root / rgbdslam / src / qt_gui.cpp @ 9240aaa3
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/* This file is part of RGBDSLAM.
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*
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* RGBDSLAM is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* RGBDSLAM is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with RGBDSLAM. If not, see <http://www.gnu.org/licenses/>.
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*/
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/* This is the main widget of the application.
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* It sets up some not yet useful menus and
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* three qlabels in the layout of the central widget
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* that can be used to show qimages via the slots
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* setDepthImage and setVisualImage.
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*/
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#include <QtGui> |
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#include <QPixmap> |
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#include <QFont> |
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#include <QIcon> |
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#include <QKeySequence> |
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#include "qt_gui.h" |
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#include <limits> |
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///Constructs a QT GUI for easy control of RGBDSLAM
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Graphical_UI::Graphical_UI() : filename("quicksave.pcd"), glviewer(NULL) |
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{ |
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QWidget *widget = new QWidget;
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setCentralWidget(widget); |
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//QWidget *topFiller = new QWidget;
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//topFiller->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
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infoText = new QString(tr(
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"<p><b>RGBDSLAM</b> uses visual features to identify corresponding 3D locations "
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"in RGBD data. The correspondences are used to reconstruct the camera motion. "
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"The SLAM-backend HOG-MAN is used to integrate the transformations between"
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"the RGBD-images and compute a globally consistent 6D trajectory.</p>"
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"<p></p>"));
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licenseText = new QString(tr(
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"<p>RGBDSLAM is free software: you can redistribute it and/or modify"
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"it under the terms of the GNU General Public License as published by"
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"the Free Software Foundation, either version 3 of the License, or"
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"(at your option) any later version.</p>"
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"<p>RGBDSLAM is distributed in the hope that it will be useful,"
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"but WITHOUT ANY WARRANTY; without even the implied warranty of"
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"MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the"
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"GNU General Public License for more details.</p>"
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"<p>You should have received a copy of the GNU General Public License"
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"along with RGBDSLAM. If not, refer to <a href=\"http://www.gnu.org/licenses/\">http://www.gnu.org/licenses</a>.</p>"));
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/*menuHelpText = new QString(tr(
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"<p><b>Menu Commands:</b>"
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"<ul><li><b>Graph</b></li><ul>"
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"<li><i>Save Model</i> saves the aggregated cloud to file.</li>"
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"<li><i>Save Model</i> saves the aggregated cloud to file.</li>"
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"<li><i>Send Model</i> sends the clouds and their transforms via ROS.</li>"
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"</ul><li><b>Processing</b></li><ul>"
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"<li><i>Process</i> toggles the processing.</li>"
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"<li><i>Reset</i> to clear the collected information.</li>"
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"<li><i>Capture One Frame</i> to Process one camera image.</li>"
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"<li><i>Delete Last Node</i> to clear the information about the last processed image.</li>"
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"</ul><li><b>Information</b></li><ul>"
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"<li><i>Current Transformation Matrix</i> displays the transformation from the first to the last node.</li>"
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"<li><i>About RGBDSLAM</i> displays information about this software.</li>"
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"<li><i>Usage Help</i> displays this text</li></ul></ul><p>"));*/
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mouseHelpText = new QString(tr(
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"<p><b>3D Viewer Mouse Commands:</b>"
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"<ul><li><i>Left/Right button:</i> rotation.</li>"
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" <li><i>Middle button:</i> shift.</li>"
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" <li><i>Wheel:</i> zoom.</li>"
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" <li><i>Double click on object:</i> set pivot to clicked point.</li>"
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" <li><i>Double click on background:</i> reset view to camera pose.</li><ul></p>")); feature_flow_image_label = new QLabel(*mouseHelpText); |
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feature_flow_image_label->setWordWrap(true);
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feature_flow_image_label->setMargin(10);
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feature_flow_image_label->setFrameStyle(QFrame::StyledPanel | QFrame::Sunken); |
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visual_image_label = new QLabel("<i>Waiting for monochrome image...</i>"); |
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visual_image_label->setFrameStyle(QFrame::StyledPanel | QFrame::Sunken); |
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visual_image_label->setAlignment(Qt::AlignCenter); |
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//visual_image_label->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
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depth_image_label = new QLabel(tr("<i>Waiting for depth image...</i>")); |
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depth_image_label->setFrameStyle(QFrame::StyledPanel | QFrame::Sunken); |
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depth_image_label->setAlignment(Qt::AlignCenter); |
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//depth_image_label->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
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//transform_label = new QLabel(tr("<i>Waiting for transformation matrix...</i>"));
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//transform_label->setFrameStyle(QFrame::StyledPanel | QFrame::Sunken);
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//transform_label->setAlignment(Qt::AlignCenter);
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if(ParameterServer::instance()->get<bool>("use_glwidget")) glviewer = new GLViewer(this);//displays the cloud in 3d |
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//QFont typewriter_font;
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//typewriter_font.setStyleHint(QFont::TypeWriter);
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//transform_label->setFont(typewriter_font);
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//QWidget *bottomFiller = new QWidget;
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//bottomFiller->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
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gridlayout = new QGridLayout;
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gridlayout->setMargin(5);
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//gridlayout->addWidget(infoLabel, 0,0);
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//gridlayout->addWidget(transform_label, 0,0,1,0); //with rowspan
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//gridlayout->addWidget(transform_label, 0,0);
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if(ParameterServer::instance()->get<bool>("use_glwidget")) gridlayout->addWidget(glviewer, 0,0,1,0); |
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gridlayout->addWidget(visual_image_label, 1,0); |
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gridlayout->addWidget(depth_image_label, 1,1); |
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gridlayout->addWidget(feature_flow_image_label, 1,2); |
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widget->setLayout(gridlayout); |
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createMenus(); |
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tmpLabel = new QLabel();
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statusBar()->insertWidget(0,tmpLabel, 0); |
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QString message = tr("Ready for RGBDSLAM");
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statusBar()->showMessage(message); |
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infoLabel2 = new QLabel(tr("Waiting for motion information...")); |
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infoLabel2->setFrameStyle(QFrame::StyledPanel | QFrame::Sunken); |
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infoLabel2->setAlignment(Qt::AlignRight); |
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statusBar()->addPermanentWidget(infoLabel2, 0);
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infoLabel = new QLabel(tr("<i>Press Enter or Space to Start</i>")); |
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infoLabel->setFrameStyle(QFrame::StyledPanel | QFrame::Sunken); |
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infoLabel->setAlignment(Qt::AlignRight); |
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statusBar()->addPermanentWidget(infoLabel, 0);
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setWindowTitle(tr("RGBDSLAM"));
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setMinimumSize(790, 590); |
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//resize(1024, 800);
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} |
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void Graphical_UI::setFeatureFlowImage(QImage qimage){
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feature_flow_image_label->setAlignment(Qt::AlignCenter); |
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feature_flow_image_label->setPixmap(QPixmap::fromImage(qimage)); |
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} |
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void Graphical_UI::setVisualImage(QImage qimage){
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if(visual_image_label->isVisible()){
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visual_image_label->setPixmap(QPixmap::fromImage(qimage)); |
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visual_image_label->repaint(); |
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} |
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} |
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void Graphical_UI::setDepthImage(QImage qimage){
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if(depth_image_label->isVisible()){
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depth_image_label->setPixmap(QPixmap::fromImage(qimage)); |
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depth_image_label->repaint(); |
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} |
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} |
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void Graphical_UI::setTransformation(QString transf){
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transformationMatrix = transf; |
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} |
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void Graphical_UI::resetCmd() {
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Q_EMIT reset(); |
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if(ParameterServer::instance()->get<bool>("use_glwidget")) glviewer->reset(); |
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QString message = tr("Graph Reset");
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statusBar()->showMessage(message); |
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infoLabel->setText("A fresh new graph is waiting");
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} |
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void Graphical_UI::setStatus(QString message){
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statusBar()->showMessage(message); |
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} |
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void Graphical_UI::setInfo2(QString message){
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infoLabel2->setText(message); |
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} |
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void Graphical_UI::setInfo(QString message){
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infoLabel->setText(message); |
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} |
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void Graphical_UI::quickSaveAll() {
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Q_EMIT saveAllClouds(filename); |
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QString message = tr("Saving Whole Model to ");
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message.append(filename); |
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statusBar()->showMessage(message); |
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//infoLabel->setText(message);
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} |
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void Graphical_UI::saveAll() {
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filename = QFileDialog::getSaveFileName(this, "Save Point CLoud to File", filename, tr("PCD (*.pcd);;PLY (*ply)")); |
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Q_EMIT saveAllClouds(filename); |
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QString message = tr("Saving Whole Model");
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statusBar()->showMessage(message); |
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//infoLabel->setText(message);
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} |
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void Graphical_UI::showEdgeErrors() {
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QString myfilename = QFileDialog::getSaveFileName(this, "Save Current Trajectory Estimate", "trajectory", tr("All Files (*.*)")); |
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Q_EMIT printEdgeErrors(myfilename); |
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QString message = tr("Triggering Edge Printing");
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statusBar()->showMessage(message); |
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} |
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void Graphical_UI::optimizeGraphTrig() {
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Q_EMIT optimizeGraph(); |
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QString message = tr("Triggering Optimizer");
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statusBar()->showMessage(message); |
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} |
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void Graphical_UI::saveTrajectoryDialog() {
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QString myfilename = QFileDialog::getSaveFileName(this, "Save Current Trajectory Estimate", "trajectory", tr("All Files (*.*)")); |
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Q_EMIT saveTrajectory(myfilename); |
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QString message = tr("Saving current trajectory estimate (and possibly ground truth).");
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statusBar()->showMessage(message); |
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} |
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void Graphical_UI::saveIndividual() {
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QString tmpfilename(filename); |
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tmpfilename.remove(".pcd", Qt::CaseInsensitive);
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tmpfilename.remove(".ply", Qt::CaseInsensitive);
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filename = QFileDialog::getSaveFileName(this, "Save point cloud to one file per node", tmpfilename, tr("PCD (*.pcd)")); |
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Q_EMIT saveIndividualClouds(filename); |
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QString message = tr("Saving Model Node-Wise");
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statusBar()->showMessage(message); |
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//infoLabel->setText(message);
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} |
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void Graphical_UI::sendAll() {
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Q_EMIT sendAllClouds(); |
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QString message = tr("Sending Whole Model");
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statusBar()->showMessage(message); |
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//infoLabel->setText(message);
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} |
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void Graphical_UI::setMax() {
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bool ok;
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double value = QInputDialog::getDouble(this, tr("Set Max Depth"), |
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tr("Enter Max Depth [in cm]\n (negativ if no Filtering is required):"), -100.00, -10000000, 10000000, 2, &ok); |
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if(ok){
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Q_EMIT setMaxDepth(value/100.0); |
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} |
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} |
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void Graphical_UI::pruneEdgesWithHighError(){
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bool ok;
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float value = QInputDialog::getDouble(this, tr("Set Max Edge Error"), |
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tr("No Text"), 1.00, -10000000, 10000000, 2, &ok); |
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if(ok){
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Q_EMIT pruneEdgesWithErrorAbove(value); |
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} |
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} |
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void Graphical_UI::sendFinished() {
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QString message = tr("Finished Sending");
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statusBar()->showMessage(message); |
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//infoLabel->setText(message);
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} |
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void Graphical_UI::getOneFrameCmd() {
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Q_EMIT getOneFrame(); |
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QString message = tr("Getting a single frame");
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statusBar()->showMessage(message); |
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//infoLabel->setText(message);
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} |
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void Graphical_UI::deleteLastFrameCmd() {
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Q_EMIT deleteLastFrame(); |
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QString message = tr("Deleting the last node from the graph");
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statusBar()->showMessage(message); |
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//infoLabel->setText(message);
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} |
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void Graphical_UI::bagRecording(bool pause_on) { |
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Q_EMIT toggleBagRecording(); |
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if(pause_on) {
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QString message = tr("Recording Bagfile.");
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statusBar()->showMessage(message); |
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//infoLabel->setText(message);
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} else {
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QString message = tr("Stopped Recording.");
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statusBar()->showMessage(message); |
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//infoLabel->setText(message);
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} |
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} |
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void Graphical_UI::pause(bool pause_on) { |
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Q_EMIT togglePause(); |
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if(pause_on) {
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QString message = tr("Processing.");
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statusBar()->showMessage(message); |
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//infoLabel->setText(message);
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} else {
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QString message = tr("Stopped processing.");
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statusBar()->showMessage(message); |
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//infoLabel->setText(message);
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} |
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} |
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void Graphical_UI::help() {
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QMessageBox::about(this, tr("Help Menu"), /**menuHelpText +*/ *mouseHelpText ); |
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} |
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void Graphical_UI::about() {
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QMessageBox::about(this, tr("About RGBDSLAM"), *infoText + *licenseText); |
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} |
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void Graphical_UI::lastTransformationMatrix() {
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QMessageBox::information(this, tr("Current Transformation Matrix"), transformationMatrix); |
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} |
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void Graphical_UI::toggleTriangulation() {
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if(ParameterServer::instance()->get<bool>("use_glwidget")) glviewer->toggleTriangulation(); |
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} |
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void Graphical_UI::set2DStream(bool is_on) { |
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if(is_on){
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visual_image_label->show(); |
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depth_image_label->show(); |
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feature_flow_image_label->show(); |
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} else {
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visual_image_label->hide(); |
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depth_image_label->hide(); |
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feature_flow_image_label->hide(); |
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} |
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} |
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void Graphical_UI::set3DDisplay(bool is_on) { |
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if(!ParameterServer::instance()->get<bool>("use_glwidget")) return; |
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if(is_on){ glviewer->show(); }
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else { glviewer->hide(); }
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} |
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void Graphical_UI::createMenus() {
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//these are the menus created here
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QMenu *graphMenu; |
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QMenu *actionMenu; |
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QMenu *viewMenu; |
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QMenu *helpMenu; |
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//Graph Menu
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graphMenu = menuBar()->addMenu(tr("&Graph"));
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QAction *quickSaveAct = new QAction(tr("&Save"), this); |
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quickSaveAct->setShortcuts(QKeySequence::Save); |
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quickSaveAct->setStatusTip(tr("Save all stored point clouds with common coordinate frame to a pcd file"));
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connect(quickSaveAct, SIGNAL(triggered()), this, SLOT(quickSaveAll()));
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graphMenu->addAction(quickSaveAct); |
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QAction *saveAct = new QAction(tr("&Save as..."), this); |
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saveAct->setShortcuts(QKeySequence::SaveAs); |
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saveAct->setStatusTip(tr("Save all stored point clouds with common coordinate frame"));
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connect(saveAct, SIGNAL(triggered()), this, SLOT(saveAll()));
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graphMenu->addAction(saveAct); |
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QAction *saveIndiAct = new QAction(tr("&Save Node-Wise..."), this); |
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saveIndiAct->setShortcut(QString("Ctrl+N"));
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saveIndiAct->setStatusTip(tr("Save stored point clouds in individual files"));
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connect(saveIndiAct, SIGNAL(triggered()), this, SLOT(saveIndividual()));
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graphMenu->addAction(saveIndiAct); |
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QAction *sendAct = new QAction(tr("&Send Model"), this); |
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sendAct->setShortcut(QString("Ctrl+M"));
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sendAct->setStatusTip(tr("Send out all stored point clouds with corrected transform"));
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connect(sendAct, SIGNAL(triggered()), this, SLOT(sendAll()));
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graphMenu->addAction(sendAct); |
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graphMenu->addSeparator(); |
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QAction *exitAct = new QAction(tr("E&xit"), this); |
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exitAct->setShortcuts(QKeySequence::Quit); |
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exitAct->setStatusTip(tr("Exit the application"));
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connect(exitAct, SIGNAL(triggered()), this, SLOT(close()));
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graphMenu->addAction(exitAct); |
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//Processing Menu
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actionMenu = menuBar()->addMenu(tr("&Processing"));
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QAction *newAct; |
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newAct = new QAction(tr("&Reset"), this); |
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newAct->setShortcut(QString("Ctrl+R"));
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newAct->setStatusTip(tr("Reset the graph, clear all data collected"));
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newAct->setIcon(QIcon::fromTheme("document-new"));//doesn't work (for gnome?) |
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connect(newAct, SIGNAL(triggered()), this, SLOT(resetCmd()));
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actionMenu->addAction(newAct); |
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QAction *pauseAct = new QAction(tr("&Process"), this); |
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pauseAct->setShortcut(QString(" "));
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pauseAct->setCheckable(true);
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pauseAct->setChecked(!ParameterServer::instance()->get<bool>("start_paused")); |
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pauseAct->setStatusTip(tr("Start/stop processing of frames"));
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pauseAct->setIcon(QIcon::fromTheme("media-playback-start"));//doesn't work (for gnome?) |
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connect(pauseAct, SIGNAL(toggled(bool)), this, SLOT(pause(bool))); |
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actionMenu->addAction(pauseAct); |
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QAction *bagRecordingAct = new QAction(tr("&Bagfile Recording"), this); |
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bagRecordingAct->setShortcut(QString("R"));
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bagRecordingAct->setCheckable(true);
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bagRecordingAct->setChecked(false);
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bagRecordingAct->setStatusTip(tr("Start/stop recording of frames to bagfile"));
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bagRecordingAct->setIcon(QIcon::fromTheme("media-playback-start"));//doesn't work (for gnome?) |
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connect(bagRecordingAct, SIGNAL(toggled(bool)), this, SLOT(bagRecording(bool))); |
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actionMenu->addAction(bagRecordingAct); |
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QAction *compareAct = new QAction(tr("Save Trajectory &Estimate"), this); |
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compareAct->setShortcut(QString("Ctrl+E"));
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compareAct->setStatusTip(tr("Save trajectory estimate (and ground truth trajectory if available) for external evaluation."));
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connect(compareAct, SIGNAL(triggered()), this, SLOT(saveTrajectoryDialog()));
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actionMenu->addAction(compareAct); |
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QAction *optimizeAct = new QAction(tr("Optimize Trajectory &Estimate"), this); |
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optimizeAct->setShortcut(QString("Ctrl+Shift+O"));
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optimizeAct->setStatusTip(tr("Compute two iterations with g2o"));
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connect(optimizeAct, SIGNAL(triggered()), this, SLOT(optimizeGraphTrig()));
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actionMenu->addAction(optimizeAct); |
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QAction *showErrorAct = new QAction(tr("Show Edge Errors"), this); |
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showErrorAct->setShortcut(QString("Ctrl+Shift+E"));
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showErrorAct->setStatusTip(tr(""));
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connect(showErrorAct, SIGNAL(triggered()), this, SLOT(showEdgeErrors()));
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actionMenu->addAction(showErrorAct); |
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QAction *maxAct = new QAction(tr("Set Maximum &Depth"), this); |
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maxAct->setShortcut(QString("Ctrl+D"));
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maxAct->setStatusTip(tr("Set the Maximum Depth a Point can have (negativ if no Filtering is required)"));
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connect(maxAct, SIGNAL(triggered()), this, SLOT(setMax()));
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actionMenu->addAction(maxAct); |
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QAction *pruneAct = new QAction(tr("Set Ma&ximum Edge Error"), this); |
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pruneAct->setShortcut(QString("Ctrl+X"));
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pruneAct->setStatusTip(tr("Set the Maximum Allowed for Edges"));
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connect(pruneAct, SIGNAL(triggered()), this, SLOT(pruneEdgesWithHighError()));
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actionMenu->addAction(pruneAct); |
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QAction *oneFrameAct = new QAction(tr("Capture One& Frame"), this); |
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oneFrameAct->setShortcuts(QKeySequence::InsertParagraphSeparator); |
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oneFrameAct->setStatusTip(tr("Process one frame only"));
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422 |
connect(oneFrameAct, SIGNAL(triggered()), this, SLOT(getOneFrameCmd()));
|
423 |
actionMenu->addAction(oneFrameAct); |
424 |
|
425 |
QAction *delFrameAct = new QAction(tr("&Delete Last Node"), this); |
426 |
delFrameAct->setShortcut(QString("Backspace"));
|
427 |
delFrameAct->setStatusTip(tr("Remove last node from graph"));
|
428 |
connect(delFrameAct, SIGNAL(triggered()), this, SLOT(deleteLastFrameCmd()));
|
429 |
actionMenu->addAction(delFrameAct); |
430 |
|
431 |
|
432 |
//View Menu
|
433 |
viewMenu = menuBar()->addMenu(tr("&View"));
|
434 |
|
435 |
QAction *toggleGLViewerAct = new QAction(tr("Toggle &3D Display"), this); |
436 |
toggleGLViewerAct->setShortcut(QString("3"));
|
437 |
toggleGLViewerAct->setCheckable(true);
|
438 |
toggleGLViewerAct->setChecked(true);
|
439 |
toggleGLViewerAct->setStatusTip(tr("Turn off the OpenGL Display of the Accumulated PointClouds"));
|
440 |
connect(toggleGLViewerAct, SIGNAL(toggled(bool)), this, SLOT(set3DDisplay(bool))); |
441 |
viewMenu->addAction(toggleGLViewerAct); |
442 |
|
443 |
QAction *toggleStreamAct = new QAction(tr("Toggle &2D Stream"), this); |
444 |
toggleStreamAct->setShortcut(QString("2"));
|
445 |
toggleStreamAct->setCheckable(true);
|
446 |
toggleStreamAct->setChecked(true);
|
447 |
toggleStreamAct->setStatusTip(tr("Turn off the Image Stream"));
|
448 |
connect(toggleStreamAct, SIGNAL(toggled(bool)), this, SLOT(set2DStream(bool))); |
449 |
viewMenu->addAction(toggleStreamAct); |
450 |
|
451 |
QAction *toggleTriangulationAct = new QAction(tr("&Toggle Rendering"), this); |
452 |
toggleTriangulationAct->setShortcut(QString("T"));
|
453 |
toggleTriangulationAct->setStatusTip(tr("Switch between surface, wireframe and point cloud"));
|
454 |
connect(toggleTriangulationAct, SIGNAL(triggered(bool)), this, SLOT(toggleTriangulation())); |
455 |
viewMenu->addAction(toggleTriangulationAct); |
456 |
|
457 |
QAction *toggleFollowAct = new QAction(tr("&Follow Camera"), this); |
458 |
toggleFollowAct->setShortcut(QString("F"));
|
459 |
toggleFollowAct->setCheckable(true);
|
460 |
toggleFollowAct->setChecked(true);
|
461 |
toggleFollowAct->setStatusTip(tr("Always use viewpoint of last frame (except zoom)"));
|
462 |
connect(toggleFollowAct, SIGNAL(toggled(bool)), glviewer, SLOT(toggleFollowMode(bool))); |
463 |
viewMenu->addAction(toggleFollowAct); |
464 |
|
465 |
QAction *toggleShowAxisAct = new QAction(tr("Show Pose &Graph"), this); |
466 |
toggleShowAxisAct->setShortcut(QString("G"));
|
467 |
toggleShowAxisAct->setCheckable(true);
|
468 |
toggleShowAxisAct->setChecked(ParameterServer::instance()->get<bool>("show_axis")); |
469 |
toggleShowAxisAct->setStatusTip(tr("Display Pose Graph as Axes Connected by Lines"));
|
470 |
connect(toggleShowAxisAct, SIGNAL(toggled(bool)), glviewer, SLOT(toggleShowAxis(bool))); |
471 |
viewMenu->addAction(toggleShowAxisAct); |
472 |
|
473 |
|
474 |
//Help Menu
|
475 |
helpMenu = menuBar()->addMenu(tr("&Help"));
|
476 |
|
477 |
QAction *transfAct = new QAction(tr("Current Transformation &Matrix"), this); |
478 |
transfAct->setShortcut(QString("Ctrl+T"));
|
479 |
transfAct->setStatusTip(tr("Show the Current Transformation Matrix"));
|
480 |
connect(transfAct, SIGNAL(triggered()), this, SLOT(lastTransformationMatrix()));
|
481 |
helpMenu->addAction(transfAct); |
482 |
|
483 |
QAction *helpAct = new QAction(tr("&Usage Help"), this); |
484 |
helpAct->setShortcuts(QKeySequence::HelpContents); |
485 |
helpAct->setStatusTip(tr("Show usage information"));
|
486 |
connect(helpAct, SIGNAL(triggered()), this, SLOT(help()));
|
487 |
helpMenu->addAction(helpAct); |
488 |
|
489 |
QAction *aboutAct = new QAction(tr("&About RGBDSLAM"), this); |
490 |
aboutAct->setShortcut(QString("Ctrl+A"));
|
491 |
aboutAct->setStatusTip(tr("Show information about RGBDSLAM"));
|
492 |
connect(aboutAct, SIGNAL(triggered()), this, SLOT(about()));
|
493 |
helpMenu->addAction(aboutAct); |
494 |
|
495 |
} |
496 |
|
497 |
void Graphical_UI::addPointCloud(pointcloud_type * pc, QMatrix4x4 transform){
|
498 |
if(ParameterServer::instance()->get<bool>("use_glwidget")) glviewer->addPointCloud(pc, transform); |
499 |
} |
500 |
void Graphical_UI::deleteLastNode(){
|
501 |
if(ParameterServer::instance()->get<bool>("use_glwidget")) glviewer->deleteLastNode(); |
502 |
} |
503 |
void Graphical_UI::resetGLViewer(){
|
504 |
if(ParameterServer::instance()->get<bool>("use_glwidget")) glviewer->reset(); |
505 |
} |
506 |
void Graphical_UI::setGraphEdges(QList<QPair<int, int> >* list){ |
507 |
if(ParameterServer::instance()->get<bool>("use_glwidget")) glviewer->setEdges(list); |
508 |
} |
509 |
void Graphical_UI::updateTransforms(QList<QMatrix4x4>* transforms){
|
510 |
if(ParameterServer::instance()->get<bool>("use_glwidget")) glviewer->updateTransforms(transforms); |
511 |
} |
512 |
|
513 |
GLViewer* Graphical_UI::getGLViewer() { |
514 |
return glviewer;
|
515 |
} |