///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);
}
void RosUi::bagRecording(bool _record_on) {
if(this->record_on == _record_on){
return;
}
this->record_on = _record_on;
Q_EMIT toggleBagRecording();
if(_record_on) {
ROS_INFO("Recording Bagfile.");
} else {
ROS_INFO("Stopped Recording.");
}
}
