Method openFile

src/visualizer/VisualizerWindow.cpp:352–520

}

void VisualizerWindow::openFile(const QString& filename) {
  play(false);  // stop playback.

  if (!filename.isNull()) {
    QString title = "Semantic SuMa";
    title.append(" - ");
    QStringList parts = filename.split("/");
    title.append(QString::fromStdString(FileUtil::dirName(filename.toStdString())));
    setWindowTitle(title);

    std::shared_ptr<Model> model;
    ui_.wCanvas->setRobotModel(model);

    std::string extension = "INVALID";

    QFileInfo file_info(filename);
    if (file_info.isDir()) {
      QDir directory(filename);
      QStringList files = directory.entryList(QDir::NoFilter, QDir::Name);

      std::map<std::string, int32_t> suffix_count;
      for (int32_t i = 0; i < files.size(); ++i) {
        QFileInfo info(directory.filePath(files[i]));
        if (!info.isFile()) continue;

        std::string ext = info.suffix().toStdString();
        if (suffix_count.find(ext) == suffix_count.end()) suffix_count[ext] = 0;
        suffix_count[ext] += 1;
      }

      if (suffix_count.size() > 0) {
        int32_t maxCount = suffix_count.begin()->second;
        extension = std::string(".") + suffix_count.begin()->first;

        for (auto& entry : suffix_count) {
          if (entry.second > maxCount) {
            extension = std::string(".") + entry.first;
            maxCount = entry.second;
          }
        }

        std::cout << "Heuristically found '" << extension << "' as extension." << std::endl;
      }
    } else if (file_info.isFile()) {
      extension = std::string(".") + file_info.suffix().toStdString();
    }

    if (extension == ".bin") {
      delete reader_;
      KITTIReader* reader_tmp = new KITTIReader(filename.toStdString(), params_, 50);

      ui_.wCanvas->setColorMap(reader_tmp->getColorMap());  // get color map from rangenet
      fusion_->setColorMap(reader_tmp->getColorMap());

      reader_ = reader_tmp;

      scanFrequency = 10.0f;   // in Hz.
      timer_.setInterval(10);  // 1./10. second = 100 msecs.