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0.13.3: scan2d with normals support/registration

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matlabbe
2017-08-25 18:02:40 -04:00
parent 964a052be1
commit 52a4e8964f
28 changed files with 1029 additions and 337 deletions
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11
guilib/include/rtabmap/gui/CloudViewer.h
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@@ -274,8 +274,14 @@ public:
void setCameraFree();
void setCameraLockZ(bool enabled = true);
void setGridShown(bool shown);
void setNormalsShown(bool shown);
void setGridCellCount(unsigned int count);
void setGridCellSize(float size);
bool isNormalsShown() const;
int getNormalsStep() const;
float getNormalsScale() const;
void setNormalsStep(int step);
void setNormalsScale(float scale);
public slots:
void setDefaultBackgroundColor(const QColor & color);
@@ -318,6 +324,9 @@ private:
QAction * _aShowGrid;
QAction * _aSetGridCellCount;
QAction * _aSetGridCellSize;
QAction * _aShowNormals;
QAction * _aSetNormalsStep;
QAction * _aSetNormalsScale;
QAction * _aSetBackgroundColor;
QAction * _aSetRenderingRate;
QAction * _aSetLighting;
@@ -336,6 +345,8 @@ private:
QColor _frustumColor;
unsigned int _gridCellCount;
float _gridCellSize;
int _normalsStep;
float _normalsScale;
cv::Vec3d _lastCameraOrientation;
cv::Vec3d _lastCameraPose;
QMap<std::string, Transform> _addedClouds; // include cloud, scan, meshes

3
guilib/include/rtabmap/gui/PreferencesDialog.h
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@@ -164,9 +164,11 @@ public:
double getCeilingFilteringHeight() const;
double getFloorFilteringHeight() const;
int getNormalKSearch() const;
double getNormalRadiusSearch() const;
double getScanCeilingFilteringHeight() const;
double getScanFloorFilteringHeight() const;
int getScanNormalKSearch() const;
double getScanNormalRadiusSearch() const;
bool isCloudsShown(int index) const; // 0=map, 1=odom
bool isOctomapUpdated() const;
bool isOctomapShown() const;
@@ -241,6 +243,7 @@ public:
double getSourceScanFromDepthMaxDepth() const;
double getSourceScanVoxelSize() const;
int getSourceScanNormalsK() const;
double getSourceScanNormalsRadius() const;
Transform getSourceLocalTransform() const; //Openni group
Transform getLaserLocalTransform() const; // directory images
Camera * createCamera(bool useRawImages = false, bool useColor = true); // return camera should be deleted if not null