int main(int argc, char** argv) {
GtkWidget* w;
GtkWidget* box;
GtkWidget* p;
GtkWidget* f;
GtkWidget* menu;
GtkWidget* item;
GtkWidget* sub;
gtk_init(&argc, &argv);
// creates the window
w = gtk_window_new(GTK_WINDOW_TOPLEVEL);
gtk_window_set_title(GTK_WINDOW(w), "ev.view");
gtk_window_resize(GTK_WINDOW(w), 640, 480);
box = gtk_vbox_new(FALSE, 0);
// set menues
menu = gtk_menu_bar_new();
gtk_box_pack_start(GTK_BOX(box), menu, FALSE, TRUE, 0);
// File
item = gtk_menu_item_new_with_label("File");
sub = gtk_menu_new();
gtk_menu_item_set_submenu(GTK_MENU_ITEM(item), sub);
gtk_menu_shell_append(GTK_MENU_SHELL(menu), item);
newMenuItem(sub, "Open data...", G_CALLBACK(menuOpenData), w);
itemRecons = newMenuItem(sub, "Open reconstruction...", G_CALLBACK(menuOpenRec), w);
gtk_widget_set_sensitive(GTK_WIDGET(itemRecons), FALSE);
newMenuItem(sub, "Quit", G_CALLBACK(menuQuit), NULL);
// Map
item = gtk_menu_item_new_with_label("Map");
sub = gtk_menu_new();
gtk_menu_item_set_submenu(GTK_MENU_ITEM(item), sub);
gtk_menu_shell_append(GTK_MENU_SHELL(menu), item);
newMenuItem(sub, "Open raster...", G_CALLBACK(menuOpenRaster), NULL);
// Layout
p = gtk_hpaned_new();
gtk_widget_set_size_request(p, 100, -1);
f = gtk_frame_new(NULL);
gtk_paned_pack1(GTK_PANED(p), f, TRUE, FALSE);
gtk_widget_set_size_request(f, 50, -1);
initTree(f);
f = gtk_frame_new(NULL);
gtk_paned_pack2(GTK_PANED(p), f, TRUE, FALSE);
gtk_widget_set_size_request(f, 50, -1);
initMap(f);
gtk_box_pack_start(GTK_BOX(box), p, TRUE, TRUE, 0);
gtk_container_add(GTK_CONTAINER(w), box);
gtk_widget_show_all(w);
gtk_widget_add_events(w, GDK_KEY_PRESS_MASK);
g_signal_connect(G_OBJECT(w), "key_press_event", G_CALLBACK(keyPress), w);
gtk_main();
return 0;
}
void Graphical_UI::createProcessingMenu() {
QMenu* pm = menuBar()->addMenu(tr("&Processing"));
newMenuItem(pm, "&Reset",
SLOT(resetCmd()),
"Reset the graph, clear all data collected",
"Ctrl+R",
QIcon::fromTheme("edit-delete"));
newMenuItem(pm, "&Process",
this,
SLOT(pause(bool)),
"Start/stop processing of frames",
!ParameterServer::instance()->get<bool>("start_paused"),
" ",
QIcon::fromTheme("media-playback-start"));
newMenuItem(pm, "Capture One& Frame",
SLOT(getOneFrameCmd()),
"Process one frame only",
QKeySequence::InsertParagraphSeparator);
/* Crashes
newMenuItem(pm, "&Delete Last Node",
SLOT(deleteLastFrameCmd()),
"Remove last node from graph",
"Backspace",
QIcon::fromTheme("edit-undo"));
*/
pm->addSeparator();
newMenuItem(pm, "Clear Cloud Storage",
SIGNAL(clearClouds()),
"Remove Point Clouds from Memory",
"",
QIcon::fromTheme("edit-delete"));
newMenuItem(pm, "Optimize Trajectory &Estimate",
SLOT(optimizeGraphTrig()),
"Compute optimized pose graph with g2o",
"O");
pm->addSeparator();
newMenuItem(pm, "E&xit",
SLOT(close()),
"Exit the application",
"Ctrl+Q",
QIcon::fromTheme("application-exit"));//doesn't work for gnome
}
void Graphical_UI::createLoadMenu() {
QMenu* lm = menuBar()->addMenu(tr("&Load"));
newMenuItem(lm,
"&Open PCD files",
SLOT(openPCDFilesDialog()),
"Open one or more pcd files to process",
QKeySequence::Open,
QIcon::fromTheme("document-open"));
newMenuItem(lm,
"Open ROS &bag file",
SLOT(openBagFileDialog()),
"Open a bag file to process",
"Ctrl+B",
QIcon::fromTheme("document-open"));
}
MenuItem *
newStringsMenuItem (
Menu *menu, unsigned char *setting, const MenuString *name,
const MenuString *strings, unsigned char count
) {
MenuItem *item = newMenuItem(menu, setting, name);
if (item) {
setMenuItemStrings(item, strings, count);
}
return item;
}
MenuItem *
newNumericMenuItem (
Menu *menu, unsigned char *setting, const MenuString *name,
unsigned char minimum, unsigned char maximum, unsigned char divisor
) {
MenuItem *item = newMenuItem(menu, setting, name);
if (item) {
item->methods = &menuItemMethods_numeric;
item->minimum = minimum;
item->maximum = maximum;
item->divisor = divisor;
}
return item;
}
void Graphical_UI::createMenus() {
createProcessingMenu();
createLoadMenu();
QAction* octoMapAction = createSaveMenu();
QMenu *om = menuBar()->addMenu(tr("&OctoMap"));
newMenuItem(om, "Point Cloud Occupancy Filter",
SLOT(triggerCloudFiltering()),
"Remove points from the cloud that fall into unoccupied voxels of the OctoMap");
newMenuItem(om, "Octomap Resolution",
SLOT(setOctoMapResolution()),
"Change the octomap resolution. Clears previously created maps on next update.");
newMenuItem(om, "&Online OctoMapping",
this,
SLOT(toggleOnlineVoxelMapping(bool)),
"Toggle Online/Offline OctoMapping. Make sure to set a low octomap_resolution and/or high cloud_creation_skip_step for online mapping",
ParameterServer::instance()->get<bool>("octomap_online_creation"));
/* Separation of computation and saving of octomap not yet Implemented
QAction *computeOctoAct = new QAction(tr("Compute Octomap"), this);
//computeOctoAct->setShortcuts(QKeySequence::SaveAs);
computeOctoAct->setStatusTip(tr("Create OctoMap from stored point clouds"));
connect(computeOctoAct, SIGNAL(triggered()), this, SLOT(computeOctomap()));
octoMapMenu->addAction(computeOctoAct);
this->addAction(computeOctoAct);
*/
/*
QAction *showErrorAct = new QAction(tr("Show Edge Errors"), this);
showErrorAct->setShortcut(QString("Ctrl+Shift+E"));
showErrorAct->setStatusTip(tr(""));
connect(showErrorAct, SIGNAL(triggered()), this, SLOT(showEdgeErrors()));
actionMenu->addAction(showErrorAct);
this->addAction(showErrorAct);
*/
//View Menus ###############################################################
//View Menus ###############################################################
if(ParameterServer::instance()->get<bool>("use_glwidget"))
{
QMenu* v3 = menuBar()->addMenu(tr("&3D View"));
newMenuItem(v3, "&Clear 3D Display",
glviewer,
SLOT(reset()),
"Clears 3D viewer cloud data. Point Clouds are still retained, e.g. for mapping purposes.",
"",
QIcon::fromTheme("edit-delete"));
newMenuItem(v3, "Toggle &3D Display",
glviewer,
SLOT(setVisible(bool)),
"Turn off the OpenGL Display",
true,
"3");
newMenuItem(v3, "&Toggle Triangulation",
glviewer,
SLOT(toggleTriangulation()),
"Switch between surface, wireframe and point cloud",
"T");
newMenuItem(v3, "Follow &Camera",
glviewer,
SLOT(toggleFollowMode(bool)),
"Always use viewpoint of last frame (except zoom)",
true,
"Shift+F");
newMenuItem(v3, "Show Grid",
glviewer,
SLOT(toggleShowGrid(bool)),
"Display XY plane grid",
false);
newMenuItem(v3, "Show Pose TFs",
glviewer,
SLOT(toggleShowTFs(bool)),
"Display pose transformations at axes",
false);
newMenuItem(v3, "Show Pose IDs",
glviewer,
SLOT(toggleShowIDs(bool)),
"Display pose ids at axes",
false,
"I");
newMenuItem(v3, "Show &Poses of Graph",
glviewer,
SLOT(toggleShowPoses(bool)),
"Display poses as axes",
ParameterServer::instance()->get<bool>("show_axis"),
"P");
newMenuItem(v3, "Show &Edges of Graph",
glviewer,
SLOT(toggleShowEdges(bool)),
"Display edges of pose graph as lines",
ParameterServer::instance()->get<bool>("show_axis"),
"E");
newMenuItem(v3, "Stere&o View",
glviewer,
SLOT(toggleStereo(bool)),
"Split screen view with slightly shifted Camera",
false);
newMenuItem(v3, "Show &Feature Locations",
glviewer,
SLOT(toggleShowFeatures(bool)),
"Toggle whether feature locations should be rendered",
false);
newMenuItem(v3, "Show &Octomap",
glviewer,
SLOT(toggleShowOctoMap(bool)),
"Toggle whether octomap should be displayed",
true,
"Ctrl+Shift+O");
newMenuItem(v3, "Show &Clouds",
glviewer,
SLOT(toggleShowClouds(bool)),
"Toggle whether point clouds should be rendered",
true,
"C");
newMenuItem(v3, "Toggle Background",
glviewer,
SLOT(toggleBackgroundColor(bool)),
"Toggle whether background should be white or black",
true,
"B");
newMenuItem(v3, "Set Rotation &Grid",
this,
SLOT(setRotationGrid()),
"Discretize Rotation in Viewer",
"G");
newMenuItem(v3, "Set Stereo Offset",
this,
SLOT(setStereoShift()),
"Set the distance between the virtual cameras for stereo view",
"<");
}
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;
}
