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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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86
guilib/src/MapVisibilityWidget.cpp Normal file
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/*
* MapVisibilityWidget.cpp
*
* Created on: 2014-01-20
* Author: mathieu
*/
#include "MapVisibilityWidget.h"
#include <QtGui/QCheckBox>
#include <QtGui/QVBoxLayout>
#include <QtGui/QScrollArea>
#include <rtabmap/utilite/ULogger.h>
namespace rtabmap {
MapVisibilityWidget::MapVisibilityWidget(QWidget * parent) : QWidget(parent) {
QVBoxLayout * verticalLayout1 = new QVBoxLayout(this);
QScrollArea * scrollArea = new QScrollArea(this);
scrollArea->setWidgetResizable(true);
QWidget * scrollAreaWidgetContent = new QWidget();
scrollAreaWidgetContent->setObjectName("area");
QVBoxLayout * layout2 = new QVBoxLayout(scrollAreaWidgetContent);
scrollAreaWidgetContent->setLayout(layout2);
scrollArea->setWidget(scrollAreaWidgetContent);
verticalLayout1->addWidget(scrollArea);
}
MapVisibilityWidget::~MapVisibilityWidget() {
}
void MapVisibilityWidget::showEvent(QShowEvent * event)
{
updateCheckBoxes();
}
void MapVisibilityWidget::updateCheckBoxes()
{
QWidget * area = this->findChild<QWidget*>("area");
QVBoxLayout * layout = (QVBoxLayout *)area->layout();
QList<QCheckBox*> checkboxes = area->findChildren<QCheckBox*>();
while(checkboxes.size() && checkboxes.size() > _poses.size())
{
delete *checkboxes.begin();
checkboxes.erase(checkboxes.begin());
}
int i=0;
for(std::map<int, Transform>::iterator iter=_poses.begin(); iter!=_poses.end(); ++iter)
{
bool added = false;
if(i >= checkboxes.size())
{
checkboxes.push_back(new QCheckBox(area));
added = true;
}
checkboxes[i]->setText(QString("%1 (%2)").arg(iter->first).arg(iter->second.prettyPrint().c_str()));
checkboxes[i]->setChecked(true);
if(added)
{
connect(checkboxes[i], SIGNAL(stateChanged(int)), this, SLOT(signalVisibility()));
layout->addWidget(checkboxes[i]);
}
++i;
}
}
void MapVisibilityWidget::setMap(const std::map<int, Transform> & poses)
{
_poses = poses;
if(this->isVisible())
{
updateCheckBoxes();
}
}
void MapVisibilityWidget::signalVisibility()
{
QCheckBox * check = qobject_cast<QCheckBox*>(sender());
emit visibilityChanged(check->text().split('(').first().toInt(), check->isChecked());
}
} /* namespace rtabmap */