gui_hyper_graph_action.cpp

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
//
// This file is part of g2o.
//
// g2o 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.
//
// g2o 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 g2o.  If not, see <http://www.gnu.org/licenses/>.
 
#include "gui_hyper_graph_action.h"
 
#include <QApplication>
#include <QtGlobal>
 
#include "g2o_qglviewer.h"
 
namespace g2o {
 
GuiHyperGraphAction::GuiHyperGraphAction()
    : HyperGraphAction(), viewer(0), dumpScreenshots(false) {}
 
GuiHyperGraphAction::~GuiHyperGraphAction() {}
 
HyperGraphAction* GuiHyperGraphAction::operator()(const HyperGraph* graph,
                                                  Parameters* parameters) {
  (void)graph;
  if (viewer) {
    viewer->setUpdateDisplay(true);
    viewer->update();
 
    if (dumpScreenshots) {
      ParametersIteration* p = dynamic_cast<ParametersIteration*>(parameters);
      if (p) {
        viewer->setSnapshotFormat(QString("PNG"));
        viewer->setSnapshotQuality(-1);
#if QT_VERSION < QT_VERSION_CHECK(5, 5, 0)
        viewer->saveSnapshot(QString().sprintf("g2o%.6d.png", p->iteration),
                             true);
#else
        viewer->saveSnapshot(QString().asprintf("g2o%.6d.png", p->iteration),
                             true);
#endif
      }
    }
 
    qApp->processEvents();
    return this;
  }
  return 0;
}
 
}  // namespace g2o