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Refactoring of Export/View actions:

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Added ExportCloudsDialog class for convenience when Viewing or Exporting clouds/meshes
Added Export grid map action
Clouds shown in the 3D Map view can be directly saved without cloud regeneration.

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1621 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-07-29 00:52:35 +00:00
parent 0a385ed75f
commit 51b5a91c6a
11 changed files with 937 additions and 858 deletions
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27
guilib/include/rtabmap/gui/MainWindow.h
View File

@@ -149,10 +149,9 @@ private slots:
void setAspectRatio480p();
void setAspectRatio720p();
void setAspectRatio1080p();
void savePointClouds();
void saveMeshes();
void viewPointClouds();
void viewMeshes();
void exportGridMap();
void exportPointClouds();
void viewClouds();
void resetOdometry();
void triggerNewMap();
void dataRecorder();
@@ -184,7 +183,13 @@ private:
void updateSelectSourceDatabase(bool used);
void updateSelectSourceRGBDMenu(bool used, PreferencesDialog::Src src);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr createAssembledCloud(const std::map<int, Transform> & poses) const;
pcl::PointCloud<pcl::PointXYZRGB>::Ptr getAssembledCloud(
const std::map<int, Transform> & poses,
float assembledVoxelSize,
bool regenerateClouds,
int regenerateDecimation,
float regenerateVoxelSize,
float regenerateMaxDepth) const;
pcl::PointCloud<pcl::PointXYZRGB>::Ptr createCloud(
int id,
const cv::Mat & rgb,
@@ -198,10 +203,15 @@ private:
float voxelSize,
int decimation,
float maxDepth) const;
std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > createPointClouds(const std::map<int, Transform> & poses, bool applyMLS) const;
std::map<int, pcl::PolygonMesh::Ptr> createMeshes(const std::map<int, Transform> & poses, bool applyMLS) const;
std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > getClouds(
const std::map<int, Transform> & poses,
bool regenerateClouds,
int regenerateDecimation,
float regenerateVoxelSize,
float regenerateMaxDepth) const;
void savePointClouds(const std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr> & clouds);
bool getExportedClouds(std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr> & clouds, std::map<int, pcl::PolygonMesh::Ptr> & meshes, bool toSave);
void saveClouds(const std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr> & clouds);
void saveMeshes(const std::map<int, pcl::PolygonMesh::Ptr> & meshes);
private:
@@ -233,6 +243,7 @@ private:
QMap<int, float> _depthCysMap;
QMap<int, Transform> _localTransformsMap;
std::map<int, Transform> _currentPosesMap;
QMap<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > _createdClouds;
Transform _odometryCorrection;
Transform _lastOdomPose;
bool _lastOdometryProcessed;

25
guilib/include/rtabmap/gui/PreferencesDialog.h
View File

@@ -113,22 +113,22 @@ public:
int getKeypointsOpacity() const;
int getOdomQualityWarnThr() const;
bool isCloudMeshing(int index) const; // 0=map
bool isCloudsShown(int index) const; // 0=map, 1=odom, 2=save
double getCloudVoxelSize(int index) const; // 0=map, 1=odom, 2=save
int getCloudDecimation(int index) const; // 0=map, 1=odom, 2=save
double getCloudMaxDepth(int index) const; // 0=map, 1=odom, 2=save
bool isCloudMeshing() const;
bool isCloudsShown(int index) const; // 0=map, 1=odom
double getCloudVoxelSize(int index) const; // 0=map, 1=odom
int getCloudDecimation(int index) const; // 0=map, 1=odom
double getCloudMaxDepth(int index) const; // 0=map, 1=odom
double getCloudOpacity(int index) const; // 0=map, 1=odom
int getCloudPointSize(int index) const; // 0=map, 1=odom
bool isScansShown(int index) const; // 0=map, 1=odom, 2=save
bool isScansShown(int index) const; // 0=map, 1=odom
double getScanOpacity(int index) const; // 0=map, 1=odom
int getScanPointSize(int index) const; // 0=map, 1=odom
int getMeshNormalKSearch(int index) const; // 0=map, 1=save
double getMeshGP3Radius(int index) const; // 0=map, 1=save
bool getMeshSmoothing(int index) const; // 0=map, 1=save
double getMeshSmoothingRadius(int index) const; // 0=map, 1=save
int getMeshNormalKSearch() const;
double getMeshGP3Radius() const;
bool getMeshSmoothing() const;
double getMeshSmoothingRadius() const;
bool isCloudFiltering() const;
double getCloudFilteringRadius() const;
@@ -284,11 +284,6 @@ private:
QVector<QCheckBox*> _3dRenderingShowScans;
QVector<QDoubleSpinBox*> _3dRenderingOpacityScan;
QVector<QSpinBox*> _3dRenderingPtSizeScan;
QVector<QCheckBox*> _3dRenderingMeshing;
QVector<QSpinBox*> _3dRenderingNormalKSearch;
QVector<QDoubleSpinBox*> _3dRenderingGP3Radius;
QVector<QCheckBox*> _3dRenderingSmoothing;
QVector<QDoubleSpinBox*> _3dRenderingSmoothingRadius;
};
Q_DECLARE_OPERATORS_FOR_FLAGS(PreferencesDialog::PANEL_FLAGS)