Quadrotor

/* This file is part of RGBDSLAM.

 * 

 * RGBDSLAM is free software: you can redistribute it and/or modify

 * it under the terms of the GNU General Public License as published by

 * the Free Software Foundation, either version 3 of the License, or

 * (at your option) any later version.

 * 

 * RGBDSLAM is distributed in the hope that it will be useful,

 * but WITHOUT ANY WARRANTY; without even the implied warranty of

 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

 * GNU General Public License for more details.

 * 

 * You should have received a copy of the GNU General Public License

 * along with RGBDSLAM.  If not, see <http://www.gnu.org/licenses/>.

 */

/* registration main:

 * Create 

 * - a Qt Application 

 * - a ROS Node, 

 * - a ROS listener, listening to and processing kinect data

 * - Let them communicate internally via QT Signals

 */

#include "openni_listener.h"

#include "qtros.h"

#include <QApplication>

#include <QObject>

#include "qt_gui.h"

#include <Eigen/Core>

#include "parameter_server.h"

#include "ros_service_ui.h"

//TODO:

//better potential-edge-selection through flann

//Better separation of function, communication, parameters and gui

///Connect Signals and Slots for the ui control

void ui_connections(QObject* ui, GraphManager* graph_mgr, OpenNIListener* kinect_listener){

    QObject::connect(ui, SIGNAL(reset()), graph_mgr, SLOT(reset()));

    QObject::connect(ui, SIGNAL(optimizeGraph()), graph_mgr, SLOT(optimizeGraph()));

    QObject::connect(ui, SIGNAL(togglePause()), kinect_listener, SLOT(togglePause()));

    QObject::connect(ui, SIGNAL(toggleBagRecording()), kinect_listener, SLOT(toggleBagRecording()));

    QObject::connect(ui, SIGNAL(getOneFrame()), kinect_listener, SLOT(getOneFrame()));

    QObject::connect(ui, SIGNAL(deleteLastFrame()), graph_mgr, SLOT(deleteLastFrame()));

    QObject::connect(ui, SIGNAL(sendAllClouds()), graph_mgr, SLOT(sendAllClouds()));

    QObject::connect(ui, SIGNAL(saveAllClouds(QString)), graph_mgr, SLOT(saveAllClouds(QString)));

    QObject::connect(ui, SIGNAL(saveIndividualClouds(QString)), graph_mgr, SLOT(saveIndividualClouds(QString)));

    QObject::connect(ui, SIGNAL(setMaxDepth(float)), graph_mgr, SLOT(setMaxDepth(float)));

    QObject::connect(ui, SIGNAL(saveTrajectory(QString)), graph_mgr, SLOT(saveTrajectory(QString)));

}

///Connect Signals and Slots only relevant for the graphical interface

void gui_connections(QObject* ui, GraphManager* graph_mgr, OpenNIListener* kinect_listener, GLViewer* glviewer){

    QObject::connect(kinect_listener, SIGNAL(newVisualImage(QImage)), ui, SLOT(setVisualImage(QImage)));

    QObject::connect(kinect_listener, SIGNAL(newFeatureFlowImage(QImage)), ui, SLOT(setFeatureFlowImage(QImage)));

    QObject::connect(kinect_listener, SIGNAL(newDepthImage(QImage)), ui, SLOT(setDepthImage(QImage)));

    QObject::connect(graph_mgr, SIGNAL(newTransformationMatrix(QString)), ui, SLOT(setTransformation(QString)));

    QObject::connect(graph_mgr, SIGNAL(sendFinished()), ui, SLOT(sendFinished()));

    QObject::connect(graph_mgr, SIGNAL(setGUIInfo(QString)), ui, SLOT(setInfo(QString)));

    QObject::connect(graph_mgr, SIGNAL(setGUIStatus(QString)), ui, SLOT(setStatus(QString)));

    QObject::connect(graph_mgr, SIGNAL(deleteLastNode()), ui, SLOT(deleteLastNode()));

    QObject::connect(ui, SIGNAL(printEdgeErrors(QString)), graph_mgr, SLOT(printEdgeErrors(QString)));

    QObject::connect(ui, SIGNAL(pruneEdgesWithErrorAbove(float)), graph_mgr, SLOT(pruneEdgesWithErrorAbove(float)));

    if (ParameterServer::instance()->get<bool>("use_glwidget")) {

            QObject::connect(graph_mgr, SIGNAL(setPointCloud(pointcloud_type *, QMatrix4x4)), ui, SLOT(addPointCloud(pointcloud_type *, QMatrix4x4))); //, Qt::DirectConnection);

            QObject::connect(graph_mgr, SIGNAL(updateTransforms(QList<QMatrix4x4>*)), ui, SLOT(updateTransforms(QList<QMatrix4x4>*)));

            QObject::connect(graph_mgr, SIGNAL(setGraphEdges(QList<QPair<int, int> >*)), ui, SLOT(setGraphEdges(QList<QPair<int, int> >*)));

            QObject::connect(graph_mgr, SIGNAL(resetGLViewer()), ui, SLOT(resetGLViewer()));

      if(!ParameterServer::instance()->get<bool>("store_pointclouds") && glviewer != NULL) {

          QObject::connect(glviewer, SIGNAL(cloudRendered(pointcloud_type const *)), graph_mgr, SLOT(cloudRendered(pointcloud_type const *))); // 

      }

    }

    QObject::connect(kinect_listener, SIGNAL(setGUIInfo(QString)), ui, SLOT(setInfo(QString)));

    QObject::connect(kinect_listener, SIGNAL(setGUIStatus(QString)), ui, SLOT(setStatus(QString)));

    QObject::connect(graph_mgr, SIGNAL(setGUIInfo2(QString)), ui, SLOT(setInfo2(QString)));

}

int main(int argc, char** argv)

{

  setlocale(LC_NUMERIC,"C");//Avoid expecting german decimal separators in launch files

  //This can either point to a QCoreApplication (doesn't need an X Server) or an QApplication 

  //(which needs Xbut is derived from QCoreApplication)

  //Depending an use_gui on the Parameter Server "app" points to an object of the appropriate class

  QCoreApplication* app = NULL;

  //Similarly this either points to a QMainWindow or a QObject:

        QObject* ui = NULL;

  //create thread object, to run the ros event processing loop in parallel to the qt loop

  QtROS qtRos(argc, argv, "rgbdslam"); //ros node name & namespace

  GLViewer* glviewer = NULL;

  bool use_gui = ParameterServer::instance()->get<bool>("use_gui"); 

        if (use_gui){

      app = new QApplication(argc, argv); //X Server-GUI 

      Graphical_UI* gui = new Graphical_UI();

      glviewer = gui->getGLViewer();

      gui->show();

      ui = gui;

  } else {

      app = new QCoreApplication(argc, argv); //No GUI.  

      ui = new RosUi("rgbdslam"); //ui namespace for service calls

      ROS_WARN("Running without graphical user interface! See README for how to interact with RGBDSLAM.");

  }

  //If one thread receives a exit signal from the user, signal the other thread to quit too

  QObject::connect(app, SIGNAL(aboutToQuit()), &qtRos, SLOT(quitNow()));

  QObject::connect(&qtRos, SIGNAL(rosQuits()), app, SLOT(quit()));

  GraphManager graph_mgr(qtRos.getNodeHandle());

  //Instantiate the kinect image listener

//  QtConcurrent::run(&kinect_listener, &OpenNIListener::loadBag, bfn);

  OpenNIListener kinect_listener(qtRos.getNodeHandle(), &graph_mgr);

  QObject::connect(&kinect_listener, SIGNAL(bagFinished()), &qtRos, SLOT(quitNow()));

  QObject::connect(&kinect_listener, SIGNAL(bagFinished()), app, SLOT(quit()));

  ui_connections(ui, &graph_mgr, &kinect_listener);

  if (use_gui) gui_connections(ui, &graph_mgr, &kinect_listener, glviewer);

  qtRos.start();// Run main loop.

#ifdef USE_ICP_BIN

  ROS_INFO("ICP activated via external binary");

#endif

#ifdef USE_ICP_CODE

  ROS_INFO("ICP activated via linked library");

#endif

  app->exec();

  if(ros::ok()) ros::shutdown();//If not yet done through the qt connection

  ros::waitForShutdown(); //not sure if necessary. 

}