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Updated how RtabmapCmdEvent should be called (using UVariant). MainWindow: added new actions to export poses (KITTI, RGBD-SLAM and TORO formats)

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matlabbe
2015-08-01 23:42:36 -04:00
parent 2877a14360
commit 554b8978a0
14 changed files with 990 additions and 478 deletions
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corelib/include/rtabmap/core/RtabmapThread.h
+4 -12
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@@ -61,17 +61,10 @@ public:
kStateChangingParameters,
kStateDumpingMemory,
kStateDumpingPrediction,
kStateGeneratingDOTGraph,
kStateGeneratingDOTLocalGraph,
kStateGeneratingTOROGraphLocal,
kStateGeneratingTOROGraphGlobal,
kStateExportingPosesLocal,
kStateExportingPosesGlobal,
kStateExportingDOTGraph,
kStateExportingPoses,
kStateCleanDataBuffer,
kStatePublishingMapLocal,
kStatePublishingMapGlobal,
kStatePublishingTOROGraphLocal,
kStatePublishingTOROGraphGlobal,
kStatePublishingMap,
kStateTriggeringMap,
kStateAddingUserData,
kStateSettingGoal,
@@ -99,8 +92,7 @@ private:
void addData(const OdometryEvent & odomEvent);
bool getData(OdometryEvent & data);
void pushNewState(State newState, const ParametersMap & parameters = ParametersMap());
void publishMap(bool optimized, bool full) const;
void publishGraph(bool optimized, bool full) const;
void publishMap(bool optimized, bool full, bool graphOnly) const;
private:
UMutex _stateMutex;