |
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27 | #include <QObject> |
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28 | #include "qt_gui.h" |
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29 | #include <Eigen/Core> |
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30 | #include "parameter_server.h" |
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31 | #include "ros_service_ui.h" |
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32 | |||
33 | //TODO:
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34 | //better potential-edge-selection through flann
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35 | //Better separation of function, communication, parameters and gui
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36 | |||
37 | ///Connect Signals and Slots for the ui control
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38 | void ui_connections(QObject* ui, GraphManager* graph_mgr, OpenNIListener* kinect_listener){
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39 | QObject::connect(ui, SIGNAL(reset()), graph_mgr, SLOT(reset())); |
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40 | QObject::connect(ui, SIGNAL(optimizeGraph()), graph_mgr, SLOT(optimizeGraph())); |
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41 | QObject::connect(ui, SIGNAL(togglePause()), kinect_listener, SLOT(togglePause())); |
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42 | QObject::connect(ui, SIGNAL(toggleBagRecording()), kinect_listener, SLOT(toggleBagRecording())); |
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43 | QObject::connect(ui, SIGNAL(getOneFrame()), kinect_listener, SLOT(getOneFrame())); |
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44 | QObject::connect(ui, SIGNAL(deleteLastFrame()), graph_mgr, SLOT(deleteLastFrame())); |
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45 | QObject::connect(ui, SIGNAL(sendAllClouds()), graph_mgr, SLOT(sendAllClouds())); |
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46 | QObject::connect(ui, SIGNAL(saveAllClouds(QString)), graph_mgr, SLOT(saveAllClouds(QString))); |
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47 | QObject::connect(ui, SIGNAL(saveIndividualClouds(QString)), graph_mgr, SLOT(saveIndividualClouds(QString))); |
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48 | QObject::connect(ui, SIGNAL(setMaxDepth(float)), graph_mgr, SLOT(setMaxDepth(float))); |
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49 | QObject::connect(ui, SIGNAL(saveTrajectory(QString)), graph_mgr, SLOT(saveTrajectory(QString))); |
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50 | } |
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51 | |||
52 | ///Connect Signals and Slots only relevant for the graphical interface
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53 | void gui_connections(QObject* ui, GraphManager* graph_mgr, OpenNIListener* kinect_listener, GLViewer* glviewer){
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54 | QObject::connect(kinect_listener, SIGNAL(newVisualImage(QImage)), ui, SLOT(setVisualImage(QImage))); |
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55 | QObject::connect(kinect_listener, SIGNAL(newFeatureFlowImage(QImage)), ui, SLOT(setFeatureFlowImage(QImage))); |
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56 | QObject::connect(kinect_listener, SIGNAL(newDepthImage(QImage)), ui, SLOT(setDepthImage(QImage))); |
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57 | QObject::connect(graph_mgr, SIGNAL(newTransformationMatrix(QString)), ui, SLOT(setTransformation(QString))); |
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58 | QObject::connect(graph_mgr, SIGNAL(sendFinished()), ui, SLOT(sendFinished())); |
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59 | QObject::connect(graph_mgr, SIGNAL(setGUIInfo(QString)), ui, SLOT(setInfo(QString))); |
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60 | QObject::connect(graph_mgr, SIGNAL(setGUIStatus(QString)), ui, SLOT(setStatus(QString))); |
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61 | QObject::connect(graph_mgr, SIGNAL(deleteLastNode()), ui, SLOT(deleteLastNode())); |
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62 | QObject::connect(ui, SIGNAL(printEdgeErrors(QString)), graph_mgr, SLOT(printEdgeErrors(QString))); |
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63 | QObject::connect(ui, SIGNAL(pruneEdgesWithErrorAbove(float)), graph_mgr, SLOT(pruneEdgesWithErrorAbove(float))); |
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64 | if (ParameterServer::instance()->get<bool>("use_glwidget")) { |
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65 | QObject::connect(graph_mgr, SIGNAL(setPointCloud(pointcloud_type *, QMatrix4x4)), ui, SLOT(addPointCloud(pointcloud_type *, QMatrix4x4))); //, Qt::DirectConnection);
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66 | QObject::connect(graph_mgr, SIGNAL(updateTransforms(QList<QMatrix4x4>*)), ui, SLOT(updateTransforms(QList<QMatrix4x4>*))); |
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67 | QObject::connect(graph_mgr, SIGNAL(setGraphEdges(QList<QPair<int, int> >*)), ui, SLOT(setGraphEdges(QList<QPair<int, int> >*))); |
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68 | QObject::connect(graph_mgr, SIGNAL(resetGLViewer()), ui, SLOT(resetGLViewer())); |
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69 | if(!ParameterServer::instance()->get<bool>("store_pointclouds") && glviewer != NULL) { |
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70 | QObject::connect(glviewer, SIGNAL(cloudRendered(pointcloud_type const *)), graph_mgr, SLOT(cloudRendered(pointcloud_type const *))); // |
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71 | } |
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72 | } |
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73 | QObject::connect(kinect_listener, SIGNAL(setGUIInfo(QString)), ui, SLOT(setInfo(QString))); |
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74 | QObject::connect(kinect_listener, SIGNAL(setGUIStatus(QString)), ui, SLOT(setStatus(QString))); |
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75 | QObject::connect(graph_mgr, SIGNAL(setGUIInfo2(QString)), ui, SLOT(setInfo2(QString))); |
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76 | } |
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77 | |||
78 | int main(int argc, char** argv) |
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79 | { |
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80 | setlocale(LC_NUMERIC,"C");//Avoid expecting german decimal separators in launch files |
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81 | |||
82 | //This can either point to a QCoreApplication (doesn't need an X Server) or an QApplication
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83 | //(which needs Xbut is derived from QCoreApplication)
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84 | //Depending an use_gui on the Parameter Server "app" points to an object of the appropriate class
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85 | QCoreApplication* app = NULL;
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86 | //Similarly this either points to a QMainWindow or a QObject:
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87 | QObject* ui = NULL;
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88 | |||
89 | //create thread object, to run the ros event processing loop in parallel to the qt loop
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90 | QtROS qtRos(argc, argv, "rgbdslam"); //ros node name & namespace |
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91 | GLViewer* glviewer = NULL;
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92 | bool use_gui = ParameterServer::instance()->get<bool>("use_gui"); |
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93 | if (use_gui){
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94 | app = new QApplication(argc, argv); //X Server-GUI |
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95 | Graphical_UI* gui = new Graphical_UI();
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96 | glviewer = gui->getGLViewer(); |
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97 | gui->show(); |
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98 | ui = gui; |
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99 | } else {
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100 | app = new QCoreApplication(argc, argv); //No GUI. |
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101 | ui = new RosUi("rgbdslam"); //ui namespace for service calls |
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102 | ROS_WARN("Running without graphical user interface! See README for how to interact with RGBDSLAM.");
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103 | } |
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104 | //If one thread receives a exit signal from the user, signal the other thread to quit too
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105 | QObject::connect(app, SIGNAL(aboutToQuit()), &qtRos, SLOT(quitNow())); |
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106 | QObject::connect(&qtRos, SIGNAL(rosQuits()), app, SLOT(quit())); |
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107 | |||
108 | GraphManager graph_mgr(qtRos.getNodeHandle()); |
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109 | //Instantiate the kinect image listener
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110 | // QtConcurrent::run(&kinect_listener, &OpenNIListener::loadBag, bfn);
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111 | OpenNIListener kinect_listener(qtRos.getNodeHandle(), &graph_mgr); |
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112 | QObject::connect(&kinect_listener, SIGNAL(bagFinished()), &qtRos, SLOT(quitNow())); |
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113 | QObject::connect(&kinect_listener, SIGNAL(bagFinished()), app, SLOT(quit())); |
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114 | |||
115 | |||
116 | ui_connections(ui, &graph_mgr, &kinect_listener); |
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117 | if (use_gui) gui_connections(ui, &graph_mgr, &kinect_listener, glviewer);
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118 | qtRos.start();// Run main loop.
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119 | |||
120 | #ifdef USE_ICP_BIN
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121 | ROS_INFO("ICP activated via external binary");
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122 | #endif
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123 | #ifdef USE_ICP_CODE
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124 | ROS_INFO("ICP activated via linked library");
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125 | #endif
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126 | app->exec(); |
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127 | if(ros::ok()) ros::shutdown();//If not yet done through the qt connection |
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128 | ros::waitForShutdown(); //not sure if necessary.
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129 | } |
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130 |