bool KeyframeMapper::saveOctomapSrvCallback(
Save::Request& request,
Save::Response& response)
{
ROS_INFO("Saving map as Octomap...");
const std::string& path = request.filename;
bool result = saveOctomap(path);
if (result) ROS_INFO("Octomap saved to %s", path.c_str());
else ROS_ERROR("Octomap saving failed");
return result;
}
///Connect Signals and Slots for the ui control
void ui_connections(QObject* ui, GraphManager* graph_mgr, OpenNIListener* listener)
{
Qt::ConnectionType ctype = Qt::AutoConnection;
if (ParameterServer::instance()->get<bool>("concurrent_io"))
ctype = Qt::DirectConnection;
QObject::connect(ui, SIGNAL(reset()), graph_mgr, SLOT(reset()), ctype);
QObject::connect(ui, SIGNAL(optimizeGraph()), graph_mgr, SLOT(optimizeGraph()), ctype);
QObject::connect(ui, SIGNAL(togglePause()), listener, SLOT(togglePause()), ctype);
QObject::connect(ui, SIGNAL(toggleBagRecording()), listener, SLOT(toggleBagRecording()), ctype);
QObject::connect(ui, SIGNAL(getOneFrame()), listener, SLOT(getOneFrame()), ctype);
QObject::connect(ui, SIGNAL(deleteLastFrame()), graph_mgr, SLOT(deleteLastFrame()), ctype);
QObject::connect(ui, SIGNAL(sendAllClouds()), graph_mgr, SLOT(sendAllClouds()), ctype);
QObject::connect(ui, SIGNAL(saveAllClouds(QString)), graph_mgr, SLOT(saveAllClouds(QString)), ctype);
QObject::connect(ui, SIGNAL(saveOctomapSig(QString)), graph_mgr, SLOT(saveOctomap(QString)), ctype);
QObject::connect(ui, SIGNAL(saveAllFeatures(QString)), graph_mgr, SLOT(saveAllFeatures(QString)), ctype);
QObject::connect(ui, SIGNAL(saveIndividualClouds(QString)), graph_mgr, SLOT(saveIndividualClouds(QString)), ctype);
QObject::connect(ui, SIGNAL(saveTrajectory(QString)), graph_mgr, SLOT(saveTrajectory(QString)), ctype);
QObject::connect(ui, SIGNAL(toggleMapping(bool)), graph_mgr, SLOT(toggleMapping(bool)), ctype);
QObject::connect(ui, SIGNAL(saveG2OGraph(QString)), graph_mgr, SLOT(saveG2OGraph(QString)), ctype);
}
QAction* Graphical_UI::createSaveMenu() {//octomap Menu
QMenu* sm = menuBar()->addMenu(tr("&Save"));
newMenuItem(sm,
"&Save",
SLOT(quickSaveAll()),
"Save all stored point clouds with common coordinate frame to a pcd file",
QKeySequence::Save,
QIcon::fromTheme("document-save"));
newMenuItem(sm,
"Save &Feature Map...",
SLOT(saveFeatures()),
"Save all feature positions and descriptions in a common coordinate frame to a yaml or xml file",
"Ctrl+F",
QIcon::fromTheme("document-save"));
QAction* oa = newMenuItem(sm, "Save Octomap...",
SLOT(saveOctomap()),
"Save computed OctoMap",
"",
QIcon::fromTheme("document-save-as"));
newMenuItem(sm, "&Save as Point Cloud ...",
SLOT(saveAll()),
"Save all stored point clouds with common coordinate frame",
QKeySequence::SaveAs,
QIcon::fromTheme("document-save-as"));
newMenuItem(sm, "&Save Point Cloud Node-Wise...",
SLOT(saveIndividual()),
"Save stored point clouds in individual files",
"Ctrl+N",
QIcon::fromTheme("document-save-all"));
newMenuItem(sm, "Save &G2O Graph...",
SLOT(saveG2OGraphDialog()),
"Save G2O graph (e.g. for use with the g2o viewer or external optimization)",
"",
QIcon::fromTheme("document-save"));
newMenuItem(sm, "Save Clouds to &Bag...",
SLOT(saveBagDialog()),
"Save clouds and transforms to bagfile",
"Ctrl+Shift+B");
newMenuItem(sm, "Save Trajectory &Estimate...",
SLOT(saveTrajectoryDialog()),
"Save trajectory estimate (and ground truth trajectory if available) for external evaluation.",
"Ctrl+E");
sm->addSeparator();
newMenuItem(sm, "&Send Model",
SLOT(sendAll()),
"Send out all stored point clouds with corrected transform",
"Ctrl+M",
QIcon::fromTheme("document-send"));
sm->addSeparator();
newMenuItem(sm, "Save &3D as PDF File...",
SLOT(saveVectorGraphic()),
"Write 3D Scene to a PDF File. Warning: Meant for Pose Graphs not for the clouds or octomaps!",
"",
QIcon::fromTheme("application-pdf"));
newMenuItem(sm, "Save Input &Images to Files...",
SLOT(saveAllImages()),
"Write All images shown in the gui to appropriate files",
"",
QIcon::fromTheme("image-x-generic"));
newMenuItem(sm, "Capture Screencast...",
this,
SLOT(toggleScreencast(bool)),
"Dump Screen as Video",
!ParameterServer::instance()->get<std::string>("screencast_path_prefix").empty());
return oa;
}
