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merged multicamera branch into devel branch

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This commit is contained in:
Mathieu Labbe
2015-06-16 17:41:51 -04:00
parent 6a7a9fb9b0 039ae45d57
commit 50eeda5b95
61 changed files with 3383 additions and 2918 deletions
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2
guilib/include/rtabmap/gui/DataRecorder.h
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@@ -57,7 +57,7 @@ public:
const QString & path() const {return path_;}
public slots:
void addData(const rtabmap::SensorData & data);
void addData(const rtabmap::SensorData & data, const Transform & pose = Transform(), const cv::Mat & infMatrix = cv::Mat::eye(6,6,CV_64FC1));
void showImage(const cv::Mat & image, const cv::Mat & depth);
protected:
virtual void closeEvent(QCloseEvent* event);

4
guilib/include/rtabmap/gui/DatabaseViewer.h
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@@ -52,7 +52,7 @@ namespace rtabmap
{
class Memory;
class ImageView;
class Signature;
class SensorData;
class CloudViewer;
class RTABMAPGUI_EXP DatabaseViewer : public QMainWindow
@@ -125,7 +125,7 @@ private:
QLabel * labelMapId,
QLabel * labelPose,
bool updateConstraintView);
void updateStereo(const Signature * data);
void updateStereo(const SensorData * data);
void updateWordsMatching();
void updateConstraintView(
const rtabmap::Link & link,

19
guilib/include/rtabmap/gui/MainWindow.h
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@@ -35,7 +35,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <QtCore/QSet>
#include "rtabmap/core/RtabmapEvent.h"
#include "rtabmap/core/SensorData.h"
#include "rtabmap/core/OdometryInfo.h"
#include "rtabmap/core/OdometryEvent.h"
#include "rtabmap/gui/PreferencesDialog.h"
#include <pcl/point_cloud.h>
@@ -163,7 +163,7 @@ private slots:
void selectScreenCaptureFormat(bool checked);
void takeScreenshot();
void updateElapsedTime();
void processOdometry(const rtabmap::SensorData & data, const rtabmap::OdometryInfo & info);
void processOdometry(const rtabmap::OdometryEvent & odom);
void applyPrefSettings(PreferencesDialog::PANEL_FLAGS flags);
void applyPrefSettings(const rtabmap::ParametersMap & parameters);
void processRtabmapEventInit(int status, const QString & info);
@@ -196,7 +196,7 @@ private slots:
signals:
void statsReceived(const rtabmap::Statistics &);
void odometryReceived(const rtabmap::SensorData &, const rtabmap::OdometryInfo &);
void odometryReceived(const rtabmap::OdometryEvent &);
void thresholdsChanged(int, int);
void stateChanged(MainWindow::State);
void rtabmapEventInitReceived(int status, const QString & info);
@@ -229,19 +229,6 @@ private:
int regenerateDecimation,
float regenerateVoxelSize,
float regenerateMaxDepth) const;
pcl::PointCloud<pcl::PointXYZRGB>::Ptr createCloud(
int id,
const cv::Mat & rgb,
const cv::Mat & depth,
float fx,
float fy,
float cx,
float cy,
const Transform & localTransform,
const Transform & pose,
float voxelSize,
int decimation,
float maxDepth) const;
std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > getClouds(
const std::map<int, Transform> & poses,
bool regenerateClouds,

5
guilib/include/rtabmap/gui/OdometryViewer.h
View File

@@ -30,8 +30,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
#include "rtabmap/core/SensorData.h"
#include "rtabmap/core/OdometryInfo.h"
#include "rtabmap/core/OdometryEvent.h"
#include <QDialog>
#include "rtabmap/utilite/UEventsHandler.h"
@@ -59,7 +58,7 @@ protected:
virtual void handleEvent(UEvent * event);
private slots:
void processData(const rtabmap::SensorData & data, const rtabmap::OdometryInfo & info);
void processData(const rtabmap::OdometryEvent & odom);
private:
ImageView* imageView_;