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MainWindow: added timing stats on global map creation. Updated util3d::occupancy2DFromLaserScan() and util3d::create2DMap() interfaces (hit/noHit scans in opencv matrix format). Parameter default: Grid/ProjRayTracing=true, Grid/NormalK=true

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matlabbe
2017-04-06 12:27:12 -04:00
parent e415dd8504
commit 1d8952867d
13 changed files with 386 additions and 117 deletions
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3
guilib/include/rtabmap/gui/MainWindow.h
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@@ -241,7 +241,8 @@ private:
const std::map<int, int> & mapIds,
const std::map<int, std::string> & labels,
const std::map<int, Transform> & groundTruths,
bool verboseProgress = false);
bool verboseProgress = false,
std::map<std::string, float> * stats = 0);
std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> createAndAddCloudToMap(int nodeId, const Transform & pose, int mapId);
void createAndAddScanToMap(int nodeId, const Transform & pose, int mapId);
void createAndAddFeaturesToMap(int nodeId, const Transform & pose, int mapId);

1
guilib/include/rtabmap/gui/PreferencesDialog.h
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@@ -171,6 +171,7 @@ public:
int getOctomapTreeDepth() const;
bool isOctomapGroundAnObstacle() const;
double getOctomapOccupancyThr() const;
int getOctomapPointSize() const;
int getCloudDecimation(int index) const; // 0=map, 1=odom
double getCloudMaxDepth(int index) const; // 0=map, 1=odom
double getCloudMinDepth(int index) const; // 0=map, 1=odom