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Increased version to 0.6.2

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Memory management tested on RGBD SLAM
Fixed some crashes
New parameter RGBD/LocalLoopDetectionMaxDiffID
New parameter LccIcp2/VoxelSize
Updated parameter LccIcp/Type (added "No ICP" type)
Updated parameter kLccBowMinInliers (inliers minimum reduced to 1)
TORO optimization: The graph root is explicitly defined as the last node added (fixed a TORO crash when a root could not be found)
TORO optimization: only one constraint between neighbors and loop closures
TORO optimization: added initial tree guess
Map correction/Map transform: now only used in localization mode (map correction is always identity on mapping mode)
New statistics: local loop space diff, last loop closure parent and child ids
Database: Fixed empty signatures with no poses loaded
ICP: fixed transform multiplication order
Dump memory: added 3D words
DatabaseViewer: added Export option (added ExportDialog object)
DataRecorder: Option recording in RAM or Hard drive
GUI: added a dock widget (MapVisibilityWidget) to change visibility of nodes in the 3D map
GUI: fixed progress bar step count when generating the map
Menu option: generate TORO graph (full/current map, optimized/not optimized)
Menu option: download map (full/current map, optimized/not optimized)
Preferences: added Reset all settings button
Preferences: A QGroupBox can be a boolean parameter

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1066 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-01-22 19:49:28 +00:00
parent 2489397b49
commit 22e3082adc
33 changed files with 2103 additions and 857 deletions
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15
guilib/src/CloudViewer.cpp
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@@ -473,6 +473,21 @@ void CloudViewer::setCloudVisibility(const std::string & id, bool isVisible)
}
}
bool CloudViewer::getCloudVisibility(const std::string & id)
{
pcl::visualization::CloudActorMapPtr cloudActorMap = _visualizer->getCloudActorMap();
pcl::visualization::CloudActorMap::iterator iter = cloudActorMap->find(id);
if(iter != cloudActorMap->end())
{
return iter->second.actor->GetVisibility() != 0;
}
else
{
UERROR("Cannot find actor named \"%s\".", id.c_str());
}
return false;
}
void CloudViewer::setCloudOpacity(const std::string & id, double opacity)
{
_visualizer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_OPACITY, opacity, id);