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DatabaseViewer: Added ExportCloudsDialog, added Occupancy Grid View

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matlabbe
2017-03-21 21:51:39 -04:00
parent 622352b411
commit 2574f3a8ee
8 changed files with 892 additions and 522 deletions
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7
guilib/include/rtabmap/gui/DatabaseViewer.h
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@@ -54,6 +54,8 @@ class DBDriver;
class ImageView;
class SensorData;
class CloudViewer;
class OctoMap;
class ExportCloudsDialog;
class RTABMAPGUI_EXP DatabaseViewer : public QMainWindow
{
@@ -102,6 +104,7 @@ private slots:
void sliderLoopValueChanged(int);
void sliderIterationsValueChanged(int);
void updateGrid();
void updateOctomapView();
void updateGraphView();
void refineConstraint();
void addConstraint();
@@ -159,6 +162,7 @@ private:
CloudViewer * cloudViewerA_;
CloudViewer * cloudViewerB_;
CloudViewer * stereoViewer_;
CloudViewer * occupancyGridViewer_;
QList<int> ids_;
std::map<int, int> mapIds_;
QMap<int, int> idToIndex_;
@@ -176,8 +180,11 @@ private:
std::multimap<int, rtabmap::Link> linksAdded_;
std::multimap<int, rtabmap::Link> linksRemoved_;
std::map<int, std::pair<cv::Mat, cv::Mat> > localMaps_; // <ground, obstacles>
std::map<int, std::pair<float, cv::Point3f> > localMapsInfo_; // <cell size, viewpoint>
std::map<int, std::pair<cv::Mat, cv::Mat> > generatedLocalMaps_; // <ground, obstacles>
std::map<int, std::pair<float, cv::Point3f> > generatedLocalMapsInfo_; // <cell size, viewpoint>
OctoMap * octomap_;
ExportCloudsDialog * exportDialog_;
bool savedMaximized_;
bool firstCall_;