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Version 0.8.8: added "user_data" field in database. Added WifiMapping example. Fixed FATAL error when initializing rtabmap with no database.

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This commit is contained in:
Mathieu Labbe
2015-03-25 13:31:12 -04:00
parent 2be511813e
commit 186dc60a49
32 changed files with 1064 additions and 141 deletions
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12
guilib/src/CloudViewer.cpp
View File

@@ -347,8 +347,12 @@ bool CloudViewer::addCloud(
colorHandler.reset (new pcl::visualization::PointCloudColorHandlerRandom<pcl::PCLPointCloud2> (binaryCloud));
if(_visualizer->addPointCloud (binaryCloud, colorHandler, origin, orientation, id))
{
// white
colorHandler.reset (new pcl::visualization::PointCloudColorHandlerCustom<pcl::PCLPointCloud2> (binaryCloud, color.red(), color.green(), color.blue()));
QColor c = Qt::gray;
if(color.isValid())
{
c = color;
}
colorHandler.reset (new pcl::visualization::PointCloudColorHandlerCustom<pcl::PCLPointCloud2> (binaryCloud, c.red(), c.green(), c.blue()));
_visualizer->addPointCloud (binaryCloud, colorHandler, origin, orientation, id);
// x,y,z
@@ -367,6 +371,10 @@ bool CloudViewer::addCloud(
_visualizer->updateColorHandlerIndex(id, 5);
}
else if(color.isValid())
{
_visualizer->updateColorHandlerIndex(id, 1);
}
_addedClouds.insert(id, pose);
return true;

6
guilib/src/DatabaseViewer.cpp
View File

@@ -1037,7 +1037,8 @@ void DatabaseViewer::view3DMap()
Transform odomPose;
std::string label;
double stamp;
if(memory_->getNodeInfo(iter->first, odomPose, mapId, weight, label, stamp, true))
std::vector<unsigned char> userData;
if(memory_->getNodeInfo(iter->first, odomPose, mapId, weight, label, stamp, userData, true))
{
color = (Qt::GlobalColor)(mapId % 12 + 7 );
}
@@ -1391,7 +1392,8 @@ void DatabaseViewer::update(int value,
int w;
std::string l;
double s;
memory_->getNodeInfo(id, odomPose, mapId, w, l, s, true);
std::vector<unsigned char> d;
memory_->getNodeInfo(id, odomPose, mapId, w, l, s, d, true);
weight->setNum(data.getWeight());
label->setText(data.getLabel().c_str());

12
guilib/src/MainWindow.cpp
View File

@@ -1393,10 +1393,14 @@ void MainWindow::updateMapCloud(
// update 3D graphes (show all poses)
_ui->widget_cloudViewer->removeAllGraphs();
_ui->widget_cloudViewer->removeCloud("graph_nodes");
if(_preferencesDialog->isGraphsShown() && _currentPosesMap.size())
{
// Find all graphs
std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > graphs;
pcl::PointCloud<pcl::PointXYZ>::Ptr graphNodes(new pcl::PointCloud<pcl::PointXYZ>);
graphNodes->resize(_currentPosesMap.size());
int oi = 0;
for(std::map<int, Transform>::iterator iter=_currentPosesMap.begin(); iter!=_currentPosesMap.end(); ++iter)
{
int mapId = uValue(_currentMapIds, iter->first, -1);
@@ -1405,7 +1409,9 @@ void MainWindow::updateMapCloud(
{
kter = graphs.insert(std::make_pair(mapId, pcl::PointCloud<pcl::PointXYZ>::Ptr(new pcl::PointCloud<pcl::PointXYZ>))).first;
}
kter->second->push_back(pcl::PointXYZ(iter->second.x(), iter->second.y(), iter->second.z()));
pcl::PointXYZ pt(iter->second.x(), iter->second.y(), iter->second.z());
kter->second->push_back(pt);
(*graphNodes)[oi++] = pcl::PointXYZ(pt);
}
// add graphs
@@ -1418,6 +1424,10 @@ void MainWindow::updateMapCloud(
}
_ui->widget_cloudViewer->addOrUpdateGraph(uFormat("graph_%d", iter->first), iter->second, color);
}
// add nodes
_ui->widget_cloudViewer->addOrUpdateCloud("graph_nodes", graphNodes, Transform::getIdentity(), Qt::green);
_ui->widget_cloudViewer->setCloudPointSize("graph_nodes", 5);
}
// Update occupancy grid map in 3D map view and graph view