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Fixed PnP in OpenCV3: added parameter Vis/PnPRefineIterations (default 1)

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CameraRGBDImages: Fixed calibration not loaded
Fixed loading ground truth from RGBD-SLAM format
MainWindow: added ground truth paths in CloudViewer and GraphViewer
This commit is contained in:
matlabbe
2015-12-22 19:32:52 -05:00
parent 2e9634cf65
commit 51300dde06
25 changed files with 986 additions and 917 deletions
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6
guilib/include/rtabmap/gui/GraphViewer.h
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@@ -57,6 +57,7 @@ public:
void updateGraph(const std::map<int, Transform> & poses,
const std::multimap<int, Link> & constraints,
const std::map<int, int> & mapIds);
void updateGTGraph(const std::map<int, Transform> & poses);
void updateReferentialPosition(const Transform & t);
void updateMap(const cv::Mat & map8U, float resolution, float xMin, float yMin);
void updatePosterior(const std::map<int, float> & posterior);
@@ -87,6 +88,7 @@ public:
const QColor & getRejectedLoopClosureColor() const {return _loopClosureRejectedColor;}
const QColor & getLocalPathColor() const {return _localPathColor;}
const QColor & getGlobalPathColor() const {return _globalPathColor;}
const QColor & getGTColor() const {return _gtPathColor;}
const QColor & getIntraSessionLoopColor() const {return _loopIntraSessionColor;}
const QColor & getInterSessionLoopColor() const {return _loopInterSessionColor;}
bool isIntraInterSessionColorsEnabled() const {return _intraInterSessionColors;}
@@ -112,6 +114,7 @@ public:
void setRejectedLoopClosureColor(const QColor & color);
void setLocalPathColor(const QColor & color);
void setGlobalPathColor(const QColor & color);
void setGTColor(const QColor & color);
void setIntraSessionLoopColor(const QColor & color);
void setInterSessionLoopColor(const QColor & color);
void setIntraInterSessionColorsEnabled(bool enabled);
@@ -145,12 +148,15 @@ private:
QColor _loopClosureRejectedColor;
QColor _localPathColor;
QColor _globalPathColor;
QColor _gtPathColor;
QColor _loopIntraSessionColor;
QColor _loopInterSessionColor;
bool _intraInterSessionColors;
QGraphicsItem * _root;
QMap<int, NodeItem*> _nodeItems;
QMultiMap<int, LinkItem*> _linkItems;
QMap<int, NodeItem*> _gtNodeItems;
QMultiMap<int, LinkItem*> _gtLinkItems;
QMultiMap<int, LinkItem*> _localPathLinkItems;
QMultiMap<int, LinkItem*> _globalPathLinkItems;
float _nodeRadius;

1
guilib/include/rtabmap/gui/MainWindow.h
View File

@@ -292,6 +292,7 @@ private:
QMap<int, Signature> _cachedSignatures;
std::map<int, Transform> _currentPosesMap; // <nodeId, pose>
std::map<int, Transform> _currentGTPosesMap; // <nodeId, pose>
std::multimap<int, Link> _currentLinksMap; // <nodeFromId, link>
std::map<int, int> _currentMapIds; // <nodeId, mapId>
std::map<int, std::string> _curentLabels; // <nodeId, label>