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Added rtabmap-kitti_dataset tool

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This commit is contained in:
matlabbe
2017-04-24 12:17:18 -04:00
parent a0a7237c01
commit 1b71a96a3d
17 changed files with 900 additions and 202 deletions
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10
guilib/src/ExportCloudsDialog.cpp
View File

@@ -2314,7 +2314,15 @@ std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::Indic
}
else
{
UERROR("Cloud %d not found in cache!", iter->first);
int weight = 0;
if(_dbDriver)
{
_dbDriver->getWeight(iter->first, weight);
}
if(weight>=0) // don't show error for intermediate nodes
{
UERROR("Cloud %d not found in cache!", iter->first);
}
}
}
else if(uContains(cachedClouds, iter->first))

7
guilib/src/MainWindow.cpp
View File

@@ -2386,7 +2386,10 @@ void MainWindow::updateMapCloud(
else
#endif
{
_occupancyGrid->update(poses);
if(_occupancyGrid->addedNodes().size() || _occupancyGrid->cacheSize()>0)
{
_occupancyGrid->update(poses);
}
if(stats)
{
stats->insert(std::make_pair("GUI/Grid Update/ms", (float)timer.restart()*1000.0f));
@@ -2505,7 +2508,6 @@ void MainWindow::updateMapCloud(
std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> MainWindow::createAndAddCloudToMap(int nodeId, const Transform & pose, int mapId)
{
UDEBUG("");
UASSERT(!pose.isNull());
std::string cloudName = uFormat("cloud%d", nodeId);
std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> outputPair;
@@ -2824,7 +2826,6 @@ std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> MainWindow::c
}
}
UDEBUG("");
return outputPair;
}