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Added Export Scans dialog

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This commit is contained in:
matlabbe
2016-03-14 17:27:53 -04:00
parent 04df6ba41c
commit 5c92025742
14 changed files with 1251 additions and 311 deletions
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9
guilib/include/rtabmap/gui/MainWindow.h
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@@ -68,6 +68,7 @@ class StatsToolBox;
class ProgressDialog;
class TwistGridWidget;
class ExportCloudsDialog;
class ExportScansDialog;
class PostProcessingDialog;
class DataRecorder;
@@ -245,9 +246,6 @@ private:
void exportPoses(int format);
QString captureScreen(bool cacheInRAM = false);
bool getExportedScans(std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > & scans);
void saveScans(const std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr> & clouds, bool binaryMode = true);
private:
Ui_mainWindow * _ui;
@@ -259,7 +257,8 @@ private:
//Dialogs
PreferencesDialog * _preferencesDialog;
AboutDialog * _aboutDialog;
ExportCloudsDialog * _exportDialog;
ExportCloudsDialog * _exportCloudsDialog;
ExportScansDialog * _exportScansDialog;
PostProcessingDialog * _postProcessingDialog;
DataRecorder * _dataRecorder;
@@ -287,7 +286,7 @@ private:
std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > _createdClouds;
std::pair<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > _previousCloud; // used for subtraction
std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > _createdScans;
std::map<int, cv::Mat> _createdScans;
std::map<int, std::pair<cv::Mat, cv::Mat> > _projectionLocalMaps; // <ground, obstacles>
std::map<int, std::pair<cv::Mat, cv::Mat> > _gridLocalMaps; // <ground, obstacles>